系列化液压挖掘机数字样机研究  

Research on Digital Prototypes of Serial Hydraulic Excavators

作　　者：葛磊[1] 董致新[1] 李运华[2] 权龙[1] 张晓刚[1] 赵斌[1] GE Lei;DONG Zhixin;LI Yunhua;QUAN Long;ZHANG Xiaogang;ZHAO Bin(Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education, Taiyuan University of Technology, Taiyuan 030024;School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191)

机构地区：[1]太原理工大学新型传感器及智能教育部实验室,太原030024 [2]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《机械工程学报》2019年第14期186-196,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金(U1510206);中德国际合作项目(2015DFA70210)资助项目

摘　　要：液压挖掘机是典型的多执行器工程装备,其特点是执行器惯性大和单泵驱多执行器,工作过程中负载大范围变化,在设计中难以充分了解整机工作特性,导致系统设计效率低、系统运行特性差等问题。采用数字化样机设计方法可以有效提高系统设计效率,但目前传统一维仿真设计方法不能实时计算作用在各执行器上的等效质量与时变转动惯量,难以将作用在铲斗上的载荷实时分配到各液压缸上,存在负载工况模拟不准确和动态特性失真的问题。针对上述问题,提出采用基于元件试验或真实物理结构的数字样机设计方法,实现液压挖掘机整机机、电、液、控制系统及载荷的实时信息交换和协同计算,在6 t数字样机成熟技术基础上,拓展研发20 t、76 t、260 t、390 t挖掘机数字样机平台,并成功开发6 t挖掘机进出口独立控制系统、76 t高能效液压挖掘机和国内首台260 t和390 t超大型挖掘机,对科研及生产具有重要的指导意义。Hydraulic excavator is a typical multi-actuator engineering equipment, which is characterized with large inertia actuator and single pump driving multi actuators, and its load changes largely. Thus, it is difficult to fully understand the operating characteristics before the design, which leads to low efficiency and poor performance. The digital prototype can effectively improve the efficiency of system design. However, it is difficult to calculate the equivalent quality effect and variable inertia applied on each actuator in real time with the traditional one-dimensional simulation technology, result in lack of precision and distortion of dynamic characteristics and it is difficult to simulate the real system characteristics. Aiming at the above problems, the digital prototype design method based on component test and real physical structure is proposed. With this method, real-time information exchange and collaborative computing between the mechanical structure, electric system, control system and the load can be realized. Firstly, a digital prototype of a 6 t hydraulic excavator is designed and it is modified with detail tests. And then, it is introduced to develop the digital prototype of 20 t, 76 t, 260 t, 390 t excavators. And based on the digital technology, a 76 t high efficiency hydraulic excavator and the first domestic 260 t and 390 t ultra large excavators, are developed.

关 键 词：液压挖掘机 数字样机 参数化建模 变转动惯量 矿用液压挖掘机 

分 类 号：TH137[机械工程—机械制造及自动化]