混合动力液压挖掘机动臂势能回收系统及控制策略研究
发布时间：2018-07-31 17:55
【摘要】：液压挖掘机以其高效、耐用以及对工作环境要求不高的优点，成为了目前应用最广泛的工程机械之一，在经济建设中发挥着举足轻重的作用。但是同时，由于其用量大、耗油高、排放差，已经逐渐成为节能环保领域的主要研究对象之一。高效节能一直是国内外液压挖掘机生产企业追求的主要目标。因此，国内外各大液压挖掘机生产厂商及科研机构在液压挖掘机的节能方面进行了不同程度的研究。 能量回收是提高液压挖掘机工作效率的一项有效措施。本文在对传统液压挖掘机工作装置进行分析的基础上，提出一种混合动力液压挖掘机动臂势能回收系统，进行了方案设计和参数匹配的研究。在AMESim软件中建立系统仿真模型，分析系统关键参数对能量回收系统效率的影响，并根据传统液压挖掘机的工作特点，针对所设计的系统提出新的控制策略。本文的主要研究工作如下： 1、分析了液压挖掘机节能的重要意义。介绍了液压挖掘机上工作元件、液压系统和功率匹配等节能技术的发展情况，国内外各公司混合动力系统的发展与应用,以及现有能量回收系统的应用，说明了设计适合混合动力液压挖掘机的能量回收系统的必要性，提出了本文研究课题和研究的主要内容。 2、进行了混合动力液压挖掘机动臂势能回收系统设计。运用D-H方法对液压挖掘机工作装置进行了运动学分析，推导出了各个坐标系相对极坐标系的转换矩阵，实现了不同坐标系之间的坐标转换。在AMESim软件中建立了传统液压挖掘机工作装置的仿真模型，分析了工作装置中的三个液压缸在一个工作周期内可回收的能量，提出了一种基于蓄能器—液压马达—发电机的混合动力液压挖掘机动臂势能回收系统，设计了系统原理图，分析了系统的实施方案。 3、进行了能量回收系统液压元件建模与参数匹配研究。对动臂势能回收系统中的液压泵/液压马达、液压缸、蓄能器和管路等元件进行数学建模，推导出液压系统的传递函数和固有频率，根据分析出的定量和变量参数对该频率的影响，提出了提高系统响应速度的办法。建立了发动机、液压马达和蓄能器的参数匹配方法，选择了具体的型号与参数。参数匹配满足了系统工况的要求，提高了系统的能量回收效率。 4、研究了液压系统关键参数对能量回收效率的影响。建立了动臂势能回收系统仿真模型，，对能量回收系统进行了仿真研究，分析了蓄能器的充气压力和初始容积，液压马达的类型和排量等参数对能量回收系统效率的影响。根据仿真研究结果，分析了产生能量损失的原因。 5、研究了混合动力液压挖掘机动臂势能回收系统控制策略。建立了混合动力液压挖掘机动力系统中发动机、电动机和蓄电池的模型。根据液压挖掘机的负载特性，提出基于蓄电池SOC值判定的分工况控制策略，在AMESim软件中建立了混合动力液压挖掘机和传统液压挖掘机系统的仿真模型，利用Simulink建立了控制策略仿真模型，并对混合动力液压挖掘机整机模型进行联合仿真，证明了提出的控制策略的有效性。 6、总结与展望。概括了论文的主要研究工作，并展望了今后的研究工作和方向。
[Abstract]:Hydraulic excavator has become one of the most widely used engineering machinery because of its high efficiency, durability and low requirements for working environment. It plays an important role in economic construction. But at the same time, because of its large consumption, high consumption of oil and poor emission, the hydraulic excavator has gradually become one of the main research objects in the field of energy conservation and environmental protection. Energy efficiency has always been the main goal of hydraulic excavator production enterprises at home and abroad. Therefore, various manufacturers and scientific research institutions of hydraulic excavators at home and abroad have studied the energy saving aspects of hydraulic excavators in different degrees.
Energy recovery is an effective measure to improve the working efficiency of hydraulic excavator. On the basis of the analysis of the working device of the traditional hydraulic excavator, this paper puts forward a kind of potential energy recovery system for the dynamic arm of the hydraulic excavator, and studies the design of the scheme and the matching of the parameters. The system simulation model is set up in the AMESim software and the analysis of the system is analyzed. The key parameters of the system affect the efficiency of the energy recovery system. According to the characteristics of the traditional hydraulic excavator, the new control strategy is proposed for the designed system. The main research work of this paper is as follows:
1, the important significance of the energy saving of hydraulic excavator is analyzed. The development of the working components, the hydraulic system and the power matching of the hydraulic excavator, the development and application of the hybrid power system at home and abroad, and the application of the existing energy recovery system are introduced, and the energy of the design suitable for the hybrid power hydraulic excavator is explained. The necessity of recycling system is put forward, and the main contents of this paper are presented.
2, the design of the dynamic potential energy recovery system of the hybrid hydraulic excavator is carried out. The D-H method is used to carry out the kinematic analysis of the working device of the hydraulic excavator, and the conversion matrix of the relative polar coordinate system of each coordinate system is derived, and the coordinate transformation between the different coordinate systems is realized. The traditional hydraulic excavator workers are set up in the AMESim software. A simulation model of the device is made to analyze the recoverable energy of three hydraulic cylinders in a working cycle in a working cycle. A potential energy recovery system based on an accumulator - a hydraulic motor - Generator - a hybrid power hydraulic excavator is proposed. The system schematic diagram is designed and the implementation scheme of the system is analyzed.
