摘要
提出探求ΔYr(推土机铰点O每区间末在纵向垂直偏离本区间台车架基线之数量)的基本思路;按此思路对尾部下陷工况下的ΔYr进行了研究,导出了尾部下陷工况下计算ΔYr的公式;利用铲刀纵前向运动的履带式推土机模型对该工况下克服后扰及β型扰动进行了物理仿真.研究结果表明:在此工况下,无论本区间内履带下地形如何,自控系统可根据ΔYr和铲刀刃纵倾轨迹角αc的控制公式克服履带下地形的扰动,使αc最终等于期望的铲刀刃纵倾轨迹角α.′仿真结果证实了探求ΔYr的基本思路对尾部下陷工况可行,导出的ΔYr表达式使αc控制公式在此工况下的应用迈出了一大步.
The basal thought on exploring △Yr （dozer＇s pivot 0 when it is displaced longitudinally perendicular to starting line of the frame during end of every interval） is produced. The △Yr in working condition in which the track dozer＇ s tail is a drop is studied and derived with the help of the basal thought. The physical simulations are also made under the working condition for overcoming the back turbulence and β type turbulences with the help of the track dozer model to represent the blade which moves forward longitudinally. The physical simulations are clear that under the working condition, no matter how different the topography under the tracks during the present interval is, the automatic control system can overcome the turbulences of the topography under the tracks and make αc to near and finally equal to the desirous for the trace angles of the blade＇ s edge in moving forward longitudinally according to △Yr derived and the control formula for αc. The results of the physical simulations confirm the basic thought on exploring AYr and △Yr formula derived from the working condition.
出处
《长沙交通学院学报》
2008年第3期68-75,共8页
Journal of Changsha Communications University
关键词
履带式推土机
铰点0纵向垂直位移量
尾部下陷工况
铲刀刃纵倾轨迹角αc
物
理仿真
track dozer
perpendicular drift quantity in moving forward longitudinally for the binge point O
wo/＇king condition in which the track dozer＇ s trail is a drop
the trace angles ao of blade＇ s edge in moving fortward longitudinally
physical simulation
