液压挖掘机动臂下降势能回收技术研究
发布时间：2018-11-10 11:11
【摘要】：液压挖掘机是一种高能耗、高排放的工程机械。随着各国施工项目的不断增多，液压挖掘机的用量也在逐年增加，因此，研究液压挖掘机的节能技术对减少常规能源消耗和改善环境具有重要的现实意义。液压挖掘机工作过程中，各机械臂的升降都比较频繁，而机械臂的下降速度主要是靠调节主阀节流口开度来控制，如果能将机械臂的下降势能进行回收并加以利用，可进一步提高液压挖掘机的整机节能效果。 目前，液压挖掘机机械臂势能回收技术的研究主要集中于液压开式回路能量回收系统的开发，其系统都存在一定程度的节流损失和旁通损失。本文结合863国家高技术研究发展计划项目“新型混合动力工程机械关键技术及系统开发”，根据液压挖掘机动臂的实际作业工况，，对液压挖掘机动臂下降势能回收技术进行了深入系统的研究，并取得了如下创新性成果。 1.提出并设计了一种新型液压挖掘机动臂闭式回路势能回收系统。采用模糊PI自整定控制算法控制永磁无刷直流电动机，实现液压动力系统的变转速容积调速控制，使系统的输入功率与负载所需功率完全匹配，无节流损失和溢流损失，提高了能量回收系统的运行效率和节能效果。 2.基于闭式回路动臂势能回收系统的工作原理以及对系统各构成环节运动规律的分析，建立了系统的数学模型和仿真模型，提出了动臂势能回收系统的控制策略。通过仿真研究，对挖掘机动臂变负载（铲斗盛装不同重量负载）运行各工况下动臂液压缸活塞的运行速度、蓄能器压力及液压缸大小腔压力的变化特性进行了分析。 3.通过自主开发的闭式回路动臂势能回收系统试验平台对仿真结果进行了验证试验，并对其系统的运行效率及系统节能效果进行了综合评价，结果表明：所提出的闭式回路动臂势能回收系统运行稳定，与原车阀控动臂液压系统相比，运行效率较高，节能效果显著。 此外，本文还进行了以下研究工作： 1.对液压挖掘机各执行机构的可回收能量分布进行了分析。以某公司8吨级液压挖掘机为对象建立了各执行机构、液压系统及系统能量损耗模型，采用仿真和实验测试相结合的方法，对液压挖掘机工作过程中各执行机构的能量消耗情况和可回收能量所占比重进行了研究，为发掘系统的节能潜力和找到能量回收研究的主攻方向提供了理论依据。 2.基于闭式回路动臂势能回收系统的节能机理，对系统在不同工况运行时各动力元件之间的能量转换关系进行了分析，以8吨级液压挖掘机为设计对象，对闭式回路动臂势能回收系统的主要元件进行了参数匹配。 3.建立了永磁无刷直流电动机的数学模型，对电机的调速性能及抗干扰性能进行了仿真和试验研究，结果表明该方法具有较好的动态控制品质，比较适用于闭式回路动臂势能回收系统的变转速容积调速控制。
[Abstract]:Hydraulic excavator is a kind of construction machinery with high energy consumption and high emission. With the increasing of construction projects in various countries, the amount of hydraulic excavators is increasing year by year. Therefore, it is of great practical significance to study the energy-saving technology of hydraulic excavators to reduce the consumption of conventional energy and improve the environment. In the working process of hydraulic excavator, the movement of each arm is frequent, and the descending speed of the arm is mainly controlled by adjusting the opening of the main valve throttle. If the drop potential energy of the arm can be recovered and utilized, It can further improve the energy saving effect of hydraulic excavator. At present, the research of hydraulic excavator arm potential energy recovery technology is mainly focused on the development of hydraulic open loop energy recovery system, its system has a certain degree of throttling loss and bypass loss. Combined with 863 National High Technology Research and Development Project "key Technology and system Development of New Hybrid Electric Engineering Machinery", according to the actual working conditions of hydraulic excavator arm, In this paper, the drop potential energy recovery technology of hydraulic excavator is studied systematically, and the following innovative results are obtained. 1. A new type of hydraulic excavator closed loop potential energy recovery system is proposed and designed. The fuzzy PI self-tuning control algorithm is used to control the permanent magnet brushless DC motor. The variable speed and volume speed control of hydraulic power system is realized. The input power of the system is exactly matched with the power required by the load, and there is no throttle loss and overflow loss. The operation efficiency and energy saving effect of the energy recovery system are improved. 2. Based on the working principle of the closed loop moving-arm potential energy recovery system and the analysis of the motion law of each component of the system, the mathematical model and simulation model of the system are established, and the control strategy of the moving-arm potential energy recovery system is proposed. In this paper, the operating speed, accumulator pressure and pressure of hydraulic cylinder of excavator with variable load (bucket loaded with different weights) under different operating conditions are analyzed by simulation. 3. The simulation results are verified by the self-developed test platform of closed loop moving-arm potential energy recovery system, and the operation efficiency and energy saving effect of the system are comprehensively evaluated. The results show that the proposed closed loop moving-arm potential energy recovery system is stable in operation, and has higher operating efficiency and remarkable energy saving effect compared with the hydraulic system of the valve-controlled arm of the original vehicle. In addition, this paper also carried out the following research work: 1. The distribution of recoverable energy of various actuators of hydraulic excavator is analyzed. Taking the 8-ton hydraulic excavator of a company as the object, the models of each actuator, hydraulic system and system energy loss are established, and the method of combining simulation with experiment test is adopted. The energy consumption and the proportion of recoverable energy of various actuators in the working process of hydraulic excavator are studied, which provides a theoretical basis for excavating the potential of energy saving of the system and finding the main direction of energy recovery research. 2. Based on the energy saving mechanism of the closed loop moving-arm potential energy recovery system, the energy conversion relationship between the power components of the system under different operating conditions is analyzed. The 8-ton hydraulic excavator is taken as the design object. The main components of the closed loop moving-arm potential energy recovery system are matched. 3. The mathematical model of permanent magnet brushless DC motor is established, and the speed regulation performance and anti-interference performance of the motor are simulated and tested. The results show that the method has better dynamic control quality. It is suitable for variable speed volume speed regulation control of closed loop moving-arm potential energy recovery system.
