基于离散元-多体动力学联合仿真的机械式挖掘机挖掘阻力仿真与试验
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摘要
针对机械式挖掘机的挖掘阻力计算问题,提出了基于离散元-多体动力学(DEMMBD)联合仿真的挖掘阻力数值模拟方法。以国产WK系列某型号机械式挖掘机为研究对象,建立了挖掘机的物理样机和挖掘阻力测试系统。根据挖掘机的实际挖掘工况,建立样机的动力学仿真模型和物料离散元模型,由动力学软件Adams与离散元软件EDEM进行了挖掘过程的DEM-MBD联合仿真,模拟计算了挖掘阻力。为了验证数值模拟结果的准确性,使用挖掘阻力测试系统试验测量了同等挖掘条件下的阻力值。结果表明,数值计算结果与试验测量结果在峰值和变化趋势方面都比较吻合,DEM-MBD联合仿真方法适用于挖掘阻力的研究。
To calculate the excavation resistance of mechanical excavator,a numerical simulation method based on Discrete Element Method and Multi Body Dynamics(DEM-MBD)is proposed.A physical prototype of the excavator and excavation resistance measuring device are designed for a WK excavator.According to the actual working conditions,the dynamic simulation model of the prototype and the discrete element model of the excavated material are established.The numerical simulation is carried out by the dynamic simulation software Adams and discrete element software EDEM,to realize DEM-MBD co-simulation of the excavation resistance.To verify the accuracy of the numericalsimulation result,the excavation resistance is measured using the designed test system.Comparison shows that the simulation result is in good agreement with the experimental result both in peak value and in varying trend.The DEM-MBD co-simulation method is suitable for studying excavation resistance.
To calculate the excavation resistance of mechanical excavator,a numerical simulation method based on Discrete Element Method and Multi Body Dynamics(DEM-MBD)is proposed.A physical prototype of the excavator and excavation resistance measuring device are designed for a WK excavator.According to the actual working conditions,the dynamic simulation model of the prototype and the discrete element model of the excavated material are established.The numerical simulation is carried out by the dynamic simulation software Adams and discrete element software EDEM,to realize DEM-MBD co-simulation of the excavation resistance.To verify the accuracy of the numericalsimulation result,the excavation resistance is measured using the designed test system.Comparison shows that the simulation result is in good agreement with the experimental result both in peak value and in varying trend.The DEM-MBD co-simulation method is suitable for studying excavation resistance.
引文
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[10]Rasimarzabadi R,Joseph T G.Particle flow mechanism into cable shovel dippers[J].Journal of Terramechanics,2016,64(1):10-22.
[2]Stavropoulou M,Xiroudakis G,Exadaktylos G.Analytical model for estimation of digging forces and specific energy of cable shovel[J].Coupled Systems Mechanics,2013,2(1):23-51.
[3]Maciejewski J,Jarzbowski A,Trampczyński W.Study on the efficiency of the digging process using the model of excavator bucket[J].Journal of Terramechanics,2003,40(4):221-233.
[4]Cleary P W.DEM simulation of industrial particle flows:case studies of dragline excavators,mixing in tumblers and centrifugal mills[J].Powder Technology,2000,109(1):83-104.
[5]Cleary P W,Hilton J E,Sinnott M D.Modelling of industrial particle and multiphase flows[J].Powder Technology,2017,314:232-252.
[6]Coetzee C J,Basson A H,Vermeer P A.Discrete and continuum modelling of excavator bucket filling[J].Journal of Terramechanics,2007,44(2):177-186.
[7]Coetzee C J,Els D N J.The numerical modelling of excavator bucket filling using DEM[J].Journal of Terramechanics,2009,46(5):217-227.
[8]Coetzee C J,Els D N J,Dymond G F.Discrete element parameter calibration and the modelling of dragline bucket filling[J].Journal of Terramechanics,2010,47(1):33-44.
[9]Curry D R,Deng Y.Optimizing Heavy equipment for handling bulk materials with Adams-EDEM cosimulation[C]∥Proceedings of the 7th International Conference on Discrete Element Methods.Springer,2017:1219-1224.
[10]Rasimarzabadi R,Joseph T G.Particle flow mechanism into cable shovel dippers[J].Journal of Terramechanics,2016,64(1):10-22.