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1CADCAD/CAE/CAM12ADAMS3ADAMSMatlabADAMS2Matlab4ADAMSMatlabABSTRACT3SimulationandoptimizingofHydraulicexcavator’sworkingequipmentABSTRACTAexcavatorisgoodornotdependingonit’sperformanceofworkingequipment.Diggingperformancechartisaimportancemeanstoevaluatethedesignofaexcavator.Butitisverydifficulttodrawingadiggingperformancechart,andchartisn’tconveniencetobeused.Todaythecomputertechnologyisdeveloppingsofast,theCADtechnologyinvadetomanufacturing’sheart,andtheCAEtechnologystarttopervadetomanufacturingenterprise.CAD/CAE/CAMmeltintotogetherbecomeatrend.ThemeltwilimproverepetitionofCAD’sdata.Thisarticle’spurposeistousethemainstreamsoftwareimplementtoexploreawaywhichcanbeusedtoevaluteaexcavator’sperformance,thewayiseasytobeunderstoodandisvisual.Itcanbeusedtoevaluatethediggingperformance.Thearticlefinishtheworkasbelow:(1)Atfirstthearticleintroducetheprincipleofexcavatorhowtowork.thenaccordtodiggingcondition,discussingtheprincipleoughttobefollowedatdesign.Thearticlegettheconclusionthatmatchbetweencylindersoughttoconsiderfirstlythecylinder’sdiameter,whiletheABSTRACT4cylinder’sstrokeoughttomeetrequiredrangeofwholeexcavator’s.(2)Bringforwardaoptimizingobjectofthediggingforceandworkingefficiencyinspecifingrangethatdependonthecylinder’sdiameter.AnddeducetheformulainADAMStocomputeddiggingforce.Sothesoftwarecanbeusetocomputestaticofreallyexcavator.(3)BuildmodelforADAMS-Matlabcombinesimulation.AccordtoADAMS’sadvantageisindynamiccomputingandMatlab’sadvantageisinprogramming,combinethemthroughinterfacetomakediggingforcevisualized,sodiggingforceatanypointinworkingrangecanbeindicatedthroughdrawingpicture.(4)Takeforaexampletocomputediggingforceandoptimizingthecylindersdiameter.Keyword:excavator,adams,matlab,optimizing,simulation.711.1[1]10001(),[2]81.215%90%[3]3.5-40m3208050-150m3132m3B-E-168.2m3107m3[4]20[5]195812.5m3[4]20080092001200762008[6]1.3CADCAD/CAECADCAE1.41102ADAMSMATLAB/simulinkADAMSMatlab421122.111Fig.1componentsofHydaulicexcavator’sworkingequipment2()[2]1212234567(2.1.13[2][5](1)21-2-34-5-Fig.2Hydaulicexcavator'smovement213(III)(2)(3)34a-b-a-b-Fig.3buckettipcutalonglineFig.4buckettipcutalongline0.5m3342142.1.250%70%25%50%30%50%[5]2.1.32.1.42152.1.5(25km/h)(35)60KPa2.22.2.11,590110150180KEJ03025452[2][7][8]10mm20cmR800mmmax211062-5Fig.5bucketmechanism216Fig.6bucketdiggingforce66()DBAZXRCW+−−=35.1maxmax1coscos1φφφ2-1CC=50~80,C=90~150C=160~320;RBB1+2.6bb,bmφAA=1.3ZZ=0.75Z=1XX=1+0.03sscmX=1.15Dqq=0.10.2m3D=50008000217βγµcos2qW=qm3N/m32W