基于多体动力学的铁路桥梁检测车仿真研究
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摘要
随着我国高速铁路建设的开展,为提高综合国力形成我国高速列车产业并掌握其核心技术,拓展高速铁路技术的海外市场,科技部发布了《高速列车科技发展“十二五”专项规划》。考虑到高速铁路建设的特殊性,铁路桥梁在铁路线上占据约70%左右,相应的桥梁的安全检测和维护成为研究重点。因此,开发针对高速铁路桥梁检修和维护的检测车,提供高效安全的平台,显得至关重要。根据国内外公路桥梁检测车的较成熟经验,高速铁路桥的梁检测车造价昂贵,进行多次物理样机实验,工程实际的可行性有待商榷。为此将虚拟样机技术运用于高速桥梁检测车的开发,在虚拟环境中模拟桥梁检测车的作业情况,完成仿真试验并分析各种设计方案,直至获得最优方案,具有很强的可能性。随后根据最优方案做进一步分析,比如模拟外界干扰,为样车的最终制造做好铺垫。
本文根据桥梁检测车的初步设计结构,利用SolidWorks进行了三维实体建模。随后将模型数据导入Hypermesh进行网格划分,对回转架进行ANSYS模态分析,分析其自身振型和振动频率数据。随后将桥梁检测车模型导入ADAMS中,定义刚体,添加约束,施加驱动,构件虚拟样机模型；根据工况,对其展开作业过程进行了运动学仿真；仿真过程中获得展开作业时系统整体质心的轨迹,各关键点处的受力情况,以此分析其作业稳定性,得到展开过程中的危险位置,为桥梁检测车设计提供数据支持,帮助桥梁检测车设计的最终方案确定。
本文主要内容如下：
(1)建立桥梁检测车整机、桥梁实体模型,添加约束、简化构件、添加运动函数,得到检测车虚拟样机模型,对其工作步位进行分析,防止产生工作干涉。
(2)对回转架结构有限元结构进行模态分析,改进薄弱结构；通过前10阶模态的固有频率及振型,进行共振可能性分析。
(3)对桥梁检测车主架、走行梁、回转架进行工位分析获取动态质心轨迹,结合关键点受力分析,初步判定检测车的倾覆可能性。
With the continuous development of high-speed railway construction, in order to enhance the overall national strength, to formulate China's high-speed train industry and master the key technology for expanding overseas markets, the Ministry of Science and Technology released technology development plan on railway. At the same time, high-speed railway construction will be in a favorable opportunity of development, for the specialization of high-speed railway construction, inspection and maintenance of high-speed bridges becomes a focus in the course of construction. High-speed railway bridge inspection vehicle provides efficient and safe platform. Therefore, the bridge inspection vehicle' stability and cameras'selection, in order to ensure the quality of the crack meets the engineering requirements, is crucial.
Based on the preliminary design of the bridge inspection vehicle, we utilize SolidWorks to get3D solid modeling, then mesh it through Hypermesh then carry out ANSYS modal analysis on key rotation truss. After all this we treat it with ADAMS, expand the operating process of the kinematic simulation, get the overall center of mass and the key point force, define the operating stability of the most dangerous position, the inspection simulation dates will do goods to the cameras'selection.
The main content of this paper is as follows:
(1) To build a bridge and the bridge inspection vehicle machine model with Solid Works, after this import the solid model into ADAMS to generate the rigid model, analyze under various load conditions.
(2) Using ANSYS to establish a pedestrian truss structure model for modal analysis.
(3)Generate rigid bodies to establish the virtual prototype model dynamic simulation and analyze the model under various loads. The frame structure of the dynamic response under various conditions of bridge stress will do goods to see the stability of working status. The core task is to obtain the dynamic center of mass in order to discuss the vehicle's working stability.
本文根据桥梁检测车的初步设计结构,利用SolidWorks进行了三维实体建模。随后将模型数据导入Hypermesh进行网格划分,对回转架进行ANSYS模态分析,分析其自身振型和振动频率数据。随后将桥梁检测车模型导入ADAMS中,定义刚体,添加约束,施加驱动,构件虚拟样机模型；根据工况,对其展开作业过程进行了运动学仿真；仿真过程中获得展开作业时系统整体质心的轨迹,各关键点处的受力情况,以此分析其作业稳定性,得到展开过程中的危险位置,为桥梁检测车设计提供数据支持,帮助桥梁检测车设计的最终方案确定。
本文主要内容如下：
(1)建立桥梁检测车整机、桥梁实体模型,添加约束、简化构件、添加运动函数,得到检测车虚拟样机模型,对其工作步位进行分析,防止产生工作干涉。
(2)对回转架结构有限元结构进行模态分析,改进薄弱结构；通过前10阶模态的固有频率及振型,进行共振可能性分析。
(3)对桥梁检测车主架、走行梁、回转架进行工位分析获取动态质心轨迹,结合关键点受力分析,初步判定检测车的倾覆可能性。
With the continuous development of high-speed railway construction, in order to enhance the overall national strength, to formulate China's high-speed train industry and master the key technology for expanding overseas markets, the Ministry of Science and Technology released technology development plan on railway. At the same time, high-speed railway construction will be in a favorable opportunity of development, for the specialization of high-speed railway construction, inspection and maintenance of high-speed bridges becomes a focus in the course of construction. High-speed railway bridge inspection vehicle provides efficient and safe platform. Therefore, the bridge inspection vehicle' stability and cameras'selection, in order to ensure the quality of the crack meets the engineering requirements, is crucial.
