重型液压牵引绞车的建模仿真及实验验证

发布时间：2018-02-08 22:08

本文关键词： 重载液压牵引绞车钢缆轴套力宏建模闭式液压系统 RecurDyn-AMESim联合仿真　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：牵引绞车是工业生产中一种用途广泛的机械设备,在建筑、矿山工程、船舶运输、海洋石油等诸多领域都发挥重要作用。有些牵引绞车需工作在重载且变载的恶劣负载条件下,如海上拖曳系统,这种工况不仅对绞车工作的可靠性、控制性能有较高要求,对钢缆自身的强度及疲劳寿命也有极大考验。基于此,国外学者对重载且多变载荷下的牵引绞车从机械、传动、控制、钢缆寿命等方面都进行了较为细致且深入的研究,而国内类似设备主要依赖进口,因此对重载牵引绞车的研究还不深入,诸如钢缆建模分析及其机械液压系统设计方面的成果也比较有限。本文在前人工作的基础上,结合动力学仿真软件,对重载多变载荷条件下的牵引绞车从机械、传动、控制方面给出了较为系统的分析设计过程。首先针对对负载特性影响较大的钢缆,利用有限元分析思想和轴套力建模方法建立了其仿真模型,并取经典绳索问题对上述钢缆模型进行原理校对,验证建模方法的科学性,从而揭示了负载、钢缆与绞车之间的非刚性力耦合过程;然后文章着眼于重载牵引绞车的机械液压环节,根据上述负载特性给出机械液压驱动及控制系统原理设计,并建立对应的机械-液压系统仿真模型,进而结合钢缆多体模型建立整机的机械-液压-负载模型;最后结合试验数据验证仿真模型的准确性,由此印证了本文工作在重载牵引绞车系统设计及性能分析方面的价值。本文主要由6章组成:第1章绪论介绍了牵引绞车的机械及液压系统、钢缆建模的相关背景,总结了国内外当前在重载牵引绞车、液压驱动系统及钢缆建模方面的研究成果,综合现有研究的不足,介绍了本课题的研究意义。第2章针对重载牵引绞车中钢缆因摩擦力影响而受力复杂的情况,提出使用轴套力为钢缆进行建模的方法,在RecurDyn中使用ProcessNet实现钢缆参数化宏建模的方法,并给出具体实现过程。第3章通过将使用轴套力所建微元化钢缆模型仿真结果与连续体理论的钢缆模型进行比较,验证了模型的科学性。通过悬链线模型验证钢缆模型的姿态;通过绕柱摩擦模型来验证钢缆模型的沿缆摩擦力等等。仿真结果与理论解析值基本吻合,对误差原因也做了相应的分析。第4章在对牵引绞车典型工况和负载特性分析的基础上,采用了闭式液压回路,分别设计了重载牵引绞车和存储绞车的液压驱动系统,确立了重载牵引绞车进行转速控制和存储绞车进行恒张力控制的工作模式。根据绞车设计要求,对主要液压元件进行选型,并校核选型结果。第5章搭建了重载牵引绞车和存储绞车的液压仿真模型,结合上文建立的牵引绞车及钢缆机械模型,进行联合仿真,仿真数据与试验数据基本一致,从而验证了本文所建立模型的准确性,由此模型可揭示设备的内在工作机理,并为类似装备的设计提供理论依据。第6章在对全文工作总结的基础上,提出整体工作中的欠缺和不足,以及需要改进的方面和未来的优化方向。
[Abstract]:The traction winch is a widely used mechanical equipment, industrial production in the construction, mining engineering, shipping, offshore oil fields will play an important role. Some bad load conditions for traction winch in heavy load and variable load, such as towing system, the reliability of the winch condition not only work, control have higher performance requirements, strength and fatigue life of the cable itself has a great test. Based on this, the foreign scholars on the traction winch overloading and variable loads from machinery, transmission, control, life and other aspects of the cable is studied and deeply, and domestic similar equipment mainly rely on imports, so the research of heavy haul traction winch is not thorough, such as cable modeling analysis design and mechanical hydraulic system has limited results. On the basis of previous work, binding kinetics The simulation software of load changing traction winch loads from mechanical transmission, control, gives the analysis and design process systematically. Firstly, in view of the great influence on the load characteristics of the cable, established the simulation model using finite element analysis thought and bushing modeling method, and the problem of proof principle of classical rope the cable model, validate the modeling method, which reveals the load, non rigid mechanical coupling process between the cable and winch; then this paper focuses on heavy haul traction winch hydraulic mechanical link, according to the load characteristics are mechanical hydraulic drive and control system design principle, and establish corresponding mechanical - hydraulic system simulation model. And then combined with the multi-body model of the cable mechanical hydraulic load model; finally, verifying the accuracy of the simulation model test data, which confirms The work in the heavy load traction value design and performance analysis of winch system. This paper consists of 6 chapters: the first chapter introduces the mechanical and hydraulic system of traction winch, cable modeling background, summarizes the current in heavy haul traction winch, hydraulic drive system and the research results of cable modeling. Comprehensive the lack of existing research, introduces the research significance of this topic. The second chapter in the winch cable because of friction effect and complex force of heavy haul condition, this paper puts forward a method for modeling the cable bushing, using the ProcessNet method in the RecurDyn implementation of the macro modeling of modal parameters, and gives the concrete realization of the process third. Chapter through the comparison of cable model will be used to build the micro cable bushing of the simulation results with the continuum theory, verified the correctness of the model. Through the Catenary line Model validation model of cable attitude; through the winding column friction model to verify the model of the cable along cable friction and so on. The simulation results and theoretical analysis results, the cause of the error is analyzed. The fourth chapter in the typical working conditions of traction winch and load based on characteristic analysis, using a closed hydraulic circuit the design of the hydraulic load respectively, traction winch and storage winch drive system, established the heavy traction winch speed control and storage winch of constant tension control mode. According to the winch design requirements, selection of main hydraulic components, and check the selection results. The fifth chapter builds the hydraulic simulation model of heavy haul traction winch and storage winch, winch and cable traction combined with the mechanical model established above, joint simulation, the simulation data and the experimental data are basically consistent, which proves this The accuracy of the model, this model can reveal the internal mechanism of the equipment, and provide a theoretical basis for the design of similar equipment. In the sixth chapter, on the basis of the work summary, put forward the overall lack of work and shortcomings, and the need for improvement and Optimization in the future.

【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH21

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