【摘要】：能源危機(jī)和環(huán)境污染現(xiàn)象的持續(xù)加重，已經(jīng)逐漸成為制約人類社會健康發(fā)展的關(guān)鍵問題。尤其對于具有用量大、效率低、排放差特點(diǎn)的挖掘機(jī)，對其進(jìn)行節(jié)能研究不但有利于緩解能源壓力、保護(hù)環(huán)境而且對其他類型的工程機(jī)械具備指導(dǎo)意義。由于液壓混合動力技術(shù)具備功率密度大、全充和全放能力強(qiáng)和可以回收能量的優(yōu)點(diǎn)，所以是最具產(chǎn)業(yè)化應(yīng)用前景的先進(jìn)技術(shù)之一。但迄今為止，對于液壓混合動力挖掘機(jī)的研究還大多局限于某個子回路，尤其缺少從宏觀上對于整機(jī)的系統(tǒng)設(shè)計以及所衍生出的能量控制策略、執(zhí)行元件控制性能等問題的研究，導(dǎo)致這種技術(shù)的實際應(yīng)用受到很大限制。本文以國家自然科學(xué)基金項目“節(jié)能型靜液傳動混合動力系統(tǒng)的理論基礎(chǔ)及相關(guān)技術(shù)研究”等為依托，以基于CPR的混合動力挖掘機(jī)液壓系統(tǒng)為研究對象，從整機(jī)液壓系統(tǒng)的分析設(shè)計到實際實施過程中的關(guān)鍵技術(shù)進(jìn)行了全面深入的研究。 結(jié)合著國內(nèi)外混合動力挖掘機(jī)的發(fā)展現(xiàn)狀，分別橫向比較了液壓混合動力和電動混合動力的特點(diǎn)以及縱向比較了采用各自技術(shù)的具體機(jī)型。選定基于CPR的液壓混合動力技術(shù)作為深入研究對象，并綜述了該技術(shù)的發(fā)展現(xiàn)狀和趨勢。提出切換控制的基于CPR的混合動力挖掘機(jī)液壓系統(tǒng)結(jié)構(gòu)并闡述了工作原理。采用結(jié)合理論分析和關(guān)鍵元件單獨(dú)測試的方法建立了整機(jī)的數(shù)學(xué)模型，并對新系統(tǒng)中新增的元件提出了選型方法。通過動力學(xué)分析的方法對例如液壓缸摩擦系數(shù)以及機(jī)械臂轉(zhuǎn)動慣量等無法直接獲得但又對仿真分析具備較大影響的參數(shù)進(jìn)行了機(jī)械臂單獨(dú)運(yùn)動情況下的辨識分析，并利用機(jī)械臂復(fù)合工況試驗結(jié)果對其進(jìn)行了驗證。然后，利用獲得的整機(jī)參數(shù)，以標(biāo)準(zhǔn)工況下發(fā)動機(jī)油耗最小為優(yōu)化目標(biāo)，利用離散動態(tài)規(guī)劃算法對挖掘機(jī)的關(guān)鍵元件參數(shù)進(jìn)行了優(yōu)化匹配分析，從而降低了整機(jī)油耗。 通過對比量化分析了基于LUDV原理的原挖掘機(jī)和本文提出的新型液混挖掘機(jī)在相同工況下的能耗情況，結(jié)果表明新系統(tǒng)可節(jié)能37%，而且結(jié)合著新型液混挖掘機(jī)的能耗分布情況，提出了通過降低控制油路溢流壓力來進(jìn)一步節(jié)能的方法。設(shè)計了適用于新型液混挖掘機(jī)的分層控制系統(tǒng)結(jié)構(gòu)，明確了每層的任務(wù)并以中間層即控制策略設(shè)計為主要研究內(nèi)容，，研制了三種具備工程實踐價值的基于規(guī)則的控制策略，其中可調(diào)單點(diǎn)準(zhǔn)恒壓控制策略綜合效果最好。 針對提出的可降低油耗的控制策略可能降低執(zhí)行元件控制性能的問題，對控制油路的先導(dǎo)機(jī)構(gòu)設(shè)計了增加積分項的前向補(bǔ)償?shù)幕？刂破�，能夠在降低控制油路壓力的前提下實現(xiàn)不損失控制性能的目的。對于新增的傳感器容易受到干擾的問題，尤其是首次引入的陀螺儀的抗干擾能力較差，開發(fā)了基于新型觀測器的速度控制系統(tǒng)，保證在傳感器非正常工作條件下仍能獲得較好的控制性能。最后，針對液壓變壓器控制液壓缸系統(tǒng)具有耦合和強(qiáng)非線性問題，設(shè)計了結(jié)合動壓反饋和模糊控制的控制器，從而不需要關(guān)注系統(tǒng)模型的內(nèi)部結(jié)構(gòu)，提高了液壓缸速度控制的魯棒性。 本文最后進(jìn)行了實機(jī)實驗和臺架模擬實驗。首先，對一臺基于LUDV原理的5t級挖掘機(jī)增加了數(shù)據(jù)采集系統(tǒng)，并進(jìn)行了標(biāo)準(zhǔn)工況的測試，利用試驗數(shù)據(jù)進(jìn)行了能耗分析，驗證所建模型的準(zhǔn)確性。然后，采用發(fā)動機(jī)直接驅(qū)動液壓泵/馬達(dá)且以溢流閥模擬負(fù)載的方式對提出的增加積分項的前向補(bǔ)償滑模控制器進(jìn)行了實驗，結(jié)果表明了該算法可有效的提高變量（變壓）機(jī)構(gòu)位置控制系統(tǒng)的準(zhǔn)確性和魯棒性。對回轉(zhuǎn)裝置進(jìn)行了基于CPR原理的改造，通過空載和重載的實驗證明了提出方案的可行性。然后，搭建了液壓變壓器控制液壓缸的模擬實驗平臺，分別進(jìn)行了液壓變壓器配流盤轉(zhuǎn)角控制和液壓缸的位置控制實驗，實驗結(jié)果表明該控制方式可以完成預(yù)設(shè)任務(wù)，雖然精度不高，但適用于挖掘機(jī)這種對于準(zhǔn)確性要求較低的工程機(jī)械領(lǐng)域。
[Abstract]:The continuous aggravation of the energy crisis and the environmental pollution has gradually become the key problem that restricts the healthy development of the human society. Especially for the excavators with the characteristics of large amount, low efficiency and poor emission, the study of energy conservation is not only helpful to alleviate the pressure of energy, protect the environment but also have guidance to other types of engineering machinery. Hydraulic hybrid power technology has the advantages of high power density, full full charge and full discharge capacity and can recover energy, so it is one of the most advanced technologies with the most industrial application prospects. But so far, the research on Hydraulic Hybrid excavators is mostly limited to a certain sub circuit, especially the lack of macro to the whole. The research on the system design, the derived energy control strategy and the performance of the executive component control results in the practical application of this technology greatly limited. This paper is based on the National Natural Science Foundation Project "the theoretical foundation of the energy saving hydrostatic transmission hybrid system and the related technology research", based on CPR The hydraulic system of the hybrid power excavator is the research object, and the key technology in the process of the actual hydraulic system analysis and design to the actual implementation process is thoroughly studied.