Based on the preliminary design of the bridge inspection vehicle, we utilize SolidWorks to get3D solid modeling, then mesh it through Hypermesh then carry out ANSYS modal analysis on key rotation truss. After all this we treat it with ADAMS, expand the operating process of the kinematic simulation, get the overall center of mass and the key point force, define the operating stability of the most dangerous position, the inspection simulation dates will do goods to the cameras'selection.
The main content of this paper is as follows:
(1) To build a bridge and the bridge inspection vehicle machine model with Solid Works, after this import the solid model into ADAMS to generate the rigid model, analyze under various load conditions.
(2) Using ANSYS to establish a pedestrian truss structure model for modal analysis.
(3)Generate rigid bodies to establish the virtual prototype model dynamic simulation and analyze the model under various loads. The frame structure of the dynamic response under various conditions of bridge stress will do goods to see the stability of working status. The core task is to obtain the dynamic center of mass in order to discuss the vehicle's working stability.
引文
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[17]赵宁.东风高顶多利卡动力学仿真分析及系统实现[D].武汉：华中科技大学,2006.
[18]鸿伟,王维平,等.虚拟样机中的异构产品模型研究[J].计算机仿真,2002,9(4)：100-120.
[19]钟登华,郑家祥.可视化仿真技术及其应用[M].北京：中国水利水电出版社,2002.
[20]吴修彬.虚拟样机建模技术浅析[J].机械制造与研究,2007,36(5)：33-40.
[21]赵永生.多用途船六块折叠式舱口盖机械动力学仿真[D].上海：上海交通大学,2006.
[22]何孔德.摩托车虚拟样机技术研究[D].重庆：重庆大学,2006.
[23]郝云堂,金烨.虚拟样机技术及其在ADAMS中的实践[J].机械设计与制造,2003,6(3)：1-100.
[24]史鹏龙.单梁龙门式起重机风载荷流场分析与动力学仿真[D].上海：华东理工大学,2008.
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[27]Antoni Gronowicz.Type synthesis of a mobile under-bridge platform[J].Automation in Construction,2008,17:31-50.
[28]邢俊文,陶文忠译MSC.ADAMS/VIEW高级培训教程[M].北京：清华大学出版社,2004.
[2]Najib Metni, Tarek Hamel. A UAV for bridge inspection Visual serving control law with orientation limits[J]. Automation in Construction,2007,3(10):15-19.
[3]顾迪民.工程起重机[M].西安：西安建筑科技大学,1987.
[4]龚栋梁.桥梁检测车的研究与开发[D].武汉：武汉理工大学,2009.
[5]Potra F A. Implementation of linear multistep methods for solving constrained equations of motion[J]. SIAM J,1993.30:774-780.
[6]Je-Keun Oh, Giho Jang, Bridge inspection robot system with machine vision[J]. Automation in Construction,2009,18:929-936.
[7]李淮.高速铁路新型桥梁检测维修车的研制[M].郑州：郑州大方桥梁机械有限公司,2010.
[8]铃小康文.铁道车辆的高速化与新材料[J].国外铁道车辆,1994,6：3-35.
[9]刘焕广.轿车结构有限元及其试验分析[D].合肥：合肥工业大学,2007.
[10]薛颖.轿车转向器综合仿真分析与应用[D].上海：同济大学,2007.
[11]龚曙光ANSYS基础应用及范例分析[M].北京：人民交通出版社,1999.
[12]盛冬平.基于ANSYS的行星齿轮系统参数化建模与模态分析研究[D].南京：南京航空航天大学,2008.
[13]Elgaaly M, Hamilton R. Shear Strength of Beams with Corrugated Webs[J]. Journal of the Structural Division,1996,6:20-30.
[14]孙利民.人行桥人行激励振动及设计方法[J].同济大学学报,2004,32(8)：996-1003.
[15]李海方.起重机臂架系统刚柔耦合瞬态动力学仿真分析[D].武汉：武汉理工大学,2010.
[16]陈立平,张云清,等.机械系统动力学分析及ADAMS应用教程[M].北京：清华人学,2005.
[17]赵宁.东风高顶多利卡动力学仿真分析及系统实现[D].武汉：华中科技大学,2006.
[18]鸿伟,王维平,等.虚拟样机中的异构产品模型研究[J].计算机仿真,2002,9(4)：100-120.
[19]钟登华,郑家祥.可视化仿真技术及其应用[M].北京：中国水利水电出版社,2002.
[20]吴修彬.虚拟样机建模技术浅析[J].机械制造与研究,2007,36(5)：33-40.
[21]赵永生.多用途船六块折叠式舱口盖机械动力学仿真[D].上海：上海交通大学,2006.
[22]何孔德.摩托车虚拟样机技术研究[D].重庆：重庆大学,2006.
[23]郝云堂,金烨.虚拟样机技术及其在ADAMS中的实践[J].机械设计与制造,2003,6(3)：1-100.
[24]史鹏龙.单梁龙门式起重机风载荷流场分析与动力学仿真[D].上海：华东理工大学,2008.
[25]孙万军.应用虚拟产品开发技术进行产品开发[J].计算机辅助设计与制造,1999,12：15-30.
[26]M.D.I. Corporation. ADAMS Help Document
[27]Antoni Gronowicz.Type synthesis of a mobile under-bridge platform[J].Automation in Construction,2008,17:31-50.
[28]邢俊文,陶文忠译MSC.ADAMS/VIEW高级培训教程[M].北京：清华大学出版社,2004.