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Article(id=1241408883978204008, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241408875602178849, articleNumber=null, orderNo=null, doi=10.16579/j.issn.1001.9669.2025.08.009, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1732204800000, receivedDateStr=2024-11-22, revisedDate=1734969600000, revisedDateStr=2024-12-24, acceptedDate=null, acceptedDateStr=null, onlineDate=1773904542201, onlineDateStr=2026-03-19, pubDate=1755187200000, pubDateStr=2025-08-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773904542201, onlineIssueDateStr=2026-03-19, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773904542201, creator=13701087609, updateTime=1773904542201, updator=13701087609, issue=Issue{id=1241408875602178849, tenantId=1146029695717560320, journalId=1227999626482147330, year='2025', volume='47', issue='8', pageStart='1', pageEnd='174', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773904540204, creator=13701087609, updateTime=1773904658798, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1241409373071798309, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241408875602178849, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1241409373071798310, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241408875602178849, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=74, endPage=81, ext={EN=ArticleExt(id=1241408886683530101, articleId=1241408883978204008, tenantId=1146029695717560320, journalId=1227999626482147330, language=EN, title=Study on vibration characteristic of battery pack of electric excavator under non-stationary random excitation, columnId=1228282192162390694, journalTitle=Journal of Mechanical Strength, columnName=Experimental Research·Testing Technology, runingTitle=null, highlight=null, articleAbstract=

In practical operation, the loads borne by electric excavators often exhibit significant non-stationary random characteristics, leading to complex vibration phenomena of the battery pack, which directly affects the safe and reliable operation of the battery pack. To address this issue, the characteristics of road excitation, plunger pump pressure pulsation excitation, and impact excitation on electric excavators under complex working conditions were investigated. The vibration transmission paths under various excitations were analyzed, a dynamic model of the battery pack was established, the vibration characteristics of the battery pack under non-stationary random excitation were revealed, and case studies were conducted for analysis and verification. The research shows that reconstructing road excitation signals based on wavelet transform and Grey Wolf Optimization-Variational Mode Decomposition (GWO-VMD) signal analysis algorithm can effectively reflect the characteristics of road excitation. The road excitation borne by electric excavators under driving conditions exhibits significant non-stationary characteristics. Under non-stationary random excitations such as road excitation, the battery pack of electric excavators produces complex and changeable vibrations, whose power spectral density of dynamic response changes significantly with time, showing obvious non-stationary random characteristics.This study provides a reference for the safe and reliable operation of battery packs in electric excavators.

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ZHAO Ming, E-mail：
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在实际工作过程中，电动挖掘机所承受的载荷往往表现出显著的非平稳随机特性，导致电动挖掘机电池包振动现象十分复杂，从而直接影响电池包的安全、可靠运行。针对这一问题，探究了复杂工况下电动挖掘机所承受的路面激励、柱塞泵压力脉动激励和冲击激励特性，分析了各种激励下的振动传递路径，建立了电动挖掘机电池包的动力学模型，揭示了非平稳随机激励下电池包的振动特性，并通过实例进行了分析和验证。研究表明，基于小波变换及灰狼优化-变分模态分解（Grey Wolf Optimization-Variational Mode Decomposition, GWO-VMD）信号分析算法对路面激励信号进行重构，能够较好地反映路面激励特性；行驶工况下电动挖掘机所承受的路面激励具有显著的非平稳特性；在路面激励等非平稳随机激励作用下，电动挖掘机电池包产生复杂多变的振动，其动态响应的功率谱密度随时间变化显著，具有明显的非平稳随机特性。研究工作为电动挖掘机电池包的安全、可靠运行提供了一定的参考。

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赵明，男，1982年生，吉林四平人，高级工程师；主要研究方向为工程机械；E-mail：。
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李兆军，男，1964年生，湖北武汉人，博士，教授，博士研究生导师；主要研究方向为机电系统动力学及可靠性；E-mail：。

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李兆军，男，1964年生，湖北武汉人，博士，教授，博士研究生导师；主要研究方向为机电系统动力学及可靠性；E-mail：。

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李兆军，男，1964年生，湖北武汉人，博士，教授，博士研究生导师；主要研究方向为机电系统动力学及可靠性；E-mail：。