Combined with the development status of hybrid power excavators both at home and abroad, the characteristics of hydraulic hybrid power and electric hybrid power are compared and the specific models are compared longitudinally. The hydraulic hybrid power technology based on CPR is selected as the research object, and the development status and trend of this technology are summarized. The structure of the hydraulic system of the hybrid power excavator based on CPR is switched and the working principle is expounded. The mathematical model of the whole machine is established by combining the theoretical analysis and the single test of the key components. The selection method of the new components in the new system is put forward. The friction coefficient of the hydraulic cylinder, for example, is analyzed by the method of dynamic analysis. The identification and analysis of the parameters which can not be obtained directly but have a great influence on the simulation analysis are carried out under the individual motion of the manipulator, and the results are verified by the results of the complex working condition of the manipulator. Then, the engine fuel consumption is optimized under the standard condition by using the obtained machine parameters. The discrete dynamic programming algorithm is used to optimize and match the parameters of the key components of the excavator, thereby reducing the fuel consumption of the whole machine.
By comparing and quantifying the energy consumption of the original excavator based on LUDV principle and the new type liquid concrete excavator in the same working condition, the results show that the new system can save energy 37%, and combined with the energy consumption distribution of the new type liquid mixing excavator, the method of further saving energy by reducing the overflow pressure of the control oil road is put forward. The structure of the hierarchical control system for the new type liquid mixing excavator is taken into account. The task of each layer is clarified and the middle layer is the main research content. Three rules based control strategies have been developed, in which the single point quasi constant pressure control strategy has the best comprehensive effect.
In order to reduce the oil consumption control strategy, the control performance of the actuator may be reduced. A forward compensating sliding mode controller with integral terms is designed for the leading mechanism of the control oil road. It can reduce the control performance of the control oil under the premise of reducing the pressure of the oil path. The problem of interference, especially the poor anti-interference ability of the gyroscope introduced for the first time, has developed a speed control system based on the new observer, which ensures better control performance under the abnormal working condition of the sensor. Finally, the hydraulic transformer control hydraulic cylinder system has coupling and strong nonlinear problems, and the design is designed. The controller with dynamic pressure feedback and fuzzy control does not need to pay attention to the internal structure of the system model, and improves the robustness of the speed control of the hydraulic cylinder.
At the end of this paper, the actual machine experiment and the bench simulation experiment are carried out. First, a data acquisition system is added to a 5T excavator based on LUDV principle, and the test of the standard working condition is carried out. The energy consumption analysis is carried out with the test data to verify the accuracy of the model. Then, the hydraulic pump / motor is directly driven by the engine and the overflow is used to overflow. The experiment of the forward compensating sliding mode controller which is proposed to increase the integral term is carried out in the way of the valve simulating the load. The results show that the algorithm can effectively improve the accuracy and robustness of the variable (variable pressure) mechanism position control system. The modification based on the principle of CPR is carried out on the rotary device, and the proposed formula is proved by the experiments of no load and heavy load. Then, the simulation experiment platform of hydraulic transformer to control the hydraulic cylinder is built, and the angle control and the position control experiment of the hydraulic transformer are carried out respectively. The experimental results show that the control method can complete the presupposition task, although the precision is not high, but it is suitable for the excavator for accuracy. Low engineering machinery field.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TU621

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