挖掘工作装置设计外文翻译

挖掘工作装置设计外文翻译
郑州科技学院
本科毕业设计
（外文翻译）学生姓名王利军
专业班级机械设计制造及其自动化
08级本科（6）班
200833467
院（系）机械工程学院
指导教师（职称）陈长庚工程
完成时间2012年5月16日
译文
作者：杰克•考德威尔
概要
本文介绍了全球定位系统（GPS）的使用，在挖掘，包括矿体勘探，开发，生产，关闭，填海工程，并在不列颠哥伦比亚州的煤矿标题应用。

审查还审查和评估的网站，专门在煤矿的GPS应用.GPS技术.GPS设备供应商，与采矿相关的GPS应用提供服务的顾问。

技术白皮书
通过GPS使用提高非公路卡车安全（Dagdelen和涅托・维加，科罗拉多矿业学院）
如果GPS技术融入他们的机器中，可以减少在露天矿山中设备操作人员的死亡。

目前，GPS已成为在卡车调度系统和实地测量的标准组件。

特别是在大型露天矿山，坑和转储地图正在被使用时.可以直接传送到卡车上的单板计算机中。

与差分GPS 车载设备相比，可以迅速确定一个给定精度小于一米的卡车的精确坐标，并评估一个给定的卡车是否危险接近倾销边缘的一个废料堆和大量倾销的任务有关的致命交通意外发生。

GPS锹铲挖掘机铲斗的高精度制导系统的挖掘机（西摩，C）的应用，还列举了以下优点：
1o准确的选择性开采矿化视野
2。

准确地找到煤剥离操作的矮墙面糊线.从而减少overdig,或失去煤
3o如加载爆炸地区或危险区域，准确地表述旧地下运作
4o创造更长椅，从而减少了卡车的周期时间和卡车上的磨损，减少长凳上推土机及平地机时间
一个典型的例子是科林斯维尔煤矿，在北昆士兰的Thiess承包商拥有和经营斯特拉塔煤炭。

引入一种导航系统、三坑里装有150万立方米的挖掘机翻土，表土显示0. 99% 的平均overdig和underdig 0.93%。

安装GPS指导的挖掘机挖的搬到12坑钱的表土达320万立方米，显示平均3. 86%的overdig和L 82%的underdig。

减少overdig 足以支付系统在几个月。

随后Thiess安装指导系统的其他三个挖掘机在网站中。

矿业（西摩和威廉姆斯，2003）GPS技术在高精度GPS机指导作用，现在可以定位在50亳米一桶一铲或一个推土机的刀片。

其他积极成果，包括精确的选择性开采，甚至是视觉上区分废物的矿石时，跟踪级，每通过煤矿矿包裹的吨位;生产力的实时监控;详细的事故后的安全分析;和跟踪每件装备的变动。

