Excavator fuel consumption efficiency simulation test method and test device thereof

Abstract

The application discloses a kind of excavator oil consumption efficiency simulation test method and its testing device, which belong to the technical field of engineering machinery.It solves the defects of easy wear bucket lever and poor test accuracy in the prior art of traditional excavator oil consumption test.The main structure includes vehicle electronic control unit VECU, damper, boom gyroscope, bucket gyroscope, stick gyroscope, upper frame rotation center gyroscope, simulated weight block and oil consumption instrument, the vehicle electronic control unit VECU is respectively connected with boom gyroscope, bucket gyroscope, stick gyroscope and upper frame rotation center gyroscope, simulated weight block is installed on stick, oil consumption instrument is installed on excavator, and oil consumption instrument is respectively connected with engine oil inlet, oil return and fuel tank oil inlet, oil return pipeline.The application is mainly used on excavator and other engineering machinery.

Description

Technical fields:

[0001] This invention belongs to the field of engineering machinery technology, and more specifically, it relates to a method and device for simulating and testing the fuel consumption efficiency of excavators. Background technology:

[0002] Because excavators consume a lot of fuel per unit of operation, reducing fuel consumption without changing operational efficiency is a key research and development focus. Therefore, fuel consumption testing is indispensable in overall machine testing. Generally speaking, fuel consumption testing involves the excavator operator running the excavator for a period of time or a specific number of digging cycles, and calculating fuel consumption based on fuel consumption and working time.

[0003] However, excavator fuel consumption is related to factors such as the type and compaction of the material being excavated, the bucket fill rate, and the bucket's downward angle. Once these conditions change, fuel consumption may vary greatly. Due to the differences between the test site and the actual working site, and the different downward angles of the excavator operator each time, existing fuel efficiency tests are difficult to accurately measure fuel consumption under actual working conditions, and the repeatability of operations with long intervals is not high. Moreover, actual excavation or loading will wear down the bucket and boom, affecting the subsequent sales of the vehicle. Therefore, in the existing technology, the bucket is replaced when conducting fuel consumption tests, and then replaced with a new bucket after the test. However, the boom is generally not replaced, but is re-grinded and repainted after wear, which wastes a lot of time and cannot fully restore it to its original condition. Summary of the Invention:

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method and device for simulating the fuel consumption efficiency of excavators. It can effectively avoid test errors caused by changes in factors such as operator error, type of material being excavated, compaction, bucket fullness, and bucket downward angle, thereby improving accuracy.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A method for simulating and testing the fuel consumption efficiency of an excavator includes the following steps:

[0007] S1: Before the test begins, the number of digging cycles is set to n, the maximum number of digging cycles is set to N, and the position information of the gyroscope at the initial position, the digging completion position, the rotation start position, the rotation completion position, and the unloading completion position is collected and imported into the vehicle electronic control unit (VECU). The VECU determines the excavator's actions based on the position information and controls the working device to work.

[0008] S2: The excavator reaches the initial position, click start, and assign the excavation cycle number n = 0;

[0009] S3: the excavator starts an action of one digging cycle;

[0010] S4: after the action of one digging cycle is completed, the excavator rotates to the initial position, and the cycle number n = n + 1;

[0011] S5: it is judged whether the cycle number n is equal to N, if n = N, the action is stopped, and the oil consumption and the cycle number are recorded, if n < N, the step S3 to the step S5 are repeated.

[0012] Preferably, the action of one digging cycle comprises the following steps:

[0013] S31: after the excavator reaches the initial position, the vehicle electronic control unit VECU sends an instruction to the electronic control valve to control the electromagnetic valve to open and close, so that the boom cylinder, the stick cylinder and the bucket cylinder start to act, simulate the digging action, and the rotor plate of the damper is actuated;

[0014] S32: when reaching the digging completion position, the stick cylinder and the bucket cylinder stop acting, and the boom cylinder continues to extend, at this time, the boom starts to lift;

[0015] S33: when reaching the rotation start position, the boom cylinder continues to extend, and the rotation motor works at this time, and the excavator starts to rotate;

[0016] S34: when the upper frame rotates 90° to reach the rotation completion position, the boom cylinder and the rotation motor stop acting, and the stick cylinder and the bucket cylinder start to recover, at this time, the excavator starts to unload;

[0017] S35: when reaching the unloading completion position, the rotation motor works in reverse, at this time, the boom cylinder recovers, the stick cylinder recovers, the bucket cylinder extends, the excavator starts to rotate back, and the boom starts to descend;

[0018] The initial position is any position in which the rotor plate is parallel to the ground.

