【摘要】：液壓挖掘機(jī)是一種高能耗、高排放的工程機(jī)械。隨著各國施工項(xiàng)目的不斷增多，液壓挖掘機(jī)的用量也在逐年增加，因此，研究液壓挖掘機(jī)的節(jié)能技術(shù)對減少常規(guī)能源消耗和改善環(huán)境具有重要的現(xiàn)實(shí)意義。液壓挖掘機(jī)工作過程中，各機(jī)械臂的升降都比較頻繁，而機(jī)械臂的下降速度主要是靠調(diào)節(jié)主閥節(jié)流口開度來控制，如果能將機(jī)械臂的下降勢能進(jìn)行回收并加以利用，可進(jìn)一步提高液壓挖掘機(jī)的整機(jī)節(jié)能效果。 目前，液壓挖掘機(jī)機(jī)械臂勢能回收技術(shù)的研究主要集中于液壓開式回路能量回收系統(tǒng)的開發(fā)，其系統(tǒng)都存在一定程度的節(jié)流損失和旁通損失。本文結(jié)合863國家高技術(shù)研究發(fā)展計劃項(xiàng)目“新型混合動力工程機(jī)械關(guān)鍵技術(shù)及系統(tǒng)開發(fā)”，根據(jù)液壓挖掘機(jī)動臂的實(shí)際作業(yè)工況，，對液壓挖掘機(jī)動臂下降勢能回收技術(shù)進(jìn)行了深入系統(tǒng)的研究，并取得了如下創(chuàng)新性成果。 1.提出并設(shè)計了一種新型液壓挖掘機(jī)動臂閉式回路勢能回收系統(tǒng)。采用模糊PI自整定控制算法控制永磁無刷直流電動機(jī)，實(shí)現(xiàn)液壓動力系統(tǒng)的變轉(zhuǎn)速容積調(diào)速控制，使系統(tǒng)的輸入功率與負(fù)載所需功率完全匹配，無節(jié)流損失和溢流損失，提高了能量回收系統(tǒng)的運(yùn)行效率和節(jié)能效果。 2.基于閉式回路動臂勢能回收系統(tǒng)的工作原理以及對系統(tǒng)各構(gòu)成環(huán)節(jié)運(yùn)動規(guī)律的分析，建立了系統(tǒng)的數(shù)學(xué)模型和仿真模型，提出了動臂勢能回收系統(tǒng)的控制策略。通過仿真研究，對挖掘機(jī)動臂變負(fù)載（鏟斗盛裝不同重量負(fù)載）運(yùn)行各工況下動臂液壓缸活塞的運(yùn)行速度、蓄能器壓力及液壓缸大小腔壓力的變化特性進(jìn)行了分析。 3.通過自主開發(fā)的閉式回路動臂勢能回收系統(tǒng)試驗(yàn)平臺對仿真結(jié)果進(jìn)行了驗(yàn)證試驗(yàn)，并對其系統(tǒng)的運(yùn)行效率及系統(tǒng)節(jié)能效果進(jìn)行了綜合評價，結(jié)果表明：所提出的閉式回路動臂勢能回收系統(tǒng)運(yùn)行穩(wěn)定，與原車閥控動臂液壓系統(tǒng)相比，運(yùn)行效率較高，節(jié)能效果顯著。 此外，本文還進(jìn)行了以下研究工作： 1.對液壓挖掘機(jī)各執(zhí)行機(jī)構(gòu)的可回收能量分布進(jìn)行了分析。以某公司8噸級液壓挖掘機(jī)為對象建立了各執(zhí)行機(jī)構(gòu)、液壓系統(tǒng)及系統(tǒng)能量損耗模型，采用仿真和實(shí)驗(yàn)測試相結(jié)合的方法，對液壓挖掘機(jī)工作過程中各執(zhí)行機(jī)構(gòu)的能量消耗情況和可回收能量所占比重進(jìn)行了研究，為發(fā)掘系統(tǒng)的節(jié)能潛力和找到能量回收研究的主攻方向提供了理論依據(jù)。 2.基于閉式回路動臂勢能回收系統(tǒng)的節(jié)能機(jī)理，對系統(tǒng)在不同工況運(yùn)行時各動力元件之間的能量轉(zhuǎn)換關(guān)系進(jìn)行了分析，以8噸級液壓挖掘機(jī)為設(shè)計對象，對閉式回路動臂勢能回收系統(tǒng)的主要元件進(jìn)行了參數(shù)匹配。 3.建立了永磁無刷直流電動機(jī)的數(shù)學(xué)模型，對電機(jī)的調(diào)速性能及抗干擾性能進(jìn)行了仿真和試驗(yàn)研究，結(jié)果表明該方法具有較好的動態(tài)控制品質(zhì)，比較適用于閉式回路動臂勢能回收系統(tǒng)的變轉(zhuǎn)速容積調(diào)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.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TU621

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