混合动力挖掘机动臂能量回收系统研究
|
摘要
工程机械是国家基础建设的主要装备,液压挖掘机作为工程建设中主要的施工机械,已广泛应用于土方施工、水利工程、国防建设和一些地质灾害的救援等。但是大量工程机械所消耗的资源、排放的污染物以对环境产生了难以估计的负荷。面对当今社会能源紧缺、环境问题日益严重的情况,节能减排已经成为工程机械发展的关键技术。
鉴于混合动力技术在汽车领域的成功应用,为适应社会的长远发展,减少能源的消耗和对环境的污染,在液压挖掘机上应用混合动力技术已成为挖掘机节能发展一个重要方向。本论文主要是分析了国内外先进的混合动力驱动技术和动臂节能技术,在此基础上设计了带势能回收的动臂流量再生系统,并进行了仿真分析和元件的计算选型。本论文研究的主要内容如下：
1、调研了各工程机械厂家对混合动力驱动技术的研究和运用情况,以某公司20T级挖掘机机型为参考,对普通挖掘机液压驱动系统、串联混合动力驱动系统和并联混合动力驱动系统进行了分析,并通过建模仿真对比了三种驱动系统的性能参数,结果表明并联混合动力驱动系统的能量利用率较高。
2、在挖掘机前端工作装置模型中引入了电力式能量回收系统,并对挖掘机工作装置及其驱动系统的典型工作过程进行了仿真,得到挖掘机前端工作装置各液压缸的性能参数和可回收能量的比例。
3、通过对常见的挖掘机动臂系统的分析,提出了一种带势能回收的动臂流量再生系统,并利用建模仿真对比分析了几种动臂系统的性能参数,结果表明带势能回收的动臂流量再生系统具有较高能量利用率。在此基础上,对所提出的带势能回收的动臂流量再生系统进行了详细的分析和元件的设计选型。
Construction machinery is the main equipment of national infrastructure, as the main construction machinery, hydraulic excavator has been widely used in earthwork construction, water conservancy, national defense construction, and geological disasters' rescue. It is difficult to estimate the load generated by construction machinery that resources consumed and emissions pollutants to the environment. Face the situation of energy shortages, environmental problems increasingly serious, Energy saving has become a key technology for the construction machinery development.
In view of hybrid technology successfully used in the automotive sector and In order to meet long-term development of society, to application the hybrid technology to the hydraulic excavator has become an important direction for excavator's energy saving the development. This paper is primarily analyze the advanced hybrid and boom's energy-saving technology, on this basis, design a flow regeneration loop with potential energy recovery system, and carried out the simulation analysis and calculation for the component selection. Main work is as follows:
1.Research the hybrid drive technology application on the construction machinery manufacturers, and to20tons as the research object,analysis the ordinary excavator hydraulic drive system, series and parallel hybrid drive system, and comparing the performance and parameters of three drive systems by modeling and simulation, results show that the parallel hybrid drive system has higher energy efficiency.
2.Introduced the power-type model energy recovery system in front of the excavator's working device, and carried out the simulation for excavator's working device and drive system in a typical work process, get the cylinder's performance parameters and proportion of recyclable energy of excavator's working system.
3.Through the common analysis for excavator's boom system, design a flow regeneration loop with potential energy recovery device, and comparative analysis the performance parameters of the three boom systems by modeling and simulation, the results show that the flow regeneration loop with potential energy recovery systems has a higher efficiency, on this basis, carried out dissective analysis and component design selection for the flow regeneration loop with potential energy recovery system.
