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针对移动式煤炭采样车上多液压缸采样臂的结构、功能及其技术要求,分析了液压采样臂采样工作时各液压缸的运动规律和控制难点。为解决采样臂的多液压缸联动以实现终端执行件采样头的位置和角度控制问题,通过软件建立采样臂三维模型,对采样臂采样时各液压缸的运动轨迹进行仿真规划,提出并使用一种基于Simotion C240的虚拟主轴同步的方法,实现多液压缸同步控制。所提出的方法成功地应用于某型号煤炭采样车的控制,满足了自动采样过程中螺旋采样头定点定角度采样的动作要求,取得了实际的应用成果。
Aiming at the structure, function and technical requirements of multi-cylinder sampling arm in mobile coal sampling car, the movement rules and control difficulties of each hydraulic cylinder in the sampling of hydraulic sampling arm are analyzed. In order to solve the problem that the multi-hydraulic cylinder of sampling arm is linked to realize the position and angle control of the sampling head of the terminal actuator, a three-dimensional model of the sampling arm is set up by software and the trajectory of each cylinder when the sampling arm is sampled is simulated. Based on Simotion C240 virtual spindle synchronization method to achieve multi-cylinder synchronous control. The proposed method is successfully applied to the control of a coal sampling vehicle and meets the requirements of fixed-point and fixed-angle sampling in the automatic sampling process. The practical application results have been obtained.