| Hydraulic excavator is a kind of construction machinery widely used in the field of engineering construction.However,the traditional diesel excavator has high energy consumption,poor emission and serious pollution.Compared with diesel excavators,electric excavators have incomparable advantages in green,energy saving and environmental protection,and have broad development space and market prospects in the future.At present,a lot of simulation research work has been carried out for the electric excavator at home and abroad,but most of them are offline simulation,and can not provide a reliable real-time online test environment for the system and controller development.Therefore,the development of a semi physical simulation platform of electric excavator with higher reliability and credibility has a very important scientific research and engineering application value.In this paper,a semi physical real-time simulation system platform of electric excavator is designed and developed.With d SPACE hardware system as the core,the platform combines the physical power system composed of motor and variable displacement pump and the simulated manipulation system composed of electric control handle with the mathematical simulation model composed of control system,hydraulic system and mechanical system to form a semi physical real-time simulation circuit of electric excavator.The main contents of each chapter are as follows:The first chapter describes the system composition of the hydraulic excavator and three power supply schemes of the electric excavator,and discusses the development status and future development trend of the electric excavator.This paper introduces the concept,application and research status at home and abroad of semi physical simulation system.The status of off-line simulation and semi physical simulation of electric excavator is analyzed.On this basis,the research significance and purpose of this subject are put forward.In the second chapter,the overall design scheme of the semi physical simulation system of the electric excavator is proposed,and the components and functions of the hardware system and the software system are introduced respectively.Among them,the hardware system design scheme takes d SPACE hardware system as the core and link,and also includes simulation test management computer,3D real-time display computer,simulated manipulation system,and power system and hydraulic load simulation platform;the software system design includes semi physical simulation model,simulation test management interface and 3D real-time visualization platform of electric excavator based on MATLAB/Simulink,RTI(real-time interface),RTW(realtime workshop),Control Desk and Unity 3D.In the third chapter,it establishes the off-line simulation model of the electric excavator system based on the model module division and interface standardization analysis process,including the simulation model of each component of the hydraulic system and the dynamic simulation model of the upper structure.The modules are assembled and integrated.The real-time interface of the simulation model is configured through the RTI toolbox,and the modeling of the semi physical simulation model of the electric excavator is completed.In the fourth chapter,the semi physical simulation test management interface based on Control Desk is established to monitor and manage the test process.A 3D real-time visualization platform based on unity 3D is developed.The platform communicates with d SPACE hardware system through RS232 serial port protocol,which can directly show the real-time working state of 3D virtual electric excavator.The fifth chapter describes the semi physical simulation system platform and its workflow.The real-time simulation tests of simulated manipulation system and power matching of the power system are carried out.It analyzes the results of real-time simulation test,and verifies the model accuracy,maneuverability and real-time of semi physical simulation system platform of electric excavator.The sixth chapter summarizes the main research work of the thesis and looks forward to the possible research direction in the future. |
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