电驱动挖掘机流量匹配系统动臂特性研究
|
摘要
以6 t液压挖掘机动臂为研究对象,提出伺服电机驱动定量泵的流量匹配控制系统。在Simulation X中搭建伺服电机仿真模型,通过与伺服电机响应特性试验结果对比,验证伺服电机模型的准确性;建立液压挖掘机动臂机械结构多体动力学与电液系统的联合仿真模型,仿真分析了不同控制方式下,动臂的运行特性和能耗特性。结果表明,与负载独立流量分配(LUDV)系统相比,采用伺服电机驱动定量泵流量匹配控制的动臂能耗降低约13.6%。
The variable displacement pump,driven by engine which is used as the power source in traditional hydraulic excavator,causes high energy consumption and low efficiency in the part-load condition. To solve these problems,taking a 6 t hydraulic excavator as the research object,we propose a constant pump driven by servo motor flow matching control system. A simulation model of the servo motor is built by the software Simulation X,and the accuracy of the simulation model is validated by comparing the simulation with the test result of the servo motor response characteristic. Then,the boom co-simulation model include the mechanical structure and the electro-hydraulic system is built to analyze the operation and energy consumption characteristics under different control modes. The simulation results show that the energy consumption of the boom controlled by the flow matching control system can reduce by 13. 6% compared with the load independent flow distribution( LUDV) system.
The variable displacement pump,driven by engine which is used as the power source in traditional hydraulic excavator,causes high energy consumption and low efficiency in the part-load condition. To solve these problems,taking a 6 t hydraulic excavator as the research object,we propose a constant pump driven by servo motor flow matching control system. A simulation model of the servo motor is built by the software Simulation X,and the accuracy of the simulation model is validated by comparing the simulation with the test result of the servo motor response characteristic. Then,the boom co-simulation model include the mechanical structure and the electro-hydraulic system is built to analyze the operation and energy consumption characteristics under different control modes. The simulation results show that the energy consumption of the boom controlled by the flow matching control system can reduce by 13. 6% compared with the load independent flow distribution( LUDV) system.
引文
[1]王庆丰,张彦廷,肖清.混合动力工程机械节能效果评价及液压系统节能的仿真研究[J].机械工程学报,2005,41(12):135-140.WANG Qingfeng,ZHANG Yanting,XIAO Qing.Evaluation for Energy Saving Effect and Simulation Research on Energy Saving of Hydraulic System in Hybrid Construction Machinery[J].Journal of Mechanical Engineering,2005,41(12):135-140.
[2]张江涛,刘彬,权龙.基于LUDV系统纯电驱液压挖掘机能耗特性分析[J].液压与气动,2015,(9):39-42.ZHANG Jiangtao,LIU Bin,QUAN Long.Energy Consumption Characteristics of Pure Electric Drive Hydraulic Excavator Based on LUDV System[J].Chinese Hydraulics&Pneumatics,2015,(9):39-42.
[3]李艳杰,于安才,姜继海.挖掘机节能液压控制系统分析与应用[J].液压与气动,2010,(8):69-74.LI Yanjie,YU Ancai,JIANG Jihai.Analysis and Application of Energy-saving Hydraulic Control System for Excavator[J].Chinese Hydraulics&Pneumatics,2010,(8):69-74.
[4]权龙,高有山,程珩.提高工程机械能量利用率的技术现状及新进展[J].液压与气动,2013,(4):1-10.QUAN Long,GAO Youshan,CHENG Hang.Technology to Improve the Energy Efficiency for Construction Machinery:State of the Art[J].Chinese Hydraulics&Pneumatics,2013,(4):1-10.
[5]杨华勇,刘伟,徐兵,等.挖掘机电液流量匹配控制系统特性分析[J].机械工程学报,2012,48(14):156-163.YANG Huayong,LIU Wei,XU Bing,et al.Characteristic Analysis of Electro-hydraulic Flow Matching Control System in Hydraulic Excavator[J].Journal of Mechanical Engineering,2012,48(14):156-163.
[6]刘伟,徐兵,杨华勇,等.LUDV多路阀的挖掘机电液流量匹配控制系统特性[J].浙江大学学报(工学版),2012,46(8):1360-1368.LIU Wei,XU Bing,YANG Huayong,et al.The Characteristics of Electrohydraulic Flow Matching Control System for Excavators Based on LUDV Multi-way Valve[J].Journal of Zhejiang University(Engineering Science),2012,46(8):1360-1368.
[7]王相兵,童水光,葛俊旭,等.挖掘机电液流量匹配控制系统动态性能研究[J].中国机械工程,2014,25(15):2030-2037.WANG Xiangbing,TONG Shuiguang,GE Junxu,et al.Study on Dynamic Performance of EFMC System in Hydraulic Excavator[J].China Mechanical Engineering,2014,25(15):2030-2037.
