本文關(guān)鍵詞： 轉(zhuǎn)速容積調(diào)速混合動(dòng)力叉車 控制策略 動(dòng)力學(xué)性能 勢(shì)能回收 變仿真分析 結(jié)構(gòu)動(dòng)態(tài)設(shè)計(jì)　出處：《合肥工業(yè)大學(xué)》2014年博士論文　論文類型：學(xué)位論文

【摘要】：能源危機(jī)日益嚴(yán)峻,人們對(duì)工程機(jī)械節(jié)約能源的要求也日益提高。勢(shì)能回收和利用被認(rèn)為是解決工程機(jī)械節(jié)能問題的重要方案之一。如何提高勢(shì)能回收的效率成為工程機(jī)械勢(shì)能回收系統(tǒng)研究的關(guān)鍵問題。 本文以國家重點(diǎn)新產(chǎn)品計(jì)劃項(xiàng)目為背景,在全面分析混合動(dòng)力工程機(jī)械的研究現(xiàn)狀、勢(shì)能回收系統(tǒng)研究和應(yīng)用概況的基礎(chǔ)上,以混合動(dòng)力叉車為對(duì)象,對(duì)叉車門架下降勢(shì)能回收技術(shù)進(jìn)行研究,分析了混合動(dòng)力叉車門架動(dòng)力學(xué)性能與勢(shì)能回收效率之間的關(guān)系,提出了門架下降勢(shì)能回收系統(tǒng)方案及控制策略,給出了叉車門架動(dòng)態(tài)優(yōu)化設(shè)計(jì)的基本原則。完成的主要研究工作和成果總結(jié)如下： 1)分析了傳統(tǒng)電動(dòng)叉車工作裝置系統(tǒng)的組成及工作原理,指出了傳統(tǒng)電動(dòng)叉車工作裝置系統(tǒng)存在的問題,基于電動(dòng)叉車工作中的實(shí)測(cè)數(shù)據(jù),研究了電動(dòng)叉車工作裝置系統(tǒng)勢(shì)能回收的可行性及各執(zhí)行機(jī)構(gòu)可回收能量所占比例。 2)建立了混合動(dòng)力叉車勢(shì)能回收系統(tǒng)數(shù)學(xué)模型。利用建立的數(shù)學(xué)模型導(dǎo)出了混合動(dòng)力叉車勢(shì)能回收效率與叉車門架動(dòng)力學(xué)性能參數(shù)及勢(shì)能回收系統(tǒng)零部件參數(shù)之間的關(guān)系式。建立了基于AMESim和Virtual, lab Motion的混合動(dòng)力叉車勢(shì)能回收系統(tǒng)模型,對(duì)混合動(dòng)力叉車勢(shì)能回收系統(tǒng)進(jìn)行仿真分析,驗(yàn)證了理論研究的正確性。 3)針對(duì)傳統(tǒng)電動(dòng)叉車工作裝置系統(tǒng)存在的問題,提出基于雙能量源、變轉(zhuǎn)速容積調(diào)速的混合動(dòng)力叉車勢(shì)能回收系統(tǒng)方案,建立了基于雙能量源、變轉(zhuǎn)速容積調(diào)速勢(shì)能回收系統(tǒng)的數(shù)學(xué)模型并完成了控制性能分析。設(shè)計(jì)了電機(jī)轉(zhuǎn)速模糊PI控制系統(tǒng)及模糊控制器,提出了基于模糊理論的混合動(dòng)力叉車勢(shì)能回收系統(tǒng)控制策略。 4)提出了基于節(jié)流輔助調(diào)速和變轉(zhuǎn)速容積調(diào)速復(fù)合控制的勢(shì)能回收方案,分析了該方案的工作原理。建立了基于復(fù)合調(diào)速勢(shì)能回收系統(tǒng)的數(shù)學(xué)模型,分析了其控制特性。對(duì)混合動(dòng)力叉車勢(shì)能回收系統(tǒng)的主要零部件進(jìn)行了參數(shù)匹配設(shè)計(jì),為樣機(jī)的制造打下基礎(chǔ)。分析了貨叉工作模式的決策方式,提出了發(fā)電機(jī)轉(zhuǎn)速動(dòng)態(tài)修正控制規(guī)則,給出了一種基于節(jié)流調(diào)速和變轉(zhuǎn)速容積調(diào)速復(fù)合調(diào)速的控制策略。 5)基于決定叉車門架動(dòng)態(tài)性能的基本因素,針對(duì)叉車門架的結(jié)構(gòu)特點(diǎn),提出叉車門架動(dòng)態(tài)優(yōu)化設(shè)計(jì)的八條基本原則,對(duì)指導(dǎo)叉車門架結(jié)構(gòu)設(shè)計(jì)具有實(shí)用價(jià)值。 6)利用研究成果制造樣機(jī),對(duì)樣機(jī)進(jìn)行試驗(yàn)研究。試驗(yàn)結(jié)論與仿真分析結(jié)果一致,驗(yàn)證了仿真模型的合理性及仿真結(jié)果的正確性。兩種電動(dòng)叉車(傳統(tǒng)電動(dòng)叉車及混合動(dòng)力叉車)對(duì)比試驗(yàn)結(jié)果表明：混合動(dòng)力叉車可延長工作時(shí)間11.6%,勢(shì)能回收效果明顯；混合動(dòng)力叉車可以避免鉛酸蓄電池組大電流放電,有效延長鉛酸蓄電池組的使用壽命,降低電動(dòng)叉車的使用成本。
[Abstract]:The energy crisis is getting worse. Potential energy recovery and utilization is considered as one of the most important methods to solve the problem of energy saving of construction machinery. How to improve the efficiency of potential energy recovery becomes the potential energy recovery of construction machinery. The key problems of systematic research. In this paper, based on the national key new product planning project, based on the comprehensive analysis of the research status of hybrid construction machinery, potential energy recovery system research and application, the hybrid forklift truck as the object. This paper studies the recovery technology of descending potential energy of forklift gantry, analyzes the relationship between the dynamic performance and potential energy recovery efficiency of the portal frame of hybrid electric forklift, and puts forward the scheme and control strategy of the downhill potential energy recovery system for the portal frame of the forklift truck. The basic principles of dynamic optimization design of forklift gantry are given. The main research work and results are summarized as follows: 1) the composition and working principle of the traditional electric forklift working device system are analyzed, and the existing problems of the traditional electric forklift working device system are pointed out, based on the measured data in the electric forklift work. The feasibility of potential energy recovery in the work system of electric forklift truck and the proportion of recoverable energy of various actuators are studied. 