[0019] Preferably, in one digging cycle, the damper rotates 90°, and in the front interval, the damping is large, the load in the simulated digging process is simulated, in the rear interval, the damping is small, and the inertia of the digging force of the bucket is used to actuate the next rotor plate to the initial position of the rotor plate.

[0020] Preferably, the gyroscope comprises a boom gyroscope installed on the boom, a bucket gyroscope installed on the bucket, a stick gyroscope installed on the stick, and an upper frame rotation center gyroscope installed on the upper frame rotation center.

[0021] Preferably, the coordinate system at the upper swing center gyroscope is Oh (Xh, Yh, Zh), the coordinate system at the boom gyroscope is Ob (Xb, Yb, Zb), the coordinate system at the stick gyroscope is Od (Xd, Yd, Zd), the coordinate system at the bucket gyroscope is Oc (Xc, Yc, Zc), the pitch angle of the gyroscope at any position is α, the roll angle is β, and the azimuth angle is ξ;

[0022] The initial position is the position when the bucket is placed under the rotor plate of the damper, at which time: the gyroscope is set to zero, the coordinate systems of the gyroscope at the four positions are parallel to the world coordinate system, the upper swing center gyroscope coordinate system is Oh (Xh, Yh, Zh) = Oh0 (Xh0, Yh0, Zh0), the boom gyroscope coordinate system is Ob (Xb, Yb, Zb) = Ob0 (Xb0, Yb0, Zb0), the stick gyroscope coordinate system is Od (Xd, Yd, Zd) = Od0 (Xd0, Yd0, Zd0), the bucket gyroscope coordinate system is Oc (Xc, Yc, Zc) = Oc0 (Xc0, Yc0, Zc0), the upper swing center gyroscope (αh, βh, ξh) = (0°, 0°, 0°), the boom gyroscope (αb, βb, ξb) = (0°, 0°, 0°), the stick gyroscope (αd, βd, ξd) = (0°, 0°, 0°), and the bucket gyroscope (αc, βc, ξc) = (0°, 0°, 0°), and the next step is to start the material digging action;

[0023] The material digging completion position is the position when the bucket moves the rotor plate of the damper, since from the initial position to the material digging completion position, the stick and the bucket move greatly, the boom moves very little, and the swing does not move, the position information is mainly determined by observing the movement of the stick, at this time the stick swings outward, only the pitch angle changes, the roll angle and the azimuth angle do not change, at this time only the pitch angle is observed, the pitch angle αd = ∠Xd0Od0Xd1, and the next step is to start the boom lifting;

[0024] The swing start position is the position when the excavator is about to start swinging, since from the material digging completion position to the swing start position, the boom is mainly lifted, the stick and the bucket move very little, and the swing does not move, the position information is mainly determined by observing the movement of the boom, at this time the boom is lifted, only the pitch angle changes, the roll angle and the azimuth angle do not change, at this time only the pitch angle is observed, the pitch angle α' b = ∠Xb0Ob0Xb1, and the next step is to start the swing;

[0025] The swing completion position is the position when the excavator swings 90° to reach the unloading position, from the start of the swing to the swing completion, the process is mainly the upper swing, the boom and the stick move very little, so the position information is mainly determined by observing the swing angle, that is, the azimuth angle, at this time the azimuth angle ξh = ∠Xh0Oh0Xh1 = 90°, and the next step is to start unloading.

[0026] The unloading completion position is mainly the action of the bucket, and the actions of the boom and the stick are small, so the position information is mainly determined by observing the action of the bucket, that is, the roll angle, at this time, the roll angle βc = ∠Xc0Oc0Xc1 = 90°, and in the next step, reverse rotation is started, and the initial position is reached.

