九轴全地面起重机转向稳定性分析

发布时间：2018-03-11 06:00

本文选题：全地面起重机　切入点：多轴转向　出处：《太原科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：全地面起重机结构紧凑,行驶性能良好,适应多种路况。但多轴给该机种的转向带来了不便,且高速转向时稳定性差,因此对该机种转向稳定性进行系统的研究具有重要理论意义和工程实际价值。本文建立了多轴全地面起重机转向运动数学模型,根据汽车理论以及拉格朗日法推导出多轴转向的三自由度线性微分方程。根据稳态转向的特征推导出了影响该机种转向特性的一系列相关参数。运用Matlab/Simulink建立模型,分析了这些参数对其转向特性的影响。本文论述了瞬态响应的评价指标,研究了一系列相关参数对转向瞬态稳定性的影响。此外,还对不同的转向模式瞬态响应进行了对比,定量分析了各个转向模式,比较了各自的优劣并得到中高速条件下最佳转向模式,为全地面起重机转向系统的研究提供参考与借鉴。
[Abstract]:The whole ground crane is compact in structure, good in driving performance and suitable for various road conditions. However, the multi-axis brings inconvenience to the steering of the machine, and the stability of the crane is poor when it is turned at high speed. Therefore, it is of great theoretical significance and practical value to systematically study the steering stability of this type of crane. In this paper, a mathematical model of steering motion of multi-axis all-ground crane is established. According to vehicle theory and Lagrangian method, a three degree of freedom linear differential equation of multi-axis steering is derived. According to the characteristics of steady-state steering, a series of related parameters affecting the steering characteristics of the engine are derived. The model is established by using Matlab/Simulink. The influence of these parameters on the steering characteristics is analyzed. The evaluation index of transient response is discussed, and the influence of a series of related parameters on the transient stability of steering is studied. In addition, the transient response of different steering modes is compared. Each steering mode is quantitatively analyzed, their advantages and disadvantages are compared and the optimum steering mode under medium and high speed conditions is obtained, which provides a reference for the study of the steering system of all-ground crane.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH213

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