Research On Improving Action Coordination Performance Of Fully Electronic Controlled Hydraulic Excavator

In recent years,with the rapid development of China’s economy,excavator has become one of the most important construction machinery in engineering construction.Whether the matching between the subsystems of the all-electric hydraulic excavator is reasonable and whether the action of the actuator is coordinated has a great impact on the manipulability and operation efficiency of the excavator.Based on the development status of all-electric controlled excavator,this paper studies the action coordination of a 37-ton all-electric controlled hydraulic excavator,puts forward the evaluation system of excavator action coordination and builds the evaluation model of excavator action coordination.This paper focuses on the mechanism analysis,simulation modeling,improvement research and experimental testing of the coordination problem of the speed sudden change when the single action starting pressure impact and the compound action increase and decrease action pointed out by the evaluation model,which effectively improves the action coordination of the excavator and improves the operation efficiency of the excavator.The main research contents are as follows:(1)Based on the action coordination problem of excavator,an evaluation system for the action coordination of excavator is proposed.Based on the hydraulic system and control principle of fully electronic control excavator,the mechanism analysis is carried out for the coordination problem of the speed mutation when the single action start pressure impact and the compound action increase and decrease action of the studied model.(2)Based on the evaluation system of excavator action coordination,an evaluation model is established to evaluate and study the action coordination of the machine.Based on the control logic,hydraulic system and mechanical structure,an excavator co-simulation model is established,and the accuracy of the evaluation model of excavator action coordination is verified by the output data of electromechanical and hydraulic co-simulation,and the coordination problems pointed out by the evaluation model are analyzed.(3)Based on the theoretical and simulation analysis,the matching principle between the main pump,the main valve and the unloading valve in the starting stage is proposed for the problem of pressure impact of single action.The control strategy of adjusting the initial displacement of the front and back pumps and making the displacement margin of the front and back pumps follow the change output of the handle signal is proposed for the problem of speed change when the compound action increases or reduces.The improvement strategy has been effectively verified in the simulation and evaluation model.(4)The coordination test of single action and compound action of excavator is carried out to verify the accuracy of the co-simulation model and the improvement scheme.The test results show that the coordination problem of starting pressure impact and speed sudden change of compound action in single action of excavator is effectively improved.