工程设计学报2023，Vol.30Issue(6)：717-727,11.DOI:10.3785/j.issn.1006-754X.2024.03.167
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
摘要
Abstract
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Key words
electrically controlled positive flow/excavator/co-simulation/hierarchical control/fuzzy control/real vehicle verification分类
建筑与水利引用本文复制引用
魏森森,杜常清,邹斌,徐玉兵..电控正流量挖掘机分阶段控制技术研究[J].工程设计学报,2023,30(6):717-727,11.基金项目
国家重点研发计划项目(2020YFB1709900) （2020YFB1709900）
