挖掘机回转特性分析与优化

Analysis and Optimization of Slewing Characteristics for Excavator

针对某型挖掘机市场作业出现回转启动抖动、制动锁不住现象,进行厂内回转试验研究。考虑液压因素所致,故搭建试验平台,采集回转马达压力,陀螺仪采集回转运动过程中的角速度、角加速度以及制动时间、制动角度,振动传感器采集驾驶室悬置主被动侧加速度信号,评估回转支承抖动对驾驶室悬置隔振性能的影响,进而研究驾驶室噪声。结果表明,试验样机振动噪声性能较好,工作装置单动作、回转性能与高端机型差距不大,铲斗内收单动作时间增加16.0%,斗杆内收时间增加13.3%,动臂提升加回转时间增加14.6%,液压缸行程减小9.6%,铲斗提升高度下降7.9%,装车高度稍低。提出的试验方法可以建立切向力与回转角度关系,解决试验之前拉力计需与铲斗回转方向共线的问题。采用PID控制方法,优化压力波动范围,使得回转过程中稳定性好,抖动现象有所改善。

In view of the phenomenon that a certain excavator has swing start jitter and brake lock failure in market operation,a factory swing test is conducted.Considering the hydraulic factors,a test platform was built to collect the pressure of the slewing motor,the gyroscope collected the angular velocity,angular acceleration,braking time and braking angle during the slewing movement,and the vibration sensor collected the acceleration signals of the active and passive sides of the cab mount to evaluate the impact of slewing ring jitter on the vibration isolation performance of the cab mount,so as to study the cab noise.The results show that the vibration and noise performance of the test prototype is good,the single action and slewing performance of the working device is not much different from the high-end model,the single action time of the bucket increases by 16.0%,the bucket retraction time increases by 13.3%,the boom lifting plus slewing time increases by 14.6%,the cylinder stroke percentage decreases by 9.6%,the bucket lifting height percentage decreases by 7.9%,and the loading height is slightly lower.By using the test method proposed in this paper,the relationship between tangential force and rotation angle can be established,and the problem that the tensiometer needs to be collinear with the bucket rotation direction before the test can be solved.The PID control method is adopted to optimize the range of pressure fluctuation,so that the stability is good and the jitter phenomenon is improved.