高空作业平台工作机构的动力学仿真研究
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摘要
高空作业平台是用来将操作人员和工作设备运送到指定高度进行作业的特种车辆,其应具有较高的工作平稳性、安全性和可靠性。本文对高空作业平台的工作原理和工作机构进行了研究,以GTZZ21型伸缩臂式高空作业平台工作机构为研究对象,基于虚拟样机技术建立了工作机构的动力学模型。并在模态综合法的基础上,提出基于有限元和多体动力学联合仿真的方法建立高空作业平台的刚柔耦合模型,并对模型进行了动态仿真研究。
论文主要研究了以下的内容
1、针对工作机构特点,运用三维建模软件Pro／E建立工作机构的CAD模型,并对模型进行适当的简化。
2、通过Pro／E软件和动力学分析软件ADAMS联合,建立了高空作业平台的刚体动力学模型,并对其进行了某工况下的仿真分析。通过对动力学模型仿真结果和理论计算数据的分析比较,验证了模型建立的正确性和可行性。
3、根据高空作业平台工作臂的典型工况设计了可行的实验方案,测试出典型工况下变幅缸的位移数据与工作臂测点的应变数据,并对其进行处理分析,为进一步的仿真分析作了必要的准备。
4、使用有限元分析软件ANSYS将工作臂生成模态中性文件,在模态综合法的基础上,建立系统的刚柔耦合模型。对系统进行动力学仿真,得到对应测点的应变数据,与实验结果进行比较,验证了仿真模型的实用性和有效性。
本论文的工作为高空作业平台动力学模型的设计和进一步的研究提供了定的设计基础和理论依据,论文涉及的研究方法可为今后相关的研究提供参考
Possessing the merits of good solidness, high security and excellent reliability, the aerial work platform is a kind of special vehicle which can lift operators and working equipment up to the specified altitude. Based on virtual prototyping technology, dynamics models are established in this paper against the background of the work unit of Model GTZZ21 telescopic arm aerial work platform. Besides, on the foundation of the modal synthesis method, a rigid-flexible coupling model of the aerial work platform is created by the method of finite element and multi-body dynamics joint simulation.
The paper shows the research work and fruit as follow:
1. Characteristics for the working body, the use of three-dimensional modeling software Pro/E CAD model to establish a working body, and appropriate to simplify the model.
2. By Pro/E software and dynamic analysis software ADAMS joint, the establishment of a high-altitude platform for rigid body dynamic model, and its simulation analysis of a certain working conditions. Through the dynamic model simulation results and theoretical analysis and comparison of data to verify the correctness and feasibility of the model.
3. Designing a feasible experiment plan to test and gather the displacement data of Amplitude Cylinder and the strain data of the measurement point on the working arm of aerial work platform in the typical condition, and afterwards, analyzing and handling those prepare for the simulation and analysis.
4. The finite element analysis software ANSYS will work arm modal neutral file generated in the modal synthesis method, based on the established system of flexible coupling models. The system dynamics simulation, the strain measuring point corresponding to the data, compared with the experimental results verify the feasibility and effectiveness of the simulation model.
In summary, the work provides design foundation and theory gist for further researches about high-low pressure rocket launch system, and the research methods provides reference for correlative research.
论文主要研究了以下的内容
1、针对工作机构特点,运用三维建模软件Pro／E建立工作机构的CAD模型,并对模型进行适当的简化。
2、通过Pro／E软件和动力学分析软件ADAMS联合,建立了高空作业平台的刚体动力学模型,并对其进行了某工况下的仿真分析。通过对动力学模型仿真结果和理论计算数据的分析比较,验证了模型建立的正确性和可行性。
3、根据高空作业平台工作臂的典型工况设计了可行的实验方案,测试出典型工况下变幅缸的位移数据与工作臂测点的应变数据,并对其进行处理分析,为进一步的仿真分析作了必要的准备。
4、使用有限元分析软件ANSYS将工作臂生成模态中性文件,在模态综合法的基础上,建立系统的刚柔耦合模型。对系统进行动力学仿真,得到对应测点的应变数据,与实验结果进行比较,验证了仿真模型的实用性和有效性。
本论文的工作为高空作业平台动力学模型的设计和进一步的研究提供了定的设计基础和理论依据,论文涉及的研究方法可为今后相关的研究提供参考
Possessing the merits of good solidness, high security and excellent reliability, the aerial work platform is a kind of special vehicle which can lift operators and working equipment up to the specified altitude. Based on virtual prototyping technology, dynamics models are established in this paper against the background of the work unit of Model GTZZ21 telescopic arm aerial work platform. Besides, on the foundation of the modal synthesis method, a rigid-flexible coupling model of the aerial work platform is created by the method of finite element and multi-body dynamics joint simulation.
