Modeling and parameter estimation for double triangle boom and its hydraulic system

摘要

With the advantage of compact structure, stable motion and no blind rock drilling area, double triangle boom is used in rocking drilling robot. In order to make the boom get trajectory tracking and locating accurately, modeling the boom and its hydraulic system is required. Because of the complexity, the non linear and the fast time varying characteristics, it is difficult to obtain an accurate model. In practice, it is unnecessary to do so. Starting with the flow equation, the continuity equation and the force equilibrium equation of the hydraulic system, the authors deal with the mechanism modeling for the double triangle boom and its hydraulic system. A simplified model of the system is obtained by neglecting some unimportant factors that affect the model accuracy. By analyzing the structure of the boom and the load bearing of the cylinders, the authors deduce the formulas and give the methods for the estimation of the parameters of the model and the bearing force of the cylinder. As a result, the foundation for the trajectory tracking and accurately locating control of the boom is set up.