液压挖掘机转速感应控制系统研究
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摘要
本文针对国产液压挖掘机发动机—泵恒功率匹配存在的缺陷,使发动机的功率得不到充分的利用,造成挖掘机功率利用率低的现象,提出了液压挖掘机转速感应控制系统。
本文分析了国内外液压挖掘机转速感应控制系统发展现状,首先介绍了液控转速感应系统的原理并用AMESIM仿真软件对其进行了仿真分析。在此基础上,设计了电液比例换向阀实现的转速感应控制系统,建立了整个电液控转速感应系统的简化数学模型,并应用控制系统仿真软件Matlab7.0/Simulink对系统动态特性进行计算机仿真。提出了充分利用数字控制器的优势,对系统进行了PID串联校正,消除阀的控制死区,从而提高速度控制精度。最后通过试验对系统进行了检测,试验结果证明了本文设计的电液控转速感应系统方法合理、可行,对当今国内挖掘机的转速感应控制系统开发有一定的参考价值。
Hydraulic excavator is a kind of multifunction earthwork engineering machinery, it is widely used in mechanized construction such as industrial and civilian constructions, transportation, water power project, farmland transformation, mines and modernization military engineering, And it is playing an increasingly prominent role in the engineering construction, are attracting increasing attention.
The dissertation, aim at the deficiency of domestic excavator Engine-Pump constant power control, and it is incapable of exert engine all power, resulting in a low utilization rate excavator power phenomenon, so researching on rotate speed sensing control system of hydraulic excavator.
The existing foreign hydraulic excavators had been successfully used speed sensor control system, and have achieved good results in energy efficiency. However considering domestic manufacturers are incapable of supplying high quality, high performance foundation parts and auxiliary equipment, such as the diesel engine, hydraulic components, etc, so domestic manufacturers on the production of hydraulic excavators rarely used the technology of rotate speed sensing control system. Even though some universities and corporations, like Jinlin University and Guangxi Yuchai Limited Company, have obtained outstanding achievement on rotate speed sensing control system of hydraulic excavator, but there still are biggish disparities between foreign hydraulic excavators and domestic excavators. So research on rotate speed sensing control domestic hydraulic excavator is of great significance both theoretical and experimental in strengthening competition
This dissertation design an electronic rotate speed sensing control System of the hydraulic excavator System and the innovations are as following
1. The dissertation analyzes present research situation of hydraulic excavator rotate speed sensing control system, introduces the working principles of several advanced hydraulic excavator rotate speed sensing control system, and explains the purpose and significance of research on hydraulic excavator rotate speed sensing control system.
2. Introduced the principle of the rotate speed sensing control system and used AMESIM to analysis the system.
3. Design on rotate speed sensing control system of the hydraulic excavator.
By analyzing the electro-hydraulic proportional directional control valvestructure characteristics, put forward the innovative use of electro-hydraulic proportional directional control valve to achieve excavator rotate speed sensing control system, with electro-hydraulic proportional valve control the direction of the variable displacement control piston, adjust the tilt-variable pump corner, change the variable flow pump, achieve the absorption power of the pump always follow Engine output, then power matching are realized.
4. Building the mathematics model of the control system
The mathematics models of the rotate speed sensing system, which obtained engine, variable displacement pump, the electro-hydraulic proportional directional control valve and the control variables Pistons, were built in this paper. Opening-loop transfer function of the system is gained by simplifying the mathematics models, established the base for the simulink study.
5. System simulation analysis and PID controller
The dissertation use Matlab7.0/Simulink conducted on the system response time domain analysis and frequency response analysis, In order to be satisfied with the performance of system, it correct the system by the speed control with dead-zone PID series corrector, and the correction system has been Matlab7.0/Simulink simulation. The simulink test results indicates that PID series Correction could eliminates system static error, the system can be satisfied with the performance.
6. Test-bed experiments of rotate speed sensing control system
The test was done in the sensor sensing control system test-bed, which the aim of for verifying the design speed sensor sensing control system reliability and effects of actual control. Experiment proves, the dissertation design rotate speed sensing control system can holdregardless of motor speed control system changes, variable flow pump can be controlled by computer, so that the pump flow rate to maintain a constant output; The design of software for Delphi Computer Control System Performance stability, and complete set of control functions of the various targets quickly, accurately measured, stable and reliable.
