Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator
The service of a hydraulic excavator is complicated by poor environment. The safety and stability of the control system are influenced by external factors. The object of the study is the electrohydraulic servosystem of the hydraulic excavator. The mathematical and simulation models using AMESIM for...
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Jia, W.H. Yin, C.B. Li, G. Sun, C.L. Wang, C. Feng, H. 2020-12-21T18:50:45Z 2020-12-21T18:50:45Z 2018 Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator / W.H. Jia, C.B. Yin, G. Li, C.L. Sun, C. Wang, H. Feng // Проблемы прочности. — 2018. — № 1. — С. 144-150. — Бібліогр.: 11 назв. — англ. 0556-171X https://nasplib.isofts.kiev.ua/handle/123456789/173823 539.4 The service of a hydraulic excavator is complicated by poor environment. The safety and stability of the control system are influenced by external factors. The object of the study is the electrohydraulic servosystem of the hydraulic excavator. The mathematical and simulation models using AMESIM for the servosystem are constructed. Then the pressure and flow characteristics are analyzed. The design and optimization of the electrohydraulic servosystem and its application in excavator engineering are described. The operation process is graphically presented by a curve, which steeply slopes up (rising period) and then flattens out (stabilization period), those periods are shortened by 38.0 and 40.5%, respectively, the delay tracking period decreased by 52.6%, and anti-interference is reliable. Эксплуатация гидравлического экскаватора осложняется наличием неблагоприятной рабочей среды. Показано воздействие внешних факторов на надежность и стабильность системы контроля. Исследована электрогидравлическая сервосистема гидравлического экскаватора. Построены математическая и имитационная модели для сервосистемы с использованием программы AMESIM. Выполнен анализ характеристик давления и текучести. Описаны конструкция и оптимизация электрогидравлической сервосистемы, а также ее применение в экскаваторной технике. Процесс функционирования электрогидравлической сервосистемы представлен кривой, которая круто идет вверх (период подъема), а затем выходит на плато (период стабилизации), эти периоды сокращаются на 38,0 и 40,5% соответственно, период слежения за задержкой на 52,6% при эффективной помехоустойчивости. en Інститут проблем міцності ім. Г.С. Писаренко НАН України Проблемы прочности Научно-технический раздел Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator Свойства и применение электрогидравлической сервосистемы гидравлического экскаватора Article published earlier |
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Digital Library of Periodicals of National Academy of Sciences of Ukraine |
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| title |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator |
| spellingShingle |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator Jia, W.H. Yin, C.B. Li, G. Sun, C.L. Wang, C. Feng, H. Научно-технический раздел |
| title_short |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator |
| title_full |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator |
| title_fullStr |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator |
| title_full_unstemmed |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator |
| title_sort |
properties and applications of the electrohydraulic servosystem of the hydraulic excavator |
| author |
Jia, W.H. Yin, C.B. Li, G. Sun, C.L. Wang, C. Feng, H. |
| author_facet |
Jia, W.H. Yin, C.B. Li, G. Sun, C.L. Wang, C. Feng, H. |
| topic |
Научно-технический раздел |
| topic_facet |
Научно-технический раздел |
| publishDate |
2018 |
| language |
English |
| container_title |
Проблемы прочности |
| publisher |
Інститут проблем міцності ім. Г.С. Писаренко НАН України |
| format |
Article |
| title_alt |
Свойства и применение электрогидравлической сервосистемы гидравлического экскаватора |
| description |
The service of a hydraulic excavator is complicated by poor environment. The safety and stability of the control system are influenced by external factors. The object of the study is the electrohydraulic servosystem of the hydraulic excavator. The mathematical and simulation models using AMESIM for the servosystem are constructed. Then the pressure and flow characteristics are analyzed. The design and optimization of the electrohydraulic servosystem and its application in excavator engineering are described. The operation process is graphically presented by a curve, which steeply slopes up (rising period) and then flattens out (stabilization period), those periods are shortened by 38.0 and 40.5%, respectively, the delay tracking period decreased by 52.6%, and anti-interference is reliable.
