储能液压缸协同驱动重型机械臂系统研究与优化

doi:10.3969/j.issn.1004-132X.2022.11.004

中国机械工程 ›› 2022, Vol. 33 ›› Issue (11): 1287-1293,1301.DOI: 10.3969/j.issn.1004-132X.2022.11.004

储能液压缸协同驱动重型机械臂系统研究与优化

晋超1;权龙1;夏连鹏1,2;葛磊1;赵斌1

1.太原理工大学新型传感器与智能控制教育部重点实验室，太原，030024
2.三一重机有限公司，昆山，215300

出版日期:2022-06-10 发布日期:2022-07-01
通讯作者: 权龙（通信作者），男，1959年生，博士，教授、博士研究生导师。研究方向为电液伺服及比例控制技术。E-mail:quanlong@tyut.edu.cn。
作者简介:晋超，男，1996年生，硕士研究生。研究方向为工程机械液压系统节能控制。E-mail:1263392477@qq.com。
基金资助:
国家自然科学基金(52105066);NSFC-山西煤基低碳联合基金重点项目(U1910211)

Study and Optimization of Energy Storage Hydraulic Cylinders Synergistically Driving Heavy Manipulator Systems

JIN Chao1;QUAN Long1;XIA Lianpeng1,2;GE Lei1;ZHAO Bin1

1.Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education，Taiyuan University of Technology,Taiyuan,030024
2.SANY Heavy Machinery Co.,Ltd.,Kunshan,Jiangsu,215300

Online:2022-06-10 Published:2022-07-01

摘要/Abstract

摘要： 针对采用储能液压缸协同驱动重型机械臂升降来实现重力势能回收和利用的方法，研究了不同储能缸与驱动缸无杆腔面积比对系统节能效果的影响。分析了储能缸协同驱动回路控制动臂升降的工作原理，建立了系统的数学模型；以76 t液压挖掘机为例，在Simulation X中构建了整机的多学科联合仿真模型，并通过试验验证了模型的准确性。依据此模型对液压挖掘机空载和带载工况下，储能缸与驱动缸无杆腔面积比对系统能耗特性的影响进行优化仿真研究。仿真结果表明：在相同的工作周期，优化后储能缸协同驱动系统的液压泵输出能量约为732.0 kJ，较改进前节省能量约253.8 kJ，节能率由27.2%提高至46%，实现了节能效果的提高。

关键词: 重型机械臂, 液压挖掘机, 储能液压缸, 面积比, 势能回收

Abstract: Aiming at the method of using energy storage hydraulic cylinders to coordinate the lifting of the heavy manipulators to realize the gravitational potential energy recovery and utilization, the impacts of the different area ratios of the rodless cavity for the energy storage cylinders and the driving cylinders on the energy saving effectiveness of the systems were studied. The working principles of the energy storage cylinder cooperative driving circuits were analyzed to control the boom up and down, and the mathematical system model was established. Taking a 76 t hydraulic excavator as an example, a multi-disciplinary co-simulation model of the whole machine was constructed in Simulation X, and the accuracy of the model was verified by tests. According to this model, the system energy consumption characteristics of hydraulic excavators were optimized and simulated for the area ratio of the rodless cavity for the energy storage cylinders and the driving cylinders under no-load and loaded conditions. The simulation results show that: in the same working cycle, the output energy of the hydraulic pump of the optimized energy storage cylinder cooperative drive system is about 732.0 kJ, which saves about 253.8 kJ compared with the energy before improvement, and the energy saving rate is increased from 27.2% to 46%, realizing the improvement of energy-saving effectiveness.

Key words: , heavy manipulator, hydraulic excavator, energy storage hydraulic cylinder, area ratio, potential energy recovery

中图分类号:

TH137

晋超, 权龙, 夏连鹏, 葛磊, 赵斌. 储能液压缸协同驱动重型机械臂系统研究与优化[J]. 中国机械工程, 2022, 33(11): 1287-1293,1301.