The dissertation put forward a new rotate speed sensing control system, and its reliability was proved by the experiments, it has great significance both in theory and practices on research the rotate speed sensing control system of domestic excavators.
本文分析了国内外液压挖掘机转速感应控制系统发展现状,首先介绍了液控转速感应系统的原理并用AMESIM仿真软件对其进行了仿真分析。在此基础上,设计了电液比例换向阀实现的转速感应控制系统,建立了整个电液控转速感应系统的简化数学模型,并应用控制系统仿真软件Matlab7.0/Simulink对系统动态特性进行计算机仿真。提出了充分利用数字控制器的优势,对系统进行了PID串联校正,消除阀的控制死区,从而提高速度控制精度。最后通过试验对系统进行了检测,试验结果证明了本文设计的电液控转速感应系统方法合理、可行,对当今国内挖掘机的转速感应控制系统开发有一定的参考价值。
Hydraulic excavator is a kind of multifunction earthwork engineering machinery, it is widely used in mechanized construction such as industrial and civilian constructions, transportation, water power project, farmland transformation, mines and modernization military engineering, And it is playing an increasingly prominent role in the engineering construction, are attracting increasing attention.
The dissertation, aim at the deficiency of domestic excavator Engine-Pump constant power control, and it is incapable of exert engine all power, resulting in a low utilization rate excavator power phenomenon, so researching on rotate speed sensing control system of hydraulic excavator.
The existing foreign hydraulic excavators had been successfully used speed sensor control system, and have achieved good results in energy efficiency. However considering domestic manufacturers are incapable of supplying high quality, high performance foundation parts and auxiliary equipment, such as the diesel engine, hydraulic components, etc, so domestic manufacturers on the production of hydraulic excavators rarely used the technology of rotate speed sensing control system. Even though some universities and corporations, like Jinlin University and Guangxi Yuchai Limited Company, have obtained outstanding achievement on rotate speed sensing control system of hydraulic excavator, but there still are biggish disparities between foreign hydraulic excavators and domestic excavators. So research on rotate speed sensing control domestic hydraulic excavator is of great significance both theoretical and experimental in strengthening competition
This dissertation design an electronic rotate speed sensing control System of the hydraulic excavator System and the innovations are as following
1. The dissertation analyzes present research situation of hydraulic excavator rotate speed sensing control system, introduces the working principles of several advanced hydraulic excavator rotate speed sensing control system, and explains the purpose and significance of research on hydraulic excavator rotate speed sensing control system.
2. Introduced the principle of the rotate speed sensing control system and used AMESIM to analysis the system.
3. Design on rotate speed sensing control system of the hydraulic excavator.
By analyzing the electro-hydraulic proportional directional control valvestructure characteristics, put forward the innovative use of electro-hydraulic proportional directional control valve to achieve excavator rotate speed sensing control system, with electro-hydraulic proportional valve control the direction of the variable displacement control piston, adjust the tilt-variable pump corner, change the variable flow pump, achieve the absorption power of the pump always follow Engine output, then power matching are realized.
4. Building the mathematics model of the control system
The mathematics models of the rotate speed sensing system, which obtained engine, variable displacement pump, the electro-hydraulic proportional directional control valve and the control variables Pistons, were built in this paper. Opening-loop transfer function of the system is gained by simplifying the mathematics models, established the base for the simulink study.
5. System simulation analysis and PID controller
The dissertation use Matlab7.0/Simulink conducted on the system response time domain analysis and frequency response analysis, In order to be satisfied with the performance of system, it correct the system by the speed control with dead-zone PID series corrector, and the correction system has been Matlab7.0/Simulink simulation. The simulink test results indicates that PID series Correction could eliminates system static error, the system can be satisfied with the performance.
6. Test-bed experiments of rotate speed sensing control system
The test was done in the sensor sensing control system test-bed, which the aim of for verifying the design speed sensor sensing control system reliability and effects of actual control. Experiment proves, the dissertation design rotate speed sensing control system can holdregardless of motor speed control system changes, variable flow pump can be controlled by computer, so that the pump flow rate to maintain a constant output; The design of software for Delphi Computer Control System Performance stability, and complete set of control functions of the various targets quickly, accurately measured, stable and reliable.
