Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (4): 811-818.doi: 10.13229/j.cnki.jdxbgxb20200953

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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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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

CLC Number: 

  • TU621

Fig.1

Structural parameters and forces applied on excavator"

Fig.2

Common working conditions of excavation"

Fig.3

Excavation parameter measurement"

Fig.4

Interface of data acquisition"

Fig.5

Cylinder rod elongation and bucket tip trajectory under slope excavation condition"

Fig.6

Cylinder rod elongation and bucket tip trajectory under flat excavation condition"

Fig.7

Kinematics simulation of digging process"

Fig.8

Discrete element particle model"

Table 1

Particle properties and contact parameters"

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

Fig.9

Flow chart of co-simulation"

Fig.10

Motion process chart"

Fig.11

Hydraulic cylinder thrust comparison under flat excavation condition"

Fig.12

Hydraulic cylinder thrust comparison under slope excavation condition"

Fig.13

Comparison of measured data and simulation data of digging resistance"

Table 2

Correlation coefficient"

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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