【正文】 操作者不可能對它合適的輸入。 像對破裂軟管的保護和運轉(zhuǎn)負荷的保護采取的措施是控制系統(tǒng)的許多要求。 。移動液壓起重機可認為是作為一個大型 靈活的 機械結(jié)構(gòu) ，這種機械結(jié)構(gòu)被提出某種形式的控制系統(tǒng)。 Palmberg, J. O. (1997). Distributed Control of Fluid Power Actuators Experimental Verification of a Decoupled Chamber Pressure Controlled Cylinder, 4th International Conference on Fluid Power Jansson, A.。Mattila。de 101 DK9220 Aalborg, Denmark The goal of the thesis described in this paper is to improve the control of mobile hydraulic cranes. The thesis is split into five parts: a requirements analysis, an analysis of the current systems and their problems, an analysis of different possibilities for system topologies, development of a new control system for the near future based on electrohydraulic separate meter in / separate meter out valves, and finally an analysis of more advanced and plex solutions which can be applied in the more distant future. The work of the thesis will be done in cooperation with industry so the thesis will have more of an industrial focus than a purely theoretical focus. Key words: Mobile Hydraulic Cranes, Control Strategies, Separate Meterin/Separate Meterout. 1 INTRODUCTION The goal of the thesis described in this paper is to improve the control of mobile hydraulic cranes. A mobile hydraulic crane can be thought of as a large flexible mechanical structure which is moved by some sort of control system. The control system takes its input from a human operator and translates this mand into the motion of actuators which move the mechanical structure. The definition of this control system is purposely left vague in order not to impose any constraints on its design. The control system consists of actuators which move the mechanical structure, a means of controlling the actuators, a means of supplying power to the actuators,and a way of accepting inputs from the operator. It is this control system which is the target of this thesis. The goal is to analyze the requirements made on the control system and present guidelines for the design of new control systems. The thesis will be split into five parts: of the requirements of the control system, from the perspective of the operator, the mechanical system, efficiency, stability, and safety requirements. of current control systems and what their problems are. of the different options for the control system: different types of actuators,different types of control strategies, and different ways of organizing ponents. of a new type of control system, which is mercially implementable. A system that will meet the needs of industry in the near future. of more optimized systems, with higher performance, better efficiency, more flexible control, etc. This will be less mercially applicable but will be a starting point for more research. 2 SECTIONS OF THE THESIS Analysis of the Control System Before starting detailed work on developing new control systems, it is important to analyze what the exact demands are on the control system. The control system is influenced by many factors. For example: the mechanical structure it is controlling, the human operator, effi ciency, stability, and industry regulations. Industry regulations are the first requirements that have to be addressed. Things like hose rupture protection and runaway load protection make a lot of demands on the control regulations, stability is the next most important requirement。Jansson,Palmberg, 1990。 Ayres, J. L. (1997). Load Sensing Directional Valves, Current Technology and Future Development, The Fifth Scandinavian International Conference on Fluid Power Back233。NZER 奧爾堡大學 能源技術(shù)研究所 Pontoppidanstr230。 該控制系統(tǒng)作動 是 移動的機械結(jié)構(gòu)，一 種控制 傳動裝置的方法 ，一種給 傳動裝置 供電 的方法 ， 和接受操作者的輸入的方法。這將會減少商業(yè)適用但是將是更多研究的一個起點。穩(wěn)定性的確認，樹立了控制系統(tǒng)的執(zhí)行要求。 目前控制系統(tǒng)主要是水壓和遭受的三個主要的問題： 性 不穩(wěn)定性 不穩(wěn)定是一個嚴重的問題，因為它可以造成傷害人類的 操作者 或損壞的設(shè)備。為了確保完整系統(tǒng) 范圍對穩(wěn)定性，性能可能在某個參數(shù)范圍的目標中犧牲掉。因此，出口方將制定一 個回壓力的行為，在反方向 行進 ，從而增加 維持運動進口邊的要求壓力 。這些系統(tǒng)都有優(yōu)點和缺點，需要加以分析，如果最優(yōu)化的解決辦法是選擇。 這消除了需要制造數(shù)百種不同的 變值 。第一，一個簡單的自由度，起重機，目的是作為一個實驗平臺。 壓力補償器保持恒定的壓力下降，全國主要閥芯的閥，不斷流不斷。精確的流量控制是依賴于高精度的位置傳感器和壓力傳感器。 Virvalo 1997)他們 基于同樣的 基礎(chǔ)上，而不是復雜的控制算法。 其中一個例子 是 一項新戰(zhàn)略，這是簡單的和穩(wěn)健的描述如下。在這種情況下，壓力范圍，壓力控制器，在出口增加的一個值，其中反對負荷的力量。 5 結(jié)論 即使沒有太大的試點工作已經(jīng)完成，一個好的開始，已取得初步測試已大有希望的