The dissertation put forward a new rotate speed sensing control system, and its reliability was proved by the experiments, it has great significance both in theory and practices on research the rotate speed sensing control system of domestic excavators.
引文
[1]张铁,朱明才.工程建设机械机电液一体化[M]石油大学出版,2001.6
[2]伏洪兴.现代电子技术在液压挖掘机上的应用[J]工程机械,1996.11
[3]高峰,冯陪恩,潘双夏,高宇.液压挖掘机节能控制[J]工程机械与维修,2001.12
[4]彭天好,杨华勇,傅新.工程机械中的泵和发动机匹配[J]工程机械,2001.8
[5]Russ Henke.RE Hydraulic Excavator Technology,Diesel progress:Engine &Drivers.V54.n9.sep,1988.4.P
[6]Kazuo Uehara and Hiroyoshi Timinaga.Energy Saving on Hydraulic Systems of Excavators,SAE paper,821057
[7]顾波,郭西进.一种新型挖掘机控制系统[J]工况自动化
[8]Nam,Sang-Yop(Seoul,KR),Multi Processor system for hydraulic excavator,U.S.Patent 5347448,September 13,1994
[9]任忠惠,高峰,胡骁.液压挖掘机柴油机的转速感应控制[J]矿山机械2002.8
[10]郭晓方,李伟哲,黄宗益.液压挖掘机的发动机一泵的联合控制系统研究[J]同济大学学报1999.6
[11]周萍,孙跃东.挖掘机发动机一变量泵系统经济匹配的研究[J]工程机械,2000.7
[12]丁仲毅 刘晋军.液压挖掘机节能控制系统的研究与开发[J]建筑机械,2000.6
[13]黄宗益.液压挖掘机全功率控制[J]建筑机械,1997.7
[14]R.K.Tessmann,LT.Hong,Hydraulic Pump Performance as a Function of Speed and Pressure,SAE961741
[15]R.N.Hancox,Hydraulic System for Excavator,U.S.Patent 3406850,OCT.22.1968
[16]Lukich,Michael S.(Peoria,IL),Hydraulic power control system,U.S.Patent 5468126,NOV21.1995
[17]路晶,王庆波.韩国大宇挖掘机-Ⅲ型EPOS系统[J]建筑机械,1998.8
[18]刘振军.日立EX系列液压挖掘机机电一体化控制系统分析[J]建筑机械,1998.1
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[22]陈正利.我国液压挖掘机发展的几个重要阶段及其前景展望[J]建筑机械,1999.1
[23]刘顺安,王辉,游善兰.全液压挖掘机分工况转速感应控制[J]建筑机械,2005.9
[24]龚向东,张玉川.液压挖掘机的机电一体化技术[J]工程机械,1996.5
[25]闰季常,钟灵敏.WY20-YC机电一体化液压挖掘机[J]工程机械,1996.5
[26]吴根茂,邱敏秀,王庆丰.实用电液比例技术[M]浙江大学出版社,1993.
[27]刘庆和,陈子侠.变量泵速度感应控制的特性研究[J]液压与液力,1992.
