电控正流量挖掘机分阶段控制技术研究  

Research on phased control technology of electrically controlled positive flow excavator

作　　者：魏森森 杜常清[1,2] 邹斌[2] 徐玉兵 WEI Sensen;DU Changqing;ZOU Bin;XU Yubing(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Key Laboratory of Modern Automotive Parts Technology,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070

出　　处：《工程设计学报》2023年第6期717-727,共11页Chinese Journal of Engineering Design

基　　金：国家重点研发计划项目(2020YFB1709900)。

摘　　要：针对负流量挖掘机执行机构响应速度慢以及分工况控制能量利用率低的问题,提出了一种电控正流量挖掘机的分阶段控制策略。将挖掘机的一个作业循环分为4个阶段:挖掘阶段、满载返回阶段、卸载阶段和空载返回阶段。基于AMESim和Simulink软件搭建了电控正流量挖掘机联合仿真模型,其液压系统采用分层控制方法。其中,上层控制器根据电控手柄信号计算得到挖掘机执行机构的流量需求,并通过判断执行机构的状态来判断挖掘机的作业阶段,从而确定发动机的基速。下层控制器接收来自上层控制器的发动机基速,并采集挖掘机主供油泵的压力信号,利用模糊控制算法对发动机的转速进行修正,以得到发动机的期望转速;同时采用滑模PID(proportionalintegral-derivative,比例-积分-微分)控制来稳定发动机的工作转速。最后,通过联合仿真和实车实验来验证所提出的控制策略的有效性。仿真结果表明:在正流量挖掘机的一个作业循环内,发动机的转速能稳定在期望转速附近,其油耗为192~220 g/(kW·h)。实验结果表明:相较于分工况控制,分阶段控制在挖掘机一个作业循环内的各个阶段均能保证发动机在经济油耗区工作。所提出的方法为电控正流量挖掘机的控制研究提供了新方向和参考。Aiming at the problems of slow response speed of negative flow excavator actuator and low energy utilization rate of control by different working conditions,a phased control strategy for electrically controlled positive flow excavator was proposed.The working cycle of excavator was divided into four stages:excavation stage,full load return stage,unloading stage and no-load return stage.The co-simulation model of electrically controlled positive flow excavator was built based on AMESim and Simulink software.Its hydraulic system adopted hierarchical control method.Among them,the upper-layer controller calculated the flow demand of the excavator actuator according to the electric handle signal,and judged the working stage of the excavator by judging the state of the actuator,so that the base speed of engine was determined.The lower-layer controller received the base speed of engine from the upper-layer controller,and collected the main oil feed pump pressure signal of the excavator.The fuzzy control algorithm was used to correct the engine speed,and the expected engine speed was obtained.At the same time,the sliding mode PID(proportional-integral-derivative)control was used to stabilize the engine speed.Finally,the effectiveness of the proposed control strategy was verified through co-simulation and real vehicle experiments.The simulation results showed that in one working cycle of the positive flow excavator,the engine speed could be stable near the expected speed,and its fuel consumption was 192-220 g/(kW·h).The experiment results showed that compared with the control by different working conditions,the phased control in each stage of a working cycle of the excavator could ensure that the engine worked in the economic fuel consumption zone.The proposed method provides a new direction and reference for the control research of electronically controlled positive flow excavators.

关 键 词：电控正流量 挖掘机 联合仿真 分层控制 模糊控制 实车验证 

分 类 号：TU621[建筑科学—建筑技术科学]