吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (4): 811-818.doi: 10.13229/j.cnki.jdxbgxb20200953

• 车辆工程·机械工程 • 上一篇    

基于DEM⁃MBD联合仿真的液压挖掘机作业性能分析

王同建1(),杨书伟1,谭晓丹1,陈晋市1(),刘同文2,职振领1   

  1. 1.吉林大学 机械与航空航天工程学院，长春 130022
    2.三一重机有限公司 试验检验中心，江苏 昆山215300
  • 收稿日期:2020-12-09 出版日期:2022-04-01 发布日期:2022-04-20
  • 通讯作者: 陈晋市 E-mail:wangtj@jlu.edu.cn;spreading@jlu.edu.cn
  • 作者简介:王同建（1973-），男，副教授，博士. 研究方向：流体传动与控制.E-mail：wangtj@jlu.edu.cn
  • 基金资助:
    国家重点研发计划重点专项项目(2018YFB2000900)

Performance analysis of hydraulic excavator based on DEM-MBD co-simulation

Tong-jian WANG1(),Shu-wei YANG1,Xiao-dan TAN1,Jin-shi CHEN1(),Tong-wen LIU2,Zhen-ling ZHI1   

  1. 1.College of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
    2.Test and Inspection Center，Sany Heavy Machinery Co. ，Ltd. ，Kunshan 215300，China
  • Received:2020-12-09 Online:2022-04-01 Published:2022-04-20
  • Contact: Jin-shi CHEN E-mail:wangtj@jlu.edu.cn;spreading@jlu.edu.cn

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摘要：

为了在挖掘机实机定型投产之前更准确地验证各构件的设计参数，提出了一种利用离散元-多体动力学（DEM-MBD）联合仿真预测挖掘作业性能的分析方法。对某国产型号液压挖掘机进行了平地、斜坡工况下的多组实验测试，得到了对应工况的载荷谱数据。根据实验过程中挖掘机的挖掘过程以及料堆形状，利用动力学软件RECURDYN与离散元软件EDEM进行了联合仿真，还原了挖掘过程中挖掘机的作业状态。对比实验采集的载荷谱推导所得的数据和联合仿真数据，结果表明：联合仿真得到的各组油缸推力以及挖掘阻力数据与实验数据的相关系数均大于0.9，证实离散元-多体动力学联合仿真分析方法适用于挖掘机的挖掘作业性能分析。

关键词: 液压挖掘机, 载荷谱, 离散元?多体动力学, 联合仿真

Abstract:

To verify the design parameters of each component more accurately before the actual excavator production， an analysis method for predicting the digging performance of the excavator based on Discrete Element Method and Multi-body Dynamics （DEM-MBD） is proposed. A series of experiments are carried out on a domestic hydraulic excavator under flat and sloping conditions， and the load spectrum data of corresponding conditions are obtained. According to the digging process of the excavator and the shape of the material heap during the experiment， the co-simulation was carried out using the dynamic software RECURDYN and discrete element software EDEM to restore the operating state of the excavator during the excavation. By comparing the data derived from the load spectrum collected in the experiment with the data from the co-simulation， the results show that the correlation coefficients between the hydraulic cylinder thrust and the digging resistance data obtained by the co-simulation and the measured data are all greater than 0.9， which proves that the DEM-MBD co-simulation method is suitable for performance analysis of excavator.

Key words: hydraulic excavator, load-spectrum, DEM-MBD, co-simulation

中图分类号: 

  • TU621

图1

挖掘机几何参数和受力状态"

图2

常见挖掘工况"

图3

挖掘参数实测"

图4

数据采集界面"

图5

斜坡挖掘工况下油缸杆伸长量及斗尖运动轨迹"

图6

平地挖掘工况下油缸杆伸长量及斗尖运动轨迹"

图7

挖掘动作运动学仿真"

图8

离散元颗粒建模"

表1

颗粒属性参数和接触参数"

参 数数 值参 数数 值
泊松比0.5颗粒?颗粒静摩擦因数0.2
密度/（kg·m-3）1400颗粒?颗粒滚动摩擦因数0.01
剪切模量/Pa1×108颗粒?铲斗静摩擦因数0.5
碰撞恢复系数0.15颗粒?铲斗滚动摩擦因数0.02

图9

联合仿真流程图"

图10

仿真动作过程图"

图11

平地挖掘工况下油缸推力对比"

图12

斜坡挖掘工况下油缸推力对比"

图13

挖掘阻力实测数据与仿真数据对比"

表2

相关系数"

工况挖掘阻力相关系数油缸推力相关系数
动臂油缸斗杆油缸铲斗油缸
平地挖掘0.93160.92860.91480.9347
斜坡挖掘0.94530.93850.90890.9174
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