55t汽车起重机柔性臂架动特性及主动控制研究

发布时间：2018-01-12 04:34

本文关键词：55t汽车起重机柔性臂架动特性及主动控制研究　出处：《大连理工大学》2011年硕士论文　论文类型：学位论文

更多相关文章： 汽车起重机 动特性 ADAMS 模糊PD

【摘要】：汽车起重机作为一种典型的箱型臂架类起重机被广泛的应用于各种吊装作业。随着汽车起重机起重量、起升高度、作业幅度的不断提升,其在作业过程中由运动产生的动载荷已不能为设计者忽略或仅用简单的经验法去考虑。传统方法在计算起重机工作过程中由系统惯性力或载荷摆动产生的对臂架系统的冲击,多采用添加动载荷系数的方式进行等效处理,但此方法存在一定的局限性。因此研究一种有效的方法进行汽车起重机臂架系统动特性分析是十分必要。汽车起重机臂架系统和载荷钢丝绳系统由于其本身具有柔性和摆动特性造成臂架系统和载荷钢丝绳系统在起重机作业过程不可避免的会产生臂架振动和载荷摆动,而臂架振动和载荷摆动对于整机的安全性构成了很大的威胁,因此研究如何抑制和减少臂架振动就显得十分的必要。本文以55t汽车起重机为研究对象,在前人工作的基础上,使用现有软件进行汽车起重机箱型臂架系统的动特性分析、臂架振动及载荷摆动主动控制,主要工作如下： 1)55t汽车起重机典型作业工况及突然卸载工况动力学分析利用ADAMS, ANSYS和PRO/E软件建立55t汽车起重机刚柔耦合多体系统动力学模型,并使用ADAMS软件进行突然卸载、带载变幅、带载回转等工况仿真分析得到了臂架系统应力及振动情况,计算结果可为结构设计与优化提供理论依据。 2)汽车起重机臂架振动及载荷摆动常规PD控制研究本文使用ADAMS和MATLAB联合建立汽车起重机等效控制模型,通过仿真研究提出使用常规PD控制进行臂架振动及载荷摆动主动控制,经仿真实验验证了此方法可有效的抑制臂架振动和载荷摆动。 3)汽车起重机臂架振动及载荷摆动模糊PD控制研究本文在对常规PD臂架振动和载荷摆动主动控制研究的基础上进行模糊PD主动控制研究,通过仿真验证模糊PD控制相对常规PD具有一定的自适应性,且控制效果良好。
[Abstract]:Truck crane is a typical box type jib crane is widely used in all kinds of lifting operations. With the weight of truck crane, lifting height, the operating range of continuous improvement, which is produced by movement in the operation process of dynamic load can not be ignored or only used empirical method to consider. The traditional method in the calculation of the working process of the crane by the inertia force or load swing of the boom system impact by adding dynamic load coefficient method of equivalent treatment, but this method has some limitations. So the research of an effective method for dynamic analysis of truck crane boom system is very necessary.
Automobile crane jib system and load of wire rope system due to its characteristics of flexibility and swing arm frame system and the load caused by wire rope system boom vibration and load swing in the crane operation process inevitably, while the boom vibration and load swing for the safety of the whole machine constitute a great threat, so the research on how to prevent and to reduce the vibration of boom is very necessary.
Taking 55T truck crane as the research object, based on previous works, the existing software is used to analyze the dynamic characteristics of truck crane box boom system, and the active control of boom vibration and load swing. The main works are as follows:
1) dynamic analysis of typical working condition and sudden unloading condition of 55T truck crane
The use of ADAMS, ANSYS and PRO/E software to establish 55T automobile crane rigid flexible coupling multi-body system dynamics model, and suddenly unloading the use of ADAMS software, with variable load, with simulation analysis of load rotation conditions by jib system stress and vibration condition, the calculation results can provide theoretical basis for structure design and optimization.
2) study on the conventional PD control of the vibration and load swing of the truck crane boom
In this paper, the equivalent control model of truck crane is established by using ADAMS and MATLAB. Through simulation research, it is put forward that conventional PD control is applied to active control of boom vibration and load swing. Simulation results show that this method can effectively suppress boom vibration and load swing.
3) study on the fuzzy PD control of the vibration and load swing of the truck crane boom
Based on the research of active control of conventional PD boom vibration and load swing, fuzzy PD active control is studied. Simulation results show that fuzzy PD control has certain adaptability compared with conventional PD, and the control effect is good.

【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.6

【引证文献】