基于刚柔耦合建模的挖掘机动态性能仿真研究

Dynamic Performance Simulation of Excavator Based on Rigid-Flexible Coupling Modeling

针对挖掘机工作装置刚柔耦合变形对液压控制系统动态特性的影响,结合虚拟样机建模和联合仿真技术进行动态特性研究。利用UG软件建立某型号挖掘机三维模型,通过有限元软件柔性化处理后导入ADAMS动力学分析软件中,构建挖掘机工作装置刚柔耦合虚拟样机。利用AMESim软件和负载敏感原理,建立挖掘机工作装置闭环液压控制系统。通过软件联合构造挖掘机机电液一体化的刚柔耦合仿真模型。针对挖掘机典型挖掘工况和重载举升工况下的运动轨迹进行仿真研究,结果表明:基于刚柔耦合建模的挖掘机液压控制系统动态稳定性较强,重载工况最大位置误差小于0.01 m,位置精度较高,实现了挖掘机刚柔耦合一体化建模仿真。

Aiming at the influence of rigid-flexible coupling deformation of excavator working device on the dynamic characteristics of hydraulic control system,virtual prototype modeling and co-simulation technology were combined to study dynamic characteristics.The 3D model of the excavator was established by using UG software.After being flexibly processed by finite element software,it was imported into ADAMS software to construct a virtual prototype of the excavator.The closed-loop hydraulic control system of the excavator was established by using AMESim software and the principle of load sensing.The rigid-flexible coupling simulation model of the mechanical and electrical integration of excavator was established through co-simulation.The simulation study was conducted on the typical excavation condition and heavy load lifting condition of excavator.The results show that the hydraulic control system of excavator based on rigid-flexible coupling modeling has strong dynamic stability.The maximum position error under heavy load conditions is less than 0.01 m,and the position accuracy is high.The modeling simulation of rigid-flexible coupling integration of excavator is realized.