柔性桁架式喷杆系统设计及动态仿真研究
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摘要
长期以来,以玉米、甘蔗为代表的高秆作物生长中后期病虫害防治难的问题一直没有得到解决。超高地隙自走式喷杆喷雾机以其地隙高、穿透性好的特性,为解决该难题找到了一条捷径。但是由于其喷杆作业高度在2.5m以上,加之农田作业环境复杂,喷杆系统的减震和平衡效果便成了喷杆喷雾量分布均匀性的关键因素。
本文的研究工作是结合“863计划”项目课题“高秆作物高效施药技术研究与装备创制”(课题编号：2008AA100901)及科技部国科发基[2008]164号文批准建设的36个国家重点实验室之一“土壤植物机器系统技术国家重点实验室”项目进行的。针对喷杆动态特性测试系统的设计、喷杆展开状态下的静力有限元分析、柔性桁架式喷杆系统精细模型的建立、整机实验室仿真和田间路面谱仿真、喷杆柔性多刚体运动方程、喷杆结构动力学方程以及喷杆等腰梯形悬架的设计改进等问题展开,进行了柔性桁架式喷杆系统设计与动态仿真研究。
基于“土壤植物机器系统技术国家重点实验室”建设喷杆动态特性测试系统的要求,完成了单自由度测试平台的制造。根据喷杆动态特性采集点的要求,设计了采集点的分布图；根据系统要求特性选用了加速度传感器和位移传感器；依据硬件的特性,开发了数据采集器和数据调理器；并根据需要的数据图形以及后处理要求,开发了系统软件。对几种喷杆喷雾机进行了田间振动特性测试,得到了喷杆设计和稳定性改善的依据,即要使喷杆具有良好的稳定性以及与地面保持水平平衡的能力,喷杆必须具有2个条件：一是喷杆与机架之间采用具有良好平衡性能的悬挂装置；二是各节喷杆桁架之间采用能充分吸收振动冲击能量的柔性联结结构。
根据课题要求和田间测试的结果,设计了具有24m幅宽的桁架式喷杆系统,对其展开状态进行了静力有限元分析。结果表明,该喷杆结构设计合理,其避障机构具有避障回弹功能；大臂的应力强度最大值为104.8MPa,中臂的应力强度最大值为20.5MPa,小臂的应力最大值为25.9MPa,远小于材料的屈服强度620MPa；大臂位移为8mmm；中臂位移为0.017mm,小臂位移为0.8mm；大臂应变最大值为0.0007,中臂应变最大值为0.00007,小臂应变最大值为0.00007；大臂安全系数最小值为1.5,中臂安全系数最小值为10.7,小臂安全系数最小值为8.5,均大于1.0。该结果验证了桁架式喷杆结构的稳定性。
采用ADAMS虚拟样机技术,对课题样机3WZC-2000型超高地隙喷杆喷雾机进行了精细建模和仿真。对整机精细模型在模拟实验室测试情况下模拟了喷雾机在左侧轮跳动时喷杆的动态特性,得到了喷杆左右两末端的垂向位移变化以及加速度变化曲线,并对比研究了有无悬架时喷杆末端特性参数变化情况。在模拟实验室研究的基础上,建立了轮胎和田间路面谱,较为真实的模拟了喷雾机在田间工作的情况,得到了在运动过程中喷杆的动态特性参数的变化曲线。结果表明,喷杆悬架起到了良好的隔振作用。
以柔性多刚体结构的空间运动分析为切入点,得到了柔性喷杆的运动方程。并将该方程用于喷杆悬架系统进行验证。结果表明,拖拉机缓慢运动不会导致喷杆左右摇摆,在快速的摆动中,悬架将会起到过滤作用。
对等腰梯形悬架进行了改进,提出了在喷杆运动过程中,仅改变悬架系统单腰长度以保持喷杆系统平衡的方法,得出了控制方程。且对悬架系统改进后的喷雾机的喷杆动态特性效果进行了验证,结果表明在主架发生大幅度振动时,悬架起到了很好的隔振作用。
For a long time, it has been a big problem to control the pests and disease of hi-crops effectively. Super high clearance self-propelled sprayer was designed to solve this problem. However, for the boom is positioned over 2.5m height, and the field environment is complex, the boom vibration is inevitable, and thus would greatly affect the spray uniformity. How to design the shock mitigation system and how to make the boom always keep balance has become a key problem.
