系列化液压挖掘机数字样机研究

doi:10.3901/JME.2019.14.186

机械工程学报 ›› 2019, Vol. 55 ›› Issue (14): 186-196.doi: 10.3901/JME.2019.14.186

系列化液压挖掘机数字样机研究

葛磊¹, 董致新¹, 李运华², 权龙¹, 张晓刚¹, 赵斌¹

1. 太原理工大学新型传感器及智能教育部实验室太原 030024;
2. 北京航空航天大学自动化科学与电气工程学院北京 100191

收稿日期:2018-10-25 修回日期:2019-05-10 出版日期:2019-07-20 发布日期:2019-07-20
通讯作者: 权龙(通信作者),男,1959年出生,博士,教授,博士研究生导师。主要研究方向为电液控制系统。E-mail:quanlong@tyut.edu.cn
作者简介:葛磊,男,1987年出生,博士研究生。主要研究方向为工程机械节能。E-mail:gelei@tyut.edu.cn
基金资助:
国家自然科学基金（U1510206）和中德国际合作项目（2015DFA70210）资助项目。

Research on Digital Prototypes of Serial Hydraulic Excavators

GE Lei¹, DONG Zhixin¹, LI Yunhua², QUAN Long¹, ZHANG Xiaogang¹, ZHAO Bin¹

1. Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education, Taiyuan University of Technology, Taiyuan 030024;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191

Received:2018-10-25 Revised:2019-05-10 Online:2019-07-20 Published:2019-07-20

摘要/Abstract

摘要： 液压挖掘机是典型的多执行器工程装备，其特点是执行器惯性大和单泵驱多执行器，工作过程中负载大范围变化，在设计中难以充分了解整机工作特性，导致系统设计效率低、系统运行特性差等问题。采用数字化样机设计方法可以有效提高系统设计效率，但目前传统一维仿真设计方法不能实时计算作用在各执行器上的等效质量与时变转动惯量，难以将作用在铲斗上的载荷实时分配到各液压缸上，存在负载工况模拟不准确和动态特性失真的问题。针对上述问题，提出采用基于元件试验或真实物理结构的数字样机设计方法，实现液压挖掘机整机机、电、液、控制系统及载荷的实时信息交换和协同计算，在6 t数字样机成熟技术基础上，拓展研发20 t、76 t、260 t、390 t挖掘机数字样机平台，并成功开发6 t挖掘机进出口独立控制系统、76 t高能效液压挖掘机和国内首台260 t和390 t超大型挖掘机，对科研及生产具有重要的指导意义。

关键词: 变转动惯量, 参数化建模, 矿用液压挖掘机, 数字样机, 液压挖掘机

Abstract: Hydraulic excavator is a typical multi-actuator engineering equipment, which is characterized with large inertia actuator and single pump driving multi actuators, and its load changes largely. Thus, it is difficult to fully understand the operating characteristics before the design, which leads to low efficiency and poor performance. The digital prototype can effectively improve the efficiency of system design. However, it is difficult to calculate the equivalent quality effect and variable inertia applied on each actuator in real time with the traditional one-dimensional simulation technology, result in lack of precision and distortion of dynamic characteristics and it is difficult to simulate the real system characteristics. Aiming at the above problems, the digital prototype design method based on component test and real physical structure is proposed. With this method, real-time information exchange and collaborative computing between the mechanical structure, electric system, control system and the load can be realized. Firstly, a digital prototype of a 6 t hydraulic excavator is designed and it is modified with detail tests. And then, it is introduced to develop the digital prototype of 20 t, 76 t, 260 t, 390 t excavators. And based on the digital technology, a 76 t high efficiency hydraulic excavator and the first domestic 260 t and 390 t ultra large excavators, are developed.

Key words: digital prototypes, hydraulic excavator, mining hydraulic excavator, parametric modeling, variable inertia

中图分类号:

TH137

葛磊, 董致新, 李运华, 权龙, 张晓刚, 赵斌. 系列化液压挖掘机数字样机研究[J]. 机械工程学报, 2019, 55(14): 186-196.

GE Lei, DONG Zhixin, LI Yunhua, QUAN Long, ZHANG Xiaogang, ZHAO Bin. Research on Digital Prototypes of Serial Hydraulic Excavators[J]. Journal of Mechanical Engineering, 2019, 55(14): 186-196.

