液电混合半主动驱动机械臂储能系统设计及仿真  

Design and Simulation of Energy Storage System for Hydraulic-electric Hybrid Semi-active Driving Manipulator

作　　者：乔舒斐 郝云晓 权龙 葛磊 李泽鹏 QIAO Shu-fei;HAO Yun-xiao;QUAN Long;GE Lei;LI Ze-peng(Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education, Taiyuan University of Technology, Taiyuan, Shanxi 030024)

机构地区：[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,山西太原030024

出　　处：《液压与气动》2021年第2期56-62,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51875385,U1910211,51805349)。

摘　　要：针对传统工程装备机械臂重力势能浪费及运行特性差等问题,提出利用高功重比液压缸辅助小功率电机械执行器驱动机械臂的液电混合半主动驱动系统。其中,电机械执行器主动控制机械臂运行,改善运行特性;液压缸与蓄能器连接,构成储能平衡系统,用于平衡机械臂自重,回收利用重力势能。根据电机械执行器与液压缸不同组合方式,提出3种驱动方案,以挖掘机动臂为具体应用对象,对不同驱动方案进行参数匹配设计和仿真分析。与节能效果显著的三腔液压缸负载敏感控制系统相比,液电混合驱动系统可进一步降低能耗达51%~56%,动臂速度超调和波动较小,可很好地按照预期速度运行。研究为举升机构驱动系统提供了新的方向,可实现绿色驱动,应用前景广泛。In view of the traditional engineering equipment manipulator problems such as gravitational potential energy waste and poor operation characteristics,a hydraulic-electric hybrid semi-active driving system is proposed.Hydraulic cylinders with high power-weight ratio assist low power electro-mechanical actuators to drive the manipulator.Electro-mechanical actuators actively control the manipulator to improve the operation characteristics.Hydraulic cylinders are connected with the accumulator to form energy storage balance system,recycling the gravitational potential energy.According to different combination modes of electro-mechanical actuators and hydraulic cylinders,three different driving schemes are proposed.Taking the excavator boom as specific application object,detailed parameter matching design and simulation analysis of the three driving schemes are carried out.Compared with the load sensitive controlling system of three-chamber hydraulic cylinder,the hydraulic-electric hybrid semi-active driving system can further reduce energy consumption by 51%~56%.The boom velocity overshoot and fluctuation are small.The research provides a new direction for driving system of lifting mechanism,can realize green driving and has broad application prospects.

关 键 词：机械臂 液电混合驱动 电机械执行器 重力势能回收 节能 

分 类 号：TH137[机械工程—机械制造及自动化]