Hardware-in-the-loop Simulation Station And Arm Real-time Simulation In Hydraulic Excavator

As an essential construction machinery, hydraulic excavators are widely used around the world. With the application of electronic control technology, it has become an important method for improving excavator's energy consumption and exhaust, as well as performance and reliability. However, confronted with the long manufacturing cycle and sophisticated system integration, the controller development is at low efficiency and high cost.In this dissertation, on the basis of dynamic analysis of hydraulic excavator's arms, real-time dynamic model is built and the real-time hardware-in-the-loop simulation station, based on the dSPACE real-time system, is established. The station can provide the development of controller's software and hardware with full life-cycle simulation environment of high performance, which can improve efficiency and safety and reduce cost.The chapters of this dissertation are organized as follows.In Chapter 1, the significance of the research on real-time hardware-in-the-loop simulation station is discussed. The station is good solution to improve development cycle, high cost and low efficiency.In Chapter 2, a program of excavator's real-time simulation station is described. On the discussion of hardware-in-the-loop simulation requirement, simulation station, which is based on dSPACE real-time system, with 3-D display, is established.In Chapter 3, the excavator's working process is analyzed and 3-D kinematics model is built. As excavator's 3-D solid model is built, a 3-D real-time display is developed under the DirectX environment.In Chapter 4, on the basis of Chapter 3, the real-time excavator dynamic model is built using the Lagrange formulation. A simple hydraulic circuit model is built after an analysis of the excavator's hydraulic system.In Chapter 5, a parameter identification method is proposed and the experiment is carried out. Using the identified parameter, a trajectory planning controller's real-time simulation is carried out. Comparing with the result on the real excavator, the real-time hardware-in-the-loop simulation station is of high accuracy and real-time performance.The main conclusions and achievements are summarized in Chapter 7, and the further research work is put forward.