[28]路甬祥,胡大纮.电液比例控制技术[M]机械工业出版社,1988
[29]黎啓柏.电液比例控制与数字控制系统[M]机械工业出版社,1997
[30]吴跟茂,王庆丰.实用电液比例技术[M]浙江大学出版社,1993
[31]赵刚.多功能路面清雪车电液比例阀控系统的模糊PID控制[D]吉林大学,硕士论文,2005.6
[32]Katsuhiko Ogata著.卢伯英等译.现代控制工程[M]电子工业出版社,2003.3
[33]胡寿松.自动控制原理[M]国防工业出版社,1994
[34]王春行.液压控制系统[M]机械工业出版社,1998.3
[35]刘长年.液压伺服系统优化设计理论[M]冶金工业出版社,1989.8
[36]聂松林.对称四通阀控制单出杆液压缸的特性分析[J].武汉冶金科技大学报,1997.3
[37]许贤良,刘利国.关于负载压力和负载流量的讨论[J]机床与液压,1995.4
[38]柳波,何清华,黄志雄.对称伺服阀控制单出杆液压缸系统的自适应控制研究[J]凿岩机械气动工具,2003.2
[39]王传礼等.对称四通阀控非对称液压缸伺服系统动态特性研究[J]中国机械工程,2004,6
[40]王秋敏.阀控非对称液压缸同步系统建模研究[J]山东机械,2005.6
[41]许贤良,丁雪峰,杨求来.非对称伺服阀控制非对称液压缸的理论分析[J].液压与气动,2004.3
[42]岳东海.阀控非对称缸电液伺服系统中控制策略研究[J].常州信息职业技术学院学报,2006.5
[43]许益民.电液比例控制系统分析与设计[M]机械工业出版社,2005.9
[44]王占林.近代电气液压伺服控制[M]北京航天航空大学出版社,2005.2
[45]Anderson.Controlling electro-hydraulic systems,1988
[46]Merritt,H.E:Hydraulic control system,1967
[47]尚涛.液压挖掘机作业及行走系统节能控制研究[D]吉林大学,博士论文2005.6
[48]张志涌.精通MATLAB(5.3版)[M]北京航空航天大学出版社,2000.8
[49]范影乐,杨胜天,李轶.MATLAB仿真应用详解[M]人民邮电出版社,2001.7
[50]MATLAB Reference Guide.High-Performance Numeric Computation and Visualization Software,by The Math Work,Inc.August 1992
[51]薛定宇,陈阳泉.基于MATLAB/SIMULINK的系统仿真技术与应用[M]北京:清华大学出版社,2002.4
[52]SIMULINK Users Guide.Dynamic System Simulation Software For Micro software Windows,by The Math Work.Inc,Auril,1993
[53]施阳,MATLAB语言精要及动态仿真工具SIMULINK[M]西北工业大学出版社,1997.6
[54]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[J]机械工业出版社,1998.9
[55]刘金琨.先进PID控制及其MATLAB仿真[M]电子工业出版社,2003.
[56]Datta A,Ho Ming Tzu,Bhattacharyya SP,Structure and Synthesis of PID Controllers.London:Springer-Verlag,2000
[57]李嗣福.计算机控制基础[M]中国科学技术大学出版社,2001
[58]M.T.Soylemeza,N.Munrob,H Bake.Fast calculation of stabilizing PID controllers Automatica.2003.39[59]Naim Bajicainca.Computation of stable regions in PID parameter space for time-delay systems.Automatica.2005.21
[2]伏洪兴.现代电子技术在液压挖掘机上的应用[J]工程机械,1996.11
[3]高峰,冯陪恩,潘双夏,高宇.液压挖掘机节能控制[J]工程机械与维修,2001.12
[4]彭天好,杨华勇,傅新.工程机械中的泵和发动机匹配[J]工程机械,2001.8
[5]Russ Henke.RE Hydraulic Excavator Technology,Diesel progress:Engine &Drivers.V54.n9.sep,1988.4.P
[6]Kazuo Uehara and Hiroyoshi Timinaga.Energy Saving on Hydraulic Systems of Excavators,SAE paper,821057
[7]顾波,郭西进.一种新型挖掘机控制系统[J]工况自动化
[8]Nam,Sang-Yop(Seoul,KR),Multi Processor system for hydraulic excavator,U.S.Patent 5347448,September 13,1994
[9]任忠惠,高峰,胡骁.液压挖掘机柴油机的转速感应控制[J]矿山机械2002.8