基于GPS的饿啊挖掘机在采矿业的指引（西摩，2003年）
贾扬特•雷在一年处理30万立方米的矿井覆（采矿作业过程中产生的废旧产品），约10亿吨的煤炭色调。

它有15个容量范围从8到14立方米，85吨容量的50辆卡车和30辆卡车120吨的卡车挖掘机的车队。

OITDS系统涵盖整个挖掘机和卡车车队。

该系统的概念在1999年和2002年9月实施。

最好是在这本书中扩展。

GPS推土机机指导（APS 2003年3月）的利益纳入矿山机械GPS导航系统的主要
好处有两个：
a）信息生成能够帮助操作者矿体定位与机器或卸泥区的位置的位置。

b）信息可以发回的实时控制中心，以评估机做什么，从而提高生产效率和质量, 以及实时的基础上。

具体的GPS矿山设备的好处包括：
A）推土机。

没有实地调查的需要完成土方工作可以做，可以实现复杂的剥离设计，提供高效的材料为最佳运动GPS操作指导到哪里移动的物质和推多远。

B）播种机。

挖掘设备，从钻井产生的信息，可以登录到GPS系统。

O液压挖掘机可以用挖掘机铲斗的位置来确定的长椅上设计的档次。

此外，该设备可以做选择性开采，特别是在有没有区别的视觉差异，特别是在氧化黄金业务.矿石和废石。

生产率的提高将来自除其他外，消除错误和返工，消除实地调查，回收率高和较低的宝贵矿产稀释，并增加操作者的信心。

Authors: Jack Caldwell
SUMMARY
This review describes the use of Global Positioning System (GPS) in Mining including Mine and Ore Body Exploration, Development, Production, Closure, Reclamation, and Mine Title Application in British Columbia. The review also examines and evaluates web sites that specialize in GPS Technology, Mine Application of GPS, GPS Equipment Suppliers, and Consultants providing services in mining-related GPS Applications.
PAPERS
Imp「ovinq Safety of Off・Hiqhwav Trucks throuqh GPS (Dagdelen and Nieto-Vega, Colorado School of Mines)
Fatalities among equipment operators in open pit mines can be reduced if GPS technology is incorporated in their machines. Currently, GPS is becoming a standard component in truck dispatch systems and field surveying. Especially in large open pit mines, pit and dump maps are being made in real time and can be transferred directly to the on-board computers of the trucks. With differential GPS equipment on board, one can quickly determine exact coordinates of a given truck with accuracy of less than a meter and evaluate whether a given truck is dangerously close to the dumping edge of a waste dump. Fatal accidents related to dumping tasks are occurring in significant numbers.
Applications fo「GPS on Shovels and Excavators (Seymour, C.) With high precision guidance systems for shovel and excavator buckets, the following benefits are also enumerated:
1.Accurate selective mining of mineralized horizons
2.Accurately finding the low wall batter line in coal stripping operations, thus reducing overdig, or lost coal
3.Accurate representation of hazardous areas, such as loaded blast areas or areas underlain by old underground workings
4.Creating more even benches, thus reducing truck cycle times and wear and tear on trucks and reducing dozer and grader time on benches
A case in point is the Collinsville Coal Mine, owned by Xstrata Coal and operated by Thiess Contractors in northern Queensland. Following the introduction of a guidance system, three pits containing 1.5 million cubic meters of excavator-dug overburden showed an average overdig of 0.99% and underdig of 0.93%. Overburden which was moved in 12 pits dug prior to the installation of GPS guidance amounted to 3.2 million cubic meters and showed an average 3.86% of overdig and 1.82% of underdig. The reduction in overdig was sufficient to pay for the systems within a few months. Thiess subsequently installed guidance systems on the three other excavators at the site.
The Role of High Precision GPS Machine Guidance in Mining (Seymour and Williams, 2003) GPS technology can now locate the bucket of a shovel or the blade of a dozer to within 50 mm. Other positive outcomes include precise selective mining, even when the ore is visually indistinguishable from waste; tracking grade and tonnage of every ore parcel through the mine;
real-time productivity monitoring; detailed post-accident safety analysis; and tracking the movements of every piece of equipment.
GPS・based Machine Guidance in the Mining Industry (Seymour, 2003)
The Jayant mine handles 30 million cubic meters of mine overburden (the waste product generated during mining operations) and around 10 million tones of coal in a year. It has a fleet of 15 excavators with a capacity ranging from eight to 14 cubic meters, 50 trucks of 85-tonne capacity and 30 trucks of 120-tonne capacity. The OITDS system covers the entire fleet of excavators and trucks. This system was conceptualized in 1999 and was implemented in September 2002. It is best expanded upon in this book .
Benefits of GPS Machine Guidance on Doze「s (APS, March 2003) There are two major benefits for incorporating GPS guidance systems on mining machines:
a)Information generated can help the operator to locate the orebody vs. the position of the machine or the location of dumping sites.
b)Information can be sent back to the control centre in real time to assess what the machine has done, which increases productivity and quality on a real-time basis as well.
Specific GPS benefits for mine equipment include:
a)Dozers. Complete earth moving jobs can be done without the need for field survey pegging; sophisticated stripping design can be implemented that provides for the optimal efficient movement of material, with GPS guiding the operator as to where to move the material and how far to push it.
b)Drills. Information generated from drilling can be logged onto GPS systems on excavation equipment.
c)Hydraulic Excavators can be used to design grades on benches to determining the position of the excavator bucket. Also, the equipment can do selective mining especially where there is no distinguishing visual difference between ore and waste, especially in oxide gold operations.
Productivity gains will come from, among other things, elimination of mistakes and rework, elimination of field survey, high recovery and lower dilution of the valuable mineral, and added operators' confidence.
译文
电子一液压集成控制的调整控制单元是根据通用标准设计的，其功能及完成的具体任务由控制中心的微处理器决定并控制。

