滑移装载机工作装置多体动力学仿真与分析

为准确方便地分析滑移装载机工作装置性能设计的好坏,在ADAMS软件中建立了工作装置的多刚体动力学模型,并对其在一个典型工作过程中进行了动力学仿真,分析了整个运动过程中的平移性、卸载性、最大卸载高度、传动性以及各铰点处的受力情况等,仿真结果符合设计要求,证明了仿真结果是正确的,建模及分析方法对于其他类似机构的仿真研究有参考意义。     

基于ADAMS的装载机工作装置机液联合仿真分析

对装载机工作装置进行机液联合仿真可以更好地分析工作装置各杆件的受力情况以及液压系统的控制.在ADAMS中建立了装载机工作装置机械系统和液压系统,设计了液压阀控制函数.进行机液联联合仿真,分析了铲斗角变化和铲斗斗尖轨迹,以及阀的流量变化和缸的受力,这对类似系统的仿真分析研究很有意义.     

基于刚柔耦合技术的装载机工作装置动力学研究

装载机工作装置在作业过程中力学特性比较复杂,仅仅从刚性体的范畴对其仿真已不能满足工作需要,为了更真实地了解其工作过程的动力学特性,在ANSYS中将主要受力部件动臂及连杆柔性化．并在ADAMS中建立起工作装置的刚柔耦合模型,对其进行不周工况下的动力学仿真,得到油缸及其关键铰点的受力曲线。分析表明仿真结果更加贴近实际,建模以及分析方法为同类机构的研究提供了一种参考思路。     

ZL50轮式装载机工作装置动力学特性

以某型轮式装载机为研究对象,利用Solidworks三维造型设计软件对轮式装载机工作装置建立三维模型,导入动力学仿真软件ADAMS中,添加约束、载荷建立虚拟样机系统。对工作装置进行动力学仿真分析,获得主要铰接点处的载荷受力曲线,为轮式装载机工作装置的设计和改进提供了理论参考依据。     

基于ADAMS的轮式装载机运动学及动力学仿真分析

基于虚拟样机技术,利用ADAMS软件对某轮式装载机建模,并对其进行运动学及动力学仿真,检查装载机在运动工作过程中是否出现干涉,同时获得装载机各部件的运动学及动力学相应曲线,分析装载机结构设计及其受力情况是否合理,为装载机设计提供参考.     

装载机动臂动力学仿真分析

对ZL15轮式装载机动臂在变载荷状态下做动力学仿真分析。首先在Solidworks软件中自带的Motion插件中导入已建好的装载机三维虚拟模型,定义装载机整个工作环境,并在铲斗上添加求得的工作装置外载荷,然后对工作装置中的转斗和举升油缸添加运动,使装载机工作装置整个工作过程完整,由此模拟分析得到装载机在额定载荷工况下动臂关键部位受力特性曲线,揭示了动臂各关键部位在整个工作循环中受力变化情况。     

液压挖掘机工作装置的动态强度仿真分析

针对在大型正铲液压挖掘机工作过程中工作装置的运动以及零件的应力分布问题,在多体动力学软件MSC.ADAMS中建立了刚-柔、机-液耦合的虚拟样机,其中动臂、斗杆是柔性体,其模态中性文件在ANSYS中生成,其余为刚性体,液压系统在ADAMS/Hydraulics中建立;对整机理论最大挖掘力开展了分析,进行了最大挖掘力普查,得到了工作装置在不同位置产生的最大挖掘力;在ADAMS中对其进行了运动学及动力学仿真,分析了其在相应约束以及负载状态下以最大挖掘力挖掘和以一定效率挖掘,举升工况时部件的应力应变.研究结果表明,该仿真模型比典型的工况方法更全面地反映了工作装置的运动状况和部件的强度状况,提高了计算精度和效率,可以为挖掘机结构设计优化提供较为可信的参考.     

工程机械换挡过程动力学建模与仿真

分析了换挡过程中各传动部件的工作原理,建立了发动机-变矩器联合动力学模型、整车行驶模型和变速器换挡模型,进而建立了应用于换挡过程分析的工程机械液力机械传动系统动力学模型.推导出工程机械换挡过程的运动方程.仿真分析了典型装载机在换挡过程中的动力学行为.     

