中文摘要：

针对装载机工作装置系统响应缓慢、液压缸位移跟踪效果差等问题，借助VirtualLabMotion中内嵌的Catia软件，根据HT25-J装载机具体尺寸建立了工作装置三维模型，在VLMotion中定义了构件、添加运动副和耦合仿真相应驱动接口，形成了机械系统动力学模型。通过对装载机工作装置电液系统进行分析，利用AMEsim建立了工作装置电液系统模型，同时添加了相应的vLMotion无缝集成应用接口，最终通过两者间的接口进行变量的数据交互，实现了在VLMotion耦合仿真分析平台上进行耦合仿真分析。通过采用经典PID闭环控制系统控制改善了工作装置液压缸性相应速度和位移跟踪效果等性能。仿真结果表明，借助vLMotion和AMEsim耦合仿真分析平台，在PID闭环控制下的装载机工作装置综合性能较之前有较大的提高，响应迅速，并且跟踪位移误差可以控制在2％以内。

英文摘要：

Aiming at improving the working device＇s performance defects of displacement tracking, the low response speed, a multi-body dynamic model of the loader＇s working device was created by building its three-dimensional model with Catia embedded in the VL Motion, defining its bodies, the joints and the corresponding driving interface of coupled simulation. According to the analysis of the hydraulic system of the working device, the electro-hydraulic system with the interface of VL Motion was built-in AMEsim. And the coupled simulation was performed by exchanging the variable＇s data through the interface in the plane of VL Motion and AMEsim. The classical control strategy of PID elosed loop control was taken to optimize the defects. The simulation results indicate that with the eoupled simulation plant, the working device＇s comprehensive properties controlled by PID closed loop have been improved greatly, its response speed becomes faster and tracking displacement error is less than 2%.