[0027] The excavator oil consumption efficiency simulation test device provided by the present application comprises a vehicle electronic control unit VECU, a damper, a boom gyroscope, a bucket gyroscope, a stick gyroscope, an upper frame rotation center gyroscope, a simulated counterweight and an oil consumption instrument, the vehicle electronic control unit VECU is in communication connection with the boom gyroscope, the bucket gyroscope, the stick gyroscope and the upper frame rotation center gyroscope, the simulated counterweight is installed on the stick, the oil consumption instrument is installed on the excavator, and the oil consumption instrument is connected with the oil inlet and oil return pipelines of the engine and the fuel tank.

[0028] Preferably, the damper comprises a fixed base and a rotor, the rotor is installed on the fixed base, and the rotor comprises four rotor plates, each rotor plate is spaced 90° apart and can rotate around the middle shaft.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] 1. The action position information of the excavator is determined by the angle information of the gyroscopes installed on the boom, the stick and the connecting rod, which is convenient to install, simple in structure, strong in anti-interference ability and high in precision.

[0031] 2. In the oil consumption test, one excavating cycle mainly comprises five actions of excavating, lifting, rotating, unloading and returning, wherein the fuel consumption of the excavating, lifting and rotating accounts for more than 80% of the total cycle oil consumption, therefore, the present application simulates the bucket excavating process by the bucket driving damper, simulates the material weight by the simulated counterweight fixed at the lower end of the stick, and completes the lifting and rotating process of the excavator, compared with the existing excavating oil consumption test, the present application can effectively avoid the test errors caused by the factors such as the operator's own reasons, the types of the excavated materials, the compactness, the full bucket rate and the bucket insertion angle, and improves the accuracy.

[0032] 3. The bucket does not need to actually excavate stones, and the time and resource waste caused by replacing the bucket, polishing and finishing the stick due to the wear of the bucket and the stick in the traditional oil consumption test is avoided.

[0033] 4. The excavating process is unmanned, the position of the boom, the stick and the bucket is monitored by setting a program, so that automatic driving is realized. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1A flow chart of a simulation test method for oil consumption efficiency of a excavator;

[0035] Figure 2 A structural schematic diagram of a simulation test device for oil consumption efficiency of a excavator;

[0036] Figure 3 A structural schematic diagram of a gyroscope for positioning each angle in the application;

[0037] Figure 4 A structural schematic diagram of an initial position in the simulation test method for oil consumption efficiency of a excavator;

[0038] Figure 5 A structural schematic diagram of a digging completion position in the simulation test method for oil consumption efficiency of a excavator;

[0039] Figure 6 A structural schematic diagram of a slewing start position in the simulation test method for oil consumption efficiency of a excavator;

[0040] Figure 7 A structural schematic diagram of a slewing completion position in the simulation test method for oil consumption efficiency of a excavator;

[0041] Figure 8 A structural schematic diagram of a unloading completion position in the simulation test method for oil consumption efficiency of a excavator.

[0042] In the figure: 1, fixed base; 2, rotor plate; 3, bucket; 4, bucket gyroscope; 5, simulation counterweight; 6, bucket arm gyroscope; 7, bucket cylinder; 8, bucket arm; 9, boom; 10, boom gyroscope; 11, bucket arm cylinder; 12, boom cylinder; 13, oil consumption instrument; 14, upper frame slewing center; 15, upper frame slewing center gyroscope. DETAILED DESCRIPTION

[0043] The application will be further described below through specific embodiments and in conjunction with the drawings.

[0044] Embodiment 1

[0045] As shown in the figure, a simulation test method for oil consumption efficiency of a excavator comprises the following steps: Figure 1

[0046] S1: before the test starts, the number of digging cycles is set as n, the maximum number of digging cycles is set as N, and the position information of the gyroscope at the initial position, the digging completion position, the slewing start position, the slewing completion position and the unloading completion position is collected and imported into the vehicle electronic control unit VECU, the vehicle electronic control unit VECU judges the action of the excavator according to the position information, controls the opening and closing of the electric control valve to control the work of the boom cylinder 12, the bucket arm cylinder 11, the bucket cylinder 7 and the slewing motor;

[0047] ​S2: The excavator reaches the initial position, clicks to start, and assigns the digging cycle number n = 0;

[0048] S3: The excavator starts an excavating period action;

[0049] S4: After the action of one excavating period is completed, it is rotated to the initial position, and the digging cycle number n = n + 1;

[0050] S5: Determine whether the cycle number n is equal to N, if n = N, stop the action, record the oil consumption and cycle number, if n < N, repeat steps S3-S5.