【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TU621
[Abstract]:Hydraulic excavator is a kind of construction machinery with high energy consumption and high emission. With the increasing of construction projects in various countries, the amount of hydraulic excavators is increasing year by year. Therefore, it is of great practical significance to study the energy-saving technology of hydraulic excavators to reduce the consumption of conventional energy and improve the environment. In the working process of hydraulic excavator, the movement of each arm is frequent, and the descending speed of the arm is mainly controlled by adjusting the opening of the main valve throttle. If the drop potential energy of the arm can be recovered and utilized, It can further improve the energy saving effect of hydraulic excavator. At present, the research of hydraulic excavator arm potential energy recovery technology is mainly focused on the development of hydraulic open loop energy recovery system, its system has a certain degree of throttling loss and bypass loss. Combined with 863 National High Technology Research and Development Project "key Technology and system Development of New Hybrid Electric Engineering Machinery", according to the actual working conditions of hydraulic excavator arm, In this paper, the drop potential energy recovery technology of hydraulic excavator is studied systematically, and the following innovative results are obtained. 1. A new type of hydraulic excavator closed loop potential energy recovery system is proposed and designed. The fuzzy PI self-tuning control algorithm is used to control the permanent magnet brushless DC motor. The variable speed and volume speed control of hydraulic power system is realized. The input power of the system is exactly matched with the power required by the load, and there is no throttle loss and overflow loss. The operation efficiency and energy saving effect of the energy recovery system are improved. 2. Based on the working principle of the closed loop moving-arm potential energy recovery system and the analysis of the motion law of each component of the system, the mathematical model and simulation model of the system are established, and the control strategy of the moving-arm potential energy recovery system is proposed. In this paper, the operating speed, accumulator pressure and pressure of hydraulic cylinder of excavator with variable load (bucket loaded with different weights) under different operating conditions are analyzed by simulation. 3. The simulation results are verified by the self-developed test platform of closed loop moving-arm potential energy recovery system, and the operation efficiency and energy saving effect of the system are comprehensively evaluated. The results show that the proposed closed loop moving-arm potential energy recovery system is stable in operation, and has higher operating efficiency and remarkable energy saving effect compared with the hydraulic system of the valve-controlled arm of the original vehicle. In addition, this paper also carried out the following research work: 1. The distribution of recoverable energy of various actuators of hydraulic excavator is analyzed. Taking the 8-ton hydraulic excavator of a company as the object, the models of each actuator, hydraulic system and system energy loss are established, and the method of combining simulation with experiment test is adopted. The energy consumption and the proportion of recoverable energy of various actuators in the working process of hydraulic excavator are studied, which provides a theoretical basis for excavating the potential of energy saving of the system and finding the main direction of energy recovery research. 2. Based on the energy saving mechanism of the closed loop moving-arm potential energy recovery system, the energy conversion relationship between the power components of the system under different operating conditions is analyzed. The 8-ton hydraulic excavator is taken as the design object. The main components of the closed loop moving-arm potential energy recovery system are matched. 3. The mathematical model of permanent magnet brushless DC motor is established, and the speed regulation performance and anti-interference performance of the motor are simulated and tested. The results show that the method has better dynamic control quality. It is suitable for variable speed volume speed regulation control of closed loop moving-arm potential energy recovery system.
【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TU621
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