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language=CN, label=图10, caption=实测振动响应, figureFileSmall=nyrPm1a8x+6pWexehWGvfA==, figureFileBig=3LKIfqWSK60InrFsIcIK6g==, tableContent=null), ArticleFig(id=1241451348965773459, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=EN, label=Fig.11, caption=Power spectrum of battery pack vibration response, figureFileSmall=GzhJtFii1y2t/O2UcVjtRQ==, figureFileBig=S2dXgMGENmJHszvgLHe1uA==, tableContent=null), ArticleFig(id=1241451349045465240, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=CN, label=图11, caption=电池包振动响应功率谱, figureFileSmall=GzhJtFii1y2t/O2UcVjtRQ==, figureFileBig=S2dXgMGENmJHszvgLHe1uA==, tableContent=null), ArticleFig(id=1241451349171294365, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=EN, label=Tab.1, caption=

Material and geometric parameters of battery pack case

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参数名称Parameter name值 Value
密度Density/（kg/m3）7 850
弹性模量Modulus of elasticity/GPa210
泊松比Poisson ratio0.3
长Length/mm1 961
宽Breadth/mm1 257
板厚Plate thickness/mm18
电池模组质量Battery module mass/kg170
), ArticleFig(id=1241451349267763363, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=CN, label=表1, caption=

电池包箱体材料和几何参数

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参数名称Parameter name值 Value
密度Density/（kg/m3）7 850
弹性模量Modulus of elasticity/GPa210
泊松比Poisson ratio0.3
长Length/mm1 961
宽Breadth/mm1 257
板厚Plate thickness/mm18
电池模组质量Battery module mass/kg170
), ArticleFig(id=1241451349368426658, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=EN, label=Tab.2, caption=

Natural frequencies and mode shapes of battery pack

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阶数
Ordinal number		固有频率
Natural frequency/Hz		振型
Vibration mode
154底板中心弯曲
Bend in center of base plate
261底板左右弯曲
Left and right bending of the base plate
), ArticleFig(id=1241451349515227304, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=CN, label=表2, caption=

电池包固有频率和振型

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阶数
Ordinal number		固有频率
Natural frequency/Hz		振型
Vibration mode
154底板中心弯曲
Bend in center of base plate
261底板左右弯曲
Left and right bending of the base plate
), ArticleFig(id=1241451349599113388, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=EN, label=Tab.3, caption=

Stationarity detection of road surface signal

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检测对象
Target of detection		p值
p value		平稳性
Stability
实测信号
Measured signal		0.611 27非平稳
Non-stationary
重构信号
Reconstructed signal		0.495 96非平稳
Non-stationary
), ArticleFig(id=1241451349720748210, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=CN, label=表3, caption=

路面信号平稳性检测

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检测对象
Target of detection		p值
p value		平稳性
Stability
实测信号
Measured signal		0.611 27非平稳
Non-stationary
重构信号
Reconstructed signal		0.495 96非平稳
Non-stationary
), ArticleFig(id=1241451349829800121, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=EN, label=Tab.4, caption=

Stationarity detection of vibration response

, figureFileSmall=null, figureFileBig=null, tableContent=
检测对象
Target of detection		p值
p value		平稳性
Stability
实测响应Measured response0.950 42非平稳Non-stationary
仿真响应Simulation response0.604 62非平稳Non-stationary
), ArticleFig(id=1241451351364915387, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241408883978204008, language=CN, label=表4, caption=

振动响应平稳性检测

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检测对象
Target of detection		p值
p value		平稳性
Stability
实测响应Measured response0.950 42非平稳Non-stationary
仿真响应Simulation response0.604 62非平稳Non-stationary
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非平稳随机激励下电动挖掘机电池包振动特性研究
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李兆军 1 , 李飞标 1 , 王波 1 , 赵明 2 , 吴方明 2
机械强度 | 实验研究·测试技术 2025,47(8): 74-81
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机械强度 | 实验研究·测试技术 2025, 47(8): 74-81
非平稳随机激励下电动挖掘机电池包振动特性研究
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李兆军1 , 李飞标1, 王波1, 赵明2 , 吴方明2
作者信息
  • 1.广西大学 机械工程学院，南宁　530004
  • 2.广西柳工机械股份有限公司，柳州　545007

    • 李兆军，男，1964年生，湖北武汉人，博士，教授，博士研究生导师；主要研究方向为机电系统动力学及可靠性；E-mail：。

通讯作者:

