电传动轮式装载机的试验样机搭建与控制策略研究
本文选题:轮式装载机 + 电传动 ; 参考:《吉林大学》2017年硕士论文
【摘要】:随着《中国制造2025》战略的提出,实现低碳化、信息化和智能化已成为轮式装载机发展的新方向。电传动技术作为一种有效的节能减排技术,将其应用在轮式装载机上,可以实现发动机与行驶系统、液压工作系统机械解耦,控制发动机在经济区运行,提升整机燃油经济性,对于实现轮式装载机的节能减排具有重要意义;同时可以实现电控技术和总线技术在轮式装载机上的应用,为轮式装载机电动化和智能化发展提供技术基础。分布式驱动作为一种全新驱动形式,与传统集中式驱动相比,可以动态控制前后桥/四轮驱动转矩,充分利用地面附着力,有效减少铲装作业时出现的轮胎打滑现象,提升整机动力性和经济性。为此,研究并搭建分布式驱动电传动轮式装载机试验样机,实现轮式装载机的低碳化和电动化目标。本文依托国家自然基金项目(No.51375202)和吉林省科技发展计划资助项目(No.20160101285JC),开展了基于dSPACE快速控制原型技术的前后桥独立驱动电传动轮式装载机试验样机搭建及控制策略研究工作,论文主要研究内容如下:1.电传动轮式装载机构型分类与关键技术分析以动力源组成、行驶系统和液压泵驱动形式三方面为分类依据,对电传动轮式装载机构型进行了分类,并对其各自特点进行了简要分析;从动力电池技术、驱动电机技术和整机控制技术三方面对电传动轮式装载机的关键技术进行了分析,明确了整机控制技术对于电传动轮式装载机高效稳定运行的重要意义。2.样机总体布局设计以某18型轮式装载机为研究载体,确定了前后桥独立驱动电传动轮式装载机试验样机的动力系统方案;基于轮式装载机总体布置原则与基准,电气及控制系统的安全性和可靠性要求,从机械结构、电气和控制系统三方面对试验样机的总体布局进行了设计;结合原始装载机的实际构造,开展了样机搭建工作,实现了装载机的前后桥独立电驱动和液压泵的电驱动。3.样机驱动/制动和故障诊断控制策略制定针对轮式装载机的驱动作业特性,为减少液压工作系统的功率损失,制定了液压泵驱动电机转速控制策略;结合驾驶员的驾驶意图和驾驶习惯,为满足驾驶员在不同工况下的动力性和操控性需求,提出了由怠速爬行、驱动作业等模式组成的行驶系统多模式驱动控制策略;结合原始装载机制动系统工作特点,提出了整机制动能量回收策略;针对分布式驱动和电传动技术特点,基于装载机与驾驶员安全性要求,提出了分层式故障诊断与处理控制策略。4.样机控制模型搭建与仿真分析基于MATLAB/Simulink平台,搭建了由信号输入输出接口模块和控制策略模块组成的整机控制模型,并对其中关键模块的搭建过程进行了重点说明;结合驱动控制策略执行特点,建立了前向仿真模型,并通过仿真验证了部分驱动控制策略的可行性。5.样机测试与控制策略验证通过台架和路面试验,完成了对试验样机的整机系统测试,各执行部件平稳运行,无干涉等情况发生,验证了整机总体布局设计的合理性;样机实现了怠速爬行、驱动作业等多模式驱动行驶和对整机制动能量的回收,并可以对所发生故障进行及时有效处理,检验了整机驱动/制动和故障诊断与处理控制策略的可行性。本文实现了电传动技术在轮式装载机上的应用,建立了整机的控制架构,实现了整机的多种行驶模式控制,保证了整机的安全稳定运行,为进一步研究分布式驱动电传动轮式装载机纵横向动力学控制技术提供了试验平台支持,为轮式装载机低碳化、电动化和智能化技术研究提供了技术基础。
[Abstract]:With the development of the 2025> strategy made in China, the realization of low carbonization, information and intelligence has become a new direction for the development of wheel loaders. As an effective energy saving and emission reduction technology, electric drive technology is applied to the wheel loader, which can realize the mechanical decoupling of the engine and driving system, the hydraulic working system, and the control of the engine in the channel. It is of great significance to realize the energy saving and emission reduction of the wheel loader. At the same time, the electric control technology and the application of the bus technology in the wheel loader can be realized, which provides the technical basis for the electric and intelligent development of the wheel loader. Compared with the centralized drive, it can dynamically control the torque of the front and rear axle / four wheel drive, make full use of the ground adhesion, effectively reduce the tires skidding in the shovel loading operation, and improve the power and economy of the whole machine. Therefore, the experimental prototype of the distributed drive wheel loader is studied and built to realize the low carbonization and electricity of the wheel loader. Based on the national natural fund project (No.51375202) and the Jilin science and technology development program (No.20160101285JC), this paper has carried out the research work on the test prototype and control strategy of the front and rear axle independent driving wheel loader based on dSPACE rapid control prototype technology. The main contents of this paper are as follows: 1. electricity The classification and key technology of transmission wheel loading mechanism type and key technology analysis are classified according to three aspects of power source, driving system and hydraulic pump driving form, classifying the type of electric drive wheel loader mechanism, and briefly analyzing their respective characteristics; from power battery technology, driving motor technology and machine control technology three parties The key technology of electric drive