【摘要】：液壓挖掘機以其高效、耐用以及對工作環(huán)境要求不高的優(yōu)點，成為了目前應(yīng)用最廣泛的工程機械之一，在經(jīng)濟(jì)建設(shè)中發(fā)揮著舉足輕重的作用。但是同時，由于其用量大、耗油高、排放差，已經(jīng)逐漸成為節(jié)能環(huán)保領(lǐng)域的主要研究對象之一。高效節(jié)能一直是國內(nèi)外液壓挖掘機生產(chǎn)企業(yè)追求的主要目標(biāo)。因此，國內(nèi)外各大液壓挖掘機生產(chǎn)廠商及科研機構(gòu)在液壓挖掘機的節(jié)能方面進(jìn)行了不同程度的研究。 能量回收是提高液壓挖掘機工作效率的一項有效措施。本文在對傳統(tǒng)液壓挖掘機工作裝置進(jìn)行分析的基礎(chǔ)上，提出一種混合動力液壓挖掘機動臂勢能回收系統(tǒng)，進(jìn)行了方案設(shè)計和參數(shù)匹配的研究。在AMESim軟件中建立系統(tǒng)仿真模型，分析系統(tǒng)關(guān)鍵參數(shù)對能量回收系統(tǒng)效率的影響，并根據(jù)傳統(tǒng)液壓挖掘機的工作特點，針對所設(shè)計的系統(tǒng)提出新的控制策略。本文的主要研究工作如下： 1、分析了液壓挖掘機節(jié)能的重要意義。介紹了液壓挖掘機上工作元件、液壓系統(tǒng)和功率匹配等節(jié)能技術(shù)的發(fā)展情況，國內(nèi)外各公司混合動力系統(tǒng)的發(fā)展與應(yīng)用,以及現(xiàn)有能量回收系統(tǒng)的應(yīng)用，說明了設(shè)計適合混合動力液壓挖掘機的能量回收系統(tǒng)的必要性，提出了本文研究課題和研究的主要內(nèi)容。 2、進(jìn)行了混合動力液壓挖掘機動臂勢能回收系統(tǒng)設(shè)計。運用D-H方法對液壓挖掘機工作裝置進(jìn)行了運動學(xué)分析，推導(dǎo)出了各個坐標(biāo)系相對極坐標(biāo)系的轉(zhuǎn)換矩陣，實現(xiàn)了不同坐標(biāo)系之間的坐標(biāo)轉(zhuǎn)換。在AMESim軟件中建立了傳統(tǒng)液壓挖掘機工作裝置的仿真模型，分析了工作裝置中的三個液壓缸在一個工作周期內(nèi)可回收的能量，提出了一種基于蓄能器—液壓馬達(dá)—發(fā)電機的混合動力液壓挖掘機動臂勢能回收系統(tǒng)，設(shè)計了系統(tǒng)原理圖，分析了系統(tǒng)的實施方案。 3、進(jìn)行了能量回收系統(tǒng)液壓元件建模與參數(shù)匹配研究。對動臂勢能回收系統(tǒng)中的液壓泵/液壓馬達(dá)、液壓缸、蓄能器和管路等元件進(jìn)行數(shù)學(xué)建模，推導(dǎo)出液壓系統(tǒng)的傳遞函數(shù)和固有頻率，根據(jù)分析出的定量和變量參數(shù)對該頻率的影響，提出了提高系統(tǒng)響應(yīng)速度的辦法。建立了發(fā)動機、液壓馬達(dá)和蓄能器的參數(shù)匹配方法，選擇了具體的型號與參數(shù)。參數(shù)匹配滿足了系統(tǒng)工況的要求，提高了系統(tǒng)的能量回收效率。 4、研究了液壓系統(tǒng)關(guān)鍵參數(shù)對能量回收效率的影響。建立了動臂勢能回收系統(tǒng)仿真模型，，對能量回收系統(tǒng)進(jìn)行了仿真研究，分析了蓄能器的充氣壓力和初始容積，液壓馬達(dá)的類型和排量等參數(shù)對能量回收系統(tǒng)效率的影響。根據(jù)仿真研究結(jié)果，分析了產(chǎn)生能量損失的原因。 5、研究了混合動力液壓挖掘機動臂勢能回收系統(tǒng)控制策略。建立了混合動力液壓挖掘機動力系統(tǒng)中發(fā)動機、電動機和蓄電池的模型。根據(jù)液壓挖掘機的負(fù)載特性，提出基于蓄電池SOC值判定的分工況控制策略，在AMESim軟件中建立了混合動力液壓挖掘機和傳統(tǒng)液壓挖掘機系統(tǒng)的仿真模型，利用Simulink建立了控制策略仿真模型，并對混合動力液壓挖掘機整機模型進(jìn)行聯(lián)合仿真，證明了提出的控制策略的有效性。 6、總結(jié)與展望。概括了論文的主要研究工作，并展望了今后的研究工作和方向。
[Abstract]:Hydraulic excavator has become one of the most widely used engineering machinery because of its high efficiency, durability and low requirements for working environment. It plays an important role in economic construction. But at the same time, because of its large consumption, high consumption of oil and poor emission, the hydraulic excavator has gradually become one of the main research objects in the field of energy conservation and environmental protection. Energy efficiency has always been the main goal of hydraulic excavator production enterprises at home and abroad. Therefore, various manufacturers and scientific research institutions of hydraulic excavators at home and abroad have studied the energy saving aspects of hydraulic excavators in different degrees.