通常微处理机中可存储多套功能控制方案，以适应不同结构功能的控制要求，变换机器的功能只需调换相应的执行机构，选择相应的控制形式即可。

挖掘机工作装置液压系统属于一种典型的工程机械复杂机电液系统，其机械结构参数的多变性，液压系统的高度非线性，以及整个系统存在大量不确定量（不确定参数及不确定的非线性模型），都使得液压挖掘机工作装置的运动控制成为一比较困难的工作。

液压挖掘机工作装置的动膂、斗杆和铲斗3个液压缸为对称的液压缸，而用来控制它的比例阀或伺服阀多为节流口面积梯度相等的对阀。

因此，用对称阀来控制非对称的液压缸，导致液压缸活塞在两个运动方向特性的不一致性。

这直接影响着轨迹控制的方法和精度；另外，液压缸本身的摩擦力在对铲斗的轨迹控制中也是不容忽视的，而精确地得到该摩擦力也有一定难度。

外一些学者采用了非线性方法建模，并取得了不错的效果，但无论是控制系统本身还是其控制器设计过程.普遍比较复杂，很大一部分工作量都集中在控制算法本身的理论推导上，而且实现起来有较大的难度，成本很高，而且影响系统的可靠性，所以需要对系统进行合理的建模。

近十年来，液压挖掘机总的发展趋势是提高可靠性和效率、降低成本，继续向大型化发展的同时向微型化发展；着眼于动力、传动系统的改进以达到高效节能，应用范围不断扩大，实现标准化、组件化以提高零部件和整机的可靠性；由于微电子技术的应用，使其自动化、机电一体化和智能化的进程加快；为适应不同工作条件，不仅可以用柴油机提供动力也可以提供电力动力；延长维修周期、加快维修进度和降低维修费用；提高机械作业性能，降低振动和噪声，消除公害，更好地设计和装备驾驶室。

液压挖掘机控制系统是对发动机、液压泵、多路换向阀和执行元件（液压缸、液压马达等所构成的动力系统进行控制的系统。

挖掘机液压控制系统主要有正流量控制、负流量控制和负载敏感系统.负载敏感系统因其节能、效率高和寿命长的显著优点在20世纪80年代的欧洲真正发展起来，在现代工程机械中获得了广泛的应用。

负载敏感系统是一个具有压差反馈，在流量指令条件下实现泵对负载压力随动控制的闭环系统。

负载敏感系统按控制类型可分为泵控负载敏感系统和阀控负载敏感系
统；按反馈控制信号类型可分为液压机械负载敏感系统和电液负载敏感系统；按系统的主控制阀中位的机能类型可分为开中心式负载敏感系统(opened center load sensing system, OLSS)和闭中心式负载敏感系统(closed center load sensing system, CLSS) > 不同的中位机能(开式、闭式)导致相应的不同形式的负载敏感控制系统。

多执行器负载敏感系统的分流控制方法16 J包括：
(1)基于优先式压力补偿的分流控制
优先式压力补偿的概念在1 969年由J. D. AU ell提出，其具体方法是：对于一些即使在原动机转速很低或者负载很大的情况下，仍须达到最高速度的执行器(如液压动力转向等)，为了确保其流量，需要给它较高的优先级，并允许在泵排量不足时各执行器按优先级由低到高的顺序依次降低速度。