赵明，男，1982年生，吉林四平人，高级工程师；主要研究方向为工程机械；E-mail：。
Study on vibration characteristic of battery pack of electric excavator under non-stationary random excitation
Zhaojun LI1 , Feibiao LI1, Bo WANG1, Ming ZHAO2 , Fangming WU2
Affiliations
  • 1.School of Mechanical Engineering, Guangxi University, Nanning 530004, China
  • 2.Guangxi Liugong Machinery Co., Ltd., Liuzhou 545007, China
出版时间: 2025-08-15 doi: 10.16579/j.issn.1001.9669.2025.08.009
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摘要
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在实际工作过程中，电动挖掘机所承受的载荷往往表现出显著的非平稳随机特性，导致电动挖掘机电池包振动现象十分复杂，从而直接影响电池包的安全、可靠运行。针对这一问题，探究了复杂工况下电动挖掘机所承受的路面激励、柱塞泵压力脉动激励和冲击激励特性，分析了各种激励下的振动传递路径，建立了电动挖掘机电池包的动力学模型，揭示了非平稳随机激励下电池包的振动特性，并通过实例进行了分析和验证。研究表明，基于小波变换及灰狼优化-变分模态分解（Grey Wolf Optimization-Variational Mode Decomposition, GWO-VMD）信号分析算法对路面激励信号进行重构，能够较好地反映路面激励特性；行驶工况下电动挖掘机所承受的路面激励具有显著的非平稳特性；在路面激励等非平稳随机激励作用下，电动挖掘机电池包产生复杂多变的振动，其动态响应的功率谱密度随时间变化显著，具有明显的非平稳随机特性。研究工作为电动挖掘机电池包的安全、可靠运行提供了一定的参考。

电动挖掘机  /  电池包  /  非平稳  /  随机激励  /  振动特性

In practical operation, the loads borne by electric excavators often exhibit significant non-stationary random characteristics, leading to complex vibration phenomena of the battery pack, which directly affects the safe and reliable operation of the battery pack. To address this issue, the characteristics of road excitation, plunger pump pressure pulsation excitation, and impact excitation on electric excavators under complex working conditions were investigated. The vibration transmission paths under various excitations were analyzed, a dynamic model of the battery pack was established, the vibration characteristics of the battery pack under non-stationary random excitation were revealed, and case studies were conducted for analysis and verification. The research shows that reconstructing road excitation signals based on wavelet transform and Grey Wolf Optimization-Variational Mode Decomposition (GWO-VMD) signal analysis algorithm can effectively reflect the characteristics of road excitation. The road excitation borne by electric excavators under driving conditions exhibits significant non-stationary characteristics. Under non-stationary random excitations such as road excitation, the battery pack of electric excavators produces complex and changeable vibrations, whose power spectral density of dynamic response changes significantly with time, showing obvious non-stationary random characteristics.This study provides a reference for the safe and reliable operation of battery packs in electric excavators.

