多体泵车臂架运动学规律仿真和实验研究
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摘要
水泥混凝土泵车臂架是典型的多体非线性系统,臂架的柔性以及与连杆之间的耦合作用增大了臂架运动学轨迹和动力学响应求解难度。采用模态缩减法建立臂架刚柔混合模型,利用虚拟弹簧阻尼法建立液压缸等效连接,运用计算机仿真算法研究柔性臂、连杆、铰之间的复杂运动学规律,分析臂架柔性和等效油缸弹簧阻尼对末端位移的影响,最后通过实验验证仿真结果的正确性和合理性,为臂架虚拟样机设计、低频振动控制、轨迹预测提供参考。
Mobile concrete pump boom is typical nonlinear flexible multibody structure. The rigid-flexible coupling between booms and linkages makes the boom tip trajectory prediction and dynamics solution more difficult. The modal reduction techniques is adopted to establish the rigid-flexible model, further more virtual spring-damper method is used to substitute the hydraulic cylinder. Then the nonlinear kinematics and dynamics research of the flexible booms, linkages, joints of the model is simulated. Influence of flexible booms and equivalent hydraulic cylinder spring damper to the end of tip displacement is done. In the end an experiment is done to validate the proposed model, which provides virtual prototype design,accurate vibration control and trajectory prediction for such structure.
Mobile concrete pump boom is typical nonlinear flexible multibody structure. The rigid-flexible coupling between booms and linkages makes the boom tip trajectory prediction and dynamics solution more difficult. The modal reduction techniques is adopted to establish the rigid-flexible model, further more virtual spring-damper method is used to substitute the hydraulic cylinder. Then the nonlinear kinematics and dynamics research of the flexible booms, linkages, joints of the model is simulated. Influence of flexible booms and equivalent hydraulic cylinder spring damper to the end of tip displacement is done. In the end an experiment is done to validate the proposed model, which provides virtual prototype design,accurate vibration control and trajectory prediction for such structure.
引文
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[15]唐宏宾,吴运新,马昌训,等.小波变换在液压油缸泄漏故障诊断中的应用[J].计算机工程与应用,2012,48(5):221-223.
[16]Dresig H,Ig F H.Dynamics of machinery[M].Berlin:Springer,2010.
[2]Bagordo G,Cazzulani G,Resta F,et al.A modal disturbance estimator for vibration suppression in nonlinear flexible structures[J].Journal of Sound and Vibration,2011,330(25):6061-6069.
[3]Lenord O,Fang S,Franitza D,et al.Numerical linearisation method to efficiently optimise the oscillation damping of an interdisciplinary system model[J].Multibody System Dynamics,2003,10(2):201-217.
[4]周淑文,张思奇,张国忠.混凝土泵车臂架瞬态动力学分析[J].建筑机械,2006,26(19):72-74.
[5]陈凯,孙国正.混凝土泵车臂架结构的智能优化设计[J].武汉理工大学学报:交通科学与工程版,2003,27(2):244-246.
[6]吕彭民,汪红兵,张大庆.混凝土泵车冲击载荷对结构动态特性的影响[J].中国公路学报,2003,16(4):115-117.
[7]Heinze A.Modelling,simulation and control of a hydraulic crane[D].Vxj:VxjUniversity,2008.
[8]郭岗,许辉.混凝土泵车臂架结构的几何非线性计算[J].建筑机械,2007,27(3):69-73.
[9]戴丽,王健,刘宇,等.混凝土泵车臂架系统的PD控制[J].东北大学学报:自然科学版,2009,30(11):1645-1648.
[10]戴丽.基于柔性多体动力学的混凝土泵车臂架系统的建模与仿真[D].沈阳:东北大学,2008.
[11]张婧.混凝土泵车液压柔性臂架动力学分析与控制[D].沈阳:东北大学,2006.
[12]才娟.混凝土泵车臂架系统的柔性多体动力学分析与仿真[D].沈阳:东北大学,2005.
[13]郭大猛,欧关怀,李允公,等.基于模糊梯度投影法的混凝土泵车臂架运动仿真[J].系统仿真学报,2011,23(6):1264-1267.
[14]胡凡,吴运新.软测量技术在泵车臂架结构健康监测中的应用[J].计算机工程与应用,2013,49(3):263-266.
[15]唐宏宾,吴运新,马昌训,等.小波变换在液压油缸泄漏故障诊断中的应用[J].计算机工程与应用,2012,48(5):221-223.
[16]Dresig H,Ig F H.Dynamics of machinery[M].Berlin:Springer,2010.