[0051] Example 2:

[0052] An excavator oil consumption efficiency simulation test method, the action of one excavating period includes the following steps:

[0053] S31: After the excavator reaches the initial position, the vehicle electronic control unit VECU sends instructions to the electronic control valve to control the electromagnetic valve to open and close, so that the boom cylinder 12, stick cylinder 11 and bucket cylinder 7 start to act, simulate the digging action, and turn the rotor plate 2 of the damper;

[0054] S32: When reaching the digging completion position, the stick cylinder 11 and the bucket cylinder 7 stop acting, and the boom cylinder 12 continues to extend, at this time the boom 9 starts to lift;

[0055] S33: When reaching the rotation start position, the boom cylinder 12 continues to extend, and the rotation motor works at this time, the excavator starts to rotate;

[0056] S34: When the upper frame rotates 90° to reach the rotation completion position, the boom cylinder 12 and the rotation motor stop acting, and the stick cylinder 11 and the bucket cylinder 7 start to recover, at this time the excavator starts to unload;

[0057] S35: When reaching the unloading completion position, the rotation motor works in reverse, at this time the boom cylinder 12 recovers, the stick cylinder 11 recovers, the bucket cylinder 7 extends, the excavator starts to rotate back, and the boom 9 starts to descend;

[0058] Wherein, the initial position is the position when any rotor plate 2 is parallel to the ground.

[0059] In one excavating period, the damper rotates 90°, in the front interval, the damping is large, simulating the load of the digging process, in the rear interval, the damping is small, and the inertia of the digging force of the bucket can automatically rotate to the initial position of the next rotor plate 2, wherein, According to the actual model selection,

[0060] The gyroscopes include a boom gyro 10 mounted on the boom 9, a bucket gyro 4 mounted on the bucket 3, a stick gyro 6 mounted on the stick 8, and a superstructure center of rotation gyro 15 mounted on the superstructure center of rotation 14.

[0061] As shown in Figures 3-4 , the coordinate system at the superstructure center of rotation gyro 15 is set as Oh (Xh, Yh, Zh), the coordinate system at the boom gyro 10 is set as Ob (Xb, Yb, Zb), the coordinate system at the stick gyro 6 is set as Od (Xd, Yd, Zd), the coordinate system at the bucket gyro 4 is set as Oc (Xc, Yc, Zc), the pitch angle of the gyro at any position is a, the roll angle is β, and the azimuth angle is ξ;

[0062] Specifically, as shown in Figure 4 , the initial position is the position when the bucket 3 is placed under the rotor plate 2 of the damper, at which time: the gyroscopes are set to zero, the coordinate systems of the gyroscopes at the four positions are parallel to the world coordinate system, the coordinate system of the superstructure center of rotation gyro 15 is Oh (Xh, Yh, Zh) = Oh0 (Xh0, Yh0, Zh0), the coordinate system of the boom gyro 10 is Ob (Xb, Yb, Zb) = Ob0 (Xb0, Yb0, Zb0), the coordinate system of the stick gyro 6 is Od (Xd, Yd, Zd) = Od0 (Xd0, Yd0, Zd0), the coordinate system of the bucket gyro 4 is Oc (Xc, Yc, Zc) = Oc0 (Xc0, Yc0, Zc0), (αh, βh, ξh) of the superstructure center of rotation gyro 15 is (0°, 0°, 0°), (αb, βb, ξb) of the boom gyro 10 is (0°, 0°, 0°), (αd, βd, ξd) of the stick gyro 6 is (0°, 0°, 0°), and (αc, βc, ξc) of the bucket gyro 4 is (0°, 0°, 0°), and the next step is to start the material digging action;

