挖掘机动臂集成一体式电静液作动器的设计与能量效率研究

doi:10.3901/JME.2025.18.396

机械工程学报 ›› 2025, Vol. 61 ›› Issue (18): 396-405.doi: 10.3901/JME.2025.18.396

• 交叉与前沿 • 上一篇

扫码分享

挖掘机动臂集成一体式电静液作动器的设计与能量效率研究

黄伟迪, 郭怡涛, 王峰, 纵怀志, 张军辉, 倪小昊, 徐兵

浙江大学流体动力基础件与机电系统全国重点实验室杭州 310027

收稿日期:2024-11-24 修回日期:2025-01-02 发布日期:2025-11-08
作者简介:黄伟迪，男，1989年出生，博士，助理研究员。主要研究方向为智能液压元件和液压机械臂。E-mail：wdhuang@zju.edu.cn;纵怀志(通信作者)，男，1995年出生，博士。主要研究方向为高功率密度伺服元件和系统、液压机器人开发和控制等。
基金资助:
国家重点研发计划(2021YFB2011902)资助项目

Design and Energy Efficiency Research of an Integrated Electro-hydraulic Actuator for Excavator Boom

HUANG Weidi, GUO Yitao, WANG Feng, ZONG Huaizhi, ZHANG Junhui, NI Xiaohao, XU Bing

State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027

Received:2024-11-24 Revised:2025-01-02 Published:2025-11-08

摘要/Abstract

摘要： 液压挖掘机通常采用单动力源供多执行器的集中式驱动方式，存在节流损失大、势能利用率低等问题，平均效率低。分布式电静液作动系统采用独立变转速控制，消除了系统的节流损失，并在超越负载下回收能量，是提高效率的有效方案。开发一款集成一体式、四象限工况运行的大功率高转速电静液作动器(Electro-hydraulic actuator，EHA)，将其应用于6 t挖掘机动臂执行器位置，进行详细的性能测试，并分析其能量效率与损耗分布情况。在动臂举升下降周期内，EHA系统驱动效率最高达61.2%，能量回收效率最高达53.3%，在损耗分布方面，电机泵的损耗占EHA总损耗的80%以上，电机泵的效率优化至关重要。本研究实现了EHA在挖掘机上的应用，为提高工程机械电液控制系统的能量效率提供一种有效的解决方案。

关键词: 挖掘机, 电静液作动器, 集成一体式设计, 能量效率, 能量回收

Abstract: Hydraulic excavator mainly adopts the centralized drive mode of single power source for multi-actuator, which has the problems of large throttle loss and low utilization rate of potential energy, resulting in low average efficiency. The distributed electro-hydraulic system adopts independent variable speed control, eliminates the throttle loss and recovers the energy under assistive conditions, which is an effective solution to improve the efficiency. Therefore, a self-contained electro-hydraulic actuator (EHA) is designed to offer high power, high speed and four-quadrant operation capabilities, which is integrated into the 6t excavator boom to conduct a comprehensive performance test and analyze the energy efficiency and loss distribution. During the cycle of boom raising and lowing, the driving efficiency of EHA is up to 61.2% and the energy recuperation efficiency of EHA is up to 53.3%. In terms of loss distribution, the loss of motor-pump accounts for more than 80% of the total loss of EHA, and the efficiency optimization of motor-pump is very important. This study realizes the application of the EHA in the excavator, and provides an effective solution to improve the energy efficiency of the electro-hydraulic control system of the mobile machinery.

Key words: excavator, electro-hydraulic actuator, integrated design, energy efficiency, energy recuperation

中图分类号:

TH137

黄伟迪, 郭怡涛, 王峰, 纵怀志, 张军辉, 倪小昊, 徐兵. 挖掘机动臂集成一体式电静液作动器的设计与能量效率研究[J]. 机械工程学报, 2025, 61(18): 396-405.

