旋挖钻机工作装置力学特性研究与优化
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摘要
旋挖钻机是机电液一体化技术集成度很高的复杂设备,相对国外几十年的发展历史,我国尚处于起步阶段,还存在许多不足之处。目前,国产旋挖钻机主要依靠相对低廉的价格和进口旋挖钻机分摊市场份额,两者在技术上的竞争关系还较弱。对旋挖钻机工作装置的力学特性研究还很不成熟,有许多关键的理论和技术问题有待于进一步研究并解决。在国家863课题“计算机控制高性能旋挖钻机的研发和产业化”、湖南省研究生科研创新项目及中南大学研究生学位论文创新基金的资助下,本文对旋挖钻机工作装置进行了深入、系统的力学特性研究和多角度的优化设计,以期提高国产旋挖钻机的技术水平。本文的主要研究成果如下：
(1)分析了旋挖钻机的结构组成,重点介绍了旋挖钻机的工作原理,并对旋挖钻机工作装置的组成原理进行了分析。
(2)建立了包含液压执行元件的空间超静定结构的旋挖钻机工作装置的力学模型,在Simulink中构建了基于MATLAB程序的仿真模型并进行了仿真。对数学模型和仿真结果进行了力学特性分析,为变幅机构优化设计提供了理论依据。
(3)建立了多种动臂变幅机构在动臂变幅工况下的动力学数学模型,在Simulink中建立了基于MATLAB程序的仿真模型并进行了仿真分析。得出了动臂位于连杆下方且动臂变幅油缸上撑动臂的变幅机构形式能提供比较好的动力学性能的结论。
(4)建立了钻桅内力的数学模型,研究了动力头在钻桅上的不同位置、钻桅变幅油缸和钻桅的铰点的不同位置等情况下钻桅的力学特性,为钻桅结构的优化设计提供了理论依据。
(5)研究了不同主卷扬安装位置对工作装置力学性能、钻桅力学性能的影响,得出了主卷扬安装在回转平台上优于安装在钻桅下部的结论。
(6)构建了动臂变幅机构和钻桅变幅机构的动力学优化设计模型,采用遗传算法进行了优化设计,建立了钻桅的参数优化模型,利用ANSYS软件进行了优化设计,得到了SWDM-22型旋挖钻机工作装置的优化结构参数。
(7)在SWDM-22型旋挖钻机上进行了动臂变幅油缸和钻桅变幅油缸的压力测量试验、钻桅应力测量试验,测试结果验证了理论分析的正确性。
总之,论文系统研究了旋挖钻机工作装置的力学特性并进行了优化设计,具有重要的理论意义与工程应用价值。
Rotary drilling rig is one of the complex equipment with high level of mechanical, electrical, hydraulic integration. To the several decades of development history in the foreign countries, rotary drilling rig in China is still in its infancy, and there are still many deficiencies. At present, domestic rotary drilling rig mainly rely on relatively low prices to share with imported rotary drilling rig. The competition in the technology of them is still relatively weak. The study on the mechanical properties of the working device of rotary drilling rig is not deep enough, and there are a number of key theoretical and technical problems to be further studied. In order to improve the technology of domestic rotary drilling rig, supported by the national863project,"computer-controlled high-performance rotary drilling rig research, development and industrialization", Hunan provincial innovation foundation for postgraduate and the Graduate degree thesis innovation foundation of Central South University, the paper focused on the studies of the mechanical properties of the working device of rotary drilling rig and the optimization designs. The main research works are as follows:
(1)The structure of rotary drilling rig was analyzed, the working principle of rotary drilling rig was introduced and the composition principle of the working device of rotary drilling rig was analyzed.
(2) The mechanical models of the working device which is a spatial statically indeterminate structure including hydraulic executive elements under drilling conditions were set up. Some simulation models based on MATLAB were set up and simulated in Simulink. Some useful results were obtained by analyses to the mathematical models and the simulation results. So the optimization design of the luffing mechanism has the theoretical basis.
(3)The mathematical models of several types of lift-arm luffing mechanism were established and the corresponding simulation models based on MATLAB were set up and simulated in Simulink. When the lift-arm is below the connecting rod with the hydraulic cylinder of lift-arm is below the lift-arm, the lift-arm luffing mechanism will show better dynamic behavior.
(4) The mathematical models of the internal forces of mast were set up. In order to study the influences of the position of driver, and the hinge point between the mast luffing hydraulic cylinder and the mast to the mechanical performance of mast, some simulation models based on MATLAB were set up and simulated in Simulink. Some useful results were obtained by analyses to the mathematical models and the simulation results.
(5) The studies to the influence of different installation positions of the main winch to the dynamic properties of the working device and the mechanical performance of the mast were made. The studies showed that it is better when the main winch installed on the swing platform than it is installed on the mast.
(6) The dynamic optimization models of the lift-arm luffing mechanism and the mast luffing mechanism were set up respectively, some optimization designs were made based on Genetic Algorithm. The parameter optimization model of the mast was established, the optimization design was made in ANSYS.