The paper shows the research work and fruit as follow:
1. Characteristics for the working body, the use of three-dimensional modeling software Pro/E CAD model to establish a working body, and appropriate to simplify the model.
2. By Pro/E software and dynamic analysis software ADAMS joint, the establishment of a high-altitude platform for rigid body dynamic model, and its simulation analysis of a certain working conditions. Through the dynamic model simulation results and theoretical analysis and comparison of data to verify the correctness and feasibility of the model.
3. Designing a feasible experiment plan to test and gather the displacement data of Amplitude Cylinder and the strain data of the measurement point on the working arm of aerial work platform in the typical condition, and afterwards, analyzing and handling those prepare for the simulation and analysis.
4. The finite element analysis software ANSYS will work arm modal neutral file generated in the modal synthesis method, based on the established system of flexible coupling models. The system dynamics simulation, the strain measuring point corresponding to the data, compared with the experimental results verify the feasibility and effectiveness of the simulation model.
In summary, the work provides design foundation and theory gist for further researches about high-low pressure rocket launch system, and the research methods provides reference for correlative research.
引文
[1]田丽敏,郭维斌.我国高空作业车的生产与发展[J].工程机械,2003(02)：20-22
[2]柏红专,罗亮平.国内高空作业机械行业现状及发展方向[J].建筑机械,2006(08)：54-56
[3]《中国工程机械工业年鉴》2005年卷出版发行
[4]王宗君.高空作业机械发展的宏观设想[J].建筑机械,1997(11)：28-30
[5]夏秀峰.浅谈我国高空作业车发展[J].建筑机械化,2010(09)：33-35
[6]赵志平.虚拟样机技术及其应用和发展.机械研究与应用,2006(1)：6-7
[7]熊光楞,郭斌,陈小波等.协同仿真与虚拟样机计术.清华大学出版社,2004
[8]刘又午.多体动力学在机械工程领域的应用.中国工程机械,2000,1(11)：144-149
[9]陈立平,张云清等.机械系统动力学分析及ADAMS应用教程.清华大学出版社,2005
[10]李军,邢俊文,覃文洁ADAMS实例教程.北京：北京理工大学出版社,2002
[11]郑建荣ADAMS—虚拟样机技术入门与提高.北京：机械工业出版社,2002
[12]洪嘉振.多体系统动力学-理论、计算方法和应用.上海：上海交大出版社,1992
[13]袁士杰.多刚体系统动力学.北京：北京理工大学出版社,1992
[14]陆佑方.柔性多体动力学.北京：高等教育出版社,1996
[15]邵海.高空作业平台工作机构现代设计方法研究—基于虚拟样机技术的建模方法及机构的仿真、分析与优化.南京林业大学硕士学位论文,2008
[16]史继霞.CA1032轻型车多体动力学仿真研究.吉林大学硕士学位论文,2009
[17]石博强,申焱华等ADAMS基础与工程范例教程.中国铁道出版社,2007
[18]李晓娟Pro/E与ADAMS联合建模方法的研究[J].装备制造技术,2008(12)：31-33
[19]许涛,王建平.基于Pro/E、ANSYS和ADAMS的动力学联合仿真研究.机械工程与自动化,2009(03)：37-39
[20]倪进峰,徐诚Pro/E与ADAMS的复杂模型传递方法[J].机械工程师,2004(09)：15-16
[21]杜中华,薛德庆,赵迎红Pro/E和ADAMS传递过程中若干问题的讨论[J].机械与电子,2003(02)：68-70
[22]郭卫东.虚拟样机技术与ADAMS应用实例教程.北京航空航天大学出版社,2008
[23]Deb K, GoyalM. Optimization engineering designs using a combined genetic search [A]. Proc of the Seventh Int Conf on Genetic Algo rithms [C].1997:521-528
