抓斗卸船机小车—抓斗系统动力学建模及摆动控制研究
发布时间：2018-12-06 18:18
【摘要】：抓斗卸船机抓斗的摆动控制效果是影响其作业效率的一项重要指标,对于抓斗卸船机的摆动控制,通常采用输入整形方法,该方法需要建立小车 抓斗系统的精确动力学模型。然而,传统的建模方法通常将抓斗视为质点,并且未考虑抓斗开闭斗时重心的变化。本文通过建立小车 抓斗系统双摆动力学模型,对其开闭斗动力学特性和摆动控制进行了研究,主要工作及创新点如下:(1)考虑抓斗的形状以及钢丝绳绳长的变化,利用拉格朗日方法建立了抓斗卸船机小车—抓斗系统双摆动力学模型,并利用四阶龙格库塔法对双摆模型进行了数值求解,得到了二阶摆角和角加速度的迭代关系式。(2)利用ADAMS软件建立了小车—抓斗系统三维动力学模型,分析了小车—抓斗运动平面的二阶摆动频率,验证了本文所建理论模型的正确性;对抓斗在开闭斗情况下的重心变化进行了分析,表明抓斗在不同状态(开、闭斗)会对重心产生影响。(3)提出了一种改进的ZV摆动控制方法,并考虑效率和安全,对抓斗的运动轨迹进行了规划,实例仿真表明,改进ZV方法具有很好的摆动控制效果;对相同控制参数下的单摆模型和双摆模型的控制效果进行了比较,表明基于双摆模型第一阶摆动频率得到的等效单摆模型能获得与双摆模型一致的控制效果。(4)利用VB 6.0开发了小车—抓斗系统摆动控制仿真软件,通过该软件可以计算控制参数,得到小车与起升的规划速度曲线、抓斗重心运行轨迹和双摆的二阶摆角变化曲线图,并可对所提出的改进ZV方法的控制效果进行实时仿真分析。
[Abstract]:The swinging control effect of grab bucket unloader is an important index affecting its working efficiency. The input shaping method is usually used to control the swing of grab ship unloader. This method needs to establish the accurate dynamic model of the grab bucket system. However, the traditional modeling method usually regards the grab as a particle and does not consider the change of the center of gravity when the grab is opened or closed. In this paper, the dynamics model of double pendulum is established, and the dynamic characteristics and swing control of open and close bucket are studied. The main work and innovation are as follows: (1) considering the shape of grab and the length of wire rope, The dynamic model of double pendulum of grab ship unloader is established by using Lagrange method, and the double pendulum model is solved numerically by using the fourth order Runge-Kutta method. The iterative relation between the second order pendulum angle and the angular acceleration is obtained. (2) using ADAMS software, the three-dimensional dynamic model of the vehicle-grab system is established, and the second-order oscillating frequency of the moving plane of the car-grab is analyzed. The correctness of the theoretical model is verified. The variation of gravity center of grab bucket under the condition of opening and closing bucket is analyzed. It is shown that grab bucket in different states (open and close bucket) will affect the center of gravity. (3) an improved ZV swinging control method is proposed, and the efficiency and safety are considered. The motion trajectory of grab is planned. The simulation results show that the improved ZV method has a good effect on swing control. The control effects of single pendulum model and double pendulum model with the same control parameters are compared. The results show that the equivalent single pendulum model based on the first order swing frequency of the double pendulum model can obtain the same control effect as the double pendulum model. (4) the simulation software for the wobble control of the trolley grab bucket system is developed by using VB 6.0. Through this software, the control parameters can be calculated, the planning speed curve of the car and hoist can be obtained, the trajectory of gravity center of grab and the curve of second-order swing angle of double pendulum can be obtained, and the control effect of the improved ZV method can be analyzed by real-time simulation.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U653.928.1
本文编号：2366451
[Abstract]:The swinging control effect of grab bucket unloader is an important index affecting its working efficiency. The input shaping method is usually used to control the swing of grab ship unloader. This method needs to establish the accurate dynamic model of the grab bucket system. However, the traditional modeling method usually regards the grab as a particle and does not consider the change of the center of gravity when the grab is opened or closed. In this paper, the dynamics model of double pendulum is established, and the dynamic characteristics and swing control of open and close bucket are studied. The main work and innovation are as follows: (1) considering the shape of grab and the length of wire rope, The dynamic model of double pendulum of grab ship unloader is established by using Lagrange method, and the double pendulum model is solved numerically by using the fourth order Runge-Kutta method. The iterative relation between the second order pendulum angle and the angular acceleration is obtained. (2) using ADAMS software, the three-dimensional dynamic model of the vehicle-grab system is established, and the second-order oscillating frequency of the moving plane of the car-grab is analyzed. The correctness of the theoretical model is verified. The variation of gravity center of grab bucket under the condition of opening and closing bucket is analyzed. It is shown that grab bucket in different states (open and close bucket) will affect the center of gravity. (3) an improved ZV swinging control method is proposed, and the efficiency and safety are considered. The motion trajectory of grab is planned. The simulation results show that the improved ZV method has a good effect on swing control. The control effects of single pendulum model and double pendulum model with the same control parameters are compared. The results show that the equivalent single pendulum model based on the first order swing frequency of the double pendulum model can obtain the same control effect as the double pendulum model. (4) the simulation software for the wobble control of the trolley grab bucket system is developed by using VB 6.0. Through this software, the control parameters can be calculated, the planning speed curve of the car and hoist can be obtained, the trajectory of gravity center of grab and the curve of second-order swing angle of double pendulum can be obtained, and the control effect of the improved ZV method can be analyzed by real-time simulation.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U653.928.1
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