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首页> 外文会议>FPST-vol.11; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20041113-19; Anaheim,CA(US) >VALVE CONTROLLED TELEOPERATED SKID STEERED MOBILE MACHINE
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VALVE CONTROLLED TELEOPERATED SKID STEERED MOBILE MACHINE

机译：阀控遥控滑移式移动机

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The goal of the paper is to study the properties of a teleoperated mobile machine and produce a simultation model of the machine for later use. In this paper there are introduced a prototype of the teleoperated mobile machine and a simulation model of that machine. The challenge in teleoperation is to have a smooth and accurate control of the machine, because the operator can not feel any force. The machine is valve controlled and because of that the influence of different type of valves can be significant for the control of the machine. By means of the simulation model it is possible to test new components and hydraulic solutions for power transmission of mobile machine. The new computer controlled prototype of the teleoperated mobile machine is electrically controlled with proportional valves has been developed. The simulation model of the machine is verified with the measurements. The goal is that the main properties of computer controlled and teleoperated mobile machine are at least at the same level than in normal mechanically controlled machine, but controllability must be better because of the teleoperation. In this paper there is also introduced the principle of the automatic virtual gearbox. The prototype is equipped with two constant displacement pumps, electrically controlled pressure relief valve and supply pressure and LS pressure sensor. Therefore the information of load pressure is available and supply pressure can be controlled with the rotational speed of diesel engine and pressure relief valve. In teleoperated mobile machine the rotational speed of diesel engine is controlled with electric gas. With these components and a computer control it is possible to set supply pressure level according to the needed load pressure level.
机译：本文的目的是研究远程操作移动机器的特性，并生成该机器的仿真模型以供以后使用。在本文中，介绍了远程操作移动机器的原型和该机器的仿真模型。远程操作的挑战是对机器进行平稳，准确的控制，因为操作员无法感觉到任何力。机器是由阀门控制的，因此，不同类型阀门的影响对于机器的控制可能非常重要。通过仿真模型，可以测试用于移动设备动力传输的新组件和液压解决方案。已经开发了由比例阀进行电控的遥控移动机械的新型计算机控制原型。通过测量验证了机器的仿真模型。目的是使计算机控制和遥控操作的移动机器的主要特性至少与普通机械控制机器处于同一水平，但是由于遥控操作，可控性必须更好。本文还介绍了自动虚拟变速箱的原理。该原型机配备了两个恒定排量泵，电控泄压阀以及供气压力和LS压力传感器。因此，可以获得负载压力的信息，并且可以通过柴油机和泄压阀的转速来控制供应压力。在遥控移动机械中，柴油机的转速由电能控制。通过这些组件和计算机控制，可以根据所需的负载压力水平设置供气压力水平。

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