HUANG Weidi, GUO Yitao, WANG Feng, ZONG Huaizhi, ZHANG Junhui, NI Xiaohao, XU Bing. Design and Energy Efficiency Research of an Integrated Electro-hydraulic Actuator for Excavator Boom[J]. Journal of Mechanical Engineering, 2025, 61(18): 396-405.

参考文献

[1] CHENG Min，HE Jingbo，MU Hongyun，et al. Opportunities and challenges of electrohydraulic control systems in the electrification era of non-road mobile machinery[J]. Journal of Advanced Manufacturing Science and Technology，2024，4(2)：2024001.
[2] VACCA A. Energy efficiency and controllability of fluid power systems[J]. Energies，2018，11(5)：1169.
[3] LOVE L，LANKE E，ALLES P. Estimating the impact (energy，emissions and economics) of the U.S. Fluid power industry[M]. Oak Ridge，TN：Oak Ridge National Laboratory，2012.
[4] LIN Tianliang，CHEN Qiang，REN Haoling，et al. Review of boom potential energy regeneration technology for hydraulic construction machinery[J]. Renewable and Sustainable Energy Reviews，2017，79：358-371.
[5] YU Yingxiao，DO T，PARK Y，et al. Energy saving of hybrid hydraulic excavator with innovative powertrain[J]. Energy Conversion and Management，2021，244： 114447.
[6] 葛曜文，朱威霖，刘家辉，等. 电静液作动器精细化建模和特性分析[J]. 机械工程学报，2021，57(24)：66-73. GE Yaowen，ZHU Weilin，LIU Jiahui，et al. Refined modeling and characteristic analysis of electro- hydrostatic actuator[J]. Journal of Mechanical Engineering，2021，57(24)：66-73.
[7] KETELSEN S，PADOVANI D，ANDERSEN T，et al. Classification and review of pump-controlled differential cylinder drives[J]. Energies，2019，12(7)：1293.
[8] 张斌，杨振环，贺电，等. 混凝土泵车臂架EHA系统控制策略研究[J]．液压与气动，2023，47(11)：158-168． ZHANG Bin，YANG Zhenhuan，HE Dian，et al. Exploring control strategies for EHA system in concrete pump truck boom[J]. Chinese Hydraulics & Pneumatics，2023，47(11)：158-168.
[9] FASSBENDER D，ZAKHAROV V，MINAV T. Utilization of electric prime movers in hydraulic heavy-duty-mobile-machine implement systems[J]. Automation in Construction，2021，132：103964.
[10] BUSQUETS E，IVANTYSYNOVA M. Priority-based supervisory controller for a displacement-controlled excavator with pump switching[C]//ASME/BATH 2015 Symposium on Fluid Power and Motion Control. Chicago，Illinois：October 12–14，2015. V001T01A014. ASME.
[11] JIAO Zongxia，LI Zhihui，SHANG Yaoxing，et al. Active load sensitive electro-hydrostatic actuator on more electric aircraft：Concept，design，and control[J]. IEEE Transactions on Industrial Electronics，2022，69(5)：5030-5040.
[12] CASOLI P，SCOLARI F，VESCOVINI C，et al. Energy comparison between a load sensing system and electro-hydraulic solutions applied to a 9-ton excavator[J]. Energies，2022，15(7)：2583.
[13] PADOVANI D，KETELSEN S，HAGEN D，et al. A self-contained electro-hydraulic cylinder with passive load-holding capability[J]. Energies. 2019，12(2)：292.
[14] QU Shaoyang，FASSBENDER D，VACCA A，et al. A high-efficient solution for electro-hydraulic actuators with energy regeneration capability[J]. Energy，2021，216：119291.
[15] QU Shaoyang，ZAPPATERRA F，VACCA A，et al. An electrified boom actuation system with energy regeneration capability driven by a novel electro-hydraulic unit[J]. Energy Conversion and Management，2023，293：117443.
[16] GE Lei，QUAN Long，LI Yunwei，et al. A novel hydraulic excavator boom driving system with high efficiency and potential energy regeneration capability[J]. Energy Conversion and Management，2018，166：308-317.
[17] XIA Lianpeng，QUAN Long，GE Lei，et al. Energy efficiency analysis of integrated drive and energy recuperation system for hydraulic excavator boom[J]. Energy Conversion and Management，2018，156：680-687.