这种具有优先式压力补偿作用的阀，称为优先阀。

但是在对具有优先式压力补偿的系统进行复合操作时，有可能产生优先级低的执行器停止工作的情况。

为了使优先级低的执行器即使在泵的输出流量严重足的情况下也不会停止运动，有时还需要弱化这种压力补偿的优先级。

这就需要采用可变节流口两端压差的压力补偿。

(2)基于分流比调节式压力补偿的分流方法
在一些像液压挖掘机那样需要使各执行器速度保持一定的比例以保证各执行器协调动作的机械，不能在执行器中附加优先级。

当液压泵的输出流量不足时必须使各操作阀的输出流量按比例地下降，即保持对各操作阀的操作量之间的比例(分流比)不变。

这种节流口两端压差的给定值不要求为定值，而只需要相等的压力补偿，称为分流调节式压力补偿。

The adjustment control of the electronic integrated hydraulic control unit is designed according to common standards, their functions and specific tasks determined by the microprocessor control center and control. Usually microprocessor can store multiple sets of functions in the control scheme to adapt to the different structure and function of the control requirements, and transform the functions of the machine just swap the appropriate enforcement agency, select the appropriate form of control.
Excavator working hydraulic system is a complex electro-hydraulic system of a typical construction machinery, the variability of the mechanical structure parameters, the hydraulic system of highly nonlinear, and the whole system there are a large number of uncertain amount (uncertain parameters and uncertain non-linear model), makes the movement of the hydraulic excavator control has become a difficult task. Hydraulic excavator boom, arm and bucket symmetrical three hydraulic cylinders hydraulic cylinders used to control the proportional valve or servo valve more than equal to the orifice area gradient valve. Therefore, with symmetrical valve to control the asymmetric hydraulic cylinder, resulting in the inconsistency of the characteristics of the hydraulic cylinder piston in both directions. This directly affects the trajectory control method and accuracy; In addition, the hydraulic cylinder itself friction in the trajectory control of the bucket can not be ignored, and accurately the friction also has some difficulties. Some outside scholars using a nonlinear modeling method, and have achieved good results, but both the control system itself or its controller design process, in general more complex, a large part of the workload are concentrated in the control algorithm itself theoretical derivation and to implement the greater the difficulty, high cost, but also affect the reliability of the system, so they need a reasonable modeling of the
system.
Over the past decade, the general trend of development of the
hydraulic excavator is to improve the reliability and efficiency, reduce costs, continue to the development of large-scale miniaturization; focus on the power transmission system improvements to achieve energy efficient and expanding range of applications to achieve standardization, component to improve the reliability of the parts and the whole machine; due to the application of microelectronic technology, making automation, mechatronics, and intelligent to speed up the process; to adapt to different working conditions, not only can provide diesel engine The power can also provide electrical power; to extend the maintenance cycle, accelerating the progress of repairs and reduce maintenance costs; improve the mechanical operating performance, reduced vibration and noise, eliminate public hazards, better design and equipment cab.
Hydraulic excavator control system is posed by the engine, hydraulic pumps, multi-valve and actuator (hydraulic cylinders, hydraulic motors and other power system control system. Excavator hydraulic control system is flow control, negative flow control and load sensing systems the load sensing system for its energy-saving, high efficiency and life-long significant advantages to really develop in Europe in the 1980s, widely used in modern construction machinery. load sensing system is a pressure poor feedback, closed-loop system in the flow of instruction under the conditions of pump load pressure servo control load sensing system according to the type of control can be divided into a pump controlled load sensing system and the valve-regulated load sensing system; feedback control signal types can be divided into hydraulic The mechanical load sensing systems and electro-hydraulic load sensing system; bit in the system f s main control valve function type can be divided into open-center load sensing system (opened center load sensing system, OLSS) and closed center load sensing system (closed center the load sensing system, CLSS), the median function (open, closed) resulted in a different form of the load sensing control system, diversion control methods and more sensitive system to perform a Load 16 J include:
(1) based on the priority pressure compensated shunt control
The concept of priority pressure compensated in 1969 by J. D. The
A11, ell, the specific method is still to achieve a maximum speed of the actuator (such as hydraulic power steering, etc.): For the case even in the prime mover speed is very low or loads, in order to ensure that its flow to it than the high priority, and allows each actuator in the pump displacement is insufficient according to the priority from low to high order to reduce the speed. Such a priority pressure compensated the role of valve, called the priority valve. Composite operating system with priority pressure compensated, it is possible to produce a low priority execution to stop working. In order to lower priority execution does not stop even in the case of a serious foot pump output flow movement, and sometimes need to weaken the priority of this pressure compensation. This pressure
differential pressure across the variable orifice compensation.
(2) compensation based on the split ratio adjustable pressure shunt method
In some machinery like hydraulic excavators need to make each actuator speed to maintain a certain ratio to ensure that the coordinated action of all actuators, can not be in the actuator attach priority. The output flow of the operation of the valve when the pump output flow is insufficient must be decreased proportionally, that is, to maintain the ratio between the operation amount of the operating valve (split ratio) unchanged. The orifice at both ends of the differential pressure setpoint does not require a fixed value, while only need to be equal to the pressure compensation, known as to shunt adjustable pressure compensation.
撤消修改
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time delay Control w ith integral sliding surface [J] • Control Engineering Practice, 2002, 10：697 • 71 1.
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