泵车复合材料臂架振动的自适应控制
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摘要
相比于全钢质混凝土泵车臂架,轻质复合材料臂架柔性大、耦合强,振动特性更加复杂,振动控制难度大.基于脉冲式混凝土激励下复合材料臂架的受力分析,以某型号混凝土泵车为研究对象建立了复合材料臂架动力学模型,并基于该模型进行了各种臂架姿态下的振动特性分析,掌握了复合材料臂架的振动特性规律.基于搭建的主动控制液压系统与振动特性专家库,开发了复合材料臂架振动自适应控制系统,实现了全工况臂架振动的实时控制.试验结果表明,该系统可使复合材料臂架典型姿态下的末端振动位移降低70%以上,控制精度达到240mm以内,实用性强.
Compared with the steel booms of truck-mounted concrete pump,the vibration control on light-weight composite material booms is more difficult due to higher flexibility,stronger coupling and more complicated vibration properties.With the loading analysis on composite material booms under pulsated concrete excitation,a dynamical model is established for a specific concrete pump.By analyzing the vibration properties for diverse boom postures,an expert base on positive hydraulic control systems and vibration properties is used to develop the vibration adaptive control system for real-time control under all working conditions.Therein,tt is found from testing results that the proposed system can practically reduce the end vibration displacements by over 70% under typical boom postures with control precision of240 mm below.
Compared with the steel booms of truck-mounted concrete pump,the vibration control on light-weight composite material booms is more difficult due to higher flexibility,stronger coupling and more complicated vibration properties.With the loading analysis on composite material booms under pulsated concrete excitation,a dynamical model is established for a specific concrete pump.By analyzing the vibration properties for diverse boom postures,an expert base on positive hydraulic control systems and vibration properties is used to develop the vibration adaptive control system for real-time control under all working conditions.Therein,tt is found from testing results that the proposed system can practically reduce the end vibration displacements by over 70% under typical boom postures with control precision of240 mm below.
引文
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[6]王海英.水泥混凝土泵车振动性能与结构优化设计研究[D].西安:长安大学,2003.WANG Haiying.Vibration characters and structure optimum design of concrete pump truck[D].Xi′an:Chang'an University,2003.
[2]陈栋,王刚,谢秀芬,等.混凝土泵车臂架振动的动态特性[J].机械设计与研究,2011,27(4):92-95.CHEN Dong,WAN Gang,XIE Xiufen,et al.Research on dynamic characteristics of boom system vibration of concrete pump truck[J].Machine Design and Research,2011,27(4):92-95.
[3]吴智勇,周翔,胡德文,等.基于时滞补偿方法的混凝土泵车臂架主动减振[J].中国机械工程,2013,27(12):3283-3288.WU Zhiyong,ZHOU Xiang,HU Dewen,et al.Active vibration suppression for boom of concrete pump truck based on timedelay compensation approach[J].China Mechanical Engineering,2013,12(27):3283-3288.
[4]马肖丽,刘正,沈峰,等.减小混凝土布料杆臂架冲击方法的探讨[J].设计研究,2012,12(1):43-46.MA Xiaoli,LIU Zheng,SHEN Feng,et al.Discuss on reducing the jib impact of the concrete placing booms[J].Construction Mechanization,2012,12(1):43-46.
[5]郭大猛,刘阔,徐大鹿,等.混凝土泵车输料管流构耦合振动研究[J].东北大学学报:自然科学版,2010,31(1):99-102.GUO Dameng,LIU Kuo,XU Dalu,et al.Effect of the vibration coupling pumped concrete fluid with conveying pipes on concrete pump truck[J].Journal of Northeastern University:Natural Science,2010,31(1):99-102.
[6]王海英.水泥混凝土泵车振动性能与结构优化设计研究[D].西安:长安大学,2003.WANG Haiying.Vibration characters and structure optimum design of concrete pump truck[D].Xi′an:Chang'an University,2003.