A Dual-Power Coordinated Control for Swing System of Hydraulic-Electric Hybrid Excavator

摘要

To meet the requirements of the high-precision operation of intelligent excavator, a dual power source coordinated control strategy of hydraulic-electric hybrid swing system is proposed. In the process of rotation, the servo motor is used as the main drive to control the speed and position of the swing platform. The hydraulic motor and accumulator auxiliary servo motor drive the swing platform to make it run to the desired position accurately and smoothly at the desired speed. Firstly, this paper established the mathematical model of the proposed system and designed the global synovial control algorithm. Then the stability of the proposed system was proved by the Lyapunov method. Then, the multi-body dynamics co-simulation platforms of the original excavator negative flow swing system and the proposed system were established. The operational characteristics of two kinds of swing systems were studied. The results show that compared with the original negative flow swing system, the proposed system can effectively suppress the anti-swing phenomenon, and the operation is more accurate and stable. Compared with PID, the global sliding mode control has higher accuracy and better robustness, and the control accuracy is as high as 99.71%.