Electric excavator  /  Battery pack  /  Non-stationary  /  Random excitation  /  Vibration characteristic
李兆军, 李飞标, 王波, 赵明, 吴方明. 非平稳随机激励下电动挖掘机电池包振动特性研究. 机械强度, 2025 , 47 (8) : 74 -81 . DOI: 10.16579/j.issn.1001.9669.2025.08.009
Zhaojun LI, Feibiao LI, Bo WANG, Ming ZHAO, Fangming WU. Study on vibration characteristic of battery pack of electric excavator under non-stationary random excitation[J]. Journal of Mechanical Strength, 2025 , 47 (8) : 74 -81 . DOI: 10.16579/j.issn.1001.9669.2025.08.009
正文
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0　引言
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随着“双碳”目标的提出和更严格排放标准的推行，电动挖掘机用电动机取代内燃机，不仅能达到节能减排、减少使用成本的目的，还能降低工作过程中的振动与噪声，而且在高原隧道等特殊工作场景比传统挖掘机更具有优势[1]。
电动挖掘机一般由工作装置、回转平台、行走装置、电动机、电池包、液压系统等组成，电池包作为电动挖掘机动力来源，其运作性能直接影响到电动挖掘机的安全可靠性。研究表明，振动是影响电池包质量的重要因素，振动不仅会影响电池包结构的可靠性，而且对电池包性能也有较大影响，因而，一些学者针对振动对电池包质量的影响进行了研究。例如，兰凤崇等[2]提出了电池包装配体精细建模方法，使所建立的模型能较好反映随机振动下电池包的动态特性，为电池包结构的优化设计提供了相关依据。WANG等[3]研究了不同频率振动下的电池电化学性能以及电池循环性能，结果表明受振动后明显出现电池容量减少和阻抗增加等电池性能恶化现象。LI等[4]为了实现电动汽车电池包的轻量化目标，对电动汽车电池包随机振动下的应力与疲劳寿命进行了分析，并在此基础上提出了电池包优化设计方法。ZHANG等[5]揭示了电池包的振动特性和疲劳特性与其结构件几何参数之间的内在关系，提出了一种基于深度学习的电池包振动应力和疲劳寿命预测方法。SHEN等[6]通过广义置信网络 （Broad Belief Network，BBN）模型构建了基于振动信号检测和定位锂离子电池组中连接故障的方法，实现了对电池包连接故障的快速准确诊断。
然而，电动挖掘机的工作环境往往都比较恶劣，其运行工况也复杂多变，使得电动挖掘机在运行过程中所承受的激励也十分复杂[7]。目前，许多学者针对挖掘机的激励特性进行了广泛研究，研究表明，挖掘机不仅会承受冲击激励[8]和路面激励[9]的作用，当挖掘机包含液压系统时还会承受柱塞泵压力脉动激励[10]的作用。同时，学者们也对复杂激励作用下的挖掘机振动特性进行了研究，并取得了一定的成果[11-13]。但这些研究均未考虑非平稳随机激励对挖掘机振动特性的影响，也未针对电动挖掘机电池包的振动特性进行研究。电动挖掘机与其他类型挖掘机一样，其工作环境也是十分恶劣的，在复杂工况下，电动挖掘机所承受的激励有时会具有明显的非平稳特性。例如，在一定条件下，路面激励往往具有显著的非平稳特性[14]。在非平稳随机激励作用下，电动挖掘机电池包的振动往往也会具有显著的非平稳随机特性，从而导致电动挖掘机电池包的振动特性更加复杂。
显然，电池包的振动问题不仅严重影响到其自身的正常工作，更直接关系到电动挖掘机的安全、稳定运行，因而深入开展电池包非平稳随机振动特性的研究，对确保电动挖掘机安全、可靠、高效运行是十分迫切的任务。本文以电动挖掘机电池包为研究对象，建立了非平稳随机激励下电动挖掘机电池包动力学模型，探究了电动挖掘机电池包在非平稳随机激励下的振动特性，并通过实例进行了分析和验证。
1　电池包激励特性
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1.1　路面激励
路面激励作为电动挖掘机的主要外激励之一，是电动挖掘机在行驶工况下的主要激振源。根据随机振动理论，车辆匀速行驶情况下，路面不平度可看作高斯各态历经平稳随机过程，此时路面产生的激励为平稳随机激励，且表示为[15]
式中，N为平稳随机激励阶数；An为第n阶幅值；ω为平稳随机激励圆频率；t为时间；ϕn为相位角。