基于等效有限元方法的液压挖掘机工作装置动力学及特性研究

根据液压挖掘机工作装置机械臂运动和受力特点,对其进行动力学分析。采用基于集中质量和惯量的等效有限元法建立液压挖掘机机械臂的动力学微分方程,运用龙格-库塔(Runge-Kutta)数值求解法对运动微分方程进行推导和数值求解,对各臂杆的动力学特性进行了分析。采用动力学仿真软件ADAMS建立了液压挖掘机工作装置的虚拟样机模型,选取与数值求解相同工况的参数进行仿真分析。通过对比仿真结果和数值求解两种方法得到的动力学特性曲线,结果基本一致,表明机械臂动力学建模方法的正确性。     

基于AMESim的装载机动臂势能回收系统研究

以17t装载机为研究对象,对装载机工作装置的动臂液压系统进行分析研究,提出一种带势能回收的装载机动臂液压系统,应用AMESim仿真软件建立了相应的仿真模型,通过与传统装载机动臂液压系统对比,并结合相应的仿真曲线,验证了设计方案的可行性。     

Modeling,validation and energy flow analysis of a wheel loader

This paper presents a wheel loader simulation model, validation results and energy flow analysis. The developed simulation model will facilitate the performance evaluation and optimization process in the development stage of a prototype wheel loader. The wheel loader simulation model consists of mechanical and hydraulic powertrain model, multi-body dynamic model and working part dynamic model. The multi-body dynamic model is simplified since the effect of pitch and roll motion of the wheel loader on the energy flow of the powertrain and hydraulic actuator systems is insignificant, a simplified planar model for the dynamic vehicle is good enough for the objective of this study. Every component is modeled and integrated in a simulation package developed using Matlab/Simulink. The simulation model has been validated using experiment data and the validation results show that it effectively represents the actual dynamic characteristic of the target wheel loader. The verified simulation model will be used as a virtual platform to evaluate the performance of alternative powertrain models such as a dual-clutch transmission and hydrostatic transmission. An advanced control system can also be implemented and evaluated using the virtual platform.     

滑移装载机工作装置液压系统仿真研究

分析了滑移装载机工作装置的液压系统,重点分析了负载独立流量分配(LUDV)控制系统的流量调节原理以及流量分配原理。利用EASY5软件对滑移装载机工作装置液压系统进行了建模和仿真。最终,评估了液压系统的模型是否合理。     

负载敏感变量泵在装载机液压系统上的应用与节能分析

将A10VSO系列负载敏感变量泵应用到ZL50装载机工作装置液压系统中,并在不同的工况下对该液压系统进行了节能分析与功率损失计算。结果证明A10VSO系列负载敏感变量泵驱动的装载机工作装置液压系统的功率损失较少。     

Robust control design for a wheel loader using and feedback linearization based methods

The heavy equipment industry is building more and more equipment with electro-hydraulic control systems. The existing industry practices for the design of control systems in construction machines primarily rely on classical designs coupled with ad-hoc synthesis procedures. Such practices produce desirable results, but lack a systematic procedure to account for invariably present plant uncertainties in the design process as well as coupled dynamics of the multi-input multi-output (MIMO) configuration. In this paper, two H_∞ based robust control designs are presented for an automatic bucket leveling mechanism of a wheel loader. In one case, the controller is designed for the base plant model. In another case, the controller is designed for the plant with a feedback linearization control law applied yielding improved stability robustness. A MIMO nonlinear model for an electro-hydraulically actuated wheel loader linkage is considered. The robustness of the controller designs are validated by using analysis and by simulation using a complete nonlinear model of the wheel loader linkage and hydraulic system.     

FOUR-PARAMETER AUTOMATIC TRANSMISSION TECHNOLOGY FOR CONSTRUCTION VEHICLE BASED ON ELMAN RECURSIVE NEURAL NETWORK

From the viewpoint of energy saving and improving transmission efficiency, the ZL50E wheel loader is taken as the study object. And the system model is analyzed based on the transmission system of the construction vehicle. A new four-parameter shift schedule is presented, which can keep the torque converter working in the high efficiency area. The control algorithm based on the Elman recursive neural network is applied, and four-parameter control system is developed which is based on industrial computer. The system is used to collect data accurately and control 4D180 power-shift gearbox of ZL50E wheel loader shift timely. An experiment is done on automatic transmission test-bed, and the result indicates that the control system could reliably and safely work and improve the efficiency of hydraulic torque converter. Four-parameter shift strategy that takes into account the power consuming of the working pump has important operating significance and reflects the actual working status of construction vehicle.     

