基于变转速变排量电液系统的高空作业平台分工况节能控制方法

doi:10.3969/j.issn.1004-132X.2026.05.017

摘要/Abstract

摘要：

针对电动高空作业平台负载敏感系统主阀处节流损失大的问题，提出了一种基于变转速变排量电液系统的分工况泵阀协同节能控制方法。该方法综合采用电液系统优化和新型节能控制策略以达到降低主阀组节流损失的目的。在电液系统优化方面，设计了一种变转速-变排量的双变量电液系统，采用电液比例泵取代负载敏感泵，并移除原负载敏感系统中的压力补偿阀。在控制策略方面，在单动作工况下采用欠流量控制策略以进一步降低主阀的节流损失；在复合动作工况下基于负载数学模型提出了阀口压差前馈补偿算法，在实现各动作流量精准分配的同时使系统在最小节流损失状态下工作。仿真和实验结果表明：相较于原负载敏感系统，采用所提出的新系统和节能控制方法时，单动作工况下系统的节流损失降低了59%~85%，复合动作工况下系统的节流损失降低了10.7%，且复合动作的流量耦合误差控制在5%以内。

关键词: 高空作业平台, 双变量, 泵阀协同, 节流损失

Abstract:

To address the issues of significant throttling losses at the main valves of the load-sensing system in electric aerial work platforms， a collaborative energy-saving control method for pumps and valves was proposed based on variable speed and variable displacement electro-hydraulic system under different operating conditions. This method combined electro-hydraulic system optimization with a new energy-saving control strategy to reduce throttling losses in the main valve assembly. In terms of electro-hydraulic system optimization， a dual-variable electro-hydraulic system with variable speed-variable displacement was designed， an electro-hydraulic proportional pump was adopted to replace the load-sensing pump， and the pressure compensating valve in the original load-sensing system was removed. In terms of control strategy， under single-action operating conditions， an underflow control strategy was adopted to further reduce throttling losses at the main valves. Under composite action conditions， based on the load mathematical model， a valve port pressure difference feedforward compensation algorithm was proposed， which achieved precise flow distribution for each action while ensuring the system operates at minimum throttling loss. Simulation and experimental results show that compared to the original load-sensing system， the proposed new system and energy-saving control method reduce throttling losses by 59%~85% under single-action conditions and by 10.7% under composite-action conditions， while keeping the flow coupling error in composite actions within 5%.

Key words: aerial work platform, dual-variable, pump-valve coordination, throttling loss

中图分类号:

TH137.51

刘宇超, 习毅, 戴巨川, 孙依凡, 张宇效. 基于变转速变排量电液系统的高空作业平台分工况节能控制方法[J]. 中国机械工程, 2026, 37(5): 1170-1182.

LIU Yuchao, XI Yi, DAI Juchuan, SUN Yifan, ZHANG Yuxiao. Energy-saving Control Method for Aerial Work Platforms Based on Variable Speed and Variable Displacement Electro-hydraulic System under Different Working Conditions[J]. China Mechanical Engineering, 2026, 37(5): 1170-1182.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2026.05.017

https://www.cmemo.org.cn/CN/Y2026/V37/I5/1170

图/表 26

图1 原负载敏感系统原理图

Fig.1 Schematic of original load-sensing system

图2 双变量电液系统架构

Fig.2 Architecture of dual-variable electro-hydraulic system

图3 分工况泵阀协同控制策略工作流程

Fig.3 Workflow of condition-specific pump-valve coordinated control strategy

图4 手柄控制电流与阀口开度及通流流量的曲线图

Fig.4 Graph showing the relationship between handle control current， valve opening and flow rate

图5 泵期望流量与阀口通流流量曲线对比图

Fig.5 Comparison chart of expected pump flow rate and valve flow rate curves

图6 高空作业平台机构简图

Fig.6 Mechanism sketch of aerial working platform

图7 不同负载、不同变幅角度下主臂油缸推力曲线

Fig.7 Thrust curve of main boom cylinder under different loads and different luffing angles