Based on the practical projects of'Research on Pesticide Application Technology and Equipments of Hi-crops'and'State Key Laboratory of Soil—Plant—Machinery System Technology', the study on flexible truss boom system design and dynamic simulation is presented in this dissertation. It includes six parts, namely, dynamic test system design of the boom, static FEA for the expanding boom, flexible truss boom modeling, lab simulation and field simulation of the sprayer, kinematic equations of flexible multi-body boom, and isosceles trapezoid suspension design.
To satisfy the requirements of the project'State Key Laboratory of Soil—Plant—Machinery System Technology', SDF test platform was established. According to the requirements of the dynamic characteristics of collection points, the distribution of collection points was designed. Acceleration sensors and displacement sensors were chosen for the system requirements. Data collector, data conditioner and system software were developed also. With this test system, the boom's field vibration tests for several types of sprayers were carried out, which obtained two necessary conditions to make the kinetic boom keep stable and balance. First, a suspension of good performance should be positioned between the boom and body frame. Second, flexible connections between trusses should be used to absorb the impact force.
According to the requirements of the project and field test results, the 24m width truss boom system was designed, and FEA method was used to analyze the expanding truss boom. The results show that the boom design is reasonable, and the chief results are as follows: The maximum stress intensity of big arm is 104.8MPa, middle arm 20.5MPa, and small arm 25.9Mpa, far lower than 620MPa yield strength. The displacement of big arm is 8 mm, middle arm 0.017 mm, and small arm 0.8 mm. The maximum strain of big arm is 0.0007, middle arm 0.00007, and small arm 0.00007. The minimum safety factor of big arm is 1.5, middle arm 10.7, and small arm 8.5, greater than 1.0.
By ADAMS virtual prototyping technology, the prototype 3WZC-2000 super high clearance sprayer was modeled and simulated. To compare characteristic parameters of the boom with or without a suspension, the sprayer was simulated during left wheel jouncing in the lab simulation environment. To get more real dynamic characteristic parameter curves, tires and field road spectrum were established. The result shows that the suspension can make the kinetic boom more stable.
Motion equation of the flexible multi-body boom was derived to test the suspension system of boom. It shows that suspension can keep the boom stable when the tractor moving fast.
The theory of changing just one lever of the isosceles trapezoid suspension of the kinetic boom was advanced and equations were derived. It was used on the sprayer. The results show that the theory is reasonable, and one lever changing suspension is able to keep the kinetic boom stable greatly.
本文的研究工作是结合“863计划”项目课题“高秆作物高效施药技术研究与装备创制”(课题编号：2008AA100901)及科技部国科发基[2008]164号文批准建设的36个国家重点实验室之一“土壤植物机器系统技术国家重点实验室”项目进行的。针对喷杆动态特性测试系统的设计、喷杆展开状态下的静力有限元分析、柔性桁架式喷杆系统精细模型的建立、整机实验室仿真和田间路面谱仿真、喷杆柔性多刚体运动方程、喷杆结构动力学方程以及喷杆等腰梯形悬架的设计改进等问题展开,进行了柔性桁架式喷杆系统设计与动态仿真研究。
基于“土壤植物机器系统技术国家重点实验室”建设喷杆动态特性测试系统的要求,完成了单自由度测试平台的制造。根据喷杆动态特性采集点的要求,设计了采集点的分布图；根据系统要求特性选用了加速度传感器和位移传感器；依据硬件的特性,开发了数据采集器和数据调理器；并根据需要的数据图形以及后处理要求,开发了系统软件。对几种喷杆喷雾机进行了田间振动特性测试,得到了喷杆设计和稳定性改善的依据,即要使喷杆具有良好的稳定性以及与地面保持水平平衡的能力,喷杆必须具有2个条件：一是喷杆与机架之间采用具有良好平衡性能的悬挂装置；二是各节喷杆桁架之间采用能充分吸收振动冲击能量的柔性联结结构。
根据课题要求和田间测试的结果,设计了具有24m幅宽的桁架式喷杆系统,对其展开状态进行了静力有限元分析。结果表明,该喷杆结构设计合理,其避障机构具有避障回弹功能；大臂的应力强度最大值为104.8MPa,中臂的应力强度最大值为20.5MPa,小臂的应力最大值为25.9MPa,远小于材料的屈服强度620MPa；大臂位移为8mmm；中臂位移为0.017mm,小臂位移为0.8mm；大臂应变最大值为0.0007,中臂应变最大值为0.00007,小臂应变最大值为0.00007；大臂安全系数最小值为1.5,中臂安全系数最小值为10.7,小臂安全系数最小值为8.5,均大于1.0。该结果验证了桁架式喷杆结构的稳定性。
