混合动力叉车门架动力学性能与势能回收关系研究

发布时间：2018-01-19 00:31

本文关键词： 转速容积调速混合动力叉车控制策略动力学性能势能回收变仿真分析结构动态设计　出处：《合肥工业大学》2014年博士论文　论文类型：学位论文

【摘要】：能源危机日益严峻,人们对工程机械节约能源的要求也日益提高。势能回收和利用被认为是解决工程机械节能问题的重要方案之一。如何提高势能回收的效率成为工程机械势能回收系统研究的关键问题。本文以国家重点新产品计划项目为背景,在全面分析混合动力工程机械的研究现状、势能回收系统研究和应用概况的基础上,以混合动力叉车为对象,对叉车门架下降势能回收技术进行研究,分析了混合动力叉车门架动力学性能与势能回收效率之间的关系,提出了门架下降势能回收系统方案及控制策略,给出了叉车门架动态优化设计的基本原则。完成的主要研究工作和成果总结如下： 1)分析了传统电动叉车工作装置系统的组成及工作原理,指出了传统电动叉车工作装置系统存在的问题,基于电动叉车工作中的实测数据,研究了电动叉车工作装置系统势能回收的可行性及各执行机构可回收能量所占比例。 2)建立了混合动力叉车势能回收系统数学模型。利用建立的数学模型导出了混合动力叉车势能回收效率与叉车门架动力学性能参数及势能回收系统零部件参数之间的关系式。建立了基于AMESim和Virtual, lab Motion的混合动力叉车势能回收系统模型,对混合动力叉车势能回收系统进行仿真分析,验证了理论研究的正确性。 3)针对传统电动叉车工作装置系统存在的问题,提出基于双能量源、变转速容积调速的混合动力叉车势能回收系统方案,建立了基于双能量源、变转速容积调速势能回收系统的数学模型并完成了控制性能分析。设计了电机转速模糊PI控制系统及模糊控制器,提出了基于模糊理论的混合动力叉车势能回收系统控制策略。 4)提出了基于节流辅助调速和变转速容积调速复合控制的势能回收方案,分析了该方案的工作原理。建立了基于复合调速势能回收系统的数学模型,分析了其控制特性。对混合动力叉车势能回收系统的主要零部件进行了参数匹配设计,为样机的制造打下基础。分析了货叉工作模式的决策方式,提出了发电机转速动态修正控制规则,给出了一种基于节流调速和变转速容积调速复合调速的控制策略。 5)基于决定叉车门架动态性能的基本因素,针对叉车门架的结构特点,提出叉车门架动态优化设计的八条基本原则,对指导叉车门架结构设计具有实用价值。 6)利用研究成果制造样机,对样机进行试验研究。试验结论与仿真分析结果一致,验证了仿真模型的合理性及仿真结果的正确性。两种电动叉车(传统电动叉车及混合动力叉车)对比试验结果表明：混合动力叉车可延长工作时间11.6%,势能回收效果明显；混合动力叉车可以避免铅酸蓄电池组大电流放电,有效延长铅酸蓄电池组的使用寿命,降低电动叉车的使用成本。
[Abstract]:The energy crisis is getting worse. Potential energy recovery and utilization is considered as one of the most important methods to solve the problem of energy saving of construction machinery. How to improve the efficiency of potential energy recovery becomes the potential energy recovery of construction machinery. The key problems of systematic research. In this paper, based on the national key new product planning project, based on the comprehensive analysis of the research status of hybrid construction machinery, potential energy recovery system research and application, the hybrid forklift truck as the object. This paper studies the recovery technology of descending potential energy of forklift gantry, analyzes the relationship between the dynamic performance and potential energy recovery efficiency of the portal frame of hybrid electric forklift, and puts forward the scheme and control strategy of the downhill potential energy recovery system for the portal frame of the forklift truck. The basic principles of dynamic optimization design of forklift gantry are given. The main research work and results are summarized as follows: 1) the composition and working principle of the traditional electric forklift working device system are analyzed, and the existing problems of the traditional electric forklift working device system are pointed out, based on the measured data in the electric forklift work. The feasibility of potential energy recovery in the work system of electric forklift truck and the proportion of recoverable energy of various actuators are studied. 2). The mathematical model of potential energy recovery system of hybrid forklift truck is established. The relationship between potential energy recovery efficiency of hybrid forklift truck and dynamic parameters of forklift gantry and parts parameters of potential energy recovery system is derived by using the established mathematical model. Based on AMESim and Virtual. The potential energy recovery system model of hybrid forklift truck based on lab Motion is simulated and analyzed, which verifies the correctness of the theoretical research. 3) aiming at the problems existing in the traditional electric forklift working device system, a hybrid electric forklift potential energy recovery system based on dual energy source and variable speed and volume speed regulation is proposed, and the dual energy source is established. The mathematical model of the potential energy recovery system of variable speed volume speed regulation is established and the control performance is analyzed. The fuzzy Pi control system and fuzzy controller of motor speed are designed. The control strategy of potential energy recovery system for hybrid forklift truck based on fuzzy theory is proposed. 4) the potential energy recovery scheme based on throttle auxiliary speed regulation and variable speed volumetric control is put forward, the working principle of this scheme is analyzed, and a mathematical model based on compound speed regulation potential energy recovery system is established. The parameters matching design of the main parts of the potential energy recovery system of the hybrid electric forklift is carried out, which lays the foundation for the manufacture of the prototype. The decision mode of the forklift working mode is analyzed. The dynamic correction control rules of generator speed are proposed, and a control strategy based on throttle speed regulation and variable speed volumetric speed regulation is presented. 5) based on the basic factors that determine the dynamic performance of the forklift gantry, eight basic principles for the dynamic optimization design of the forklift gantry are put forward according to the structural characteristics of the forklift gantry. It has practical value to guide forklift gantry structure design. 6) the prototype is manufactured by using the research results, and the experimental results are consistent with the simulation results. The rationality of the simulation model and the correctness of the simulation results are verified. The comparison test results of two kinds of electric forklift truck (traditional electric forklift truck and hybrid electric forklift truck) show that the hybrid electric forklift truck can prolong the working time by 11.6%. The recovery effect of potential energy is obvious. The hybrid forklift truck can avoid the high current discharge of the lead-acid battery group, prolong the service life of the lead-acid battery group, and reduce the use cost of the electric forklift truck.
【学位授予单位】：合肥工业大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH242

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