發(fā)布時(shí)間：2018-08-18 11:15

【摘要】：鑒于現(xiàn)有油液混合挖掘機(jī)尚存在的不足,為進(jìn)一步降低其燃油消耗率,改善其動(dòng)臂下降時(shí)的平穩(wěn)性,設(shè)計(jì)了一個(gè)改進(jìn)的挖掘機(jī)油液混合動(dòng)力系統(tǒng),研制了扭矩耦合式油液混合動(dòng)力挖掘機(jī)試驗(yàn)平臺(tái)。主要研究具有以下創(chuàng)新點(diǎn)：1)創(chuàng)新研制了一種以液壓泵／馬達(dá)為能量轉(zhuǎn)換器的挖掘機(jī)油液混合動(dòng)力系統(tǒng),實(shí)現(xiàn)了動(dòng)臂下降勢(shì)能回收與發(fā)動(dòng)機(jī)效率優(yōu)化的結(jié)構(gòu)統(tǒng)一,解決了液壓蓄能器參數(shù)難以匹配、能量回收過(guò)程中損失較大等問(wèn)題。建立了主泵、輔助液壓泵／馬達(dá)、柴油發(fā)動(dòng)機(jī)和分動(dòng)箱等部件的數(shù)學(xué)模型,并在AMESIM平臺(tái)上構(gòu)建了相應(yīng)的復(fù)雜模型和工作裝置的動(dòng)力學(xué)模型,構(gòu)建了仿真實(shí)驗(yàn)平臺(tái)。設(shè)計(jì)并試制了相應(yīng)的試驗(yàn)樣機(jī)。2)提出了一種發(fā)動(dòng)機(jī)泵組負(fù)載預(yù)測(cè)方法與一階滑�？刂品椒ㄏ嘟Y(jié)合的挖掘機(jī)油液混合動(dòng)力系統(tǒng)控制策略。仿真和實(shí)驗(yàn)結(jié)果表明,用該方法解決了PID負(fù)載扭矩預(yù)測(cè)轉(zhuǎn)速控制在預(yù)測(cè)模型參數(shù)誤差過(guò)大時(shí)存在大幅振蕩的問(wèn)題；并減少了20%-40%的轉(zhuǎn)速波動(dòng),提高了發(fā)動(dòng)機(jī)工作點(diǎn)控制的穩(wěn)定性,從而降低發(fā)動(dòng)機(jī)燃油消耗及廢氣排放,可以減少4%的燃油消耗。3)以動(dòng)臂液壓缸的上腔壓力為控制目標(biāo),提出了動(dòng)臂勢(shì)能回收的二階滑模壓力super-twisting控制方法。研究了扭矩耦合式油液混合動(dòng)力挖掘機(jī)動(dòng)臂下降勢(shì)能回收過(guò)程,針對(duì)液壓壓力控制系統(tǒng)的二階相對(duì)階特性,采用二階滑模super-twisting控制方法,給出了一種壓力控制目標(biāo)的確定方法。仿真和實(shí)驗(yàn)結(jié)果表明,采用該方法回收勢(shì)能過(guò)程中,油缸上腔壓力能以小于2 bar的波幅穩(wěn)定在22 bar控制值上；從而說(shuō)明該方法在實(shí)現(xiàn)動(dòng)臂勢(shì)能有效回收的同時(shí),還能保持挖掘機(jī)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.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TU621

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