[24]Getting Started Using ADAMS/Durability. MSC.Software Corpoation,2006
[25]Rigid Body Dynamics and the ANSYS-ADAMS Interface. Release 10.0 Documentation for ANSYS
[26]Hughes P C, Skelton R E.Modal truncation for flexible spacecraft[J]. J Guidance control and dynamics,1981,4(3):381-397
[27]Neuber, H. Theory of stress concentration for shear-srtained prismatical bodies with arbitrary nonlinear stress-strain law. Journal of Applied Mechanics, 1961,28
[28]宋兴龙.基于ANSYS的高空作业平台的有限元分析.南京林业大学硕士学位论文,2009
[29]张鹏.伸缩臂式高空作业平台调平机构仿真与优化.南京林业大学硕士学位论文,2010
[30]李启.动力测试数据合成与主应力、主应变的分析方法.铁道建筑,2002(08)：28-30
[31]叶元烈.机械优化理论与设计[M].中国计量出版社,2001
[32]刘俊,林砺宗,刘小平,王刚ADAMS柔性体运动仿真分析研究及运用.现代制造工程,2004(05)：53-55
[33]许涛,王建平.基于Pro/E、ANSYS和ADAMS的动力学联合仿真研究.机械工程与自动化,2009(03)：37-39
[34]王瑞.混凝土泵车臂架疲劳寿命研究.长安大学硕士学位论文,2009
[35]杨智炜.轴向柱塞泵虚拟样机仿真技术研究.浙江大学硕士学位论文,2006
[36]许志华.铰接式自卸车橡胶悬架系统多体动力学分析、试验研究与优化.东南大学博士学位论文,2005
[37]邢俊文MSC.ADAMS/Flex与AutoFlex培训教程.科学出版社,2006
[38]Gawronski Williams T.Model reduction for flexible sturcture [J].3 Guidance control and dynamics,1991
[39]M.Haiba, DC.Barton, P.C.Brooks, M.C. Levesley. Review of life assessment techniques applied to dynamically loaded automotive components. Computers and structures,2002(80)
[40]MDI Using the ADAMS/View Function Builder,2000-10
[41]MDI Using ADAMS/PostProcessor,2000-10
[42]MDI Learning ADAMS/View Basics,2000-10
[43]Takano Shuichi, Nagai Masao, Taniguchi Tetsuo.Hatano Tadashi. Study on a vehicle dynamics model for improving roll stability[J].JSAEReview,2003(24)
[44]周四新,和青芳Pro/Engineer Wildfire 3.0基础设计[M].电子工业出版社,2007
[45]任艳,贺玉龙,高伟.有限元分析软件—ANSYS融汇与贯通[M].中国水利水电出版社,2002
[46]尚晓江,邱峰,赵海峰,李文颖ANSYS结构有限元高级分析方法与范例应用[M].中国水利水电出版社,2006
[47]滕儒民,王鑫,孙家斌GTBZ30自行走直臂式高空作业车.中国工程机械学会工程起重机分会第八届学术年会论文,2006.
[48]秦成.基于PROE/ADAMS/MATLAB挖掘机虚拟样机研究.湖北工业大学学报,2007(9)：182-183
[49]袁士杰,吕哲勤.多刚体系统动力学[M].北京：北京理工大学出版社,1992
[50]吕彭民,汪红兵,张大庆.混凝土泵车冲击载荷对对结构动态特性的影响[[J).中国公路学报,2003.16(4)：115-117
[51]熊光楞,李伯虎,柴旭东.虚拟样机技术.系统仿真学报[J],2001(13)：114-117
[52]孙利伟.基于刚柔混合模型的混凝土泵车臂架的方针研究.吉林大学硕士学位论文,2006.5
[53]ANSYS中文帮助
[2]柏红专,罗亮平.国内高空作业机械行业现状及发展方向[J].建筑机械,2006(08)：54-56
[3]《中国工程机械工业年鉴》2005年卷出版发行
[4]王宗君.高空作业机械发展的宏观设想[J].建筑机械,1997(11)：28-30
[5]夏秀峰.浅谈我国高空作业车发展[J].建筑机械化,2010(09)：33-35
[6]赵志平.虚拟样机技术及其应用和发展.机械研究与应用,2006(1)：6-7
[7]熊光楞,郭斌,陈小波等.协同仿真与虚拟样机计术.清华大学出版社,2004
[8]刘又午.多体动力学在机械工程领域的应用.中国工程机械,2000,1(11)：144-149
[9]陈立平,张云清等.机械系统动力学分析及ADAMS应用教程.清华大学出版社,2005
[10]李军,邢俊文,覃文洁ADAMS实例教程.北京：北京理工大学出版社,2002
[11]郑建荣ADAMS—虚拟样机技术入门与提高.北京：机械工业出版社,2002
[12]洪嘉振.多体系统动力学-理论、计算方法和应用.上海：上海交大出版社,1992
[13]袁士杰.多刚体系统动力学.北京：北京理工大学出版社,1992
[14]陆佑方.柔性多体动力学.北京：高等教育出版社,1996
