多畴模拟挖掘机的机械学和液压学_精品.docVIP

Multi-Domain Simulation: Mechanics and Hydraulics of an Excavator Abstract It is demonstrated how to model and simulate an excavator with Modelica and Dymola by using Modelica libraries for multi-body and for hydraulic systems. The hydraulic system is controlled by a “load sensing” controller. Usually, models containing 3-dimensional mechanical and hydraulic components are difficult to simulate. At hand of the excavator it is shown that Modelica is well suited for such kinds of system simulations. 1. Introduction The design of a new product requires a number of decisions in the initial phase that severely affect the success of the finished machine. Today, digital simulation is therefore used in early stages to look at different concepts. The view of this paper is that a new excavator is to be designed and several candidates of hydraulic control systems have to be evaluated. Systems that consist of 3-dimensional mechanical and of hydraulic components – like excavators – are difficult to simulate. Usually, two different simulation environments have to be coupled. This is often inconvenient, leads to unnecessary numerical problems and has fragile interfaces. In this article it is demonstrated at hand of the model of an excavator that Modelica is well suited for these types of systems. The 3-dimensional components of the excavator are modeled with the new, free Modelica MultiBody library. This allows especially to use an analytic solution of the kinematic loop at the bucket and to take the masses of the hydraulic cylinders, i.e., the “force elements”, directly into account. The hydraulic part is modeled in a detailed way, utilizing pump, valves and cylinders from HyLib, a hydraulics library for Modelica. For the control part a generic “load sensing” control system is used, modeled by a set of simple equations. This approach gives the required results and keeps the time needed for analyzing the problem on a reasonable level. 2. Modeling Choices There are several appro