Abstract
Problem. The hydraulic drive of modern construction and road machines is quite complex, and it takes a lot of time and effort to model the entire drive in full. However, improving the quality of design with reducing terms and costs becomes possible only with the use of modern technologies, computer hardware and software. The existing models of hydraulic system working processes in the physical modeling environment SimHydraulics are presented by block diagram layouts from standard library elements (slide valve, hydraulic pump, hydraulic cylinder, safety and reverse valves, hydraulic locks, etc.). However, they do not consider the influence of time-varying external forces, which are a reaction during transient processes in multi-link mechanical systems. Goal. The aim of the work is to develop a simulation model of the fluid power drive of the excavator working equipment mechanical system in the MATLAB & SimHydraulics package for studying the dynamics of transient processes of multilink mechanical objects. Methodology. The article describes an example of developing a physical simulation model of the excavator working equipment fluid power drive in the SimHydraulics package. Using the real technical characteristics of the hydraulic equipment of the Borex 2201 excavator, the performance of the developed model was checked and the power characteristics of the actuators were determined. Originality. Using the blocks described in the article, a simulation model of the interaction of the excavator working equipment mechanical system with its fluid power drive can be created. Practical value. The model proposed makes it possible to obtain values characterizing transient processes, including changes in the value of the generalized coordinates of the characteristic points in the working equipment, the rate of their change, and the effort in the hydraulic cylinder. A visual representation of the manipulator movement can be obtained using the SimScape built-in visualization function. The resulting model allows solving problems of analysis and synthesis of excavator operation control systems.
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