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为实现挖掘机的自动控制,对其加装了电液比例控制系统。为有效分析系统,提高控制精度,建立了系统非线性状态空间模型,并通过仿真与实验验证了模型的有效性。采用反馈线性化方法,通过非线性状态反馈将系统转化为一个全局线性化模型。然后,根据连续线性系统的离散化原则,通过数学推导得到系统的精确离散状态空间描述。分析计算得出该离散模型的完全可控与可观特性,为挖掘机数字控制器设计奠定了理论基础。
In order to realize the automatic control of excavator, it is equipped with electro-hydraulic proportional control system. In order to effectively analyze the system and improve the control accuracy, a nonlinear state space model of the system was established. The effectiveness of the model was verified by simulation and experiment. The feedback linearization method is adopted to transform the system into a global linear model through nonlinear state feedback. Then, according to the principle of discretization of continuous linear system, the exact discrete state space description of the system is obtained through mathematical derivation. The complete controllability and considerable characteristics of the discrete model are obtained by analysis and calculation, which lays a theoretical foundation for the design of excavator digital controller.