然而，由于电动挖掘机的工作环境一般都十分复杂，其工作时所受的路面激励往往呈现显著的非平稳随机特性[16]，而非平稳随机信号一般可通过调制函数来调制平稳随机信号得到，即非平稳随机路面激励可表示为[17]
式中，g（t）为一种慢变均匀调制函数，具体形式可体现为g(t)=(a+bt) e-ct，其中系数a、b、c视具体情况而定；x（t）为平稳随机激励信号，如式（1）所示。
1.2　柱塞泵压力脉动激励
柱塞泵作为电动挖掘机液压系统中的动力源和关键部件，在工作时往往会产生较大的压力脉动，柱塞泵压力脉动激励通过配流盘传至端盖，再经由回转平台传至电池包，导致电动挖掘机电池包产生剧烈振动。柱塞泵压力脉动激励[18]可表示为
式中，B0、Bj、ψj为相关傅里叶系数；fj为柱塞泵压力脉动激励频率，且
式中，r为电动机转速；z为柱塞数量。显然，由式（4）可知，柱塞泵压力脉动激励的基频（f1=zr/60）为电动机转频（f0=r/60）的z倍。
柱塞泵是与电动机输出轴端直接相连的。柱塞泵在运行过程中会受到许多偶然因素和环境因素的影响，例如，电动机的电磁参数及负载变化等，从而导致柱塞泵压力脉动激励不可避免地出现一些波动，有时还会使柱塞泵压力脉动激励呈现出明显的非平稳随机特性。当柱塞泵压力脉动激励具有非平稳随机特性时，就会导致电动挖掘机电池包产生非平稳随机振动现象。
1.3　冲击激励
电动挖掘机在工作过程中，工作装置和回转平台频繁启动与制动产生的冲击激励通过回转平台传递至电池包。冲击激励[19]可表示为
式中，ms为产生冲击激励部件的质量；Δv为冲击过程速度变化量；Ts为冲击激励作用时间；τs为冲击激励恢复系数，且τs取值范围为［0，1］，根据产生冲击激励部件的具体情况而定。
一般情况下，电动挖掘机在工作过程中的冲击部件质量ms、速度变化量Δv和作用时间Ts等参数都会受到许多环境因素及其他偶然因素的影响，从而导致冲击激励不可避免地出现一些波动，有时还会使冲击激励呈现出明显的非平稳随机特性。当冲击激励具有非平稳随机特性时，同样会导致电动挖掘机电池包产生非平稳随机振动现象。
1.4　激励传递特性
在实际工作过程中，电动挖掘机整机所受激励复杂，不仅包含行走过程的路面激励，还包含柱塞泵压力脉动激励以及工作装置和回转装置频繁启动与制动过程产生的冲击激励等。在各种复杂激励作用下，电动挖掘机零部件会产生复杂振动，这些振动会通过零部件的耦合作用传递至电池包。为了更准确对电动挖掘机电池包振动特性进行分析，则有必要对电动挖掘机在复杂激励作用下的振动传递特性进行分析。
电动挖掘机主要工况分为行走工况与定置工况。在行走工况下，路面激励通过履带和导轮将振动传至回转平台，再通过减振元件传至电池包，即路径1。柱塞泵压力脉动激励通过油液管路传至行走马达，然后再由回转平台传至电池包，即路径2。定置工况，即挖掘机定置状态下回转或工作装置工作工况，工作装置和回转平台频繁启停的冲击激励通过回转平台将振动传递至电池包，即路径3。同时柱塞泵压力脉动激励通过软管传递至回转马达或工作装置液压油缸。振动传递路径如图1所示。
2　电池包振动特性
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2.1　电池包动力学模型
为分析电动挖掘机电池包的振动特性，有必要建立非平稳随机激励下电池包结构有限元模型。电池包长度方向上、下分别设置6个节点，宽度方向上、下各设置3个节点，底部4条加强筋板中间各设置1个节点，即共设置32个节点，则可建立如图2所示的电池包结构有限元模型。图2中，每个节点分别包含3个方向位移，即沿X方向的位移、沿Y方向位移和沿Z方向位移，沿X方向的位移表示为uqi（i=1，2，…，32），沿Y方向的位移表示为uvi（i=1，2，…，32），沿Z方向的位移表示为uwi（i=1，2，…，32），则电池包广义位移向量可表示为
根据电动挖掘机电池包的结构特点及其所承受的激励特性，在所建立的电池包结构有限元模型基础上，应用有限元法构建电动挖掘机电池包动力学方程，为
式中，M、C、K分别为电池包质量矩阵、阻尼矩阵和刚度矩阵；U、、Ü分别为电池包广义位移向量、广义速度向量和广义加速度向量；F为电池包所承受的外激励向量，包括路面激励向量、柱塞泵压力脉动激励向量和冲击激励向量等。
2.2　电池包固有特性
一般地，由式（6）可得到系统无阻尼自由振动方程，再由系统无阻尼自由振动方程，可得
式中，ωn为系统的固有频率；A为系统的模态向量。
根据式（7），可得系统的频率方程，即
根据频率方程（8），即可求得系统固有频率ωn。再将所求得的系统第l阶固有频率ωn代入式（7）中，就可得到系统的第l阶模态向量A(l)。
2.3　电池包动态响应
根据杜哈梅积分思想，可将任意激励看作是一系列脉冲激励的叠加，即系统的动态响应可以认为是这一系列脉冲激励动态响应的叠加。因而根据杜哈梅积分法，系统的动态响应[20]可表示为
