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Control Strategy for Hybrid Excavator Swing System Driven by Electric Motor

机译：电动机驱动的混合挖掘机摆动系统的控制策略

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摘要

Hybrid power technology is adopted to raise the efficiency and lower the emission of construction machinery. The efficiency can be improved better if the swing system is driven by electric motor in hybrid construction machinery due to its better efficiency than the hydraulic motors used in conventional hydraulic excavators and the regeneration of kinetic energy of upper structure. The purpose of this paper is to investigate the control strategy for hybrid excavator swing system driven by electric motor. At first, the configuration and working principle are introduced of swing system driven by electric motor and the working condition is also analyzed; then the model of the swing system is built and analyzed. The range of swing inertia of the upper structure is tested for controller design by site experiments. Based on the working requirement, the control flow chart of the swing system is given and a dual-mode (torque and speed) control strategy is presented. In speed control mode and torque control mode, a robust speed controller based on simplified mixed sensitivity algorithm and a P torque controller are designed respectively. Simulations and actual tests verify the feasibility and effectiveness of the proposed control method.
机译：采用混合动力技术来提高效率并降低工程机械的排放。如果由于其在传统液压挖掘机中使用的液压马达和上部结构的动能再生的液压马达，则通过混合施工机械的电动机驱动，可以更好地提高效率。本文的目的是研究由电动机驱动的混合挖掘机摆动系统的控制策略。首先，通过电动机驱动的摆动系统引入配置和工作原理，并分析了工作条件;然后构建和分析摆动系统的模型。通过现场实验测试了对上部结构的摆动惯性范围。基于工作要求，给出了摆动系统的控制流程图，并提出了双模（扭矩和速度）控制策略。在速度控制模式和扭矩控制模式下，分别设计了一种基于简化的混合灵敏度算法和P扭矩控制器的鲁棒速度控制器。仿真和实际测试验证了所提出的控制方法的可行性和有效性。

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