[10]郭晓方,李伟哲,黄宗益.液压挖掘机的发动机一泵的联合控制系统研究[J]同济大学学报1999.6
[11]周萍,孙跃东.挖掘机发动机一变量泵系统经济匹配的研究[J]工程机械,2000.7
[12]丁仲毅 刘晋军.液压挖掘机节能控制系统的研究与开发[J]建筑机械,2000.6
[13]黄宗益.液压挖掘机全功率控制[J]建筑机械,1997.7
[14]R.K.Tessmann,LT.Hong,Hydraulic Pump Performance as a Function of Speed and Pressure,SAE961741
[15]R.N.Hancox,Hydraulic System for Excavator,U.S.Patent 3406850,OCT.22.1968
[16]Lukich,Michael S.(Peoria,IL),Hydraulic power control system,U.S.Patent 5468126,NOV21.1995
[17]路晶,王庆波.韩国大宇挖掘机-Ⅲ型EPOS系统[J]建筑机械,1998.8
[18]刘振军.日立EX系列液压挖掘机机电一体化控制系统分析[J]建筑机械,1998.1
[19]Cummins Engine Company.CumminsB3.3 Technical Package.Application Engineering Bulletin,2001.6
[20]吴文江,李夏青.卡特皮勒32OL挖掘机电控系统分析[J]筑路机械与施工机械化,1999.5
[21]Russ Henke,The evolution of load-sensing hydraulics,Diesel Progress:Engine & Drives.July-August 1998
[22]陈正利.我国液压挖掘机发展的几个重要阶段及其前景展望[J]建筑机械,1999.1
[23]刘顺安,王辉,游善兰.全液压挖掘机分工况转速感应控制[J]建筑机械,2005.9
[24]龚向东,张玉川.液压挖掘机的机电一体化技术[J]工程机械,1996.5
[25]闰季常,钟灵敏.WY20-YC机电一体化液压挖掘机[J]工程机械,1996.5
[26]吴根茂,邱敏秀,王庆丰.实用电液比例技术[M]浙江大学出版社,1993.
[27]刘庆和,陈子侠.变量泵速度感应控制的特性研究[J]液压与液力,1992.
[28]路甬祥,胡大纮.电液比例控制技术[M]机械工业出版社,1988
[29]黎啓柏.电液比例控制与数字控制系统[M]机械工业出版社,1997
[30]吴跟茂,王庆丰.实用电液比例技术[M]浙江大学出版社,1993
[31]赵刚.多功能路面清雪车电液比例阀控系统的模糊PID控制[D]吉林大学,硕士论文,2005.6
[32]Katsuhiko Ogata著.卢伯英等译.现代控制工程[M]电子工业出版社,2003.3
[33]胡寿松.自动控制原理[M]国防工业出版社,1994
[34]王春行.液压控制系统[M]机械工业出版社,1998.3
[35]刘长年.液压伺服系统优化设计理论[M]冶金工业出版社,1989.8
[36]聂松林.对称四通阀控制单出杆液压缸的特性分析[J].武汉冶金科技大学报,1997.3
[37]许贤良,刘利国.关于负载压力和负载流量的讨论[J]机床与液压,1995.4
[38]柳波,何清华,黄志雄.对称伺服阀控制单出杆液压缸系统的自适应控制研究[J]凿岩机械气动工具,2003.2
[39]王传礼等.对称四通阀控非对称液压缸伺服系统动态特性研究[J]中国机械工程,2004,6
[40]王秋敏.阀控非对称液压缸同步系统建模研究[J]山东机械,2005.6
[41]许贤良,丁雪峰,杨求来.非对称伺服阀控制非对称液压缸的理论分析[J].液压与气动,2004.3
[42]岳东海.阀控非对称缸电液伺服系统中控制策略研究[J].常州信息职业技术学院学报,2006.5
[43]许益民.电液比例控制系统分析与设计[M]机械工业出版社,2005.9
[44]王占林.近代电气液压伺服控制[M]北京航天航空大学出版社,2005.2
[45]Anderson.Controlling electro-hydraulic systems,1988
[46]Merritt,H.E:Hydraulic control system,1967
[47]尚涛.液压挖掘机作业及行走系统节能控制研究[D]吉林大学,博士论文2005.6
[48]张志涌.精通MATLAB(5.3版)[M]北京航空航天大学出版社,2000.8
[49]范影乐,杨胜天,李轶.MATLAB仿真应用详解[M]人民邮电出版社,2001.7
[50]MATLAB Reference Guide.High-Performance Numeric Computation and Visualization Software,by The Math Work,Inc.August 1992
[51]薛定宇,陈阳泉.基于MATLAB/SIMULINK的系统仿真技术与应用[M]北京:清华大学出版社,2002.4
[52]SIMULINK Users Guide.Dynamic System Simulation Software For Micro software Windows,by The Math Work.Inc,Auril,1993
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