混凝土泵车臂架振动分析
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摘要
目的分析系统组成和工作过程,建立混凝土泵车臂架系统的动态数学模型,研究臂架系统的动力学特性.方法根据虚功原理和拉格朗日方程建立了商品混凝土泵车的臂架系统的动力学方程,以某型号混凝土泵车臂架系统的参数为依据,在几个特征工作点对方程进行了线性化,得到反映实际的动态数学模型,以此搭建Matlab/Simulink仿真模型.结果通过运行Matlab/Simulink仿真运算,得到了各臂架油缸活塞位移和末端在不同工况下的振荡运动轨迹.结论混凝土泵车臂架系统的振动仿真可以比较真实地反映出臂架系统在实际浇筑过程中的振动情况,对混凝土泵车臂架系统的设计及减小臂架振动有一定的指导作用.
Based on the system component and working process of a concrete pump truck,a dynamic model was built to study dynamic behavior of the arm system. According to the principle of virtual work and Lagrange equation,dynamic equations of the arm system were established. The dynamic equitations were linearized at some working feature points and a Matlab /Simulink simulation model was built. Displacements of arm cylinder pistons and oscillating trajectories at ends under different conditions were obtained. Results show that the vibration simulation can well describe dynamic behavior of the real arm system by actual casting process of the concrete pump truck,which can improve the design of arm system and reduce its vibration.
Based on the system component and working process of a concrete pump truck,a dynamic model was built to study dynamic behavior of the arm system. According to the principle of virtual work and Lagrange equation,dynamic equations of the arm system were established. The dynamic equitations were linearized at some working feature points and a Matlab /Simulink simulation model was built. Displacements of arm cylinder pistons and oscillating trajectories at ends under different conditions were obtained. Results show that the vibration simulation can well describe dynamic behavior of the real arm system by actual casting process of the concrete pump truck,which can improve the design of arm system and reduce its vibration.
引文
[1]刘永红,易小刚.混凝土泵车柔性多体动力学建模与分析[J].中国工程机械学报,2006(4):397-402.(Liu Yonghong,Yi Xiaogang.Concrete pump flexible multi-body dynamics modeling and analysis[J].Chinese Journal of Construction Machinery,2006(4):397-402.)
[2]曾克俭.液压柔性机械臂等效模型的鲁棒控制[J].机械科学与技术,2007,26(3):324-326.(Zheng Kejian.Robust control of hydraulic flexible manipulator equivalent model[J].Mechanical Science and Technology,2007,26(3):324-326.)
[3]戴丽.基于多体动力学的混凝土泵车臂架的运动分析[J].东北大学学报:自然科学版,2007,10(10):1469-1472.(Daili,Based on multi body dynamics of concrete pump truck,pump truck arm movement analysis[J].Journal of Northeastern University:Natural Science Edition,2007,10(10):1469-1472.)
[4]王积伟.液压传动[M].北京:机械工业出版社,2009.(Wang Jiwei.hydraulic transmission[M].Beijing:Mechanical Industry Press,2009.)
[5]李涛.混凝土泵车臂架系统建模与仿真分析[J].武汉科技大学学报,2012,4(2):129-132.(Li Tao.Modeling and simulation of concrete pump truck's arm[J].Journal of Wuhan University of Science and Technology,2012,4(2):129-132.)
[6]郭大猛.混凝土泵车柔性臂架建模及逆运动学研究[J].中国工程机械学报,2009(1):13-19.(Guo Dameng.The modeling and inverse kinematics of concrete pump truck flexible arm[J].Chinese Journal of Mechanical Engineering,2009(1):13-19.)
[7]刘会勇.混凝土泵车臂架液压系统建模与仿真研究[J].工程设计学报,2010,8(4):253-258.(LiuHuiyong,hydraulic system of concrete pump truck's arm modeling and simulation[J].Journal of engineering Design,2010,8(4):253-258.)
[8]金明勇.基于AMEsim的混凝土泵车臂架系统建模及仿真[D].武汉:武汉大学,2011.(Jin Mingyong.Mode and simulation of arm system of concrete pump truck based on AMEsim[D].Wuhan:Wuhan University,2011.)
[9]刘杰.混凝土泵车臂架柔性多体动力学建模与仿真[J].中国机械工程学报,2007(11):542-547.(Liujie.Multibody dynamics simulation for arm system of concrete pump truck[J].Beijing,Chinese Journal of Mechanical Engineering,2007(11):542-547.)
[10]王正林.MATLAB/Simulink与控制系统仿真[M].北京:电子工业出版社,2012.(Wang ZhengLin.MATLAB/Simulink simulation and control system[M].Beijing:Publishing House of Electronics Industry,2012.)
[11]Palmer,D.Infinitely variable flow Pump getse loser toreality for truck sandears[J].Eureka,2005(l):10-11.