式中，m为电池包质量；F(t)为电池包所受外激励向量；ξ为电池包的振型阻尼比；ωD为电池包有阻尼固有频率，且。
当作用在电动挖掘机电池包上的外激励具有非平稳随机特性时，电池包的动态响应往往也具有非平稳随机特性。
2.4　非平稳随机振动特性
对时间序列的平稳性检验是对时间序列进一步研究的前提，平稳性可通过时间序列是否存在单位根进行判断。增广迪基-富勒（Augmented Dickey-Fuller,ADF）检验是常用的一种单位根检验方法，则电池包振动响应带趋势项和截距的ADF单位根检验[21]可表示为
式中，ΔUt为t时刻样本差分；ε为常数项；β为时间趋势项；γ和φo为回归系数；εt为随机误差项；R为样本容量；γ̂和σγ̂分别为γ及其标准差σγ的估计值；tγ为参数γ的统计量。
由式（11）计算tγ值，得到tγ值对应概率p值，将p值与某个显著水平进行比较来评估序列平稳性。一般地，原假设为p值大于某个显著水平，存在单位根，时间序列是非平稳的；备择假设为p值小于显著水平，不存在单位根，时间序列是平稳的。
而针对非平稳随机过程中的峰值和频率等其他统计量随时间变化特点，可以通过功率谱密度来描述其能量随时间和频率变化，则电动挖掘机电池包振动响应功率谱密度[22]可表示为
3　实例分析
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以广西某企业的电动挖掘机低速行走工况为例，分析电动挖掘机电池包在非平稳随机路面激励下的振动特性。
电动挖掘机电池包箱体主体为Q345钢，其余材料参数和几何参数如表1所示。
电池包箱体结构如图3所示，箱体底部5处镂空位置对应5个电池模组，根据电池包结构特点，其底部筋板下方分别安装测点，并以该测点位置为研究对象进行振动特性分析。沿箱体两个长度方向共有16个螺栓，以该16个螺栓为约束，5个电池模组通过等效质量点代替，对电池包进行仿真分析。
3.1　模态分析
根据式（7）和式（8），可得到电动挖掘机电池包的固有频率和振型。由于电动挖掘机在低速行走工况下的振动信号主要为低频信号，这里针对电池包的前2阶模态进行分析，其结果如表2所示。
由表2可知，电池包第1阶固有频率为54 Hz，远大于路面激励频率范围，能够有效避免路面激励共振影响。
3.2　振动响应分析
封闭场地试验是车辆测试中的有效手段，场景重复性高，测试结果较为真实。试验时，挖掘机以低速在同一试验基地行驶一段路程，显然其路面情况是基本一致的。这里针对实测所得到的低速行驶下电池包振动信号其中一段进行分析，随机截取14 ~34 s处共20 s的信号对路面激励进行分析。截取路面信号如图4所示。
由图4可知，所测得的路面激励信号包含了从低频到高频的多种频率成分，且在信号采集过程中容易受到各种噪声的影响。显然，根据激励传递特性可知，所测得的信号中包含由路面激励传递到测点处的低频成分，且频率主要为0.5~20 Hz；同时，所测得的信号中还包含由柱塞泵压力脉动激励传递到测点处的高频成分，由于实例中电动机转速r=1 800 r/min，柱塞泵的柱塞数量z=9，根据式（4）可知，柱塞泵压力脉动激励基频为270 Hz。因此，为了计算路面激励作用下电池包任意点处的振动响应，进而将电池包测点处的振动响应仿真结果与现场所得到的振动响应实测结果进行对比分析，有必要将包含复杂噪声成分的路面激励信号进行重构以得到仅含路面激励特征的信号。而小波变换能将信号分解为多种频率分段，能够对信号进行去噪和初步分解，再结合灰狼优化（Grey Wolf Optimization, GWO）算法优化的变分模态分解（Variational Mode Decomposition, VMD）的参数κ和α，提高VMD的效率及准确度。
为提取路面信号中有效的路面激励成分，采用基于小波变换及GWO-VMD的信号处理方法对采集的路面信号进行分析处理。首先，由小波变换将路面激励信号分解为不同频率的模态分量（Intrinsic Mode Function, IMF）；然后，经GWO-VMD信号分析方法对小波变换中含路面激励的IMF再次分解并提取反映路面激励特征的信号，具体信号分析处理流程如图5所示。
首先，路面激励信号经过小波变换及GWO-VMD算法，即可得到其信号分解图，如图6所示。
然后，将高频部分及其余噪声部分去除，综合选择仅含路面激励低频成分的IMF，即可得到重构的路面激励信号，如图7所示。由图7可知，重构的路面激励频率主要集中在20 Hz及以下频率段，符合路面激励频率范围，表明重构的路面激励信号能够较好反映路面激励特性。
通过式（10）、式（11）的增广ADF检验方法对图4实测的路面激励和图7重构的路面激励时域信号进行平稳性检验，在5%的显著水平下，即统计量临界值为0.05，当检验统计量tγ值的概率p>0.05时，无法拒绝原假设，认为该时间序列为非平稳序列。计算结果如表3所示。由表3可知，统计量p值均大于0.05，表明提取的路面激励和重构的路面激励均具备非平稳特性。
