全电控正流量液压挖掘机复合动作协调性研究

针对全电控正流量挖掘机复合动作时，执行机构增减而产生速度突变的协调性问题，对某公司37 t挖掘机进行研究，分析了单动作与复合动作各执行机构速度与主泵流量分配之间的关系，提出了调整正流量挖掘机前后泵输出初始排量并留一部分排量余量，使前后泵排量余量跟随各先导电手柄电流信号的变化调整输出的控制策略，建立了AMESim-Motion机械液压联合仿真模型。仿真与实验结果表明，复合动作增减动作时速度突变量减小10%以上，其动作协调性有显著提升。

Research on the Coordination of Compound Action of Fully Electronically Controlled Positive Flow Hydraulic Excavator

In view of the coordination problem of sudden change in speed caused by the increase or decrease of actuators when fully-controlled positive-flow excavator is acting in combination, a 37-ton excavator of a company is studied, and the relationship between the speed of each actuator and the flow distribution of the main pump in single action and compound action is analyzed. A control strategy of adjusting the initial displacement of the front and rear pumps of the positive-flow excavator and keeping a part of the displacement allowance is put forward, so that the displacement allowance of the front and rear pumps can adjust the output according to the change of the current signal of each conductive handle, and an AMESim-Motion mechanical-hydraulic joint simulation model is established. Results of simulation and experiment show that the sudden change of speed decreases by more than 10% when the compound movements increase or decrease, and the coordination of movements is significantly improved.