鉴于混合动力技术在汽车领域的成功应用,为适应社会的长远发展,减少能源的消耗和对环境的污染,在液压挖掘机上应用混合动力技术已成为挖掘机节能发展一个重要方向。本论文主要是分析了国内外先进的混合动力驱动技术和动臂节能技术,在此基础上设计了带势能回收的动臂流量再生系统,并进行了仿真分析和元件的计算选型。本论文研究的主要内容如下：
1、调研了各工程机械厂家对混合动力驱动技术的研究和运用情况,以某公司20T级挖掘机机型为参考,对普通挖掘机液压驱动系统、串联混合动力驱动系统和并联混合动力驱动系统进行了分析,并通过建模仿真对比了三种驱动系统的性能参数,结果表明并联混合动力驱动系统的能量利用率较高。
2、在挖掘机前端工作装置模型中引入了电力式能量回收系统,并对挖掘机工作装置及其驱动系统的典型工作过程进行了仿真,得到挖掘机前端工作装置各液压缸的性能参数和可回收能量的比例。
3、通过对常见的挖掘机动臂系统的分析,提出了一种带势能回收的动臂流量再生系统,并利用建模仿真对比分析了几种动臂系统的性能参数,结果表明带势能回收的动臂流量再生系统具有较高能量利用率。在此基础上,对所提出的带势能回收的动臂流量再生系统进行了详细的分析和元件的设计选型。
Construction machinery is the main equipment of national infrastructure, as the main construction machinery, hydraulic excavator has been widely used in earthwork construction, water conservancy, national defense construction, and geological disasters' rescue. It is difficult to estimate the load generated by construction machinery that resources consumed and emissions pollutants to the environment. Face the situation of energy shortages, environmental problems increasingly serious, Energy saving has become a key technology for the construction machinery development.
In view of hybrid technology successfully used in the automotive sector and In order to meet long-term development of society, to application the hybrid technology to the hydraulic excavator has become an important direction for excavator's energy saving the development. This paper is primarily analyze the advanced hybrid and boom's energy-saving technology, on this basis, design a flow regeneration loop with potential energy recovery system, and carried out the simulation analysis and calculation for the component selection. Main work is as follows:
1.Research the hybrid drive technology application on the construction machinery manufacturers, and to20tons as the research object,analysis the ordinary excavator hydraulic drive system, series and parallel hybrid drive system, and comparing the performance and parameters of three drive systems by modeling and simulation, results show that the parallel hybrid drive system has higher energy efficiency.
2.Introduced the power-type model energy recovery system in front of the excavator's working device, and carried out the simulation for excavator's working device and drive system in a typical work process, get the cylinder's performance parameters and proportion of recyclable energy of excavator's working system.
3.Through the common analysis for excavator's boom system, design a flow regeneration loop with potential energy recovery device, and comparative analysis the performance parameters of the three boom systems by modeling and simulation, the results show that the flow regeneration loop with potential energy recovery systems has a higher efficiency, on this basis, carried out dissective analysis and component design selection for the flow regeneration loop with potential energy recovery system.
引文
[1]付允,马永欢,刘怡君等.低碳经济的发展模式研究[J].中国人口·资源与环境,2008,18(3)：14-19
[2]G. S. Reduction of fuel consumption in construction machinery[J]. Construction Machinery. 2003,41(1):18-22.
[3]孔德文,赵克利,徐宁生.液压挖掘机[M].北京：化学工业出版社,2007.
[4]刘崇.观拉斯韦加斯博览会谈液压挖掘机发展[J].建筑机械化.2002,23(04)：19-20.
[5]陈正利.我国挖掘机行业的形成与发展现状及前景[J].建设机械技术与管理.2004,26(11)：25-29.
[6]Masayuki K, Masayuki K, Takao N, et al. Development of New Hybrid Excavator[J]. KOBELCO TECHNOLOGY REVIEW. 2007,21(11):39-49.
[7]孙新学,苏曙,荣茜,朱靖.工程机械液压技术发展综述.河北省建筑工程学院学报,2011,19(1)： 56-60
[8]高峰.液压挖掘机节能控制技术的研究[D].浙江大学博士学位论文,2001：2-4.
[9]Inoue H. Introduction of PC200-8 Hybrid Hydraulic Excavators[J]. Komatsu Technical Report, 2008,54(161).
[10]滕裕昌.我国工程机械的质量形势与任务[J].建筑机械.1999(01)：24-28.