(7) The hydraulic press of the lift-arm luffing hydraulic cylinders and the mast luffing hydraulic cylinders, and the stress of the mast were tested respectively on SWDM-22rotary drilling rig. The theoretic analyses were verified by these tests.
In a word, the mechanical performance of the working device of rotary drilling rig was studied and some optimization design was made.
(1)分析了旋挖钻机的结构组成,重点介绍了旋挖钻机的工作原理,并对旋挖钻机工作装置的组成原理进行了分析。
(2)建立了包含液压执行元件的空间超静定结构的旋挖钻机工作装置的力学模型,在Simulink中构建了基于MATLAB程序的仿真模型并进行了仿真。对数学模型和仿真结果进行了力学特性分析,为变幅机构优化设计提供了理论依据。
(3)建立了多种动臂变幅机构在动臂变幅工况下的动力学数学模型,在Simulink中建立了基于MATLAB程序的仿真模型并进行了仿真分析。得出了动臂位于连杆下方且动臂变幅油缸上撑动臂的变幅机构形式能提供比较好的动力学性能的结论。
(4)建立了钻桅内力的数学模型,研究了动力头在钻桅上的不同位置、钻桅变幅油缸和钻桅的铰点的不同位置等情况下钻桅的力学特性,为钻桅结构的优化设计提供了理论依据。
(5)研究了不同主卷扬安装位置对工作装置力学性能、钻桅力学性能的影响,得出了主卷扬安装在回转平台上优于安装在钻桅下部的结论。
(6)构建了动臂变幅机构和钻桅变幅机构的动力学优化设计模型,采用遗传算法进行了优化设计,建立了钻桅的参数优化模型,利用ANSYS软件进行了优化设计,得到了SWDM-22型旋挖钻机工作装置的优化结构参数。
(7)在SWDM-22型旋挖钻机上进行了动臂变幅油缸和钻桅变幅油缸的压力测量试验、钻桅应力测量试验,测试结果验证了理论分析的正确性。
总之,论文系统研究了旋挖钻机工作装置的力学特性并进行了优化设计,具有重要的理论意义与工程应用价值。
Rotary drilling rig is one of the complex equipment with high level of mechanical, electrical, hydraulic integration. To the several decades of development history in the foreign countries, rotary drilling rig in China is still in its infancy, and there are still many deficiencies. At present, domestic rotary drilling rig mainly rely on relatively low prices to share with imported rotary drilling rig. The competition in the technology of them is still relatively weak. The study on the mechanical properties of the working device of rotary drilling rig is not deep enough, and there are a number of key theoretical and technical problems to be further studied. In order to improve the technology of domestic rotary drilling rig, supported by the national863project,"computer-controlled high-performance rotary drilling rig research, development and industrialization", Hunan provincial innovation foundation for postgraduate and the Graduate degree thesis innovation foundation of Central South University, the paper focused on the studies of the mechanical properties of the working device of rotary drilling rig and the optimization designs. The main research works are as follows:
(1)The structure of rotary drilling rig was analyzed, the working principle of rotary drilling rig was introduced and the composition principle of the working device of rotary drilling rig was analyzed.
(2) The mechanical models of the working device which is a spatial statically indeterminate structure including hydraulic executive elements under drilling conditions were set up. Some simulation models based on MATLAB were set up and simulated in Simulink. Some useful results were obtained by analyses to the mathematical models and the simulation results. So the optimization design of the luffing mechanism has the theoretical basis.
(3)The mathematical models of several types of lift-arm luffing mechanism were established and the corresponding simulation models based on MATLAB were set up and simulated in Simulink. When the lift-arm is below the connecting rod with the hydraulic cylinder of lift-arm is below the lift-arm, the lift-arm luffing mechanism will show better dynamic behavior.
(4) The mathematical models of the internal forces of mast were set up. In order to study the influences of the position of driver, and the hinge point between the mast luffing hydraulic cylinder and the mast to the mechanical performance of mast, some simulation models based on MATLAB were set up and simulated in Simulink. Some useful results were obtained by analyses to the mathematical models and the simulation results.
(5) The studies to the influence of different installation positions of the main winch to the dynamic properties of the working device and the mechanical performance of the mast were made. The studies showed that it is better when the main winch installed on the swing platform than it is installed on the mast.
(6) The dynamic optimization models of the lift-arm luffing mechanism and the mast luffing mechanism were set up respectively, some optimization designs were made based on Genetic Algorithm. The parameter optimization model of the mast was established, the optimization design was made in ANSYS.
(7) The hydraulic press of the lift-arm luffing hydraulic cylinders and the mast luffing hydraulic cylinders, and the stress of the mast were tested respectively on SWDM-22rotary drilling rig. The theoretic analyses were verified by these tests.
In a word, the mechanical performance of the working device of rotary drilling rig was studied and some optimization design was made.
引文
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