为提高路面激励曲线的拟合速度，这里将路面加速度信号转为位移信号，再进一步通过变点检测方法和信号的波形频率特征，对重构的路面位移激励信号进行区间划分，并结合式（2）的非平稳随机路面激励表达式的构建方法对每一个区间的位移信号进行拟合，最后综合得到试验场地的路面激励信号，路面位移激励拟合曲线如图8所示。对拟合的路面激励信号曲线进行评估，拟合优度R2=0.963 9，表明路面位移激励拟合效果较好。
将拟合的路面激励等效作用到图2所示的电池包结构有限元模型底部节点，并通过式（9）计算得到电池包测点的振动响应仿真曲线，如图9所示。
图10所示为现场所测得的该测点的振动响应曲线。对图9、图10的振动响应结果平稳性进行检验，结果如表4所示。由表4可知，仿真和实测的振动响应统计值p均大于0.05，无法拒绝原假设，说明电池包振动响应具有非平稳特性。
为进一步分析非平稳路面激励对电池包非平稳振动响应的影响，通过（12）计算行走工况下电池包振动响应的功率谱密度（Power Spectral Density, PSD），如图11所示。由图11可知，电池包振动响应峰值主要在20 Hz以下，而20 Hz以下则为路面激励主要频率范围。同时，图11中电池包振动响应的功率谱密度和频率都随时间有显著变化，也反映电池包具有很强的非平稳随机特性。此外，在非平稳路面激励下，振动能量可能在短时间内大量传递至电池包，易导致电池包箱体出现疲劳裂纹，并且非平稳随机振动还会影响电池包电芯的性能，使电芯出现容量下降和阻抗升高等现象，影响电芯寿命，进而降低电动挖掘机的续航里程和使用寿命。
4　结论
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分析了电动挖掘机电池包所承受的外激励特性，建立了非平稳随机激励下电池包的动力学模型，探究了非平稳随机激励下电池包的振动特性，并以某型号电动挖掘机为例，对电动挖掘机电池包在低速行走工况下的非平稳随机振动特性进行了分析和验证。得到如下结论：
1）在一定条件下，电动挖掘机电池包所承受的路面激励、柱塞泵压力脉动激励和冲击激励等激励均具有非平稳特性。
2）基于小波变换及GWO-VMD的信号处理方法能够较好地保留路面激励的频率特性和非平稳特性。
3）电动挖掘机电池包在低速行走工况下振动信号的功率谱密度具有明显的时变性，反映电动挖掘机电池包在非平稳随机激励作用下的振动特性具有明显的非平稳特性，使得振动特性变得更为复杂。
4）本文的研究工作为进一步研究非平稳随机振动环境下电动挖掘机电池包振动可靠性等问题提供了一定的参考。
基金
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  • 广西科技重大专项(AA23062072; AA24206034)
文献
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2025年第47卷第8期
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doi: 10.16579/j.issn.1001.9669.2025.08.009
  • 接收时间：2024-11-22
  • 首发时间：2026-03-19
  • 出版时间：2025-08-15
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  • 收稿日期：2024-11-22
  • 修回日期：2024-12-24
基金
Guangxi Science and Technology Major Program(AA23062072; AA24206034)
广西科技重大专项(AA23062072; AA24206034)
作者信息
    1.广西大学 机械工程学院，南宁　530004
    2.广西柳工机械股份有限公司，柳州　545007

通讯作者:

赵明，男，1982年生，吉林四平人，高级工程师；主要研究方向为工程机械；E-mail：。
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https://castjournals.cast.org.cn/joweb/jxqd/CN/10.16579/j.issn.1001.9669.2025.08.009
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2种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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