1Wmaxφφ=[]{}DBAZXRCW+−=35.1max11φ2-2maxmaxmax2180).cos.sin(πφφφRRhj−=2-3{}DBAZXhCWj+=35.112-48A2A1S2S1S1Fig.7diggingforceanalysis72188Fig.8startingangleinfluencebucket’scapability2.2.2[9]55.042.0:1.2192.3.1001204DC5FEJ∠1301701EDF2.2.3912014019ECBCECCCBCECBC22112211+=+++≺1CCCDC2ABBACAB2209Fig.9armangle2.3123442.3.122120302.3.210423113ssssiFFB⋅⋅=⋅=2-5222F3pAF⋅=3A3;P;Sls4s1,s2,s3L3s41i:L3max11ii=maxBF1110Fig.10bucketdiggingforcecompute11Fig.11aexample:bucketdiggingforcecurve65222ssFiFFs⋅=⋅=F2pAF⋅=22A2;223P;S5S6S62i:s5s5s6Fsmin66SS=maxssFF=12max11ii=max55SS=2.3.34123412Fig.12armdiggingforce2240.5m35.50.2m36123456PRFbkbk2π=bkFbkRP13EKEKJKJK°∠90≺EKJ13EKJLAAbPRF2π=AbFAR13Fig.13armcylinder’slockedforce225LP°∠90EKJ13EK’J’,LAAAbPrRF)(22−=πArBKBKJKJK°∠90≺BKJ14BKJLBBBBbPrRF)(22−=πBbFBRBrLBP°∠90BKJBK’J’,LBBBbPRF2π=°∠90≺FKJFFGHM=214Fig.14boomcylinder’slockedforce226FMGFHF°∠90FKJTFGHM=THTFM2.3.4[13]1234531313302275.5151-ρ−=)(221PPCAQQCAP1P2QAA--215Fig.15loadsensinghydaulicsystem2283020Qmax4Pmax162.3.5(1)WFR1VRFWV=1Lt1WRFLVLt==1123{}DBAZXhCFj+=35.1C=90B=1+1.20.71.84A=1.3Z=0.7516Fig.16pump’sworkingrange229X=1.15D=10000N35.1540054.0−=FhjjhJ2-6ETJE=4saLbL90aLbL90VsbbrbhaarahVLSSLSSV2)()(++++=ahSarSbhSbrS35.1540054.0−=FkJ230sV90ahSarSbhSbrS622cm3/rev,1486955360901486622=××=sVcm3110L/min1.833L/sbbrbhaarahsbbrbhaarahLSSLSSFVLSSLSSFkT)()(242.9540054.0K833.12)()(4540054.0JE35.135.1++++−=+++++−==2-7KK2.3.6SN=η231NS2.2.1SN2-535.1540054.0−=FkNη2-8N2.3.7CDcScPcWccccPSDW24π=2-9cFCAcR2-10ccccccARPSDF24π=2-11cPcRCAcFCDcSCDcS211ccccARFW=232cDcS211ccccccPARFSDπ42=2-12AASDcc=22-13G17)]()4()[(4)](41)(41[43221221213243122322111LLDLDhDDLLLLLDLLDhLDG+++++=+++++≈ρπρπ126.0DD=])36.04()36.036.1[(4])36.04()36.036.1[(4121121432221121543LDhDDLLLLDhDDLLLG++++=++++=ρπρπ2-14αρπ=++)36.036.1(4432LLLβρπ=hλρπ=436.01211121LDLDDGλβα++=2-151DDc=1LSc=213ALD=1212-162332142152-16=−=++=+++002022212111111111ALDxDDLxDLDLDλβλβα2-17213F17Fig.17cylinderconfiguration2-11GFG2342.3.82.3.8.1x,yA(18)18Fig.18definitionofmaximaldiggingforce235xyx,yx,y()218CD),,(max,cbaFfyx=StNcba∈,,Myx∈,2-18fyxF,(x,y)x,yMabcNx1,y1a1b1c1fx2,y2a1b1c1g,ncbaFgnynxn∑∞→=),,(maxmax,StNcba∈,,Myx∈,2-19∞→n,(x,y)j236ncbaFjnynxn∑∞→=),,(max,StNcba∈,,Myx∈,2-20),,(,cbaFynxnxn,yn,ynxnF,(xn,yn)2.3.8.2x,y3-2,encbaEenynxn∑∞→=),,(max,StNcba∈,,Myx∈,2-21ynxnE,xn,ynabc2.3.8.319[2]19[2]Fig.19commonlydigrange2372.4ADAMS2-3ADAMSmatlabADMASADAMS2.4.1202020Fig.20bucketforcecorrespondingtocylinder’sforce238dFbGaGKFuFuMA21dFE0=−+−−uafKbKdMaGhFbGhFpuuRFMµ=µpR0=−+−−puafKbKdRFaGhFbGhFµ2-21Eu