wheel loader is analyzed. The important significance of the whole machine control technology to the efficient and stable operation of the electric drive wheel loader.2. prototype is designed. A 18 type wheel loader is used as the research carrier, and the power system of the test prototype of the independent driving wheel loader of the front and back bridge is determined. Based on the general layout principle and datum of wheel loader, the safety and reliability requirements of electric and control system, the overall layout of the test prototype is designed from three aspects of mechanical structure, electric and control system, and the construction of the prototype is carried out in combination with the actual structure of the original loader, and the front and back bridge independence of the loader is realized. The driving / braking and fault diagnosis control strategy of electric drive and hydraulic pump.3. prototype makes the driving operation characteristics of the wheel loader. In order to reduce the power loss of the hydraulic working system, the speed control strategy of the hydraulic pump driving motor is formulated, and the driver's driving intention and driving habit are combined to meet the driver's different work. Under the condition of dynamic and manipulative demand, a multi mode driving control strategy is proposed, which is composed of idle crawling and driving operation. Combining with the characteristics of the original loader brake system, the energy recovery strategy of the whole machine is put forward, and the loader and driver safety are based on the characteristics of the distributed drive and electric drive technology. The.4. prototype control model and simulation analysis of the stratified fault diagnosis and processing control strategy are set up and the simulation analysis is based on the MATLAB/Simulink platform. The whole control model composed of the signal input and output interface module and the control strategy module is built, and the construction process of the key modules is emphatically explained, and the driving control is combined with the driving control. The characteristics of the strategy execution, the forward simulation model is established, and the feasibility of the partial driving control strategy is verified by the simulation. The test and control strategy of the.5. prototype are verified through the bench and road test, and the whole system test of the test prototype is completed, the execution parts run smoothly, no interference and so on, and the overall layout of the whole machine is verified. The design of the bureau is reasonable. The prototype realizes the idle crawling, the driving operation and the recovery of the braking energy of the whole machine, and can handle the fault in time and effectively. The feasibility of the machine driving / braking and fault diagnosis and processing control strategy is tested. This paper realizes the electric drive technology in the wheel loader. The control structure of the whole machine is established, the control of various driving modes of the whole machine is realized, the safe and stable operation of the whole machine is ensured, and the test platform support is provided for the further study of the vertical and horizontal dynamic control technology of the distributed drive wheel loader, and the research of the low carbonization, electrochemistry and intelligent technology of the wheel loader. The study provides a technical basis.
【学位授予单位】:吉林大学
【学位级别】:硕士
【学位授予年份】:2017
【分类号】:TH243
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