液压混合动力挖掘机回转能量回收系统的设计和控制
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摘要
为了解决挖掘机在回转阶段的能量回收再利用问题,基于压力共轨(CPR)液压混合动力技术设计了一个采用两个蓄能器的闭式回转制动能量回收系统。考虑到气体温度与热传递对蓄能器工作状态的影响,建立了系统的数学模型。为了提高回转制动的平稳性,减少回转装置的能量损失,设计了自适应模糊滑模控制器对回转速度进行跟踪控制。在Matlab平台上对系统进行仿真,结果表明:自适应模糊滑模控制器有较好鲁棒性、稳定性,可平稳控制回转装置;采用该系统可消除压力共轨系统二次元件之间的压力扰动,能够实现高达49.8%的再生能量用于驱动回转系统,比同吨位的液压挖掘机节能16.7%。
A new common pressure rail( CPR) slewing energy recovery system with two accumulators was proposed for a hybrid hydraulic excavator in order to achieve energy recycling. Taking into account the influence of gas temperature and heat transfer on the accumulators' operating characteristics,we built its mathematical model. For braking stability,an adaptive fuzzy sliding mode controller was created to control the speed of the slewing mechanism. The analysis of simulation results with MATLAB software shows that the adaptive fuzzy sliding mode controller with good stability and robustness can control the speed steadily and can eliminate the pressure disturbance between secondary components in the CPR system. The slewing energy recovery system thus designed can increase the rotation speed of the CPR system up to 49. 8% of the total,16. 7% more than the same tonnage excavators.
A new common pressure rail( CPR) slewing energy recovery system with two accumulators was proposed for a hybrid hydraulic excavator in order to achieve energy recycling. Taking into account the influence of gas temperature and heat transfer on the accumulators' operating characteristics,we built its mathematical model. For braking stability,an adaptive fuzzy sliding mode controller was created to control the speed of the slewing mechanism. The analysis of simulation results with MATLAB software shows that the adaptive fuzzy sliding mode controller with good stability and robustness can control the speed steadily and can eliminate the pressure disturbance between secondary components in the CPR system. The slewing energy recovery system thus designed can increase the rotation speed of the CPR system up to 49. 8% of the total,16. 7% more than the same tonnage excavators.
引文
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[10]姜继海.二次调节压力耦联静液传动技术[M].北京:机械工业出版社,2013Jiang J H.Flow-coupled secondary regulation hydrostatic transmission technology[M].Beijing:China Machine Press,2013(in Chinese)
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[13]Wang L X.Stable adaptive fuzzy control of nonlinear system[J].IEEE Trans on Fuzzy System,1993,1(2):146-155
[14]张金萍,刘阔,林剑峰,于东等.挖掘机的4自由度自适应模糊滑模控制[J].机械工程学报,2010,46(21):87-92Zhang J P,Liu K,Lin J F,et al.4-Dof adaptive fuzzy sliding mode control of excavator[J].Journal of Mechanical Engineering,2010,46(21):87-92(in Chinese)
[15]于安才,姜继海.液压混合动力挖掘机回转装置控制方式的研究[J].西安交通大学学报,2011,45(7):30-33Yu A C,Jiang J H.Control strategy for hydraulic hybrid excavator slewing[J].Journal of Xi'an Jiaotong University,2011,45(7):30-33(in Chinese)
[2]Paladini V,Donateo T,De Risi A,et al.Supercapacitors fuel-cell hybrid electric vehicle optimization and control strategy development[J].Energy Conversion Manage,2007,48(11):3001-3008
[3]董晗,刘昕,王昕,等.基于AMESim的液压混合动力系统节能特性[J].吉林大学学报(工学版),2013,43(5):1264-1270Dong H,Liu X H,Wang X,et al.Energy saving performance of hydraulic hybrid system with AMESim[J].Journal of Jilin University(Engineering and Technology Edition),2013,43(5):1264-1270(in Chinese)
[4]张忠远,王锋.液压节能技术[M].北京:清华大学出版社,2012Jiang Z Y,Wang F.Hydraulic energy saving technology[M].Beijing:Tsinghua University Press,2012(in Chinese)
[5]李军成,刘敬平,韩志玉.一种液压混合动力车辆燃油经济性研究[J].中南大学学报(自然科学版),2011,42(1):80-86Li J C,Liu J P,Han Z Y.Fuel economy of a hydraulic hybrid vehicle[J].Journal of Central South University(Science and Technology),2011,42(1):80-86(in Chinese)
[6]伍迪,姚进,韩嘉骅,等.串联型液压混合动力车辆节能控制策略[J].农业工程学报,2013,29(4):45-54Wu D,Yao J,Han J H,et al.Control strategy of energy-saving for a series connected hydraulic hybrid vehicle[J].Transactions of the Chinese Society of Agricultural Engineering,2013,29(4):45-54(in Chinese)
[7]沈伟,姜继海.液压混合动力挖掘机的能量回收效率分析[J].华南理工大学学报(自然科学版),2012,40(1):82-87Shen W,Jiang J H.Analysis of energy recovery efficiency of hydraulic hybrid excavator[J].Journal of South China University of Technology(Natural Science Edition),2012,40(1):82-87(in Chinese)
[8]Sun H,Yang L F,Jing J Q,et al.Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles[J].Energy Conversion and Management,2011,52(1):668-674
[9]Ho T H,Ahn K K.Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator[J].Journal of Mechanical Science and Technology,2010,24(5):1163-1175
[10]姜继海.二次调节压力耦联静液传动技术[M].北京:机械工业出版社,2013Jiang J H.Flow-coupled secondary regulation hydrostatic transmission technology[M].Beijing:China Machine Press,2013(in Chinese)
[11]Kim C S,Lee C O.Speed control of an overcentered variable-displacement hydraulic motor with a load-torque observer[J].Control Engineer Practice,1996,4(11):1563-1570
[12]王翠红.自适应模糊滑模控制的设计与分析[D].成都:西南交通大学,2005Wang C H.Design and analysis of adaptive fuzzy sliding mode control[D].Chengdu:Southwest Jiaotong University,2005(in Chinese)
[13]Wang L X.Stable adaptive fuzzy control of nonlinear system[J].IEEE Trans on Fuzzy System,1993,1(2):146-155
[14]张金萍,刘阔,林剑峰,于东等.挖掘机的4自由度自适应模糊滑模控制[J].机械工程学报,2010,46(21):87-92Zhang J P,Liu K,Lin J F,et al.4-Dof adaptive fuzzy sliding mode control of excavator[J].Journal of Mechanical Engineering,2010,46(21):87-92(in Chinese)
[15]于安才,姜继海.液压混合动力挖掘机回转装置控制方式的研究[J].西安交通大学学报,2011,45(7):30-33Yu A C,Jiang J H.Control strategy for hydraulic hybrid excavator slewing[J].Journal of Xi'an Jiaotong University,2011,45(7):30-33(in Chinese)