[15]邵海.高空作业平台工作机构现代设计方法研究—基于虚拟样机技术的建模方法及机构的仿真、分析与优化.南京林业大学硕士学位论文,2008
[16]史继霞.CA1032轻型车多体动力学仿真研究.吉林大学硕士学位论文,2009
[17]石博强,申焱华等ADAMS基础与工程范例教程.中国铁道出版社,2007
[18]李晓娟Pro/E与ADAMS联合建模方法的研究[J].装备制造技术,2008(12)：31-33
[19]许涛,王建平.基于Pro/E、ANSYS和ADAMS的动力学联合仿真研究.机械工程与自动化,2009(03)：37-39
[20]倪进峰,徐诚Pro/E与ADAMS的复杂模型传递方法[J].机械工程师,2004(09)：15-16
[21]杜中华,薛德庆,赵迎红Pro/E和ADAMS传递过程中若干问题的讨论[J].机械与电子,2003(02)：68-70
[22]郭卫东.虚拟样机技术与ADAMS应用实例教程.北京航空航天大学出版社,2008
[23]Deb K, GoyalM. Optimization engineering designs using a combined genetic search [A]. Proc of the Seventh Int Conf on Genetic Algo rithms [C].1997:521-528
[24]Getting Started Using ADAMS/Durability. MSC.Software Corpoation,2006
[25]Rigid Body Dynamics and the ANSYS-ADAMS Interface. Release 10.0 Documentation for ANSYS
[26]Hughes P C, Skelton R E.Modal truncation for flexible spacecraft[J]. J Guidance control and dynamics,1981,4(3):381-397
[27]Neuber, H. Theory of stress concentration for shear-srtained prismatical bodies with arbitrary nonlinear stress-strain law. Journal of Applied Mechanics, 1961,28
[28]宋兴龙.基于ANSYS的高空作业平台的有限元分析.南京林业大学硕士学位论文,2009
[29]张鹏.伸缩臂式高空作业平台调平机构仿真与优化.南京林业大学硕士学位论文,2010
[30]李启.动力测试数据合成与主应力、主应变的分析方法.铁道建筑,2002(08)：28-30
[31]叶元烈.机械优化理论与设计[M].中国计量出版社,2001
[32]刘俊,林砺宗,刘小平,王刚ADAMS柔性体运动仿真分析研究及运用.现代制造工程,2004(05)：53-55
[33]许涛,王建平.基于Pro/E、ANSYS和ADAMS的动力学联合仿真研究.机械工程与自动化,2009(03)：37-39
[34]王瑞.混凝土泵车臂架疲劳寿命研究.长安大学硕士学位论文,2009
[35]杨智炜.轴向柱塞泵虚拟样机仿真技术研究.浙江大学硕士学位论文,2006
[36]许志华.铰接式自卸车橡胶悬架系统多体动力学分析、试验研究与优化.东南大学博士学位论文,2005
[37]邢俊文MSC.ADAMS/Flex与AutoFlex培训教程.科学出版社,2006
[38]Gawronski Williams T.Model reduction for flexible sturcture [J].3 Guidance control and dynamics,1991
[39]M.Haiba, DC.Barton, P.C.Brooks, M.C. Levesley. Review of life assessment techniques applied to dynamically loaded automotive components. Computers and structures,2002(80)
[40]MDI Using the ADAMS/View Function Builder,2000-10
[41]MDI Using ADAMS/PostProcessor,2000-10
[42]MDI Learning ADAMS/View Basics,2000-10
[43]Takano Shuichi, Nagai Masao, Taniguchi Tetsuo.Hatano Tadashi. Study on a vehicle dynamics model for improving roll stability[J].JSAEReview,2003(24)
[44]周四新,和青芳Pro/Engineer Wildfire 3.0基础设计[M].电子工业出版社,2007
[45]任艳,贺玉龙,高伟.有限元分析软件—ANSYS融汇与贯通[M].中国水利水电出版社,2002
[46]尚晓江,邱峰,赵海峰,李文颖ANSYS结构有限元高级分析方法与范例应用[M].中国水利水电出版社,2006
[47]滕儒民,王鑫,孙家斌GTBZ30自行走直臂式高空作业车.中国工程机械学会工程起重机分会第八届学术年会论文,2006.
[48]秦成.基于PROE/ADAMS/MATLAB挖掘机虚拟样机研究.湖北工业大学学报,2007(9)：182-183
[49]袁士杰,吕哲勤.多刚体系统动力学[M].北京：北京理工大学出版社,1992
[50]吕彭民,汪红兵,张大庆.混凝土泵车冲击载荷对对结构动态特性的影响[[J).中国公路学报,2003.16(4)：115-117
[51]熊光楞,李伯虎,柴旭东.虚拟样机技术.系统仿真学报[J],2001(13)：114-117
[52]孙利伟.基于刚柔混合模型的混凝土泵车臂架的方针研究.吉林大学硕士学位论文,2006.5
[53]ANSYS中文帮助