混合动力液压挖掘机实时仿真系统研究

发布时间：2018-03-23 15:52

本文选题：混合动力系统　切入点：液压挖掘机　出处：《浙江大学》2013年硕士论文

【摘要】：液压挖掘机在工程建设领域起着重要作用,近年来引入了混合动力技术以解决其能耗大、排放差的问题。混合动力液压挖掘机集成了机械、电子、液压传动和人机工程等多学科领域,系统的集成和测试往往要到样机研制成功后才能进行,而且混合动力技术具有多种可行结构,如果分别对每种方案建立试验台架或样机,则研发周期太长、成本高、效率低,难以满足市场对多样性和快速性的需求。本文利用实时仿真技术,采用模块化建模思想,设计了以dSPACE实时仿真机为核心的混合动力液压挖掘机实时仿真系统,为控制器和控制策略等开发提供了较为精确的实时控制原型,还可以为进一步的半物理仿真提供可实时系统模型,进而实现较高置信度的仿真。各章节内容如下：第一章介绍了混合动力液压挖掘机及其国内外发展情况,论述了仿真技术及其在混合动力液压挖掘机上的应用现状。基于单纯离线仿真缺点提出了较高可靠性的实时仿真技术,从而为元件及系统开发提供可靠的实时仿真研究平台。第二章针对混合动力液压挖掘机做了实时仿真系统设计,介绍了其硬件和软件系统,重点描述了模拟操作系统、dSPACE实时仿真机软硬件系统和三维实时显示环境。第三章基于挖掘机复杂的机电液系统,引入模块化建模思想,系统地设计了动力系统、液压系统、上车机构和控制系统模型间的数据通讯接口,使得模型间的连接容易,大大提高研发效率和模型重复利用率。然后根据元件特性建立了发动机、电动／发电机和超级电容器的可实时仿真模型,完成了参数化封装,并进行了部分元件的实验验证。第四章首先介绍了挖掘机的液压系统组成及工作原理,然后根据第三章模块化分解和接口规范,建立了液压系统基本元件的数学模型、上车机构和回转机构的动力学模型,模型均进行了参数化封装。第五章对所建的系统模型进行了集成,然后基于该实时仿真平台进行了混合动力系统和模拟操控系统的实时仿真,验证了平台的有效性。第六章对本文的研究内容做了总结,并提出了今后工作的方向。
[Abstract]:Hydraulic excavator plays an important role in the field of engineering construction. In recent years, hybrid power technology has been introduced to solve the problem of high energy consumption and poor emission. In the multi-disciplinary fields such as hydraulic transmission and ergonomics, the system integration and test can not be carried out until the prototype is successfully developed, and the hybrid power technology has a variety of feasible structures. The R & D cycle is too long, high cost, low efficiency, difficult to meet the market demand for diversity and speed. In this paper, a hybrid hydraulic excavator real-time simulation system based on dSPACE real-time simulator is designed by using real-time simulation technology and modular modeling idea. It provides a more accurate real-time control prototype for the development of controller and control strategy, and also provides a real-time system model for further semi-physical simulation, and then realizes the simulation with high confidence. The contents of each chapter are as follows:. The first chapter introduces the hybrid electric hydraulic excavator and its development at home and abroad. The simulation technology and its application in hybrid hydraulic excavator are discussed. Based on the shortcomings of off-line simulation, a high reliability real-time simulation technology is proposed, which provides a reliable real-time simulation research platform for component and system development. In the second chapter, a real-time simulation system for hybrid hydraulic excavator is designed, and its hardware and software systems are introduced. The hardware and software system and 3D real-time display environment of the simulation operating system are described. In the third chapter, based on the complex electromechanical hydraulic system of excavator, the modular modeling idea is introduced, and the data communication interface between power system, hydraulic system, boarding mechanism and control system model is designed systematically, which makes the connection between models easy. Then the real-time simulation models of engine, electric / generator and supercapacitor are established according to the characteristics of the components, the parameterized packaging is completed, and some of the components are verified by experiments. In the fourth chapter, the hydraulic system composition and working principle of excavator are introduced. Then, according to the modular decomposition and interface specification in chapter 3, the mathematical model of the basic components of hydraulic system, the dynamic model of the boarding mechanism and the rotary mechanism are established. The models are all parameterized. In the fifth chapter, the system model is integrated, and then the hybrid power system and the simulation control system are simulated based on the real-time simulation platform, which verifies the effectiveness of the platform. The sixth chapter summarizes the research content of this paper and puts forward the direction of future work.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU621

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