An investigation of energy efficiency of a wheel loader with automated manual transmission

This paper describes an investigation of energy efficiency by applying an advanced powertrain system in a conventional wheel loader. A conventional powertrain of a wheel loader consists of an engine, torque converter and transmission. A torque converter in a conventional system generally causes a significant amount of energy loss, as determined by analyzing energy flow based on V-pattern working. To prevent energy loss in a torque converter, Automated manual transmission (AMT) was proposed and modeled in this paper as an advanced powertrain. A wheel loader based on AMT does not need to use a torque converter since the single clutch system is used between the engine and transmission with subsystems of engine controller, clutch actuator and controller. A simplified single clutch system and controller were constructed for V-pattern working of a wheel loader. Additionally, a PI-controller was used as a control algorithm for engine speed control to prevent energy loss while the clutch is not engaged. All simulation models have been constructed in the Matlab/ Simulink environment, and simulation studies were conducted by using a simulation model of a wheel loader with a driver model based on V-pattern working. Simulation results of the AMT-based wheel loader were analyzed by comparison with the results of the torque converter-based wheel loader, and the results show that the AMT-based wheel loader is more energy efficient than the conventional wheel loader.     

基于ADAMS的装载机工作装置动力学仿真方法研究

文中针对装载机工作装置进行动应力测试需要较高的时间与人力成本,以国产额定载重9t装载机为研究对象。提出一种应用虚拟样机技术快速获得装载机工作装置应力特性的方法。在ADAMS中建立了工作装置虚拟样机模型,对工作装置在不同工况下利用Step函数进行多刚体动力学仿真分析,得到的铰点载荷与实测载荷进行对比,验证仿真方法的合理性。利用Ansys生成动臂、摇臂以及连杆的柔性体文件,采用模态叠加法建立工作装置刚柔耦合动力学模型,导入不同工况下实测液压缸位移与铰点载荷,进行了工作装置动力学仿真分析,与Step函数仿真结果对比,结果表明：对于刚体动力学仿真分析,利用Step函数模拟铲装作业可以较好地反映铰点处的峰值载荷。对于刚柔耦合动力学仿真分析,基于实测载荷的最大应力与基于Step函数模拟的最大应力相对误差不超过26%,研究为装载机工作装置的强度分析与结构优化提供参考依据。     

HT25J型装载机液压行驶系统设计及控制仿真

由于缺乏相关的试验研究与理论指导,目前国内在开发全液压装载机方面发展缓慢。文中结合浙江省重大科技专项研发的HT25J型全液压装载机,对液压传动装载机的液压行驶驱动系统进行设计,并详细阐述了车辆具体行走实现原理;建立了液压系统各环节数学模型,根据系统整体传递函数方框图建立了Simulink仿真模型;并采用模糊PID控制器对系统稳定性进行校正,使整个液压行驶系统具备较好的响应性能及抗干扰能力,为国内全液压装载机的设计开发寻求一种理论依据。     

轮式装载机工作装置的仿真分析

利用三维造型软件UG建立轮式装载机工作装置的六连杆机构,通过多体动力学分析软件ADAMS实现虚拟仿真,通过仿真分析的结果对工作装置机构参数修改以及铰接点位置的重新设定,得出符合设计优化要求的机构参数和铰接点位置,以及油缸运动控制参数。为装载机工作装置的试制提供参考数据。     

新型液压拼焊工艺装备的设计与应用

阐述了装载机结构件新型液压拼焊工艺装备的有关原理和发展趋势，并通过对比现有的结构件拼焊工艺装备常用的夹紧模式，较为详细地剖析了设计装载机结构件液压拼焊工艺装备的思路，成功实现了在装载机三大结构件上的应用。确保了结构件的拼焊质量，提高了工作效率，降低了工人的劳动强度。