液压与气动2025，Vol.49Issue(3)：111-122,12.DOI:10.11832/j.issn.1000-4858.2025.03.013
大型液压挖掘机电液控制系统半物理仿真方法
Semi-physical Simulation Method of Electro-hydraulic Control System for Large Hydraulic Excavator
徐鹏 1师建鹏 2郄永军 1姜良志 1秦合营 1王梦媛1
作者信息
- 1. 三一重工股份有限公司,北京 102206
- 2. 三一重机有限公司,江苏 苏州 215300
- 折叠
摘要
Abstract
In order to solve the problems of difficult on-site testing and poor reproducibility of the control system of fully electronically controlled large-scale hydraulic excavators,and to provide a testing platform for the verification of control strategies,a semi-physical simulation system for hydraulic excavators is established.Firstly,establish an overall model of the excavator power system,hydraulic system,and mechanical system in AMESim.Secondly,in response to the poor real-time performance caused by factors such as rigid equations and multiple implicit variables in the AMESim model,the system is simplified while ensuring the accuracy and real-time performance of the model.Afterwards,the AMESim model is encapsulated into a real-time FMU and loaded into the dSPACE SCALEXIO.The controller input/output and CAN communication system are modeled in Simulink,and the hardware in the loop of the controller is implemented.Finally,a 3D real-time visualization platform is developed based on Unity,which communicates with the dSPACE SCALEXIO through the MAPort interface to visually display the 3D virtual excavator operation scene and process,improving the human-computer interaction effect.Taking a certain ultra large excavator as the research object,the results show that after simplification,the simulation solving speed is increased by more than 10 times,and the deviation from the non simplified model simulation results is less than 5%,which verifies the real-time,accuracy,and human-computer interaction of the semi-physical simulation system.关键词
全电控挖掘机/半物理仿真/整机模型/FMI/FMU/三维实时可视化Key words
fully electronically controlled excavators/semi-physical simulation/overall model/FMI/FMU/3D real-time visualization分类
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徐鹏,师建鹏,郄永军,姜良志,秦合营,王梦媛..大型液压挖掘机电液控制系统半物理仿真方法[J].液压与气动,2025,49(3):111-122,12.