参考文献

[1] 董致新,黄伟男,葛磊,等. 泵阀复合进出口独立控制液压挖掘机特性研究[J]. 机械工程学报, 2016, 52(12):173-180. DONG Zhixin, HUANG Weinan, GE Lei, et al. Research on the performance of hydraulic excavator with pump and valve combined separate meter in and meter out circuits[J]. Journal of Mechanical Engineering, 2016, 52(12):173-180.
[2] XU Bing, CHENG Min, YANG Huayong, et al. A hybrid displacement/pressure control scheme for an electrohydraulic flow matching system[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(6):2771-2782.
[3] 王庆丰. 油电混合动力挖掘机的关键技术研究[J]. 机械工程学报, 2013, 49(20):123-129. WANG Qingfeng. Research on key technology of oil-electric hybrid excavator[J]. Journal of Mechanical Engineering, 2013, 49(20):123-129.
[4] HAUG E J, HUSTON R L. Computer aided analysis and optimization of mechanical system dynamics[J]. Journal of Applied Mechanics, 1985(52):243-249.
[5] FRIMPONG S, HU Y, INYANG H. Dynamic modeling of hydraulic shovel excavators for geomaterials[J]. Int.J. Geomech., 2008(8):20-29.
[6] 徐兵,朱晓军,刘伟, 等. 挖掘机工作装置运动学建模与仿真[J]. 机床与液压, 2011, 39(9):97-99, 131. XU Bing, ZHU Xiaojun, LIU Wei, et al. Kinematics modeling and simulation of an excavator working device[J]. Machine Tool & Hydraulics, 2011, 39(9):97-99, 131.
[7] 张桂菊,肖才远,谭青,等. 基于虚拟样机技术挖掘机工作装置动力学分析及仿真[J]. 中南大学学报, 2014, 45(6):1827-1833. ZHANG Guiju, XIAO Caiyuan, TAN Qing, et al. Dynamic analysis and simulation of excavator working device based on virtual prototype technology[J]. Journal of Central South University, 2014, 45(6):1827-1833.
[8] DING Huafeng, HAN Lei, YANG Weijian, et al. Kinematics and dynamics analyses of a new type face-shovel hydraulic excavator[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2017, 231(5):909-924.
[9] 张卫国,权龙,程珩, 等. 基于真实载荷的挖掘机工作装置瞬态动力学分析[J]. 机械工程学报, 2011, 47(12):144-149. ZHANG Weiguo, QUAN Long, CHENG Hang, et al. Transient dynamic analysis on working device of excavator based on practical load[J]. Journal of Mechanical Engineering, 2011, 47(12):144-149.
[10] 杨世平,余浩,刘金刚, 等. 液压挖掘机动力系统功率匹配及其节能控制[J]. 机械工程学报, 2014, 50(5):152-160. YANG Shiping, YU Hao, LIU Jingang, et al. Research on power matching and energy saving control of power system in hydraulic excavator[J]. Journal of Mechanical Engineering, 2014, 50(5):152-160.
[11] CASOLI P, RICCÒ L, CAMPANINI F, et al. Mathematical model of a hydraulic excavator for fuel consumption predictions[C]//Proceedings of the ASME/BATH 2015 Symposium on Fluid Power and Motion Control, Chicago, IL, USA. 2015:12-14.
[12] 杜磊,杨福源,徐梁飞, 等. 并联式混合动力挖掘机系统设计及其耦合控制策略[J]. 机械工程学报, 2014, 50(18):118-126. DU Lei, YANG Fuyuan, XU Liangfei, et al. Design and coupling control strategy for parallel hybrid excavator[J]. Journal of Mechanical Engineering, 2014, 50(18):118-126.
[13] 何清华,张大庆,郝鹏, 等. 液压挖掘机工作装置仿真研究[J]. 系统仿真学报, 2006, 18(3):735-738, 746. HE Qinghua, ZHANG Daqing, HAO Peng, et al. Study on motion simulation of hydraulic excavator's manipulator[J]. Journal of System Simulation, 2006, 18(3):735-738, 746.
[14] CHEN Qihuai, WANG Tao, WANG Qingfeng. The research on compound energy regeneration for hybrid excavator[C]//Proceedings of the 9th IFK International Fluid Power Conference, Aachen, Germany, 2014, March 24-26:179-189.
[15] 武宏伟. 挖掘机负载敏感系统的联合仿真及能耗分析[D]. 太原:太原理工大学, 2008. WU Hongwei. Co-simulation of load sensing system of excavator and energy consumption research of excavator[D]. Taiyuan:Taiyuan University of Technology, 2008.
[16] 杨敬,权龙,杨阳. 小型液压挖掘机回转过程能量消耗与节能研究[J]. 中国公路学报, 2011, 24(5):120-126. YANG Jing, QUAN Long, YANG Yang. Research on energy consumption and conservation of light type hydraulic excavator in swing process[J]. China Journal of Highway and Transport, 2011, 24(5):120-126.
[17] 潘双夏,刘静,冯培恩, 等. 挖掘机器人虚拟样机的机电液一体化建模与仿真[J]. 中国工程机械学报, 2003, 1(1):49-53. PAN Shuangxia, LIU Jing, FENG Peien, et al. Integrated modeling and co-simulating of the mechanical and electro-hydraulic system for the virtual excavator-robot prototyping technology[J]. Chinese Journal of Construction Machinery, 2003, 1(1):49-53.
[18] 赵斌,权龙,黄家海, 等. 大型液压铲上车回转驱动系统及特性研究[J]. 机械工程学报, 2017, 53(6):176-186. ZHAO Bin, QUAN Long, HUANG Jiahai, et al. Driven system and characteristics research of large hydraulic shovel swing motion[J]. Journal of Mechanical Engineering, 2017, 53(6):176-186.
[19] LIU Bin, QUAN Long, GE Lei. Research on the performance of hydraulic excavator boom based pressure and flow accordance control with independent metering circuit[J]. Proceedings of the Institution of Mechanical Engineers, Part E:Journal of Process Mechanical Engineering, 2017, 231(5):901-913.
[20] GE Lei, QUAN Long, ZHANG Xiaogang, et al. Efficiency improvement and evaluation of electric hydraulic excavator with speed and displacement variable pump[J]. Energy Conversion and Management, 2017(150):62-71.