挖掘机动臂集成一体式电静液作动器的设计与能量效率研究

Design and Energy Efficiency Research of an Integrated Electro-hydraulic Actuator for Excavator Boom

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	张军辉, 倪小昊, 纵怀志, 郭怡涛, 杨梅生, 朱琦歆, 徐兵. 机器人用电静液作动器研究现状与发展趋势[J]. 机械工程学报, 2025, 61(4): 273-289.
[2]	葛曜文, 杨晓伟, 邓文翔, 姚建勇. 基于流量脉动补偿的电静液作动器神经网络控制[J]. 机械工程学报, 2025, 61(4): 355-364.
[3]	秦涛, 李运华, 范茹军. 强力摇臂矿用液压挖掘机自主挖掘轨迹优化[J]. 机械工程学报, 2024, 60(18): 374-384.
[4]	王翔宇, 郝云晓, 权龙, 葛磊, 刘华坤. 电-液双源混驱装载机举升系统特性研究[J]. 机械工程学报, 2023, 59(7): 41-51.
[5]	徐弓岳, 冯泽民, 郭二廓. 正铲液压挖掘机三副摇杆工作机构的超多目标优化设计[J]. 机械工程学报, 2023, 59(3): 54-65.
[6]	张晓虎, 张熊, 张克良, 孙现众, 王凯, 马衍伟. 储能技术在轨道交通再生制动能量回收的应用[J]. 电气工程学报, 2023, 18(2): 210-220.
[7]	梁涛, 权龙, 葛磊, 王永进. 基于电液储能调控的多执行器载荷差异均衡系统特性研究[J]. 机械工程学报, 2023, 59(18): 337-348.
[8]	陈晋市, 张淼淼, 毕秋实, 李永奇, 霍东阳, 齐洪阳. 面向自主作业的挖掘机多目标最优挖掘运动规划[J]. 机械工程学报, 2022, 58(7): 237-245.
[9]	陈仲生, 曹军义, 秦朝烨, 陈志文, XIONG Yeping. 汽车悬架同步振动抑制与能量收集综述与展望[J]. 机械工程学报, 2022, 58(20): 3-26.
[10]	陈雪辉, 李威, 刘伟, 李昊, 黄磊, 王子健, 何鸿斌. 基于动力学特性的挖掘机工作装置端面摩擦副间隙磨损机理研究[J]. 机械工程学报, 2022, 58(19): 191-205.
[11]	孙树磊, 雷丽妃, 黄海波, 张少波, 田国英, 邓鹏毅. 基于用户作业工况的履带式挖掘机加速疲劳强化路面构建方法[J]. 机械工程学报, 2022, 58(16): 319-328.
[12]	葛曜文, 朱威霖, 刘家辉, 邓文翔, 姚建勇. 电静液作动器精细化建模和特性分析[J]. 机械工程学报, 2021, 57(24): 66-73.
[13]	周维, 刘鸿远, 徐彪, 张雷. 功率分流式混合动力矿用自卸车预测性等效燃油消耗最小控制策略研究[J]. 机械工程学报, 2021, 57(2): 200-209.
[14]	王存金, 董林杰, 李杰, 王兴松, 丁也. 基于人行走能耗分析的踝关节外骨骼设计[J]. 机械工程学报, 2021, 57(19): 79-92.
[15]	陈伟, 项载毓, 钱泓桦, 莫继良. 基于摩擦自激振动升频效应的超低频振动能量收集[J]. 机械工程学报, 2021, 57(15): 160-167.