Эксплуатация гидравлического экскаватора осложняется наличием неблагоприятной рабочей среды. Показано воздействие внешних факторов на надежность и стабильность системы контроля. Исследована электрогидравлическая сервосистема гидравлического экскаватора. Построены математическая и имитационная модели для сервосистемы с использованием программы AMESIM. Выполнен анализ характеристик давления и текучести. Описаны конструкция и оптимизация электрогидравлической сервосистемы, а также ее применение в экскаваторной технике. Процесс функционирования электрогидравлической сервосистемы представлен кривой, которая круто идет вверх (период подъема), а затем выходит на плато (период стабилизации), эти периоды сокращаются на 38,0 и 40,5% соответственно, период слежения за задержкой на 52,6% при эффективной помехоустойчивости.
|
| issn |
0556-171X |
| url |
https://nasplib.isofts.kiev.ua/handle/123456789/173823 |
| citation_txt |
Properties and Applications of the Electrohydraulic Servosystem of the Hydraulic Excavator / W.H. Jia, C.B. Yin, G. Li, C.L. Sun, C. Wang, H. Feng // Проблемы прочности. — 2018. — № 1. — С. 144-150. — Бібліогр.: 11 назв. — англ. |
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UDC 539.4
Properties and Applications of the Electrohydraulic Servosystem of the
Hydraulic Excavator
W. H. Jia,
a,1
C. B. Yin,
b
G. Li,
a
C. L. Sun,
a
C. Wang,
a
and H. Feng
b
a School of Mechanical Engineering, Nanjing Institute of Technology, Jiangsu, China
b School of Mechanical and Power Engineering, Nanjing University of Technology, Jiangsu, China
1 geovrml@163.com
The service of a hydraulic excavator is complicated by poor environment. The safety and stability of
the control system are influenced by external factors. The object of the study is the electrohydraulic
servosystem of the hydraulic excavator. The mathematical and simulation models using AMESIM for
the servosystem are constructed. Then the pressure and flow characteristics are analyzed. The design
and optimization of the electrohydraulic servosystem and its application in excavator engineering are
described. The operation process is graphically presented by a curve, which steeply slopes up (rising
period) and then flattens out (stabilization period), those periods are shortened by 38.0 and 40.5%,
respectively, the delay tracking period decreased by 52.6%, and anti-interference is reliable.
Keywords: electrohydraulic system, delay tracking period, anti-interference, safety and
stability.
Introduction. As a key part of engineering machinery, hydraulic excavators have
been widely used in construction, transportation, and disaster rescue operations, due to their
superior efficiency. However, the complicated working conditions and harsh working
environment of hydraulic excavators have proposed higher requirements for their intelligent
control. By combining hydraulic and electrical control technologies, the electrohydraulic
servosystem facilitates hydraulic excavators [1–3] in remote control, self-operation, and
synergetic work via this integrated control.
This study proposes a simulation model for electrohydraulic servosystem and
investigates its pressure and flow responses. A mathematical model of this servosystem is
proposed based on the force balance, voltage, and flow equations. Moreover, the stability of
electrohydraulic servosystem is studied using the Bode plot and the Nichols diagram.
In this paper, using AMESIM, discretion of outlet pressure vs. displacement curve
leads to a series of data. The outlet displacement parameters were set by data input via the
prescribed route. The main valve, which is indeed a combination of multi-link
three-position, six-way valve, is subdivided into several basic functional units, and modules
of these units were established using corresponding modules in the hydraulic element
database: BAO21 and BAO22 modules were used for the main body of slide valve, BAP12
module was used for the pilot control chamber, MAS005 module was used to characterize
the mass of spool and the viscous friction experienced by spool, LSTP00A and
MCLSPL00AA spring modules were used to establish the center spring.
The scheme of the control system used in this study is shown in Fig. 1a, where 1 is
arm cylinder, 2 is electrohydraulic servovalve, 3 is main platform, 4 is valve pump, 5 is
rotary motor, 6 is boom cylinder, and 7 is bucket. Photos of pressure/temperature sensors
and data acquisition system are presented in Fig.1b and 1c, respectively.
The input electrical signal is amplified and transduced to the electrohydraulic
servovalve, the spool shifts, the hydraulic pump initiates, resulting in displacement of the
hydraulic cylinder. The output signal is then transduced to by the displacement sensor a
feedback electrical signal, which is then compared to the command signal to obtain the bias
© W. H. JIA, C. B. YIN, G. LI, C. L. SUN, C. WANG, H. FENG, 2018
144 ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1
voltage signal. The latter is transmitted to the servovalve via the amplifier. The servovalve
then controls the hydraulic actuator to reduce the bias between the output and command
signals within a preset range [4, 5]. In this way, a closed-loop control is achieved.