[11]高宇,高峰,冯培恩.液压挖掘机节能控制综述[J].工程机械与维修.2001(12)：40-43.
[12]Q.Xiao, Q.F.Wang, Y.T.Zhang. Control strategies of power system in hybrid hydraulic excavator[J], Automation in Construction,2008,17(4):361-367.
[13]吴根茂,邱敏秀,王庆丰等编著.新编实用电液比例技术A版[M].北京：国家电液控制工程技术研究中心.2004.
[14]郭宏广,冯开林.工程机械电液比例阀的特点及其应用研究[J].工程机械,2003,34(5)：40-42.
[15]Uehara K, Tominaga H. Energy saving on hydraulic systems of excavators[J]. SAE Paper 821057. 1982,91(3):3332-3346.
[16]黄宗益,李兴华,陈明.液压挖掘机节能措施[J].建筑机械化.2004,25(08)：51-54.
[17]冯培恩,高峰,高宇.液压挖掘机节能控制方案的组合优化[J].农业机械学报.2002,33(04)：5-7.
[18]欧阳小平,徐兵,杨华勇.液压变压器及其在液压系统中的节能应用[J].农业机械学报.2003,34(4)：100-104.
[19]Margolis D. Energy regenerative actuator for motion control with application to fluid power systems [J]. Journal of Dynamic Systems Measurement and Control.2005,127(1): 33-40.
[20]王爽,李志远,余新肠.液压挖掘机负流量控制系统的节能分析与实现[J].合肥工业大学学报(自然科学版).2006,.29(02)：213-216.
[21]Stephens W T, Underwood H N. New Concepts in Hydraulic Controls for Mobile Equipment[J]. SAE Paper 650669.1965.
[22]Myers A. Controlling Variable Displacement Hydraulic Pumps for Energy Conservation[J]. SAE Paper 750807.1975.
[23]Markowski M. Advantages In Using Ls And Ludv Systems To Control The Crawler Dozer Blade: International Scientific Forum in Fluid Power Control of Machinery and Manipulators[Z]. Cracow, Poland:2000209-215.
[24]Shenouda A, Book W. Energy Saving Analysis Using a Four-Valve Independent Metering Configuration Controlling a Hydraulic Cylinder[J]. SAE Paper 2005-01-3632.2005.
[25]黄宗益,李兴华,叶伟.挖掘机工作装置液压操纵回路(一)[J].建筑机械化.2003(11)：29-31.
[26]黄宗益,李兴华,叶伟.挖掘机工作装置液压操纵回路(二)[J].建筑机械化.2003(12)：19-21.
[27]张彦廷.基于混合动力与能量回收的液压挖掘机节能研究[D].浙江大学博士学位论文,2006.
[28]Lars B. Swedish developed energy saving system in Caterpillars excavators[J]. Fluid Scandinavia. 2002(2):6-9.
[29]Tianliang Lin, Qingfeng Wang, et al. Development of hybrid powered hydraulic construction machinery[J]. Automation in Construction.2010(43):11-19.
[30]于永涛.混合动力汽车驱动理论与控制技术[D].吉林大学博士学位论文,2010.
[31]张敏杰.油液混合动力挖掘机动力系统研究[D].浙江大学硕士学位论文,2010.
[32]D.Y. Wang, C. Guan, S.X. Pan, M.J. Zhang, X. Lin. Performance analysis of hydraulic excavator power train hybridization[J], Automation in Construction.2009 (3):249-257.
[33].张俊智,王丽艿,不同混合动力电动轿车方案的比较与分析[J].汽车工程,2002,24(4)：290-293.
[34]徐宏佳,电动汽车混合动力系统的技术分析[J].机电工程技术,2001,30(6)：45-49.
[35]郝志勇,岳东鹏,李建国,混合动力汽车研究的现状及未来发展前景[J],铁道机动车辆,2003,23(1)：205-210.
[36]Evans H. Komatsu releases hybrid excavator to the world [J]. SAE Off-Highway Engineering. 2009,17(4):24-25.