3, the modeling and parameter matching of the hydraulic components in the energy recovery system are carried out. The hydraulic pump / hydraulic motor, hydraulic cylinder, accumulator and pipeline are modeled on the dynamic arm potential energy recovery system, and the transfer function and natural frequency of the hydraulic system are derived, and the influence of the quantitative and variable parameters on the frequency is proposed. The method of improving the response speed of the system is given. The parameters matching method of the engine, the hydraulic motor and the accumulator is set up. The specific model and parameters are selected. The parameter matching meets the requirements of the system working conditions and improves the efficiency of the energy recovery of the system.
4, the influence of the key parameters of the hydraulic system on the energy recovery efficiency is studied. The simulation model of the recovery system of the movable arm potential energy recovery system is established. The simulation study of the energy recovery system is carried out. The effects of the gas pressure and initial volume of the accumulator, the type and displacement of the hydraulic motor on the efficiency of the energy recovery system are analyzed. As a result, the cause of energy loss was analyzed.
5, the control strategy of the potential energy recovery system of the dynamic arm of the hybrid hydraulic excavator is studied. The model of the engine, motor and battery in the power system of the hybrid hydraulic excavator is established. According to the load characteristic of the hydraulic excavator, a sub condition control strategy based on the SOC value of the battery is put forward, and the mixing action is set up in the AMESim software. The simulation model of the force hydraulic excavator and the traditional hydraulic excavator system is built, and the control strategy simulation model is established by Simulink. The combined simulation of the whole model of the hybrid power hydraulic excavator has been carried out, and the effectiveness of the proposed control strategy is proved.
6, summarize and prospect, summarize the main research work of the thesis, and look forward to the future research work and direction.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
本文编号：2156379
[Abstract]:Hydraulic excavator has become one of the most widely used engineering machinery because of its high efficiency, durability and low requirements for working environment. It plays an important role in economic construction. But at the same time, because of its large consumption, high consumption of oil and poor emission, the hydraulic excavator has gradually become one of the main research objects in the field of energy conservation and environmental protection. Energy efficiency has always been the main goal of hydraulic excavator production enterprises at home and abroad. Therefore, various manufacturers and scientific research institutions of hydraulic excavators at home and abroad have studied the energy saving aspects of hydraulic excavators in different degrees.
Energy recovery is an effective measure to improve the working efficiency of hydraulic excavator. On the basis of the analysis of the working device of the traditional hydraulic excavator, this paper puts forward a kind of potential energy recovery system for the dynamic arm of the hydraulic excavator, and studies the design of the scheme and the matching of the parameters. The system simulation model is set up in the AMESim software and the analysis of the system is analyzed. The key parameters of the system affect the efficiency of the energy recovery system. According to the characteristics of the traditional hydraulic excavator, the new control strategy is proposed for the designed system. The main research work of this paper is as follows:
1, the important significance of the energy saving of hydraulic excavator is analyzed. The development of the working components, the hydraulic system and the power matching of the hydraulic excavator, the development and application of the hybrid power system at home and abroad, and the application of the existing energy recovery system are introduced, and the energy of the design suitable for the hybrid power hydraulic excavator is explained. The necessity of recycling system is put forward, and the main contents of this paper are presented.
2, the design of the dynamic potential energy recovery system of the hybrid hydraulic excavator is carried out. The D-H method is used to carry out the kinematic analysis of the working device of the hydraulic excavator, and the conversion matrix of the relative polar coordinate system of each coordinate system is derived, and the coordinate transformation between the different coordinate systems is realized. The traditional hydraulic excavator workers are set up in the AMESim software. A simulation model of the device is made to analyze the recoverable energy of three hydraulic cylinders in a working cycle in a working cycle. A potential energy recovery system based on an accumulator - a hydraulic motor - Generator - a hybrid power hydraulic excavator is proposed. The system schematic diagram is designed and the implementation scheme of the system is analyzed.
3, the modeling and parameter matching of the hydraulic components in the energy recovery system are carried out. The hydraulic pump / hydraulic motor, hydraulic cylinder, accumulator and pipeline are modeled on the dynamic arm potential energy recovery system, and the transfer function and natural frequency of the hydraulic system are derived, and the influence of the quantitative and variable parameters on the frequency is proposed. The method of improving the response speed of the system is given. The parameters matching method of the engine, the hydraulic motor and the accumulator is set up. The specific model and parameters are selected. The parameter matching meets the requirements of the system working conditions and improves the efficiency of the energy recovery of the system.
4, the influence of the key parameters of the hydraulic system on the energy recovery efficiency is studied. The simulation model of the recovery system of the movable arm potential energy recovery system is established. The simulation study of the energy recovery system is carried out. The effects of the gas pressure and initial volume of the accumulator, the type and displacement of the hydraulic motor on the efficiency of the energy recovery system are analyzed. As a result, the cause of energy loss was analyzed.
5, the control strategy of the potential energy recovery system of the dynamic arm of the hybrid hydraulic excavator is studied. The model of the engine, motor and battery in the power system of the hybrid hydraulic excavator is established. According to the load characteristic of the hydraulic excavator, a sub condition control strategy based on the SOC value of the battery is put forward, and the mixing action is set up in the AMESim software. The simulation model of the force hydraulic excavator and the traditional hydraulic excavator system is built, and the control strategy simulation model is established by Simulink. The combined simulation of the whole model of the hybrid power hydraulic excavator has been carried out, and the effectiveness of the proposed control strategy is proved.
6, summarize and prospect, summarize the main research work of the thesis, and look forward to the future research work and direction.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
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