JIN Chao, QUAN Long, XIA Lianpeng, GE Lei, ZHAO Bin. Study and Optimization of Energy Storage Hydraulic Cylinders Synergistically Driving Heavy Manipulator Systems[J]. China Mechanical Engineering, 2022, 33(11): 1287-1293,1301.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2022.11.004

http://www.cmemo.org.cn/CN/Y2022/V33/I11/1287

参考文献

［1］高有山, 权龙, 赵斌,等. 工程机械作业机构能量回收技术研究现状［J］. 液压与气动, 2019, 43(10):1-10.
GAO Youshan, QUAN Long, ZHAO Bin, et al. Technology to Recover and Utilize the Energy of the Working Devices for Construction Machinery:State of the Art［J］. Chinese Hydraulics ＆ Pneumatics，2019，43(10):1-10.
［2］夏连鹏, 权龙, 杨敬, 等. 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.
XIA Lianpeng, QUAN Long, YANG Jing, et al. Research on the Method of Hydraulic-gas Energy Storage Balancing Hydraulic Excavator Boom Weight［J］. Journal of Mechanical Engineering, 2018, 54(20):197-205.
［3］夏连鹏, 权龙, 张晓刚. 液气复合驱动液压挖掘机动臂运行特性及能效［J］. 机械工程学报, 2017, 53(20):176-183.
XIA Lianpeng, QUAN Long, ZHANG Xiaogang. Operating Characteristics and Energy Efficiency of Hydraulic-gas Combined Driving Hydraulic Excavator Boom［J］. Journal of Mechanical Engineering, 2017, 53(20):176-183.
［4］CHEN Qihua，WANG Qingfeng，WANG Tao. A Novel Hybrid Control Strategy for Potential Energy Regeneration Systems of Hybrid Hydraulic Excavators［J］. Proceedings of the Institution of Mechanical Engineers，Part I：Journal of Systems and Control Engineering，2016，230(5)：375-384.
［5］林添良, 叶月影, 王庆丰. 液压挖掘机动臂势能电气式回收系统［J］. 中国公路学报, 2013, 26(4):184-190.
LIN Tianliang, YE Yueying, WANG Qingfeng. Electric Energy Recovery System of Hydraulic Excavator Boom［J］. China Journal of Highway and Transport, 2013, 26(4):184-190.
［6］LIN Tianliang, WANG Qingfeng. Hydraulic Accumulator-Motor-Generator Energy Regeneration System for a Hybrid Hydraulic Excavator［J］. Chinese Journal of Mechanical Engineering,2012,25(6):1121-1129.
［7］关澈, 程珩, 权龙,等. 纯电驱液压挖掘机电气式动臂势能回收再利用系统研究［J］. 液压与气动, 2020, 44(1):21-26.
GUAN Che, CHENG Heng, QUAN Long, et al. Electric Energy Recycling System of Electric Drive Hydraulic Excavator Boom［J］. Chinese Hydraulics ＆ Pneumatics，2020，44(1):21-26.
［8］李洁, 程珩, 权龙,等. 纯电驱液压挖掘机复合动作电液能量回收再利用系统研究［J］. 液压与气动, 2020, 44(12):44-50.
LI Jie, CHENG Heng, QUAN Long, et al. Research on the Electro-hydraulic Energy Recovery and Reuse System In Compound Operation of Pure Electro-hydraulic Excavator［J］. Chinese Hydraulics ＆ Pneumatics，2020，44(12):44-50.
［9］张克军, 陈剑. 电动叉车势能回收系统研究［J］. 中国机械工程, 2014, 25(21):2869-2874.
ZHANG Kejun, CHEN Jian. Research on Potential Energy Recovery System for Electric Forklift［J］. China Mechanical Engineering, 2014, 25(21):2869-2874.
［10］张克军, 陈剑. 电动叉车势能回收系统控制策略研究［J］. 中国机械工程, 2015, 26(6):844-851.
ZHANG Kejun, CHEN Jian. Research on Potential Energy Recovery System Control Strategy for Electric Forklift［J］. China Mechanical Engineering, 2015, 26(6):844-851.
［11］权龙, 夏连鹏, 赵斌, 等. 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.
QUAN Long，XIA Lianpeng，ZHAO Bin, et al.Innovation Progress in Research on Gravitational Potential Energy Recovery and Utilization of Hydraulic Driven Mechanical Arm［J］. Journal of Mechanical Engineering, 2018,54(20):4-13.
［12］AMRHEIN J，NEUMANN U.PRB-Regeneration of Potential Energy While Boom-down［C］∥8th International Fluid Power Conference. Dresden， 2012：26-28.
［13］束世辰，刘红军，路珍，等. 基于蓄能器储能和综合调度叉车势能利用系统［J］. 液压与气动，2021，45(10)：31-36.
SHU Shichen, LIU Hongjun, LU Zhen, et al. Forklift Potential Energy Utilization System Based on Accumulator Energy Storage and Comprehensive Dispatching［J］.Chinese Hydraulics ＆ Pneumatics，2021，45(10):31-36.
［14］XIAO Yang，GUAN Chen，LAI Xiaoliang.Research on the Design and Control Strategy for a Flow-coupling-based Hydraulic Hybrid Excavator［J］.Proceedings of the Institution of Mechanical Engineers， Part D：Journal of Automobile Engineering，2014， 228(14):1675-1687.
［15］CASOLI P, GAMBAROTTA A, POMPINI N, et al. Hybridization Methodology Based on DP Algorithm for Hydraulic Mobile Machinery—Application to a Middle Size Excavator［J］. Automation in Construction, 2016, 61:42-57.
［16］LIANG X. On Improving Energy Utilization In Hydraulic Booms［D］. Tampere：Tampere University of Technology，2002.
［17］任好玲, 林添良, 叶月影,等. 基于平衡油缸的动臂势能回收系统参数设计与试验［J］. 中国公路学报, 2017, 30(2):153-158.
REN Haoling, LIN Tianliang, YE Yueying, et al. Parameters Design and Experiment of Boom Potential Energy Recovery System Based on Balance Cylinder［J］. China Journal of Highway and Transport, 2017, 30(2):153-158.
［18］林贵堃, 胡鹏, 龚进. 基于平衡油缸的势能回收系统参数匹配与试验［J］. 现代制造工程, 2019(11):129-135.
LIN Guikun, HU Peng, GONG Jin. Parameters Matching and Experiment of Potential Energy Recovery System Based on Balance Cylinder［J］. Modern Manufacturing Engineering, 2019(11):129-135.
［19］叶月影, 林添良, 任好玲. 基于平衡油缸的势能液压式存储和再利用研究［J］. 液压与气动, 2018, 42(1):71-77.
YE Yueying, LIN Tianliang, REN Haoling. Research on the Potential Energy Regeneration and Utilization in Hydraulic Based on Balance Cylinder［J］. Chinese Hydraulics ＆ Pneumatics, 2018, 42(1):71-77.