The composition of electrohydraulic servocontrol system is shown in Fig. 2, where
1 is valve pump, 2 is one-way valve, 3 is overflow valve, 4 is electrohydraulic
servovalve, 5 is hydraulic bucket cylinder, 6 is displacement sensor, 7 is load, and 8 is
servoamplifier).
1. Mathematical Model of Electrohydraulic Servosystem.
1.1. Servoamplifier. The bias control signal (�u) was generated by the comparison
element based on input and feed-back signals. As the amplification element, the servo
amplifier amplifies �u, which is relatively weak, to realize the control of the
electrohydraulic servovalve [6, 7]. The transfer function is as follows:
I s K U s( ) ( ),� 1 (1)
where I is the input current to the electrohydraulic servovalve, U is the voltage signal
generated by the servo amplifier, and K1 is the amplification coefficient.
1.2. Electrohydraulic servovalve. A displacement feedback servovalve consists of a
moving coil force motor, control slide valve, and main valve. With current flowing through,
the coil in the motor generates an electromagnetic force to push the control slide valve, the
Properties and Applications of the Electrohydraulic Servosystem ...
ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1 145
Fig. 1. Excavator structure diagram.
Fig. 2. Schematic structure of excavator.
a b c
top and bottom throttle shifts, and the main valve shifts. Once the displacement of the
control slide valve and that of the main spool are aligned, the valve does not move further.
1.3. Moving Coil Force Motor. The signal voltage on the control coil by the servo
amplifier is the sum of the voltage drop on the resistor, self-induced back electromotive
force in the control coil, and the back electromotive force induced by movement of control
coil in the magnetic field. The voltage balance equation is as follows:
E R r i L dt dt K dx dtc p c c b� � � �( ) , (2)
where Rc is the resistance of the control coil, rp is the internal resistance of the amplifier,
Lc is the inductance of the control coil, and K b is the back electromotive force constant
( ).K B DdNb g c� �
The force balance equation for coil component is as follows:
F md x dt B dx dt Kx� � �2 2 , (3)
where m is the mass of coil, B is the damping coefficient of coil, and K is the spring
stiffness.
Laplace transform of Eqs. (2) and (3) results in
I K U K sX R r sc b c p� � � �( ) (( )( )),1 1 � � (4)
where � � is the corner frequency of the control coil ( ( ) )� � � � �R r L B kmc p c 0 2 1 ,
� 0 � k m,
X I K K s sc t� � �( ) ( ).2
0
2
0 02 1� � (5)
1.4. Control Slide Valve - Main Valve. The masses of front slide valve and main valve
are m1 and m2 the dynamic damping coefficients of front slide valve and main valve are
c1 and c2, the spring stiffness of front slide valve and main valve are K a and K b , and
the flow gain of front slide valve is K qp . The force balance equation for front slide valve
and main valve is as follows:
F m d x dt c dx dt K xqp v1 1
2 2
1� � � , (6)
F m d x dt c dx dt K x P Av v b v x v2 2
2 2
2� � � � � . (7)
The open capacity of front slide valve can be determined by
x x xe v� � . (8)
Excluding the effects of flow force, the transfer function can be obtained based on
Eqs. (6)–(8):
x x K A s s sv e qp v hp hp hp� � �( ) ( ( )),2 2 2 1
(9)
x x s K s sv v hp hp hp� � � �1 1 2 12 2(( )( )).
(10)
The simplified block diagram of transfer equation of direct location feedback
servovalve is shown in Fig. 3.
W. H. Jia, C. B. Yin, G. Li, et al.
146 ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1
Hydraulic Cylinder – Load. Assuming that the pressure in the hydraulic cylinder is
uniform, the temperature and bulk modulus of hydraulic medium are constant and the
leakage of hydraulic cylinder is laminar flow. The flow equation of electrohydraulic
servovalve is as follows:
Q K x K pL q v c L� � . (11)
If the piston is located in the middle part, the system stability is poor, the frequency of
hydraulic component is low, and the damping ratio is low. Also, V V Vt1 2 2� � is valid in
the hydraulic cylinder. The overall leakage coefficient (C C Ctp ip ep� � 2) is used to reflect
the effect of hydraulic cylinder leakage on the load flow. The flow in the hydraulic cylinder
can be determined by
Q A dx dt C p v dp dtL p p tp L t t� � � �4� , (12)
where A p is the effective area of the piston (m2), xp is the displacement of the piston (m),
Cip is the leakage coefficient of the hydraulic cylinder (m s3 1� � /Pa), and � is the effective
bulk modulus (Pa).
