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目的研究液压自动调平系统的PWM脉宽调制控制的滞后性,解决轨道式擦窗机行走时坡度变换调平的快速响应问题.方法借助数学分析法和MATLAB动态系统可视化仿真技术,针对液压阀控制的基本特征建立数学模型和液压流量和位移随时间变化的波动曲线.结果当PWM的控制信号为高电平和低电平时,液压阀的总体响应时间为4.5ms,PWM脉宽调制技术对擦窗机台车进行调平时所产生的滞后性不影响液压油缸的调平速度.结论自动调平控制系统能够很好地识别在爬坡过程中的倾斜信号,具备反馈调节功能可以简单智能地实现调平,解决了擦窗机台车在行走过程中手动调平精度低、耗时、耗力的问题,为擦窗机产品设计提供了参考.
Aim To study the hysteresis of PWM pulse width modulation control of hydraulic automatic leveling system and to solve the problem of rapid response of leveling and leveling of walking gondola during walking.Methods With mathematical analysis and MATLAB dynamic system visual simulation technology, The basic characteristics of control to establish the mathematical model and the hydraulic flow and displacement with time fluctuations curve.Results When the PWM control signal is high and low, the overall hydraulic valve response time is 4.5ms, PWM pulse width modulation technology to wipe The hysteresis generated when leveling the window machine trolley does not affect the leveling speed of the hydraulic cylinder.Conclusion The automatic leveling control system can well recognize the tilting signal in the process of climbing and has the function of feedback adjustment can be realized simply and intelligently Leveling, to solve the gondola trolley in the process of walking manually leveling low accuracy, time-consuming and labor-consuming problems for the gondola product design provides a reference.