基于ADAMS和SIMULINK的柔性混凝土泵车臂架系统的动力学仿真设计与研究

发布时间：2018-03-25 11:33

本文选题：泵车臂架系统　切入点：多体动力学　出处：《东南大学》2015年硕士论文

【摘要】：混凝土泵车是将输送成品混凝土和浇注作业集为一体的现代建筑机械。随着臂架节数不断加长、设计轻质化趋势,泵车臂架系统已然成为一个典型的多自由度柔性系统,运动时存在比较明显的抖动。如何能实现泵车智能化控制、平稳可靠地确定末端浇注位置成为臂架研究的热点。考虑到泵车作为大型工程机械,各类控制算法无法贸然在实际泵车上进行验证,需要创建柔性泵车臂架系统模型,以便为控制算法的研究提供验证平台。本文在充分研究某型号泵车臂架系统的机械结构和工作原理的基础上,创建了柔性臂架系统模型,并基于ADAMS和Simulink实现联合控制仿真。具体工作内容如下：1.完成泵车臂架系统的动力学建模并求解。本文将柔性臂架视为欧拉梁以简化模型,基于多体动力学理论和拉格朗日方程,建立起两节臂刚性和柔性臂架的动力学方程。采用数值解法,结合Simulink仿真,求解多维二阶微分方程组。从刚性和柔性臂架系统的动力学仿真结果可以看出柔性因素对臂架系统动力学性能的影响主要体现在臂架的小幅度振动,这为后续的臂架模型仿真提供依据和对照。2.搭建五节刚性臂架系统模型。结合某企业的混凝土泵车系列技术手册,在Pro/E中巧妙借助基准线和基准面,采用镜像、倒角和轨迹扫描等方式展现模型特征,并将各臂架零件通过不同约束方式组装成等比例臂架系统模型。借助无缝接口模块Mechpro为各铰接处添加约束和标识,并生成刚体文件导入到ADAMS中,建立起刚性臂架系统。3.搭建柔性泵车臂架系统模型。在ANSYS中,灵活设置工作平面,对外形不规则的臂架零件进行实体切割,用映射网格划分规则部分,用自由网格划分不规则部分,从而得到较为精细的网络划分效果。对柔性臂架进行模态分析并将柔性文件导入到ADAMS中替代刚性臂架,对比两个软件中柔性臂架的各阶模态频率等相关属性以确保柔性文件传输正确,从而建立起柔性臂架系统模型。4.验证柔性臂架系统模型的正确性。本文使用添加旋转约束驱动的方法实现臂架实时锁定的功能,并结合传感器的使用,编写脚本文件控制柔性臂架完成启停运动。仿真结果表明,柔性臂架末端在突然停止时出现减幅振动,与实际臂架运动特性吻合。5.构建联合仿真系统,并进行控制方案的验证。仿真方案中,将臂架末端的轨迹控制转化为各节臂架的角度控制,使用C语言编程求臂架运动学逆解,并封装成仿真模块。采用PID控制算法,控制臂架末端沿着直线运动。对比刚性和柔性臂架系统的仿真结果,可以看出,随着臂架长度的增加,柔性对臂架末端抖动的影响越来越大。本文建立的柔性臂架系统可以如实反映实际泵车臂架系统的运动状态,以便将来用于各类控制算法的验证,为臂架控制算法的改进提供依据。
[Abstract]:The concrete pump car is a modern construction machinery which combines the delivery of finished concrete with the pouring operation. With the increasing number of boom segments and the trend of lightweight design, the boom system of pump truck has become a typical flexible system with multi-degree of freedom. There is obvious jitter in motion. How to realize the intelligent control of pump car and how to determine the end pouring position stably and reliably has become a hot spot in the research of boom. Considering the pump car as a large construction machinery, All kinds of control algorithms can not be hastily verified on the actual pump vehicle, so it is necessary to create a flexible pump vehicle boom system model. In order to provide a verification platform for the study of control algorithms, this paper establishes a flexible boom system model on the basis of fully studying the mechanical structure and working principle of the boom system of a certain type of pump vehicle. And the joint control simulation is realized based on ADAMS and Simulink. The detailed work is as follows: 1. The dynamic modeling and solving of the boom system of pump vehicle are completed. In this paper, the flexible boom is regarded as an Euler beam to simplify the model, and based on the theory of multi-body dynamics and Lagrange equation, The dynamic equations of rigid and flexible arms with two arms are established. The numerical solution is used, and the Simulink simulation is carried out. From the dynamic simulation results of rigid and flexible boom system, it can be seen that the influence of flexible factors on the dynamic performance of boom system is mainly reflected in the small amplitude vibration of boom. This provides the basis and contrast for the subsequent simulation of boom model. 2. Build a model of five rigid boom system. Combined with a series of technical manuals of concrete pump car in a certain enterprise, with the help of datum and datum in Pro/E, the mirror image is used. The model features are displayed by chamfering and trajectory scanning, and each arm part is assembled into a uniform proportional boom system model by different constraint modes. The seamless interface module Mechpro is used to add constraints and marks to each hinge. The rigid body files are generated and imported into ADAMS, and the rigid boom system .3.The model of the flexible pump truck boom system is built. In ANSYS, the working plane is set up flexibly, and the irregular shape of the bobbin parts are cut. In this paper, the mapping mesh is used to divide the irregular part and the free grid is used to divide the irregular part. The modal analysis of the flexible boom is carried out and the flexible file is imported into the ADAMS instead of the rigid arm. In order to ensure the correct transmission of flexible files, the relative properties of each order modal frequency of the flexible boom in the two softwares are compared. Finally, a flexible boom system model .4 is established to verify the correctness of the flexible boom system model. In this paper, the real time locking function of the boom is realized by adding rotating constraint drive, and the sensor is used. The script file is written to control the start and stop motion of the flexible boom. The simulation results show that the amplitude reduction vibration occurs at the end of the flexible boom when it suddenly stops, which coincides with the actual motion characteristics of the boom. 5. A joint simulation system is constructed. In the simulation scheme, the trajectory control of the end of the boom is transformed into the angle control of each arm, the inverse kinematics solution of the arm is obtained by C language programming, and encapsulated into a simulation module. The PID control algorithm is adopted. Comparing the simulation results of rigid and flexible boom systems, it can be seen that with the increase of arm length, The effect of flexibility on the end jitter of boom is more and more great. The flexible boom system established in this paper can accurately reflect the motion state of the boom system of actual pump vehicle, so that it can be used to verify all kinds of control algorithms in the future. It provides the basis for the improvement of arm control algorithm.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU646

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