【正文】 de 101 DK9220 Aalb. Denmark Email: mmuniet. auc. dk 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 possibiilities 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 requirments made on the control system and present guidelines for the gesign of new control systems. The thesis will be split into five parts: 1. Analysis of the requirements of the control system, from the perspective of the operator, the mechanical system, efficiency, stability, and safety requirements. 2. Analysis of current control systems and what their problems are. 3. Analysis of the different options for the control system: different types of actuators different types of control strategies, and different ways of anizing ponents. 4. Presentation of a new type of control system, which is mercially implementable. A system that will meet the needs of industry in the near future. 畢業(yè)設(shè)計(jì)（論文） 28 5. Analysis 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 Requirements 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 example: the mechanical structure it is controlling, the human operator, efficiency, stability, and industry requlations. 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 system. After regulations, stability is the next most important requirement。 Technological Literature Publishers, 1995. [18] Schneider R T. Don’t Fet to Congsider Accumulators. Hydraulics amp。老師廣博的專業(yè)學(xué)識(shí)、嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度以及執(zhí)著的事業(yè)追求使我受益匪淺，他嚴(yán)緊的科學(xué)作風(fēng)和實(shí)事求是的科學(xué)態(tài)度給我留下了深刻的印象。在今后的工作學(xué)習(xí)中我會(huì)更加詳盡的學(xué)習(xí)，提高設(shè)計(jì)的科學(xué)性和效率。 畢業(yè)設(shè)計(jì)（論文） 24 6 結(jié)論 在本次關(guān)于數(shù)控銑床兩工位夾緊裝置液壓系統(tǒng)的畢業(yè)設(shè)計(jì)中，我通過(guò)查閱現(xiàn)有資料，應(yīng)用液壓傳動(dòng)的一般原理及液壓系統(tǒng)的設(shè)計(jì)原理，進(jìn)行了液壓系統(tǒng)的功能原理設(shè)計(jì)、執(zhí)行元件的選擇、閥類元件的選型、集成塊設(shè)計(jì)、密封及液壓油的選擇等工作。當(dāng)只考慮油箱散熱時(shí)，其散熱量 0H 可按下式計(jì)算： 0H ＝ KA?? （ 5－ 6） 式中 K—— 散熱系數(shù)（ /W mC ），計(jì)算時(shí)可選用推薦值：通風(fēng)很差 K＝ 8；通風(fēng)良好 K＝ 14－ 20；風(fēng)扇冷卻時(shí)， K＝ 20－ 25；用循環(huán)水冷卻時(shí)， K＝ 110－ 175； A—— 油箱散熱面積； ?? —— 系統(tǒng)溫升。為此，必須對(duì)系統(tǒng)進(jìn)行發(fā)熱和溫升計(jì)算，以便對(duì)系統(tǒng)溫升進(jìn)行控制。