[37]挖掘机设计趋于绿色环保[J].建筑机械,2009,32(7)：54-58.
[38]杨振兴.混合动力发三问[J].工程机械与维修,2010,19(1)：54-57.
[39]Jackey R, Smith P, Bloxham S. Physical System Model of a Hydraulic Energy Storage Device for Hybrid Powertrain Applications [J]. SAE Paper 2005-01-0810.2005.
[40]张宏,杨裕丰,杨梅bauma2010挖掘机观感[J],建筑机械化,2010,25(6)：20-21.
[41]沈黎.混合动力挖掘机[J].交通世界.2009,23(08)：34-37.
[42]国家高技术研究发展计划(863)先进制造技术领域“新型混合动力工程机械关键技术及系统”重点项目申请指南.
[43]李莺莺,孟广良,李学忠等.混合动力技术在工程机械上的应用—信息技术在工程机械上的应用综述之三[J].工程机械,2009(9)：43-48.
[44]Tianliang Lin, Qingfeng Wang, Baozan Hu, Wen Gong, Research on the energy regeneration systems for hybrid hydraulic excavators [J]. Automation in Construction, 2010(19):1016-1026.
[45]王冬云.混合动力挖掘机动力总成及参数匹配方法研究[D].浙江大学博士论文,2009.
[46]秦家升.挖掘机液压系统研究[D].吉林大学硕士论文,2005.
[47]张树忠,邓斌,柯坚.基于液压变压器的挖掘机动臂势能再生系统[J].中国机械工程,20010,21(10)：1161-1166.
[48]李永旭.液压挖掘机工作装置与液压系统设计的研究[D].同济大学博士论文,2006.
[49]神钢SK200-8产品机械手册.
[50]Liu S, Yao B. Energy-saving control of single-rod hydraulic cylinders with mable valves and improved working mode selection[C],49th National Conference on Fluid Power, Las Vegas, Nevada, U.S.A.,2002:81～91.
[51]Bin Y, Song L. Energy-saving control of hydraulic systems with novel programmable valves [C]. Shanghai, China: 2002.
[52]S. W S, Ali E, Kaushik R. Conprehensive efficiency modeling of electric traction motor drives for hybrid electric vehicle propulsion[J]. IEEE transactions on vehicular technology. 2007,56(1):1561-1572.
[53]余佑官,龚国芳,胡国良等AMESim仿真技术及其在液压系统中的应用[J].液压气动与密封,2005(3)：28-31.
[54]张树忠,邓斌,曹学鹏等.挖掘机动臂流量再生与势能回收节能系统研究[J].机械科学与技术,2010,29(7)：926-929,935.
[55]吉永淳,冯浩.电机电器[M].北京：科学出版社,2001
[56]Bin Y, Song L. Coordinate Control of Energy Saving Programmable Valves [J]. IEEE Transactions on Control Systems Technology. 2008(1):34-45.
[57]张汝辉,董钊志.超级电容在混合动力电动客车中的应用[C].福建省汽车工程学会2007年学术年会论文集,2007：44-46.
[58]刘金琨,先进PID控制[M],北京：电子工业出版社,2004.
[59]Dongyun Wang, Xiao Lin, Yu Zhang. Fuzzy logic control for a parallel hybrid hydraulic excavator using genetic algorithm[J].Automation in construction. 2010(11):1-7
[60]林浩.模糊PID控制器的仿真研究.
[2]G. S. Reduction of fuel consumption in construction machinery[J]. Construction Machinery. 2003,41(1):18-22.
[3]孔德文,赵克利,徐宁生.液压挖掘机[M].北京：化学工业出版社,2007.
[4]刘崇.观拉斯韦加斯博览会谈液压挖掘机发展[J].建筑机械化.2002,23(04)：19-20.
[5]陈正利.我国挖掘机行业的形成与发展现状及前景[J].建设机械技术与管理.2004,26(11)：25-29.
[6]Masayuki K, Masayuki K, Takao N, et al. Development of New Hybrid Excavator[J]. KOBELCO TECHNOLOGY REVIEW. 2007,21(11):39-49.