[0063] As shown in Figure 5 , the material digging completion position is the position when the action of the bucket 3 pushing the rotor plate 2 of the damper under the side is completed. Since from the initial position to the material digging completion position, the stick 8 and the bucket 3 move greatly, the boom 9 moves very little, and the rotation does not move, the position information is mainly determined by observing the action of the stick 8. At this time, the stick 8 swings outward, only the pitch angle changes, and the roll angle and the azimuth angle are basically unchanged. At this time, only the pitch angle is concerned, the pitch angle a d = ∠ Xd0Od0Xd1, and the next step is to start the boom 9 lifting;

[0064] As shown in Figure 6As shown, the start position of the rotation is the position when the excavator is about to start rotating. Since the material digging position is to this position, mainly the boom 9 is lifted, the boom 9 moves greatly, the stick 8 and the bucket 3 move very little, and the rotation does not move, so the position information is mainly determined by observing the movement of the boom 9. At this time, the boom 9 is lifted, and only the pitch angle changes, and the roll angle and the azimuth angle are basically unchanged. At this time, only the pitch angle is concerned, and the pitch angle α' b = ∠Xb0Ob0Xb1. The next step is to start rotating.

[0065] As shown in FIG. 6, the start position of the rotation is the position when the excavator is about to start rotating. Since the material digging position is to this position, mainly the boom 9 is lifted, the boom 9 moves greatly, the stick 8 and the bucket 3 move very little, and the rotation does not move, so the position information is mainly determined by observing the movement of the boom 9. At this time, the boom 9 is lifted, and only the pitch angle changes, and the roll angle and the azimuth angle are basically unchanged. At this time, only the pitch angle is concerned, and the pitch angle α' b = ∠Xb0Ob0Xb1. The next step is to start rotating. Figure 7 As shown in FIG. 7, the completion position of the rotation is the position when the excavator rotates 90° and reaches the unloading position. From the start of the rotation to the completion of the rotation, the process is mainly the superstructure rotation, and the boom 9 and the stick 8 move very little. Therefore, the position information is mainly determined by observing the rotation angle, that is, the azimuth angle. At this time, the azimuth angle ξ h = ∠Xh0Oh0Xh1= 90°. The next step is to start unloading.

[0066] Figure 8 As shown in FIG. 8, the completion position of the unloading is from the start of the unloading to the completion of the unloading. Mainly the bucket 3 moves, and the boom 9 and the stick 8 move little. Therefore, the position information is mainly determined by observing the movement of the bucket 3, that is, the roll angle. At this time, the roll angle β c = ∠Xc0Oc0Xc1= 90°. The next step is to start reverse rotation and reach the initial position. The other parts are the same as in Example 1.

[0067] Example 3:

[0068] As shown in FIG. 9, a kind of excavator oil consumption efficiency simulation test device according to the setting of example 1 or example 2, including whole vehicle electronic control unit VECU, damper, boom gyroscope 10, bucket gyroscope 4, stick gyroscope 6, superstructure rotation center gyroscope 15, simulation weight block 5 and oil consumption instrument 13, the whole vehicle electronic control unit VECU is connected with boom gyroscope 10, bucket gyroscope 4, stick gyroscope 6 and superstructure rotation center gyroscope 15 respectively, simulation weight block 5 is installed on stick 8, oil consumption instrument 13 is installed on excavator, and oil consumption instrument 13 is connected with the oil inlet, oil return and fuel tank oil inlet, oil return pipeline of engine respectively. Figure 2 By using the excavator to drive the damper to simulate the material digging process, the simulation weight block 5 simulates the weight of the material, and the pitch angle α, the roll angle β and the azimuth angle ξ of the boom gyroscope 10, the bucket gyroscope 4 and the stick gyroscope 6 fixed on the working device are used to determine the position information of the excavator, so as to monitor the position state of the excavator. The position information of the excavator is transmitted to the whole vehicle electronic control unit VECU, and the whole vehicle electronic control unit VECU controls the opening and closing of the electric control valve, controls the movement of the oil cylinder and the movement of the rotation motor, so as to realize the automatic test of the oil consumption of the excavator.

