油液混合动力挖掘机能量回收与再利用控制方法研究
发布时间：2018-08-18 11:15
【摘要】：鉴于现有油液混合挖掘机尚存在的不足,为进一步降低其燃油消耗率,改善其动臂下降时的平稳性,设计了一个改进的挖掘机油液混合动力系统,研制了扭矩耦合式油液混合动力挖掘机试验平台。主要研究具有以下创新点：1)创新研制了一种以液压泵／马达为能量转换器的挖掘机油液混合动力系统,实现了动臂下降势能回收与发动机效率优化的结构统一,解决了液压蓄能器参数难以匹配、能量回收过程中损失较大等问题。建立了主泵、辅助液压泵／马达、柴油发动机和分动箱等部件的数学模型,并在AMESIM平台上构建了相应的复杂模型和工作装置的动力学模型,构建了仿真实验平台。设计并试制了相应的试验样机。2)提出了一种发动机泵组负载预测方法与一阶滑模控制方法相结合的挖掘机油液混合动力系统控制策略。仿真和实验结果表明,用该方法解决了PID负载扭矩预测转速控制在预测模型参数误差过大时存在大幅振荡的问题；并减少了20%-40%的转速波动,提高了发动机工作点控制的稳定性,从而降低发动机燃油消耗及废气排放,可以减少4%的燃油消耗。3)以动臂液压缸的上腔压力为控制目标,提出了动臂势能回收的二阶滑模压力super-twisting控制方法。研究了扭矩耦合式油液混合动力挖掘机动臂下降势能回收过程,针对液压压力控制系统的二阶相对阶特性,采用二阶滑模super-twisting控制方法,给出了一种压力控制目标的确定方法。仿真和实验结果表明,采用该方法回收势能过程中,油缸上腔压力能以小于2 bar的波幅稳定在22 bar控制值上；从而说明该方法在实现动臂势能有效回收的同时,还能保持挖掘机原有的良好操作性能。
[Abstract]:In view of the shortcomings of the existing hydraulic hybrid excavators, an improved oil-liquid hybrid power system is designed in order to further reduce its fuel consumption rate and improve the stability of its moving arm drop. A torque coupled hydraulic hybrid excavator test platform is developed. This paper mainly studies the following innovations: 1) A hydraulic pump / motor hybrid power system of excavator is developed, which realizes the unity of the structure of the drop potential energy recovery of the moving arm and the optimization of engine efficiency. The problems such as difficult matching of hydraulic accumulator parameters and large loss in energy recovery are solved. The mathematical models of the main pump, auxiliary hydraulic pump / motor, diesel engine and shunt box are established. The complex model and the dynamic model of the working device are constructed on the AMESIM platform, and the simulation experimental platform is constructed. This paper designs and trial-manufactures the corresponding experimental prototype .2) A control strategy for the hydraulic hybrid power system of the excavator combined with the load prediction method of the engine pump group and the first-order sliding mode control method is proposed. The simulation and experimental results show that the method solves the problem of large oscillation in PID load torque predictive speed control when the error of prediction model parameter is too large, and reduces the speed fluctuation of 20% to 40%, and improves the stability of engine working point control. Therefore, the fuel consumption and exhaust gas emission of the engine can be reduced by 4%. The second order sliding mode pressure (super-twisting) control method is proposed to recover the potential energy of the moving arm with the aim of controlling the upper chamber pressure of the moving arm hydraulic cylinder. In this paper, the recovery process of falling potential energy of torque coupled oil-liquid hybrid excavator is studied. According to the second order relative order characteristic of hydraulic pressure control system, a method of determining the pressure control target is given by using the second-order sliding mode super-twisting control method. The simulation and experimental results show that, in the process of recovering potential energy by this method, the amplitude of the pressure energy of the upper cavity of the cylinder is stable at 22 bar when the amplitude is less than 2 bar, which shows that the method can effectively recover the potential energy of the moving arm at the same time. Also can maintain the excavator original good operation performance.
【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TU621
本文编号：2189299
[Abstract]:In view of the shortcomings of the existing hydraulic hybrid excavators, an improved oil-liquid hybrid power system is designed in order to further reduce its fuel consumption rate and improve the stability of its moving arm drop. A torque coupled hydraulic hybrid excavator test platform is developed. This paper mainly studies the following innovations: 1) A hydraulic pump / motor hybrid power system of excavator is developed, which realizes the unity of the structure of the drop potential energy recovery of the moving arm and the optimization of engine efficiency. The problems such as difficult matching of hydraulic accumulator parameters and large loss in energy recovery are solved. The mathematical models of the main pump, auxiliary hydraulic pump / motor, diesel engine and shunt box are established. The complex model and the dynamic model of the working device are constructed on the AMESIM platform, and the simulation experimental platform is constructed. This paper designs and trial-manufactures the corresponding experimental prototype .2) A control strategy for the hydraulic hybrid power system of the excavator combined with the load prediction method of the engine pump group and the first-order sliding mode control method is proposed. The simulation and experimental results show that the method solves the problem of large oscillation in PID load torque predictive speed control when the error of prediction model parameter is too large, and reduces the speed fluctuation of 20% to 40%, and improves the stability of engine working point control. Therefore, the fuel consumption and exhaust gas emission of the engine can be reduced by 4%. The second order sliding mode pressure (super-twisting) control method is proposed to recover the potential energy of the moving arm with the aim of controlling the upper chamber pressure of the moving arm hydraulic cylinder. In this paper, the recovery process of falling potential energy of torque coupled oil-liquid hybrid excavator is studied. According to the second order relative order characteristic of hydraulic pressure control system, a method of determining the pressure control target is given by using the second-order sliding mode super-twisting control method. The simulation and experimental results show that, in the process of recovering potential energy by this method, the amplitude of the pressure energy of the upper cavity of the cylinder is stable at 22 bar when the amplitude is less than 2 bar, which shows that the method can effectively recover the potential energy of the moving arm at the same time. Also can maintain the excavator original good operation performance.
【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TU621
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