The force balance equation for hydraulic cylinder is as follows:
A Q m d x dt B dx dt Kx Fp L t p p p L� � � �2 2 , (13)
where mt is the overall mass of piston (kg), FL is the external load on the piston (N), and
K ce is the overall flow-pressure coefficient, K K Cce c tp� � .
Equations (11)–(13) are equations for displacement, pressure, and flow of the
hydraulic cylinder, respectively. These parameters are indicators of dynamic performance
of the hydraulic cylinder. Laplace transform of these equations results in overall
displacement of the piston in the hydraulic cylinder:
x K A x K A sV K F m V A sp q p v ce p t ce L t t p� � � �( ( ( ) )) ( )( (2 2 31 4 4� � ( )m K At ce p
2 �
� � � � �( ) ( )) ((( ) ) ( ) ( ) )BV A s BK A KV A KKt p ce p t p ce4 4 12 2 2 2� � A p
2 ). (14)
2. Modeling of Electrohydraulic Servosystem.
2.1. Establish System Modeling. In the electrohydraulic servo [8–11], the hydraulic
cylinder pushes the load, the displacement sensor at the load converts location signal to
electrical signal. The bias between the actual location signal and the designated location
signal is amplified and applied on the electrohydraulic servovalve. The servo spool shifts,
the flow of hydraulic system fluctuates, and the location of hydraulic cylinder is adjusted to
achieve trajectory tracking.
The flow is defined as 0 when the servovalve is at the initial position. The flow is
defined as �1 at an extreme position. Herein, Port P is connected to Port A and Port T is
connected to Port B. The flow is defined as�1at the other extreme position. Herein, Port A
is connected to Port T and Port B is connected to Port P.
ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1 147
Properties and Applications of the Electrohydraulic Servosystem ...
Fig. 3. Diagram of transfer equation of direct location feed-back servovalve.
2.2. Step Signal Comparison. The key component parameters of the simulation model
are summarized in Table 1. The values of these parameters were determined based on the
actual system. The signal set-up of the signal source: the signal stays at 0 in 0~1 s,
increased to 0.8 in 1~4 s, and stays at 0.8 in 4~6 s. To test the dynamic characteristics of the
system, typical step signals were employed as standard displacement signals. The reference
value of step signal was set to be 0.1 m. Figure 4 shows step signal displacement curves
obtained by traditional control system and servo control system, respectively.
As observed, the steady-state errors in both cases approached 0, while the system rise
durations were 1.96 and 1.59 s, and the system stabilization durations were 3.36 and 2.41 s.
The rise duration and stabilization duration of output step signal decrease by 38 and 40.5%,
respectively, indicating improved output performance (fast response).
2.3. Anti-Interference Performance. To simulate excavator loading, non-restoring
interference signals were involved. The interference signal, whose amplitude was 5% of
signal amplitude, was added at t � 4.5 s, as shown in Fig. 5.
As observed, the adjustment duration of the servosystem to interference signals was
0.32 s, while that of traditional system was 1.6 s and fluctuations were observed.
148 ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1
W. H. Jia, C. B. Yin, G. Li, et al.
T a b l e 1
System Parameters
Motor rated speed (rpm) 1500
Pump rated displacement (cm3/rev) 122
Pump speed (rpm) 1500
Rated current of servovalve (mA) 200
Natural frequency (Hz) 50
Damping ratio 1
Servoamplifier gain 250
Diameter of hydraulic cylinder piston (mm) 120
Diameter of hydraulic cylinder piston rod (mm) 85
Piston block mass (kg) 100
Cylinder stroke (m) 1
Fig. 4 Fig. 5
Fig. 4. Displacement response curve of step signal.
Fig. 5. Displacement response curve of undesired signal.
3. Performance Analysis of Servovalve Control Cylinder. Simulation and analysis
of electrohydraulic servo. The simulation time is set to be 6 s to check the steady operation
status of the system. The communication interval is set to be 0.01 s to exclude effects of
system fluctuations. The pressure and flow of key components were obtained and analyzed.