采用ADAMS虚拟样机技术,对课题样机3WZC-2000型超高地隙喷杆喷雾机进行了精细建模和仿真。对整机精细模型在模拟实验室测试情况下模拟了喷雾机在左侧轮跳动时喷杆的动态特性,得到了喷杆左右两末端的垂向位移变化以及加速度变化曲线,并对比研究了有无悬架时喷杆末端特性参数变化情况。在模拟实验室研究的基础上,建立了轮胎和田间路面谱,较为真实的模拟了喷雾机在田间工作的情况,得到了在运动过程中喷杆的动态特性参数的变化曲线。结果表明,喷杆悬架起到了良好的隔振作用。
以柔性多刚体结构的空间运动分析为切入点,得到了柔性喷杆的运动方程。并将该方程用于喷杆悬架系统进行验证。结果表明,拖拉机缓慢运动不会导致喷杆左右摇摆,在快速的摆动中,悬架将会起到过滤作用。
对等腰梯形悬架进行了改进,提出了在喷杆运动过程中,仅改变悬架系统单腰长度以保持喷杆系统平衡的方法,得出了控制方程。且对悬架系统改进后的喷雾机的喷杆动态特性效果进行了验证,结果表明在主架发生大幅度振动时,悬架起到了很好的隔振作用。
For a long time, it has been a big problem to control the pests and disease of hi-crops effectively. Super high clearance self-propelled sprayer was designed to solve this problem. However, for the boom is positioned over 2.5m height, and the field environment is complex, the boom vibration is inevitable, and thus would greatly affect the spray uniformity. How to design the shock mitigation system and how to make the boom always keep balance has become a key problem.
Based on the practical projects of'Research on Pesticide Application Technology and Equipments of Hi-crops'and'State Key Laboratory of Soil—Plant—Machinery System Technology', the study on flexible truss boom system design and dynamic simulation is presented in this dissertation. It includes six parts, namely, dynamic test system design of the boom, static FEA for the expanding boom, flexible truss boom modeling, lab simulation and field simulation of the sprayer, kinematic equations of flexible multi-body boom, and isosceles trapezoid suspension design.
To satisfy the requirements of the project'State Key Laboratory of Soil—Plant—Machinery System Technology', SDF test platform was established. According to the requirements of the dynamic characteristics of collection points, the distribution of collection points was designed. Acceleration sensors and displacement sensors were chosen for the system requirements. Data collector, data conditioner and system software were developed also. With this test system, the boom's field vibration tests for several types of sprayers were carried out, which obtained two necessary conditions to make the kinetic boom keep stable and balance. First, a suspension of good performance should be positioned between the boom and body frame. Second, flexible connections between trusses should be used to absorb the impact force.
According to the requirements of the project and field test results, the 24m width truss boom system was designed, and FEA method was used to analyze the expanding truss boom. The results show that the boom design is reasonable, and the chief results are as follows: The maximum stress intensity of big arm is 104.8MPa, middle arm 20.5MPa, and small arm 25.9Mpa, far lower than 620MPa yield strength. The displacement of big arm is 8 mm, middle arm 0.017 mm, and small arm 0.8 mm. The maximum strain of big arm is 0.0007, middle arm 0.00007, and small arm 0.00007. The minimum safety factor of big arm is 1.5, middle arm 10.7, and small arm 8.5, greater than 1.0.
By ADAMS virtual prototyping technology, the prototype 3WZC-2000 super high clearance sprayer was modeled and simulated. To compare characteristic parameters of the boom with or without a suspension, the sprayer was simulated during left wheel jouncing in the lab simulation environment. To get more real dynamic characteristic parameter curves, tires and field road spectrum were established. The result shows that the suspension can make the kinetic boom more stable.
Motion equation of the flexible multi-body boom was derived to test the suspension system of boom. It shows that suspension can keep the boom stable when the tractor moving fast.
The theory of changing just one lever of the isosceles trapezoid suspension of the kinetic boom was advanced and equations were derived. It was used on the sprayer. The results show that the theory is reasonable, and one lever changing suspension is able to keep the kinetic boom stable greatly.
引文
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