Energy recovery is an effective measure to improve the working efficiency of hydraulic excavator. On the basis of the analysis of the working device of the traditional hydraulic excavator, this paper puts forward a kind of potential energy recovery system for the dynamic arm of the hydraulic excavator, and studies the design of the scheme and the matching of the parameters. The system simulation model is set up in the AMESim software and the analysis of the system is analyzed. The key parameters of the system affect the efficiency of the energy recovery system. According to the characteristics of the traditional hydraulic excavator, the new control strategy is proposed for the designed system. The main research work of this paper is as follows:
1, the important significance of the energy saving of hydraulic excavator is analyzed. The development of the working components, the hydraulic system and the power matching of the hydraulic excavator, the development and application of the hybrid power system at home and abroad, and the application of the existing energy recovery system are introduced, and the energy of the design suitable for the hybrid power hydraulic excavator is explained. The necessity of recycling system is put forward, and the main contents of this paper are presented.
2, the design of the dynamic potential energy recovery system of the hybrid hydraulic excavator is carried out. The D-H method is used to carry out the kinematic analysis of the working device of the hydraulic excavator, and the conversion matrix of the relative polar coordinate system of each coordinate system is derived, and the coordinate transformation between the different coordinate systems is realized. The traditional hydraulic excavator workers are set up in the AMESim software. A simulation model of the device is made to analyze the recoverable energy of three hydraulic cylinders in a working cycle in a working cycle. A potential energy recovery system based on an accumulator - a hydraulic motor - Generator - a hybrid power hydraulic excavator is proposed. The system schematic diagram is designed and the implementation scheme of the system is analyzed.
3, the modeling and parameter matching of the hydraulic components in the energy recovery system are carried out. The hydraulic pump / hydraulic motor, hydraulic cylinder, accumulator and pipeline are modeled on the dynamic arm potential energy recovery system, and the transfer function and natural frequency of the hydraulic system are derived, and the influence of the quantitative and variable parameters on the frequency is proposed. The method of improving the response speed of the system is given. The parameters matching method of the engine, the hydraulic motor and the accumulator is set up. The specific model and parameters are selected. The parameter matching meets the requirements of the system working conditions and improves the efficiency of the energy recovery of the system.
4, the influence of the key parameters of the hydraulic system on the energy recovery efficiency is studied. The simulation model of the recovery system of the movable arm potential energy recovery system is established. The simulation study of the energy recovery system is carried out. The effects of the gas pressure and initial volume of the accumulator, the type and displacement of the hydraulic motor on the efficiency of the energy recovery system are analyzed. As a result, the cause of energy loss was analyzed.
5, the control strategy of the potential energy recovery system of the dynamic arm of the hybrid hydraulic excavator is studied. The model of the engine, motor and battery in the power system of the hybrid hydraulic excavator is established. According to the load characteristic of the hydraulic excavator, a sub condition control strategy based on the SOC value of the battery is put forward, and the mixing action is set up in the AMESim software. The simulation model of the force hydraulic excavator and the traditional hydraulic excavator system is built, and the control strategy simulation model is established by Simulink. The combined simulation of the whole model of the hybrid power hydraulic excavator has been carried out, and the effectiveness of the proposed control strategy is proved.
6, summarize and prospect, summarize the main research work of the thesis, and look forward to the future research work and direction.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TU621

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