[7]孙新学,苏曙,荣茜,朱靖.工程机械液压技术发展综述.河北省建筑工程学院学报,2011,19(1)： 56-60
[8]高峰.液压挖掘机节能控制技术的研究[D].浙江大学博士学位论文,2001：2-4.
[9]Inoue H. Introduction of PC200-8 Hybrid Hydraulic Excavators[J]. Komatsu Technical Report, 2008,54(161).
[10]滕裕昌.我国工程机械的质量形势与任务[J].建筑机械.1999(01)：24-28.
[11]高宇,高峰,冯培恩.液压挖掘机节能控制综述[J].工程机械与维修.2001(12)：40-43.
[12]Q.Xiao, Q.F.Wang, Y.T.Zhang. Control strategies of power system in hybrid hydraulic excavator[J], Automation in Construction,2008,17(4):361-367.
[13]吴根茂,邱敏秀,王庆丰等编著.新编实用电液比例技术A版[M].北京：国家电液控制工程技术研究中心.2004.
[14]郭宏广,冯开林.工程机械电液比例阀的特点及其应用研究[J].工程机械,2003,34(5)：40-42.
[15]Uehara K, Tominaga H. Energy saving on hydraulic systems of excavators[J]. SAE Paper 821057. 1982,91(3):3332-3346.
[16]黄宗益,李兴华,陈明.液压挖掘机节能措施[J].建筑机械化.2004,25(08)：51-54.
[17]冯培恩,高峰,高宇.液压挖掘机节能控制方案的组合优化[J].农业机械学报.2002,33(04)：5-7.
[18]欧阳小平,徐兵,杨华勇.液压变压器及其在液压系统中的节能应用[J].农业机械学报.2003,34(4)：100-104.
[19]Margolis D. Energy regenerative actuator for motion control with application to fluid power systems [J]. Journal of Dynamic Systems Measurement and Control.2005,127(1): 33-40.
[20]王爽,李志远,余新肠.液压挖掘机负流量控制系统的节能分析与实现[J].合肥工业大学学报(自然科学版).2006,.29(02)：213-216.
[21]Stephens W T, Underwood H N. New Concepts in Hydraulic Controls for Mobile Equipment[J]. SAE Paper 650669.1965.
[22]Myers A. Controlling Variable Displacement Hydraulic Pumps for Energy Conservation[J]. SAE Paper 750807.1975.
[23]Markowski M. Advantages In Using Ls And Ludv Systems To Control The Crawler Dozer Blade: International Scientific Forum in Fluid Power Control of Machinery and Manipulators[Z]. Cracow, Poland:2000209-215.
[24]Shenouda A, Book W. Energy Saving Analysis Using a Four-Valve Independent Metering Configuration Controlling a Hydraulic Cylinder[J]. SAE Paper 2005-01-3632.2005.
[25]黄宗益,李兴华,叶伟.挖掘机工作装置液压操纵回路(一)[J].建筑机械化.2003(11)：29-31.
[26]黄宗益,李兴华,叶伟.挖掘机工作装置液压操纵回路(二)[J].建筑机械化.2003(12)：19-21.
[27]张彦廷.基于混合动力与能量回收的液压挖掘机节能研究[D].浙江大学博士学位论文,2006.
[28]Lars B. Swedish developed energy saving system in Caterpillars excavators[J]. Fluid Scandinavia. 2002(2):6-9.
[29]Tianliang Lin, Qingfeng Wang, et al. Development of hybrid powered hydraulic construction machinery[J]. Automation in Construction.2010(43):11-19.
[30]于永涛.混合动力汽车驱动理论与控制技术[D].吉林大学博士学位论文,2010.
[31]张敏杰.油液混合动力挖掘机动力系统研究[D].浙江大学硕士学位论文,2010.
[32]D.Y. Wang, C. Guan, S.X. Pan, M.J. Zhang, X. Lin. Performance analysis of hydraulic excavator power train hybridization[J], Automation in Construction.2009 (3):249-257.
