基于刚柔耦合建模的挖掘机动态性能仿真研究

针对挖掘机工作装置刚柔耦合变形对液压控制系统动态特性的影响，结合虚拟样机建模和联合仿真技术进行动态特性研究。利用UG软件建立某型号挖掘机三维模型，通过有限元软件柔性化处理后导入ADAMS动力学分析软件中，构建挖掘机工作装置刚柔耦合虚拟样机。利用AMESim软件和负载敏感原理，建立挖掘机工作装置闭环液压控制系统。通过软件联合构造挖掘机机电液一体化的刚柔耦合仿真模型。针对挖掘机典型挖掘工况和重载举升工况下的运动轨迹进行仿真研究，结果表明：基于刚柔耦合建模的挖掘机液压控制系统动态稳定性较强，重载工况最大位置误差小于0.01 m,位置精度较高，实现了挖掘机刚柔耦合一体化建模仿真。     

Modelling and remote control of an excavator

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.     

1600型电铲电磁离合器的改进设计

研究了1600型电铲的关键部件电磁离合器,提出了改进的设计方案,本课题采用变频调速方案来解决对1600型电铲电磁离合器在改进中存在的问题,在技术上可行、在实际应用中得到了肯定,并取得了良好的经济效益。     

Materials selection to excavator teeth in mining industry

Hard alloys are normally used as materials for excavators teeth in mining industry. In most cases these alloys do not have enough anti-wear properties and coatings are employed as a good alternative. The objective of this work is to test the abrasive wear resistance of several cast irons alloyed with different elements. Laboratory tests based on the ASTM G105-89 standard were compared to tests carried out under real working conditions of excavator teeth in mines.

The experimental results show an acceptable correspondence between laboratory and field tests. To complete the laboratory research, hardness and microhardness measurements and optical micrographs were performed to identify the mechanism of wear. As a result of the experimental work, an economic evaluation of materials was also performed.     

基于模糊GA算法的挖掘机履带行驶机构控制策略

为了解决挖掘机履带行驶机构双电机系统的协同控制问题,采用模糊控制与遗传算法对底盘电驱动系统的控制策略及其优化方法进行了。首先建立了双电机独立驱动的挖掘机底盘系统模型,进而设计了双电机驱动控制策略并基于模糊遗传算法进行了控制策略的优化,为了验证所设计的控制策略,通过MATLAB软件对所设计的模糊控制策略进行了计算机仿真,仿真结果表明所提出的控制算法可以实现良好的挖掘机行驶性能,控制效果良好,转向半径平稳且转向过程中速度稳定。     

Blast-Free Mining of Coal Seams by Excavators Equipped with Rotary Dynamic Buckets

The necessity to equip cable excavators with rotary buckets is substantiated. The results of graphic-analytical analysis of the rotary bucket operation are presented, and its main advantages are determined in comparison with conventional buckets in mining coal seams of complex structure. __________ Translated from Fiziko-Tekhnicheskie Problemy Razrabotki Poleznykh Iskopaemykh, No. 2, pp. 59–99. March–April, 2005.     

H85型挖掘机散热系统的改造

大峪口采选厂购置的４台Ｈ８５型挖掘机，在使用中因出现发动机过热现象而无法正常工作。通过分析，将原莠热系统的铝质板翅式散热器改为铜质平片管式散热器；更换了风扇，增大风扇转速转和叶片角度。现场测试表明，改造后成功地解决了发动发热的问题，取得了良好的效果。     

混合动力挖掘机动臂势能分级回收仿真研究

针对挖掘机动臂势能浪费大的问题,提出一种混合动力挖掘机动臂势能分级回收系统,该系统采用低、中、高压蓄能器进行分级势能回收。分析系统工作原理,建立动臂油缸和蓄能器能量数学模型,运用AMESim建立液压系统和控制策略,并在典型工况下进行仿真。仿真结果表明：挖掘机动臂采用低、中、高压蓄能器进行分级势能回收是可行的,该系统节能率达到40.6%,能量回收效率保持在36.1%以上。     

基于负载口独立控制的挖掘机动臂系统节能研究

针对传统挖掘机动臂液压系统能耗大、势能利用低等问题,以挖掘机动臂为研究对象,设计基于负载口独立控制的动臂液压系统。在主动型负载工况缩回工况下,对动臂液压系统进行了压力-流量特性分析,获得阀口开度与活塞杆速度的关系;采用机械动力学仿真软件ADAMS和液压系统仿真软件AMESim,分别建立传统动臂液压系统和基于负载口独立控制的动臂液压系统联合仿真模型,并对2种动臂液压系统在主动型负载工况缩回工况进行联合仿真分析。仿真结果表明：2种动臂液压系统都能获得较为线性的活塞杆运动速度,而且与传统动臂液压系统相比,基于负载口独立控制的动臂液压系统的势能利用率明显提高,提高了约44.3%。     

液压挖掘机功率匹配的节能优化设计

对公司30 t挖掘机发动机和主泵的工作特性进行分析,运用模糊控制系统理论建立控制过程模型,对动力系统进行节能优化功率匹配设计。在该挖掘机上进行对比验证,观察挖掘机内泵压力和外泵压力的变化,表明采用新型节能优化功率匹配系统在主泵比例电磁阀电流调节上更加快速和稳定,内泵压力和外泵压力跟随负载变化更加迅速和稳定;进行多次动臂动作测试分析,工作装置动作更加迅速,整体油耗有所降低。结果表明,新功率匹配系统达到公司要求的各项性能指标。