系列化液压挖掘机数字样机研究

Research on Digital Prototypes of Serial Hydraulic Excavators

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]	郝云晓, 夏连鹏, 权龙, 赵斌, 程珩, 熊晓燕. 闭式泵控液气储能重载举升机构特性研究[J]. 机械工程学报, 2019, 55(16): 213-219.
[2]	李泽鹏, 权龙, 葛磊, 夏连鹏, 郝云晓. 液电混合驱动液压挖掘机动臂特性及能效研究[J]. 机械工程学报, 2018, 54(20): 213-219.
[3]	夏连鹏, 权龙, 杨敬, 赵斌. 液压挖掘机动臂自重液-气储能平衡方法研究[J]. 机械工程学报, 2018, 54(20): 197-205.
[4]	权龙, 夏连鹏, 赵斌, 葛磊. 液压驱动机械臂势能回收利用研究工作进展[J]. 机械工程学报, 2018, 54(20): 4-13.
[5]	赵振宙, 严畅, 王同光, 沈文忠, 郑源, 许波峰. 考虑叶片相互影响风力机涡流发生器参数化建模[J]. 机械工程学报, 2018, 54(2): 201-208.
[6]	范沁红, 张洪, 孙明奇, 姜雪程, 田保珍, 杨刚俊. 液压挖掘机工作机构尺寸变化对其作业性能的影响规律研究^*[J]. 机械工程学报, 2017, 53(7): 154-163.
[7]	陈世嵬, 杜鹏飞, 李锐, 王小荣. 磁流变发动机悬置的参数化建模与辨识[J]. 机械工程学报, 2016, 52(8): 29-35.
[8]	李大伟, 戴宁, 姜晓通, 张月, 程筱胜. 仿生鲨鱼皮盾鳞的参数化三维建模技术^*[J]. 机械工程学报, 2016, 52(23): 182-188.
[9]	王永进;权龙;杨敬. 大型正铲液压挖掘机斗杆升降回路及特性[J]. , 2014, 50(20): 180-187.
[10]	王永进;权龙;李爱峰;吕晓林. 大型矿用液压挖掘机动臂升降控制方案研究[J]. , 2013, 49(12): 161-166.
[11]	任彬;张树有;谭建荣. 双曲肘连杆式合模装置数字样机刚柔耦合问题求解方法[J]. , 2012, 48(3): 133-139.
[12]	刘振宇;傅云;谭建荣. 基于仿真组件的数字样机运动模型构建与重用[J]. , 2009, 45(10): 118-124.
[13]	张彦廷;王庆丰;肖清. 混合动力液压挖掘机液压马达能量回收的仿真及试验[J]. , 2007, 43(8): 218-223.
[14]	高峰;潘双夏. 负流量控制模型与试验研究[J]. , 2005, 41(7): 107-111.
[15]	吕广明;孙立宁;薛渊. 神经网络在液压挖掘机工装轨迹控制中的应用[J]. , 2005, 41(5): 119-122.