2). The mathematical model of potential energy recovery system of hybrid forklift truck is established. The relationship between potential energy recovery efficiency of hybrid forklift truck and dynamic parameters of forklift gantry and parts parameters of potential energy recovery system is derived by using the established mathematical model. Based on AMESim and Virtual. The potential energy recovery system model of hybrid forklift truck based on lab Motion is simulated and analyzed, which verifies the correctness of the theoretical research. 3) aiming at the problems existing in the traditional electric forklift working device system, a hybrid electric forklift potential energy recovery system based on dual energy source and variable speed and volume speed regulation is proposed, and the dual energy source is established. The mathematical model of the potential energy recovery system of variable speed volume speed regulation is established and the control performance is analyzed. The fuzzy Pi control system and fuzzy controller of motor speed are designed. The control strategy of potential energy recovery system for hybrid forklift truck based on fuzzy theory is proposed. 4) the potential energy recovery scheme based on throttle auxiliary speed regulation and variable speed volumetric control is put forward, the working principle of this scheme is analyzed, and a mathematical model based on compound speed regulation potential energy recovery system is established. The parameters matching design of the main parts of the potential energy recovery system of the hybrid electric forklift is carried out, which lays the foundation for the manufacture of the prototype. The decision mode of the forklift working mode is analyzed. The dynamic correction control rules of generator speed are proposed, and a control strategy based on throttle speed regulation and variable speed volumetric speed regulation is presented. 5) based on the basic factors that determine the dynamic performance of the forklift gantry, eight basic principles for the dynamic optimization design of the forklift gantry are put forward according to the structural characteristics of the forklift gantry. It has practical value to guide forklift gantry structure design. 6) the prototype is manufactured by using the research results, and the experimental results are consistent with the simulation results. The rationality of the simulation model and the correctness of the simulation results are verified. The comparison test results of two kinds of electric forklift truck (traditional electric forklift truck and hybrid electric forklift truck) show that the hybrid electric forklift truck can prolong the working time by 11.6%. The recovery effect of potential energy is obvious. The hybrid forklift truck can avoid the high current discharge of the lead-acid battery group, prolong the service life of the lead-acid battery group, and reduce the use cost of the electric forklift truck.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH242

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