混合动力挖掘机动臂液压系统的节能研究
发布时间：2018-11-03 07:50
【摘要】：随着经济的快速发展，液压挖掘机在国家的基础设施建设中应用越来越广泛，如参与土方施工、房屋拆除和地质灾害救援等。液压挖掘机的缺点是自身能耗大、排放差，且其在当前社会能源紧缺、环境恶化的情况下显得尤为突兀，因此对液压挖掘机进行节能减排研究具有重要的现实意义。 为了达到节能减排的目的，各大工程机械公司都借鉴了在汽车领域成功应用的混合动力技术，设计出了混合动力液压挖掘机。基于混合动力液压挖掘机的动臂势能回收技术是挖掘机节能研究中的一个重要方向，本论文以日立ZX70挖掘机为基础进行了研究，，其主要研究内容如下： 1、根据液压挖掘机的工况特点，提出了一种基于并联式混合动力动臂势能回收方案，并拟定了势能回收系统方案的原理图，详述了该方案的工作原理及控制方法。 2、在D-H坐标系中给混合动力液压挖掘机的动臂、斗杆以及铲斗分别建立了相应的局部坐标系，通过几何、物理关系写出了每个机构的运动学模型，并基于ADAMS建立挖掘机工作装置动力学仿真模型。 3、建立了混合动力挖掘机的动臂液压缸、比例节流阀、变量柱塞马达以及其排量控制机构等的数学模型，在Matlab的Simulink模块中建立起整个势能回收系统的仿真模型。 4、通过对势能回收系统仿真研究，分析了比例伺服阀开口面积、比例节流阀开口面积等参数对动臂活塞杆下降速度、动臂液压缸无杆腔压力和能量回收马达角速度的影响。还分析了加入PID控制器后对势能回收系统的影响。并得出本文中挖掘机动臂势能回收系统的能量回收率为41%。
[Abstract]:With the rapid development of economy, hydraulic excavators are more and more widely used in national infrastructure construction, such as participation in earthwork construction, house demolition and geological disaster rescue. The drawback of hydraulic excavator is that its energy consumption is large, its emission is poor, and it is especially abrupt in the current social energy shortage and environmental deterioration, so it is of great practical significance to study the energy saving and emission reduction of hydraulic excavator. In order to achieve the purpose of energy saving and emission reduction, all the major construction machinery companies have used the hybrid power technology which has been successfully applied in the automobile field, and designed the hybrid electric hydraulic excavator. The potential energy recovery technology of moving arm based on hybrid hydraulic excavator is an important direction in the research of excavator energy conservation. This paper is based on Hitachi ZX70 excavator. The main research contents are as follows: 1. According to the characteristics of hydraulic excavator, a potential energy recovery scheme based on parallel hybrid moving-arm is proposed. The schematic diagram of potential energy recovery system is drawn up, and the working principle and control method of the scheme are described in detail. 2. In D-H coordinate system, the corresponding local coordinate system is established for the moving arm, bucket rod and bucket of the hybrid hydraulic excavator. The kinematics model of each mechanism is written out by geometric and physical relations. The dynamic simulation model of excavator working device is established based on ADAMS. 3. The mathematical models of the hydraulic cylinder, proportional throttle valve, variable plunger motor and displacement control mechanism of the hybrid excavator are established. The simulation model of the whole potential energy recovery system is established in the Simulink module of Matlab. 4. Through the simulation of the potential energy recovery system, the effects of the opening area of the proportional servo valve and the opening area of the proportional throttle valve on the falling speed of the piston rod of the moving arm, the rodless cavity pressure of the hydraulic cylinder of the arm and the angular velocity of the energy recovery motor are analyzed. The influence of PID controller on the potential energy recovery system is also analyzed. The energy recovery rate of the excavator arm potential energy recovery system is 41%.
【学位授予单位】：南华大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
[Abstract]:With the rapid development of economy, hydraulic excavators are more and more widely used in national infrastructure construction, such as participation in earthwork construction, house demolition and geological disaster rescue. The drawback of hydraulic excavator is that its energy consumption is large, its emission is poor, and it is especially abrupt in the current social energy shortage and environmental deterioration, so it is of great practical significance to study the energy saving and emission reduction of hydraulic excavator. In order to achieve the purpose of energy saving and emission reduction, all the major construction machinery companies have used the hybrid power technology which has been successfully applied in the automobile field, and designed the hybrid electric hydraulic excavator. The potential energy recovery technology of moving arm based on hybrid hydraulic excavator is an important direction in the research of excavator energy conservation. This paper is based on Hitachi ZX70 excavator. The main research contents are as follows: 1. According to the characteristics of hydraulic excavator, a potential energy recovery scheme based on parallel hybrid moving-arm is proposed. The schematic diagram of potential energy recovery system is drawn up, and the working principle and control method of the scheme are described in detail. 2. In D-H coordinate system, the corresponding local coordinate system is established for the moving arm, bucket rod and bucket of the hybrid hydraulic excavator. The kinematics model of each mechanism is written out by geometric and physical relations. The dynamic simulation model of excavator working device is established based on ADAMS. 3. The mathematical models of the hydraulic cylinder, proportional throttle valve, variable plunger motor and displacement control mechanism of the hybrid excavator are established. The simulation model of the whole potential energy recovery system is established in the Simulink module of Matlab. 4. Through the simulation of the potential energy recovery system, the effects of the opening area of the proportional servo valve and the opening area of the proportional throttle valve on the falling speed of the piston rod of the moving arm, the rodless cavity pressure of the hydraulic cylinder of the arm and the angular velocity of the energy recovery motor are analyzed. The influence of PID controller on the potential energy recovery system is also analyzed. The energy recovery rate of the excavator arm potential energy recovery system is 41%.
【学位授予单位】：南华大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
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