[1]	张敏杰, 王庆九, 管成. 并联式油液混合动力挖掘机动力系统仿真研究 [J]. J4, 201016, 21(16): 1932-1936.
[2]	李佳豪, 任志贵, 庞晓平, 王军利, 曹书生, 俞松松. 主挖力臂配比对主挖区界定及挖掘性能评价的影响研究[J]. 中国机械工程, 2023, 34(17): 2124-2141.
[3]	刘文兰, 于海霞, 瞿怀宇, 马鹏飞, 高小钧, 王建森. 叠加Ⅱ级杆组的正铲液压挖掘机工作机构型综合[J]. 中国机械工程, 2022, 33(16): 1919-1927.
[4]	孔俊超1;王伟1;王伟2;刘焜2;王超2. 粉末润滑界面的原位观察及润滑机制[J]. 中国机械工程, 2018, 29(08): 971-978.
[5]	张克军, 陈剑. 电动叉车势能回收系统控制策略研究[J]. 中国机械工程, 2015, 26(6): 844-851.
[6]	张克军, 陈剑. 电动叉车势能回收系统研究[J]. 中国机械工程, 2014, 25(21): 2869-2874.
[7]	林添良1,2;叶月影1;王庆丰2 . 液压马达能量回收系统操作性能研究[J]. 中国机械工程, 2013, 24(21): 2948-2954.
[8]	龚文, 王庆丰. 液压挖掘机上车结构参数与液压缸摩擦力参数辨识 [J]. 中国机械工程, 2010, 21(9): 1098-1100,1105.
[9]	王冬云, 管成. 基于工况识别和动态混合度优化的控制策略 [J]. 中国机械工程, 2010, 21(23): 2790-2793.
[10]	张敏杰, 王庆九, 管成. 并联式油液混合动力挖掘机动力系统仿真研究 [J]. 中国机械工程, 2010, 21(16): 1932-1936.
[11]	张树忠, 邓斌, 柯坚. 基于液压变压器的挖掘机动臂势能再生系统 [J]. 中国机械工程, 2010, 21(10): 1161-1166.
[12]	肖清;王庆丰;张彦廷. 液压挖掘机电容蓄能式并联混合动力系统结构及控制策略研究[J]. J4, 2008, 19(5): 0-589.
[13]	和卫星;陈晓平;陆森林;潘天红;. 单斗液压挖掘机节能控制系统的实现[J]. J4, 2008, 19(21): 0-2524.

储能液压缸协同驱动重型机械臂系统研究与优化

Study and Optimization of Energy Storage Hydraulic Cylinders Synergistically Driving Heavy Manipulator Systems

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 13

编辑推荐

Metrics