超大型电控液压挖掘机动力系统匹配研究

doi:10.3901/JME.2025.22.317

机械工程学报 ›› 2025, Vol. 61 ›› Issue (22): 317-328.doi: 10.3901/JME.2025.22.317

• 交叉与前沿 • 上一篇

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超大型电控液压挖掘机动力系统匹配研究

陈俊翔^1,2, 高春莹^1,2, 孔祥东^1,2, 李智^1,2, 艾超^1,2

1. 燕山大学起重机械关键技术全国重点实验室秦皇岛 066004;
2. 燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004

收稿日期:2024-11-14 修回日期:2025-05-23 发布日期:2026-01-10
作者简介:陈俊翔,男,1996年出生,博士研究生。主要研究方向为工程机械液压元件/系统优化设计。E-mail:462106469@qq.com
艾超(通信作者),男,1982年出生,博士,教授,博士研究生导师。主要研究方向为电液伺服控制系统、工程机械高性能控制。E-mail:aichao@ysu.edu.cn
基金资助:
国家自然科学基金面上(52475073); 广西科技基地和人才专项(桂科AD25069008)资助项目。

Research on Power System Matching of Super Large Electro-hydraulic Excavator

CHEN Junxiang^1,2, GAO Chunying^1,2, KONG Xiangdong^1,2, LI Zhi^1,2, AI Chao^1,2

1. State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao 066004;
2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004

Received:2024-11-14 Revised:2025-05-23 Published:2026-01-10

摘要/Abstract

摘要： 针对超大型电控液压挖掘机在大负载快速加载下因发动机掉速导致泵口压力波动的问题，以动臂提升动作为例，对发动机、主泵、负载间动态匹配特性展开研究，建立泵控液压缸、等效负载力、发动机掉速数学模型，分析发动机-变量泵-负载间动态匹配影响因素。提出扭矩-转速复合联控策略：将发动机掉速值转换为失速补偿扭矩值，失速补偿扭矩值与泵自然扭矩值的加和结果与设定理想扭矩间的偏差、实际转速与设定理想转速的偏差分别进行模糊PID控制，输出扭矩补偿和转速补偿电流，取大后用于变量泵的排量补偿控制。试验结果表明，扭矩-转速双联控下，当控制失速补偿扭矩比重在10%～35%时，液压泵排量波动改善58%，泵口压力波动改善30%以上，提高了矿用液压挖掘机的作业性能。

关键词: 发动机掉速, 压力波动, 泵控策略, 扭矩补偿, 模糊PID

Abstract: In addressing the issue of pressure fluctuation at the pump outlet caused by engine speed drop during heavy load rapid loading for ultra-large electric-hydraulic excavators, taking the example of the boom-raising action, a study is conducted on the dynamic matching characteristics among the engine, main pump, and load. Mathematical models are established for the pump-controlled hydraulic cylinder, equivalent load force, and engine speed drop. Factors affecting the dynamic matching between the engine, variable pump, and load are analyzed. A torque-speed compound coordinated control strategy is proposed: the engine speed drop value is converted into a stall compensation torque value; the sum of the stall compensation torque value and the pump’s natural torque value are subjected to fuzzy PID control with deviations between the sum and the set ideal torque, as well as deviations between the actual speed and the set ideal speed, resulting in torque compensation and speed compensation currents. The larger of these currents is then employed for variable pump displacement compensation control. Experimental results demonstrated that under torque-speed dual control, the proportion of control stall compensation torque ranged from 10% to 35%. Hydraulic pump displacement fluctuation improved by 58%, and pump outlet pressure fluctuation improved by over 30%, thereby enhancing the operational performance of mining hydraulic excavators.

Key words: engine stall, pressure fluctuation, pump control strategy, torque compensation, fuzzy-PID

中图分类号:

TH137

陈俊翔, 高春莹, 孔祥东, 李智, 艾超. 超大型电控液压挖掘机动力系统匹配研究[J]. 机械工程学报, 2025, 61(22): 317-328.

CHEN Junxiang, GAO Chunying, KONG Xiangdong, LI Zhi, AI Chao. Research on Power System Matching of Super Large Electro-hydraulic Excavator[J]. Journal of Mechanical Engineering, 2025, 61(22): 317-328.

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超大型电控液压挖掘机动力系统匹配研究

Research on Power System Matching of Super Large Electro-hydraulic Excavator

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