旋挖钻机回转制动能量回收系统设计与分析

Design and analysis of energy recovery system of rotary drilling rig during braking motion

为利用旋挖钻机在回转阶段的制动能量,提出一种基于二次调节技术和液压蓄能器的能量回收系统。通过分析上车回转的工况特点,运用功率键合图理论建立回转动能回收利用的数学模型。针对系统参数的不确定性及存在的外干扰,设计自适应模糊滑模控制器对回转速度进行跟踪控制,并利用李雅普诺夫函数证明控制系统的稳定性和收敛性。为对系统进行优化设计,仿真分析液压蓄能器容积、充气压力及回转制动时间这3个主要因素对系统工作性能的影响规律。研究结果表明:所提出的回转系统在制动时能有效地完成能量回收,其中,回转制动时间对系统工作压力和能量回收效率影响最大,而液压蓄能器容积和充气压力对能量回收效率影响较小,但对恒压网络压力波动影响较大。

In order to recover the braking energy from the rotary drilling rig during swing motion, the energy recover system was proposed based on the secondary regulation technology and hydraulic accumulator. According to the working principle of the rotary system, the mathematical model of rotary inertia energy recycling was developed by bond graph. To solve the problem of the uncertain parameters and external disturbances of the system, the adaptive fuzzy sliding mode controller（AFSMC） was employed to track the preset rotational angular velocity, and the Lyapunov function was introduced to confirm the stability and convergence of the control system. To optimize the system design, the effects of main parameters on the system performance were studied. The results show that the rotary braking time has the greatest influence on the system pressure and energy recovery efficiency, while the volume and pre-charge pressure of hydraulic accumulator volume have relatively smaller influence on the energy recovery efficiency, but great influence on the pressure fluctuation of constant pressure network.