装载机自动铲装作业轨迹与能耗研究

Study on the trajectory and energy consumption of automatic shoveling operation of loaders

针对装载机自动铲装作业能耗高、有效功低的问题展开讨论。首先,根据配合铲装法规划平行铲装轨迹,并根据油缸长度和整车位移的变化,分析装载机装物料的3个阶段;然后,得到各阶段的铲斗受力公式,以及在整个铲装过程中油缸和整车能耗的计算公式;最后,在满足满斗率的基础上,找到能耗低、有效功占比高的最优轨迹,并将其与人工控制铲装作业对比。结果表明:平行铲装深度为400 mm的轨迹为最优轨迹;与人工控制铲装作业相比,装载机按照最优轨迹铲装时,燃油能耗降低3.6%,有效功占比提高4.3%,装载机按该轨迹铲装有利于节能减排。

Aiming at the problem of high energy consumption and low effective work of automatic shoveling operation of loader.In this paper,we first delineate the parallel shoveling trajectory according to the matching shoveling regulations,and the three stages of the loader shoveling materials according to the parallel shoveling trajectory were analyzed according to the changes of the cylinder length and the displacement of the whole vehicle;then the force formula of the bucket in each stage and the calculation formula of the energy consumption of the cylinder and the whole vehicle in the whole shoveling process were derived;finally,the optimal trajectory with low energy consumption and high effective work ratio was found on the basis of satisfying the full bucket rate,and compared with the manually controlled shoveling operation.The research results show that the trajectory with parallel shoveling depth of 400 mm is the optimal trajectory;compared with the manual control shoveling operation,the fuel energy consumption of the loader shoveling according to the optimal trajectory is 3.6%lower,and the effective work ratio.The energy consumption of fuel is 3.6%lower and the effective work ratio is 4.3%higher.It is more conducive to energy saving and emission reduction for the loader to shovel according to this trajectory.