[8]徐兵,程敏,杨华勇,等.带旁路压力补偿的电液流量匹配系统[J].浙江大学学报,2015,49(9):1762-1767.XU Bing,CHENG Min,YANG Huayong,et al.Electrohydraulic Flow Matching System with Bypass Pressure Compensation[J].Journal of Zhejiang University(Engineering Science),2015,49(9):1762-1767.
[9]XU B,CHENG M,YANG H Y,et al.A Hybrid Displacement/Pressure Control Scheme for an Electrohydraulic Flow Matching System[J].IEEE/ASME Transactions on Mechatronics,2015,20(6):2771-2782.
[10]权龙,冯克温,陈青.泵阀复合流量匹配进出油口独立控制电液系统:CN101109398[P].2008-01-23.QUAN Long,FENG Kewen,CHEN Qing.Independent Control Electro-hydraulic System of Oil Inlet and Outlet with Pump Valve Composite Flux Matched:CN101109398[P].2008-01-23.
[11]黄伟男,权龙,黄家海,等.进出口独立控制液压挖掘机回转系统运行特性[J].机械工程学报,2016,52(20):159-167.HUANG Weinan,QUAN Long,HUANG Jiahai,et al.Excavator Swing System Controlled with Separate Meter-in and Meter-out Method[J].Journal of Mechanical Engineering,2016,52(20):159-167.
[2]张江涛,刘彬,权龙.基于LUDV系统纯电驱液压挖掘机能耗特性分析[J].液压与气动,2015,(9):39-42.ZHANG Jiangtao,LIU Bin,QUAN Long.Energy Consumption Characteristics of Pure Electric Drive Hydraulic Excavator Based on LUDV System[J].Chinese Hydraulics&Pneumatics,2015,(9):39-42.
[3]李艳杰,于安才,姜继海.挖掘机节能液压控制系统分析与应用[J].液压与气动,2010,(8):69-74.LI Yanjie,YU Ancai,JIANG Jihai.Analysis and Application of Energy-saving Hydraulic Control System for Excavator[J].Chinese Hydraulics&Pneumatics,2010,(8):69-74.
[4]权龙,高有山,程珩.提高工程机械能量利用率的技术现状及新进展[J].液压与气动,2013,(4):1-10.QUAN Long,GAO Youshan,CHENG Hang.Technology to Improve the Energy Efficiency for Construction Machinery:State of the Art[J].Chinese Hydraulics&Pneumatics,2013,(4):1-10.
[5]杨华勇,刘伟,徐兵,等.挖掘机电液流量匹配控制系统特性分析[J].机械工程学报,2012,48(14):156-163.YANG Huayong,LIU Wei,XU Bing,et al.Characteristic Analysis of Electro-hydraulic Flow Matching Control System in Hydraulic Excavator[J].Journal of Mechanical Engineering,2012,48(14):156-163.
[6]刘伟,徐兵,杨华勇,等.LUDV多路阀的挖掘机电液流量匹配控制系统特性[J].浙江大学学报(工学版),2012,46(8):1360-1368.LIU Wei,XU Bing,YANG Huayong,et al.The Characteristics of Electrohydraulic Flow Matching Control System for Excavators Based on LUDV Multi-way Valve[J].Journal of Zhejiang University(Engineering Science),2012,46(8):1360-1368.
[7]王相兵,童水光,葛俊旭,等.挖掘机电液流量匹配控制系统动态性能研究[J].中国机械工程,2014,25(15):2030-2037.WANG Xiangbing,TONG Shuiguang,GE Junxu,et al.Study on Dynamic Performance of EFMC System in Hydraulic Excavator[J].China Mechanical Engineering,2014,25(15):2030-2037.
[8]徐兵,程敏,杨华勇,等.带旁路压力补偿的电液流量匹配系统[J].浙江大学学报,2015,49(9):1762-1767.XU Bing,CHENG Min,YANG Huayong,et al.Electrohydraulic Flow Matching System with Bypass Pressure Compensation[J].Journal of Zhejiang University(Engineering Science),2015,49(9):1762-1767.
[9]XU B,CHENG M,YANG H Y,et al.A Hybrid Displacement/Pressure Control Scheme for an Electrohydraulic Flow Matching System[J].IEEE/ASME Transactions on Mechatronics,2015,20(6):2771-2782.
[10]权龙,冯克温,陈青.泵阀复合流量匹配进出油口独立控制电液系统:CN101109398[P].2008-01-23.QUAN Long,FENG Kewen,CHEN Qing.Independent Control Electro-hydraulic System of Oil Inlet and Outlet with Pump Valve Composite Flux Matched:CN101109398[P].2008-01-23.
[11]黄伟男,权龙,黄家海,等.进出口独立控制液压挖掘机回转系统运行特性[J].机械工程学报,2016,52(20):159-167.HUANG Weinan,QUAN Long,HUANG Jiahai,et al.Excavator Swing System Controlled with Separate Meter-in and Meter-out Method[J].Journal of Mechanical Engineering,2016,52(20):159-167.