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.

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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

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