混合动力挖掘机回转驱动系统协调控制策略的研究

发布时间：2018-04-04 14:48

本文选题：混合动力挖掘机　切入点：回转驱动　出处：《湖南大学》2015年硕士论文

【摘要】：液压挖掘机回转机构动作时间长、能耗大,已成为能量回收研究的重点。采用混合动力驱动能有效回收制动能量、减小驱动功率,是实现高效运行的重要方式。论文研究了采用永磁同步电机及超级电容的回转驱动系统的协调控制策略。本文首先通过分析混合动力挖掘机及其回转驱动系统的研究现状,提出了本文研究的混合动力挖掘机回转驱动系统结构,介绍了其工作原理,并将本文研究的混合动力挖掘机回转驱动系统的工作模式归纳为:超级电容预充电和回转电机启动、匀速、制动四种。为满足回转驱动要求,对系统变流器的控制方案进行了设计。回转电机和发电机均采用矢量控制。回转电机变流器的控制目标为电机转速,其电流采用最大转矩电流比控制。发电机变流器的控制目标可为母线电压或发电机功率,其电流采用id=0的控制方法。双向D C/D C变换器采用交错并联技术,可实现恒流控制或恒压控制。放电电阻器控制母线电压不超过允许的最大值。其次,对超级电容预充电和回转电机启动、匀速、制动四个过程进行了详细的分析,找出了影响直流母线电压稳定的因素;为了提高能量利用率,同时确保直流母线电气安全,对发电机变流器、回转电机变流器、双向DC/DC变换器和放电电阻器在不同模式下采取了合适的控制方案,给出了混合动力挖掘机回转驱动系统在四种模式下的协调控制框图。最后,基于Matlab/Simulink仿真平台搭建了系统仿真模型,通过分析系统的仿真结果,验证了本文所提的协调控制策略的有效性。由于时间有限,工程量较大,目前只对发电机、回转电机和双向DC/DC变换器的控制策略单独进行了实验分析,实验结果验证了各自控制策略的正确性。
[Abstract]:The action time of hydraulic excavator slewing mechanism of long, large energy consumption, has become the focus of energy recovery. The drive can effectively recover braking energy using hybrid, decreases the driving power, is an important way to achieve efficient operation. The coordinated control strategy of the permanent magnet synchronous motor and super capacitor rotary drive system. Firstly, through analysis on the status quo of hybrid excavator and rotary drive system, put forward the hybrid excavator driving system structure, introduces its working principle, and the hybrid excavator the drive system work mode as follows: super capacitor pre charging and rotary motor starting, speed, braking for four. To meet the requirements of rotary drive control scheme, the converter was designed. The rotary motor and generator with vector control. The control target motor converter for motor speed, the current using maximum ratio of torque to current control. The control target generator converter for bus voltage or power generator, the control method of id=0. The current D C/D bidirectional C converter with interleaving technology, can realize the control of constant current or constant voltage control. The discharge resistor control bus the voltage does not exceed the maximum permissible. Secondly, uniform of the super capacitor pre charging and rotary motor starting, braking, carried out a detailed analysis of four processes, and finds out the factors affecting the stability of the DC bus voltage; in order to improve the utilization rate of energy, at the same time to ensure the electrical safety of DC bus, generator converter, rotary motor converter, bidirectional the DC/DC converter and the discharge resistor has taken the appropriate control scheme in different modes, gives the hybrid excavator driving system in four Coordinated control diagram mode. Finally, the simulation platform of Matlab/Simulink system simulation model was built based on the simulation results, analysis of the system, to verify the effectiveness of the proposed control strategy. Because of the limited time, a large amount of engineering, at present only on the generator control strategy of rotary motor and bidirectional DC/DC converter separately the analysis of the experimental results, the experimental results verify the correctness of the control strategy.

【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU621

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