因?yàn)棰蚬の粖A緊缸的運(yùn)動(dòng)過(guò)程是一樣的，使用對(duì)此油缸的壓力校驗(yàn)過(guò)程和 上面的計(jì)算過(guò)程是一樣的。 本設(shè)計(jì)取 ? =6，將數(shù)值代如公式（ 45）得： V＝ 614 ＝ 84 L 畢業(yè)設(shè)計(jì)（論文） 20 5 估算液壓系統(tǒng)性能 液壓系統(tǒng)壓力損失驗(yàn)算 由于系統(tǒng)的管路布置尚未具體確定，整個(gè)系統(tǒng)的壓力損失無(wú)法全面的計(jì)算，故只能先估算閥類元件的壓力損失，待設(shè)計(jì)好管路布置圖后，加上管路的沿程損失和局部損失即可。吸油管可安裝 100μm 左右的網(wǎng)式或線隙式過(guò)濾器，安裝位置要便于裝卸和清洗過(guò)濾器。 油箱設(shè)計(jì)要點(diǎn)： 1）油箱應(yīng)有足夠的容積以滿足散熱 ，同時(shí)其容積應(yīng)保證系統(tǒng)中油液全部流回油箱時(shí)不滲出，油液液面不應(yīng)超過(guò)油箱高度的 80%； 2）吸箱管和回油管的間距應(yīng)盡量大， 之間應(yīng)設(shè)置隔板，以加大液流循環(huán)的途徑，這樣能提高散熱、分離空氣及沉淀雜質(zhì)的效果。 其他油管，可直接按所連接的液壓元、輔件的接口尺寸決定其管徑的大小。 將數(shù)值代入公式（ 43）得 Ⅰ工位夾緊液壓缸： d無(wú) ＝ 34 1060??????? ＝ d有 ＝ 34 1060??????? ＝ 畢業(yè)設(shè)計(jì)（論文） 18 Ⅱ工位夾緊液壓缸： d無(wú) ＝ 34 1060 ???????????? ＝ d有 ＝ 34 14 1060??????? ＝ 根據(jù) JB827－ 66，同時(shí)考慮到制作方 便，Ⅰ工位夾緊液壓缸兩根油管同時(shí)選用 101（外徑 10mm，壁厚 1mm）的 10 號(hào)冷拔無(wú)縫鋼管。 畢業(yè)設(shè)計(jì)（論文） 16 閥類的選擇 選擇依據(jù) 選擇依據(jù)為：額定壓力，最大流量，動(dòng)作方式，安裝固定方式，壓力損失數(shù)值，工作性能參數(shù)和工作壽命等。現(xiàn)取泵的容積效率 v? ＝ ，當(dāng)選用轉(zhuǎn)速 n＝ 1400 r/min 的驅(qū)動(dòng)電機(jī)時(shí)，泵的流量為： pq ＝ Vn v? ＝ 12 mL/rev 1400r/min 310? ＝ 14L/min 由前面的計(jì)算可知泵的最大功率出現(xiàn)在Ⅱ工位夾緊階段，現(xiàn)取泵的總效率為 p? ＝ ，則： pN ＝ ppppq? ＝ 10 1060 ?? ??? ?? ＝ 840W 選用電動(dòng)機(jī)型號(hào)： Y90S— 4B5 型封閉 式三相異步電動(dòng)機(jī)滿足上述要求，其轉(zhuǎn)速為 1400r/min，額定功率為 。 液壓泵的確定 液壓泵的最大工作壓力： p = 1maxp ＋ p?? （ 4－ 1） 其中 1maxp —— 液壓執(zhí)行元件最大工作壓力； p?? —— 液壓泵出口大執(zhí)行元件入口之間所有的沿程壓力損失和局部壓力損失之和。 3）合成系統(tǒng) 選定液壓基本回路之后，配以輔助性回路，如控制油路，潤(rùn)滑油路、測(cè)壓油路等，可以組成一個(gè)完整的液壓系統(tǒng)。為防止系統(tǒng)中雜質(zhì)流回油箱，可在回油路上設(shè)置磁性過(guò)濾器或其他型式的過(guò)濾器。對(duì)在工作循環(huán)各階段中系統(tǒng)所需油量相差較大的情況，一般采用多泵供油或變量泵供油。 液壓動(dòng)力源的分 析與選擇 液壓系統(tǒng)的工作介質(zhì)完全由液壓源來(lái)提供，液壓源的核心是液壓泵。 容積調(diào)速大多采用閉式循環(huán)形式。 調(diào)速回路一經(jīng)確定，回路的循環(huán)形式也就隨之確定了。 容積節(jié)流調(diào)速一般是用變量泵供油，用流量控制閥調(diào)節(jié)輸入或輸出液壓執(zhí)行元件的流量，并使其供油量與需油量相適應(yīng)。 畢業(yè)設(shè)計(jì)（論文） 10 容積調(diào)速是靠改變液壓泵或液壓馬達(dá)的排量來(lái)達(dá)到調(diào)速的目的。 調(diào)速方案的分析和選擇 調(diào)速方案對(duì)主機(jī)的性能起到?jīng)Q定性的作用。 則由上表查得 d=。參考表 26 液壓執(zhí)行器的背壓力取 表 26 液壓執(zhí)行器的背壓力 系統(tǒng)類型 背壓力 (MPa) 中低壓系統(tǒng) 簡(jiǎn)單系統(tǒng)和和一般輕栽節(jié)流調(diào)速系統(tǒng)