图8 主臂油缸推力负载模型计算曲线和实验曲线对比图

Fig. 8 Comparison diagram of calculated curves from load model and experimental curves for the main boom cylinder thrust

图9 油缸压力实验图

Fig.9 Hydraulic cylinder pressure test diagram

图10 飞臂机构简图

Fig.10 Schematic of jib arm mechanism

图11 飞臂油缸推力负载模型计算曲线和实验曲线对比图

Fig.11 Comparison diagram of calculated curves from load model and experimental curves for the jib arm cylinder thrust

图12 负载敏感系统仿真模型1.三相异步电动机 2.负载敏感泵 3.压力补偿阀4.梭阀 5.主阀 6.平衡阀 7.油缸8.AMESim联合仿真接口 9.负载Simulink模型

Fig.12 Load sensing system simulation model

图13 双变量系统仿真模型1.三相异步电动机 2.电液比例泵 3.主阀 4.平衡阀5.油缸 6.AMESim联合仿真接口7.分工况泵阀协同控制策略Simulink模型

Fig.13 Dual-variable system simulation model

表1 主要仿真参数

Tab.1 Main simulation parameter table

仿真参数名称	数值
主臂变幅油缸缸径/mm	180
主臂变幅油缸杆径/mm	120
主臂变幅油缸行程/mm	2030
飞臂变幅油缸缸径/mm	63
飞臂变幅油缸杆径/mm	45
飞臂变幅油缸行程/mm	654
电机转速/（r·min $- 1$ ）	0~3600
负载敏感泵理论排量/（mL·r $- 1$ ）	28
电液比例泵理论排量/（mL·r $- 1$ ）	28

表1 主要仿真参数

Tab.1 Main simulation parameter table

仿真参数名称	数值
主臂变幅油缸缸径/mm	180
主臂变幅油缸杆径/mm	120
主臂变幅油缸行程/mm	2030
飞臂变幅油缸缸径/mm	63
飞臂变幅油缸杆径/mm	45
飞臂变幅油缸行程/mm	654
电机转速/（r·min $- 1$ ）	0~3600
负载敏感泵理论排量/（mL·r $- 1$ ）	28
电液比例泵理论排量/（mL·r $- 1$ ）	28

图14 泵出口流量、压力的仿真曲线与实验曲线对比图

Fig.14 Comparison diagram of simulation and experimental curves of pump outlet flow and pressure

图15 泵出口流量、压力仿真曲线

Fig.15 Simulation curves of pump outlet flow and pressure

图16 主阀组前后压差、损失功率仿真曲线

Fig.16 Simulation curves of pressure differential before and after main valve group and associated power loss

图17 主臂变幅上和飞臂变幅上复合动作示意图

Fig.17 Schematic diagram of compound motion of main boom luffing-up and jib arm luffing-up

图18 主臂变幅上和飞臂变幅上复合动作仿真数据

Fig. 18 Simulation data of compound motion of main boom luffing-up and jib arm luffing-up

图19 新系统实机测试平台

Fig.19 Physical testing platform for the new system

表2 传感器型号及性能参数

Tab.2 Sensor model and performance parameters

名称

型号

输出信号

类型

测量范围

测量

精度

压力

传感器

流量

传感器

HTF/3403-15-C3.37

模拟电流

信号

0~40 MPa

±0.5%

图20 飞臂变幅实验数据

Fig.20 Experimental data of jib arm luffing

图21 工作栏摆动实验数据

Fig.21 Experimental data of workbar swing motion

图22 主臂变幅实验数据

Fig.22 Experimental data of main boom luffing

图23 复合动作实验数据

Fig.23 Experimental data of compound motion

图24 各典型动作节流损失对比图

Fig.24 Comparison diagram of throttling losses for each typical motion

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