从液压系统的基本方程入手，对双三角钻臂变幅机构进行了机理建模。在建模过程中，忽略对模型精度影响不大的一些次要因素，获得了系统的简化模型，为实现钻臂的轨迹跟踪和精确定位控制创造了条件。%Starting with the basic equation of the hydraulic system this paper deals with the mechanism modeling for double triangle boom luffer and its hydraulic system.A simplified model of the system is obtained by neglecting some unimportant factors that affects the model accuracy.As a result,the condition for the trajectory tracking and accurately locating control of the boom is created.
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