[12]Kronenberg,Jurgen.First delivery of fiexible,five-sectioned booms[J].Conerete,2005,39(5):46-49.
[13]Felez J B.A bond graph based simulation program for multibody systems[J].J.of Dyn.Sys.Mea.Ans Lon.,2010,112:717-727.
[14]Kronenberg J.Concrete pumps at Delhi's metro construction sites[J].Concrete Engineering International,2005,9(4):48-51.
[15]Wang Xinhua.Analysis of hydraulic surge in hydraulic-drive reciprocating pump[J].Oilfiled Equipment,2006(5)997-1005.
[16]Borowsky J,Wei T.Simultaneous velocimetry/accelerometry measurements in a turbulent two-phase pipe flow[J].Cxperiments in Fluids,2006(2):124-129.
[17]Peng Songlin,Zuo Decan,Zhang Weiping,et al.Co-simulation and optimization design of crank rocker flapping wing mechanism[J].Journal of System Simulation,2007,19(8):175-1761.
[18]Austin S A,Goodier C I,Robins P J.Low-volume wet-process sprayed concrete:pumping and spraying[J].Materials and Structures,2005,38:229-237.
[2]曾克俭.液压柔性机械臂等效模型的鲁棒控制[J].机械科学与技术,2007,26(3):324-326.(Zheng Kejian.Robust control of hydraulic flexible manipulator equivalent model[J].Mechanical Science and Technology,2007,26(3):324-326.)
[3]戴丽.基于多体动力学的混凝土泵车臂架的运动分析[J].东北大学学报:自然科学版,2007,10(10):1469-1472.(Daili,Based on multi body dynamics of concrete pump truck,pump truck arm movement analysis[J].Journal of Northeastern University:Natural Science Edition,2007,10(10):1469-1472.)
[4]王积伟.液压传动[M].北京:机械工业出版社,2009.(Wang Jiwei.hydraulic transmission[M].Beijing:Mechanical Industry Press,2009.)
[5]李涛.混凝土泵车臂架系统建模与仿真分析[J].武汉科技大学学报,2012,4(2):129-132.(Li Tao.Modeling and simulation of concrete pump truck's arm[J].Journal of Wuhan University of Science and Technology,2012,4(2):129-132.)
[6]郭大猛.混凝土泵车柔性臂架建模及逆运动学研究[J].中国工程机械学报,2009(1):13-19.(Guo Dameng.The modeling and inverse kinematics of concrete pump truck flexible arm[J].Chinese Journal of Mechanical Engineering,2009(1):13-19.)
[7]刘会勇.混凝土泵车臂架液压系统建模与仿真研究[J].工程设计学报,2010,8(4):253-258.(LiuHuiyong,hydraulic system of concrete pump truck's arm modeling and simulation[J].Journal of engineering Design,2010,8(4):253-258.)
[8]金明勇.基于AMEsim的混凝土泵车臂架系统建模及仿真[D].武汉:武汉大学,2011.(Jin Mingyong.Mode and simulation of arm system of concrete pump truck based on AMEsim[D].Wuhan:Wuhan University,2011.)
[9]刘杰.混凝土泵车臂架柔性多体动力学建模与仿真[J].中国机械工程学报,2007(11):542-547.(Liujie.Multibody dynamics simulation for arm system of concrete pump truck[J].Beijing,Chinese Journal of Mechanical Engineering,2007(11):542-547.)
[10]王正林.MATLAB/Simulink与控制系统仿真[M].北京:电子工业出版社,2012.(Wang ZhengLin.MATLAB/Simulink simulation and control system[M].Beijing:Publishing House of Electronics Industry,2012.)
[11]Palmer,D.Infinitely variable flow Pump getse loser toreality for truck sandears[J].Eureka,2005(l):10-11.
[12]Kronenberg,Jurgen.First delivery of fiexible,five-sectioned booms[J].Conerete,2005,39(5):46-49.
[13]Felez J B.A bond graph based simulation program for multibody systems[J].J.of Dyn.Sys.Mea.Ans Lon.,2010,112:717-727.
[14]Kronenberg J.Concrete pumps at Delhi's metro construction sites[J].Concrete Engineering International,2005,9(4):48-51.
[15]Wang Xinhua.Analysis of hydraulic surge in hydraulic-drive reciprocating pump[J].Oilfiled Equipment,2006(5)997-1005.
[16]Borowsky J,Wei T.Simultaneous velocimetry/accelerometry measurements in a turbulent two-phase pipe flow[J].Cxperiments in Fluids,2006(2):124-129.
[17]Peng Songlin,Zuo Decan,Zhang Weiping,et al.Co-simulation and optimization design of crank rocker flapping wing mechanism[J].Journal of System Simulation,2007,19(8):175-1761.
[18]Austin S A,Goodier C I,Robins P J.Low-volume wet-process sprayed concrete:pumping and spraying[J].Materials and Structures,2005,38:229-237.