[33].张俊智,王丽艿,不同混合动力电动轿车方案的比较与分析[J].汽车工程,2002,24(4)：290-293.
[34]徐宏佳,电动汽车混合动力系统的技术分析[J].机电工程技术,2001,30(6)：45-49.
[35]郝志勇,岳东鹏,李建国,混合动力汽车研究的现状及未来发展前景[J],铁道机动车辆,2003,23(1)：205-210.
[36]Evans H. Komatsu releases hybrid excavator to the world [J]. SAE Off-Highway Engineering. 2009,17(4):24-25.
[37]挖掘机设计趋于绿色环保[J].建筑机械,2009,32(7)：54-58.
[38]杨振兴.混合动力发三问[J].工程机械与维修,2010,19(1)：54-57.
[39]Jackey R, Smith P, Bloxham S. Physical System Model of a Hydraulic Energy Storage Device for Hybrid Powertrain Applications [J]. SAE Paper 2005-01-0810.2005.
[40]张宏,杨裕丰,杨梅bauma2010挖掘机观感[J],建筑机械化,2010,25(6)：20-21.
[41]沈黎.混合动力挖掘机[J].交通世界.2009,23(08)：34-37.
[42]国家高技术研究发展计划(863)先进制造技术领域“新型混合动力工程机械关键技术及系统”重点项目申请指南.
[43]李莺莺,孟广良,李学忠等.混合动力技术在工程机械上的应用—信息技术在工程机械上的应用综述之三[J].工程机械,2009(9)：43-48.
[44]Tianliang Lin, Qingfeng Wang, Baozan Hu, Wen Gong, Research on the energy regeneration systems for hybrid hydraulic excavators [J]. Automation in Construction, 2010(19):1016-1026.
[45]王冬云.混合动力挖掘机动力总成及参数匹配方法研究[D].浙江大学博士论文,2009.
[46]秦家升.挖掘机液压系统研究[D].吉林大学硕士论文,2005.
[47]张树忠,邓斌,柯坚.基于液压变压器的挖掘机动臂势能再生系统[J].中国机械工程,20010,21(10)：1161-1166.
[48]李永旭.液压挖掘机工作装置与液压系统设计的研究[D].同济大学博士论文,2006.
[49]神钢SK200-8产品机械手册.
[50]Liu S, Yao B. Energy-saving control of single-rod hydraulic cylinders with mable valves and improved working mode selection[C],49th National Conference on Fluid Power, Las Vegas, Nevada, U.S.A.,2002:81～91.
[51]Bin Y, Song L. Energy-saving control of hydraulic systems with novel programmable valves [C]. Shanghai, China: 2002.
[52]S. W S, Ali E, Kaushik R. Conprehensive efficiency modeling of electric traction motor drives for hybrid electric vehicle propulsion[J]. IEEE transactions on vehicular technology. 2007,56(1):1561-1572.
[53]余佑官,龚国芳,胡国良等AMESim仿真技术及其在液压系统中的应用[J].液压气动与密封,2005(3)：28-31.
[54]张树忠,邓斌,曹学鹏等.挖掘机动臂流量再生与势能回收节能系统研究[J].机械科学与技术,2010,29(7)：926-929,935.
[55]吉永淳,冯浩.电机电器[M].北京：科学出版社,2001
[56]Bin Y, Song L. Coordinate Control of Energy Saving Programmable Valves [J]. IEEE Transactions on Control Systems Technology. 2008(1):34-45.
[57]张汝辉,董钊志.超级电容在混合动力电动客车中的应用[C].福建省汽车工程学会2007年学术年会论文集,2007：44-46.
[58]刘金琨,先进PID控制[M],北京：电子工业出版社,2004.
[59]Dongyun Wang, Xiao Lin, Yu Zhang. Fuzzy logic control for a parallel hybrid hydraulic excavator using genetic algorithm[J].Automation in construction. 2010(11):1-7
[60]林浩.模糊PID控制器的仿真研究.