[0069]

[0070] ​​Specifically, the simulation weight 5 has a through hole on the upper surface and is fixed at the lower end of the dipper arm 8 by a strap, and the weight is selected according to the rated load of the excavator to simulate the weight of the material. According to the test, the fuel consumption in the entire digging and unloading cycle is mainly in the digging and lifting process, and the fuel consumption in the unloading and rotating process accounts for less than 5% of the entire digging cycle. Therefore, the simulation weight 5 does not affect the result whether it is separated or not during the unloading and rotating process after the unloading action is completed. The simulation weight 5 is still fixed at the lower end of the dipper arm 8, which has little effect on the fuel consumption result. Moreover, the fuel consumption test is often a comparative test, that is, two vehicles are tested under the same conditions, which makes the effect of whether the simulation weight 5 is separated or not on the result negligible.

[0071] Embodiment 4:

[0072] An excavator fuel consumption efficiency simulation test device, the damper comprises a fixed base 1 and a rotor, the rotor is installed on the fixed base 1, the rotor comprises four rotor plates 2, each rotor plate 2 is spaced 90° and can rotate around the middle shaft, when working, the excavator drives the rotor plate 2 to rotate, and the rotor plate 2 rotates 90° every time a bucket is dug. The other parts are the same as embodiment 3.

Claims

1. A method of simulating testing of fuel efficiency of an excavator, characterized by: The method comprises the following steps: S1: Before the test, the number of digging cycles is set to n, and the maximum number of digging cycles is set to N And the position information of the gyroscope at the initial position, the completed digging position, the starting rotation position, the completed rotation position and the completed unloading position is collected and imported into the vehicle electronic control unit VECU. The vehicle electronic control unit VECU judges the action of the excavator according to the position information and controls the work device to work. S2: the excavator reaches the initial position, clicks to start, and assigns the digging cycle number n=0; S3: the excavator starts the action of one digging cycle; S4: after the action of one digging cycle is completed, the excavator turns to the initial position, and the digging cycle number n=n+1; S5: it is judged whether the cycle number n is equal to N, if n=N, the action is stopped, and the oil consumption and the cycle number are recorded, if n The action of one digging cycle comprises the following steps: S31: after the excavator reaches the initial position, the vehicle electronic control unit VECU sends an instruction to the electronic control valve, so that the boom cylinder (12), the stick cylinder (11) and the bucket cylinder (7) start to act, simulate the digging action, and the rotor plate (2) of the damper is actuated; In the simulation of the digging action, the rotor plate (2) of the damper is actuated, and the damper rotates 90° in one digging cycle. In the front (0- )° interval, the damping is large, simulating the load in the digging process, and in the rear (- -90)° interval, the damping is small, and the inertia of the actuation by the digging force of the bucket can automatically rotate to the initial position of the next rotor plate (2), wherein 0< <90°.

2. The method of claim 1, wherein: The action of one digging cycle further comprises the following steps: S32: when the digging completion position is reached, the stick cylinder (11) and the bucket cylinder (7) stop acting, the boom cylinder (12) continues to extend, and at this time the boom (9) starts to lift; S33: when the rotation start position is reached, the boom cylinder (12) continues to extend, and the rotation motor works at this time, and at this time the excavator starts to rotate; S34: when the upper frame rotates 90° and reaches the rotation completion position, the boom cylinder (12) and the rotation motor stop acting, the stick cylinder (11) and the bucket cylinder (7) start to recover, and at this time the excavator starts to unload; S35: when the unloading completion position is reached, the rotation motor works in reverse, at this time the boom cylinder (12) recovers, the stick cylinder (11) recovers, the bucket cylinder (7) extends, the excavator starts to rotate back, and the boom (9) starts to descend. The initial position is any position when the rotor plate (2) is parallel to the ground.

3. The method of claim 2, wherein: The gyroscope comprises a boom gyroscope (10) mounted on the boom (9), a bucket gyroscope (4) mounted on the bucket (3), a stick gyroscope (6) mounted on the stick (8), and an upper frame rotation center gyroscope (15) mounted on the upper frame rotation center (14).

