| 负载口独立控制挖掘机机液耦合模型建立与试验 |
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| 引用本文： | 丁孺琦,徐兵,张军辉,李刚.负载口独立控制挖掘机机液耦合模型建立与试验[J].农业机械学报,2016,47(4):309-318. |
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| 作者姓名： | 丁孺琦 徐兵 张军辉 李刚 |
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| 作者单位： | 华东交通大学,浙江大学,浙江大学,华东交通大学 |
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| 基金项目： | 国家自然科学基金项目(51375431)、流体动力与机电系统国家重点实验室开放基金项目(GZKF—201516)和江西省教育厅科学技术研究项目(GJJ150492) |
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| 摘 要： | 负载口独立控制挖掘机系统是一个包含许多未知参数的机液耦合系统。为了准确建立参数化模型,需要精确地辨识各元件参数,并包含机械系统与液压系统的耦合联接。为此首先建立各系统的数学模型,通过试验测试获得各个关键参数。采用基于试验测试结果的NLPQL多目标优化方法寻优难以估计特性参数的最优值,提高参数辨识的速度和精度。基于辨识参数的数学模型,建立参数化的机液耦合仿真模型。相比于现有研究中的联合仿真模型,该模型在同一参数化平台下运行,计算时间短,并且易于根据不同工况修改机械系统参数,仿真效率更高。最后将2 t小型挖掘机的试验结果与仿真进行对比,结果证明该仿真模型具有较高的计算精度,可为负载口独立技术在移动液压中的控制策略研究提供参考。
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| 关 键 词： | 挖掘机 液压系统 负载口独立控制 参数化建模 参数辨识 多目标优化 |
| 收稿时间： | 2015/12/11 0:00:00 |
Mechanical-hydraulic Coupling Model of Independent Metering Control Excavator and Its Test Verification |
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| Ding Ruqi,Xu Bing,Zhang Junhui and Li Gang.Mechanical-hydraulic Coupling Model of Independent Metering Control Excavator and Its Test Verification[J].Transactions of the Chinese Society of Agricultural Machinery,2016,47(4):309-318. |
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| Authors: | Ding Ruqi Xu Bing Zhang Junhui and Li Gang |
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| Institution: | East China Jiaotong University,Zhejiang University,Zhejiang University and East China Jiaotong University |
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| Abstract: | Low energy efficiency is a significant problem for the hydraulic excavator. To save energy, the independent metering system is a promising alternative to the conventional valve control system by decoupling the meter-in and meter-out orifices. An independent metering control excavator system is a complex hydraulic-mechanical coupling system. In order to build precious simulation model, it is required to identify each component parameter, including the coupling links between hydraulic and mechanical systems. The nonlinear mathematical models of the system were firstly established. The hydraulic model considered both laminar flow and turbulent flow was used to accurately capture the flow-pressure characteristics. The model parameters were estimated according to measurements. The frictions of actuators were also identified by kinetic equations combined with the least square method. In order to increase the accuracy and speed of parameter identifications, the processes of identifications were transformed to a nonlinear optimization subject and a NLPQL multi-objective optimization algorithm was applied to seek the optimal values of property parameters. Based on the mathematical models, a lumped parametric coupling model was presented. Compared with the co-simulation model in the state of the art, the proposed model was implemented in a parametric platform, conducing to improve simulation efficiency because it had the advantages of short computation time and easy to modify mechanical parameters in terms of operating conditions. Finally, experiments were done to compare with the simulation model. The deviation of static pressures in cylinders between simulated and experimental results was less than 0.2MPa, and that of dynamic velocities was about 4%~6.5%. Besides, the results of independent pressure and velocity close-loop control verified that the presented model had enough computation accuracy to provide a reference for researching the control strategy. |
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| Keywords: | excavator hydraulic system independent metering control lumped parameter modeling parameter identification multi-objective optimization |
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