桥式抓斗卸船机卸料运动特性研究

发布时间：2018-01-22 05:11

本文关键词： 桥式抓斗卸船机动态卸料抛料卸料运动特性　出处：《武汉理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：经济的迅猛发展，促使对煤炭、矿石、粮食等资源型干散货需求逐渐增加，同时资源的分布不均匀，导致以船舶运输为主的干散货国际贸易量日益增长，干散货运输朝着船舶大型化、港口装卸专业化的方向发展。桥式抓斗卸船机，作为港口码头散货装卸的重要设备，具有运营成本低、适应性好、安全可靠等优点。为适应大宗散货物流装备高效化、大型化、节能环保的发展趋势，研究如何提高其作业效率具有重要意义。本文针对传统的静态卸料工艺进行改进与创新，将ZV输入整形防摇控制方法应用动态卸料和抛料卸料中，并深入研究其运动特性。考虑绳长变化、系统阻尼等因素，进行桥式抓斗卸船机抓斗摆动过程动力学分析，用拉格朗日方程法建立数学模型，并采用四阶龙格—库塔数值计算方法求解动力学微分方程，，得到各时刻的吊重摆角、角速度、角加速度等参数。在传统ZV输入整形的基础上，提出以等效自然频率和阻尼比来计算整形器参数，从而提高整形器鲁棒性和防摇性能。规划抓斗运行路径，提出抓斗走弧形路径时的三种安全距离，以避免抓斗和设备发生碰撞。计算开斗时间以及保证卸料时不撒料的可卸料时间，得到卸料时物料下落轨迹包络线，直观显示卸料过程是否发生卸料。基于对桥式抓斗卸船机动态卸料和抛料卸料运动特性的研究，开发了桥式抓斗卸船机卸料运动特性研究仿真软件。软件可实现ZV整形器参数计算、路径规划、开斗时间及可卸料时间计算、半自动运行仿真、参数提取，得到速度曲线、抓斗摆角曲线及卸料时物料下落轨迹线等功能。软件操作简单、界面美观，降低了研究工作强度，直观的反映了控制效果。通过大量仿真，揭示了桥式抓斗卸船机卸料运动特性受抓斗宽度、初始摆角、电机时滞、阻尼系数、最小绳长等参数影响的变化规律，改进的ZV输入整形防摇控制方法对静态卸料、动态卸料以及抛料卸料都具有良好的防摇效果。动态卸料较静态卸料大幅提高了作业效率，抛料卸料又较动态卸料有明显效率提高。
[Abstract]:With the rapid development of economy, the demand for dry bulk goods, such as coal, ore, grain and so on, increases gradually, and the distribution of resources is uneven, which leads to the international trade volume of dry bulk cargo, which is dominated by ship transportation, increasing day by day. As an important equipment of bulk cargo loading and unloading in port, the bridge grab ship unloader has low operating cost and good adaptability. In order to adapt to the development trend of high efficiency, large scale, energy saving and environmental protection of bulk bulk logistics equipment, it is of great significance to study how to improve its working efficiency. In this paper, the traditional static unloading process is improved and innovated, ZV input shake-proof control method is applied to dynamic unloading and dumping unloading, and the motion characteristics of ZV are studied in depth, taking into account the variation of rope length. The dynamic analysis of grab swing process of bridge grab ship unloader is carried out, and the mathematical model is established by Lagrange equation method, and the fourth order Runge-Kutta numerical calculation method is used to solve the dynamic differential equation. Based on the traditional ZV input shaping, the equivalent natural frequency and damping ratio are used to calculate the parameters of the shaper. In order to improve the robustness and anti-rolling performance of the plastic shaper, the operation path of grab is planned, and three kinds of safe distance are proposed. In order to avoid collision between grab bucket and equipment, calculate the opening time and unload time to ensure the unload time, and obtain the material drop trajectory envelope. Based on the research on the dynamic unloading and unloading characteristics of the bridge grab ship unloader. A simulation software is developed for the study of unloading characteristics of bridge grab ship unloader. The software can realize the calculation of ZV shaper parameters, path planning, bucket opening time and unload time calculation, semi-automatic operation simulation, parameter extraction. The functions such as velocity curve, swing angle curve of grab bucket and material falling track line during unloading are obtained. The software is simple to operate, beautiful interface, reduce the working intensity of research, and reflect the control effect directly. Through a large number of simulations, it is revealed that the dynamic characteristics of bridge grab ship unloader are affected by the parameters such as grab bucket width, initial swing angle, motor delay, damping coefficient and minimum rope length. The improved ZV input shaping anti-rolling control method has a good anti-rolling effect on static unloading, dynamic unloading and throwing unloading, and dynamic unloading greatly improves the working efficiency compared with static unloading. The efficiency of discharging is higher than that of dynamic unloading.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U653.928.1

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