4. The method of claim 3, wherein: The coordinate system at the upper frame rotation center gyroscope (15) is Oh (Xh, Yh, Zh), the coordinate system at the boom gyroscope (10) is Ob (Xb, Yb, Zb), the coordinate system at the stick gyroscope (6) is Od (Xd, Yd, Zd), the coordinate system at the bucket gyroscope (4) is Oc (Xc, Yc, Zc), the pitch angle of the gyroscope at any position is α, the roll angle is β, and the azimuth angle is ξ; The initial position is the position of the bucket (3) placed under the rotor flat plate (2) of the damper, at this time: the gyroscope is set to zero, the coordinate system of the gyroscope at the four positions is parallel to the world coordinate system, the coordinate system of the upper frame slewing center gyroscope (15) is Oh (Xh, Yh, Zh) = Oh0 (Xh0, Yh0, Zh0), the coordinate system of the boom gyroscope (10) is Ob (Xb, Yb, Zb) = Ob0 (Xb0, Yb0, Zb0), the coordinate system of the stick gyroscope (6) is Od (Xd, Yd, Zd) = Od0 (Xd0, Yd0, Zd0), the coordinate system of the bucket gyroscope (4) is Oc (Xc, Yc, Zc) = Oc0 (Xc0, Yc0, Zc0), the (αh, βh, ξh) of the upper frame slewing center gyroscope (15) is (0°, 0°, 0°), the (αb, βb, ξb) of the boom gyroscope (10) is (0°, 0°, 0°), the (αd, βd, ξd) of the stick gyroscope (6) is (0°, 0°, 0°), and the (αc, βc, ξc) of the bucket gyroscope (4) is (0°, 0°, 0°), and the next step starts the digging action; The digging completion position is the position of the bucket (3) moving the rotor flat plate (2) under the damper, since the initial position to the digging completion position, the stick (8) and the bucket (3) move greatly, the boom (9) moves very small, and the slewing does not move, so the position information is judged by observing the action of the stick (8), at this time the stick (8) swings outward, only the pitch angle changes, the roll angle and the azimuth angle are basically unchanged, at this time only the pitch angle is concerned, the pitch angle αd = ∠Xd0Od0Xd1, the next step starts to lift the boom (9); The slewing start position is the position of the excavator about to start slewing, since the digging completion position to the slewing start position, the boom (9) is lifted, the boom (9) moves greatly, the stick (8) and the bucket (3) move very small, and the slewing does not move, so the position information is judged by observing the action of the boom (9), at this time the boom (9) is lifted, and only the pitch angle changes, the roll angle and the azimuth angle are basically unchanged, at this time only the pitch angle is concerned, the pitch angle α'b = ∠Xb0Ob0Xb1, the next step starts slewing; The slewing completion position is the position of the excavator slewing 90° to reach the unloading position, from the start of slewing to the completion of slewing, the process is the slewing of the upper frame, the boom (9) and the stick (8) move very small, so the position information is judged by observing the slewing angle, that is, the azimuth angle, at this time the azimuth angle ξh = ∠Xh0Oh0Xh1 = 90°, the next step starts unloading; The unloading completion position is from the start of unloading to the completion of unloading, which is the action of the bucket (3), the boom (9) and the stick (8) move small, so the position information is judged by observing the action of the bucket (3), that is, the roll angle, at this time the roll angle βc = ∠Xc0Oc0Xc1 = 90°, the next step starts reverse slewing to reach the initial position.

5. An excavator fuel consumption efficiency simulation test device employing the excavator fuel consumption efficiency simulation test method according to any one of claims 1 to 4, characterized by: The application relates to a hydraulic excavator damping device, which comprises a whole-vehicle electronic control unit VECU, a damper, a boom gyroscope (10), a bucket gyroscope (4), a stick gyroscope (6), a superstructure rotation center gyroscope (15), a simulated counterweight (5) and an oil consumption instrument (13), the whole-vehicle electronic control unit VECU is in communication connection with the boom gyroscope (10), the bucket gyroscope (4), the stick gyroscope (6) and the superstructure rotation center gyroscope (15) respectively, the simulated counterweight (5) is installed on a stick (8), the oil consumption instrument (13) is installed on the hydraulic excavator, and the oil consumption instrument (13) is connected with oil inlet and oil return pipelines of an engine and an oil tank respectively.

6. The shovel fuel efficiency simulation test device according to claim 5, characterized by: The damper comprises a fixed base (1) and a rotor, the rotor is installed on the fixed base (1), and the rotor comprises four rotor plates (2), each rotor plate (2) is spaced by 90 degrees and can rotate around a middle shaft.

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