基于多仿真模型的动臂势能再生控制策略研究

液压挖掘机工作时，动臂频繁下降会造成大量重力势能浪费，因此动臂势能再生能够有效提高挖掘机能耗效率。基于1.7×104 N液压挖掘机实验平台，设计一种组合式节能型动臂结构及其液压再生回路，建立动臂动力学模型、液压模型与控制器模型，进行多仿真模型联合仿真，提出基于模糊PID控制策略进行动臂势能再生控制。结果表明：与传统PID控制的无蓄能器模型相比，模糊PID控制的动臂势能再生系统节能效率达到25.57%，高于传统PID控制策略的18.04%。

Research on Control Strategy of Boom Potential Energy Regeneration Based on Multi-simulation Model

A large amount of gravitational potential energy will be wasted when the boom drops frequently in hydraulic excavator working process.Therefore,boom potential energy regeneration can effectively improve the energy efficiency of the excavator.Based on the experimental platform of 1.7×104 N hydraulic excavator,a combined energy-saving boom structure and its hydraulic regeneration circuit were designed,the boom dynamics model,hydraulic model and controller model were established to carry out multi-simulation model co-simulation,and a control strategy was proposed for the boom potential energy regeneration based on fuzzy PID control strategy.The results show that the energy saving efficiency of the boom potential energy regeneration system controlled by fuzzy PID is 25.57%,which is higher than the 18.04% of the traditional PID control strategy,compared with the traditional PID controlled no-accumulator model.