Figure 6 shows the flow curve in the hydraulic cylinder. During 0~1 s, the electrical
signal is 0, the servovalve is closed, and the flow in the hydraulic cylinder is 0. After 1 s, an
electrical signal is observed, the servovalve shifts, and flows in rod-containing cavity and
rodless cavity vary. At the initial stage, the flow in rod-containing cavity varies smoothly,
while that in rodless cavity varies drastically. After 2.4 s, fluctuations of flows in both
cavities approach negligible. Eventually, the maximum flows in rodless cavity and
rod-containing cavity are 8.66 and 4.33 l/min, respectively. Figure 7 shows the pressure in
the hydraulic cylinder.
Figure 8 shows the displacement of servovalve spool as a function of time. Once the
electrical signal is observed, the valve opens and reached the extreme position at 1.2 s.
Figure 9 shows the flow curve at the pump valve outlet. Once the hydraulic system is
initiated, the outlet flow is maintained at 183 l/min. During 0~1 s, the electrical signal is 0
and the flow at the overflow valve increases drastically to 183 l/min. After 1 s, an electrical
signal is observed, the servovalve shifts, and the flow at the overflow valve decreases
gradually. As the spool of servovalve reached the extreme position, the flow at the overflow
valve stays at 174.3 l/min.
Conclusions. A mathematic model of the servosystem of valve-control excavator
cylinder was established. With step signal and combination of step signal and impulse
interference signal as the reference displacement signal, fast response capability, tracking
capability, and anti-interference capability were studied. The results indicated that the rising
and stabilization periods decreased by 38 and 40.5%, respectively, the delay tracking period
ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1 149
Properties and Applications of the Electrohydraulic Servosystem ...
Fig. 6. Flow curve in the hydraulic cylinder. Fig. 7. Pressure in the hydraulic cylinder.
Fig. 8. Displacement of servovalve spool. Fig. 9. Flow curve at the pump valve outlet: 1-
rod cavity, 2 -rodless cavity.
dropped by 52.6%, and excellent anti-interference was observed. Once the servosystem
approached the steady state, the maximum pressure of rod cavity reached 7.28 MPa, while
the maximum and outlet flows corresponded to 4.33 and 174.3 l/min, respectively.
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268–279 (2015).
Received 15. 09. 2017
150 ISSN 0556-171X. Ïðîáëåìè ì³öíîñò³, 2018, ¹ 1
W. H. Jia, C. B. Yin, G. Li, et al.
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/ENU (Use these settings to create Adobe PDF documents best suited for high-quality prepress printing. Created PDF documents can be opened with Acrobat and Adobe Reader 5.0 and later.)
>>
/Namespace [
(Adobe)
(Common)
(1.0)
]
/OtherNamespaces [
<<
/AsReaderSpreads false
/CropImagesToFrames true
/ErrorControl /WarnAndContinue
/FlattenerIgnoreSpreadOverrides false
/IncludeGuidesGrids false
/IncludeNonPrinting false
/IncludeSlug false
/Namespace [
(Adobe)
(InDesign)
(4.0)
]
/OmitPlacedBitmaps false
/OmitPlacedEPS false
/OmitPlacedPDF false
/SimulateOverprint /Legacy
>>
<<
/AddBleedMarks false
/AddColorBars false
/AddCropMarks false
/AddPageInfo false
/AddRegMarks false
/ConvertColors /ConvertToCMYK
/DestinationProfileName ()
/DestinationProfileSelector /DocumentCMYK
/Downsample16BitImages true
/FlattenerPreset <<
/PresetSelector /MediumResolution
>>
/FormElements false
/GenerateStructure false
/IncludeBookmarks false
/IncludeHyperlinks false
/IncludeInteractive false
/IncludeLayers false
/IncludeProfiles false
/MultimediaHandling /UseObjectSettings
/Namespace [
(Adobe)
(CreativeSuite)
(2.0)
]
/PDFXOutputIntentProfileSelector /DocumentCMYK
/PreserveEditing true
/UntaggedCMYKHandling /LeaveUntagged
/UntaggedRGBHandling /UseDocumentProfile
/UseDocumentBleed false
>>
]
>> setdistillerparams
<<
/HWResolution [2400 2400]
/PageSize [612.000 792.000]
>> setpagedevice
|