滑移装载机工作装置减振系统设计与研究

发布时间：2018-06-05 19:59

本文选题：滑移装载机 + 振动控制技术　；参考：《中南大学》2011年硕士论文

【摘要】：滑移装载机作为一种应用于基础设施建设并需频繁进行转场作业的工程车辆,在运输作业过程中工作装置的行驶平顺性成为保持铲斗内物料完整性和提高工作效率的关键。本文以ZHL3210型滑移装载机为研究对象,针对工作装置行驶平顺性的改善进行理论、仿真与实验研究。主要完成的工作如下： 1、论述了振动控制技术和国内外工程车辆减振技术的研究现状,根据滑移装载机的作业特点,分析了运输工况下工作装置振动产生的原因,在明确了主要激振因素和振动传递过程的基础上,提出了基于改变阻尼的工作装置半主动油气减振方案,并建立了工作装置油气减振系统。 2、基于油气减振系统的分析,建立了系统的数学模型,在此基础上推导出了减振系统的非线性刚度特性和阻尼特性,得出了影响系统减振性能的主要结构参数为蓄能器的初始充气压力、初始充气容积、比例节流阀的阀口开度和单向节流阀的通流截面积,并通过对输出特性进行编程运算,分析了系统减振原理。 3、基于减振系统原理和输出刚度、阻尼特性,构建了加入减振系统前、后整机振动系统的物理模型,并应用拉格朗日方程法建立了振动系统的动力学数学模型；根据作业环境的特点,建立了常规工况下的D级随机工程路面模型和特殊工况下的冲击型横向铁路轨道路面模型,以此作为振动系统的激励输入。 4、根据振动系统动力学模型,应用Matlab-Simulink仿真软件分析了减振系统各主要参数对工作装置行驶平顺性的影响规律；以D级工程路面进行系统工况仿真分析,在得出的油气减振系统动力学参数基础上,确定了系统结构参数及元件选型；基于确定参数的减振系统,在D级路况和轨道路况下对工作装置行驶平顺性进行仿真,表明了在D级路况下减振系统能很好的满足系统平顺性要求,但在轨道路况下,其隔振效果较差,提出了针对某一路况设计的固定参数减振系统存在的缺陷。 5、针对固定参数减振系统的不足和实际运输工况下路面的多变和复杂性,采用了基于模糊控制的半主动减振控制方法,结合系统动力学模型建立了半主动减振模糊控制系统,并应用MATLAB-Fuzzy工具箱设计了模糊控制器；根据随机路况和轨道路况建立了分段路面模型,通过仿真评价了不加减振系统、加入固定参数的减振系统和采用模糊控制的半主动减振系统对工作装置行驶平顺性的影响,验证了半主动减振模糊控制方案的有效性。 6、以ZHL3210型滑移装载机为平台进行实车道路试验,验证了油气减振系统对工作装置振动控制的有效性、减振系统和整车振动系统数学模型的正确性以及基于改变系统阻尼的半主动减振控制方案的合理性。
[Abstract]:As a kind of engineering vehicle which is used in the construction of infrastructure and needs to be rotated frequently, the smoothness of the working device becomes the key to maintain the integrity of the material in the bucket and to improve the working efficiency. This paper takes ZHL3210 type slip loader as the research object, carries on the theory, the simulation and the experimental research to the improvement of the ride comfort of the working device. The main tasks accomplished are as follows: 1. The research status of vibration control technology and damping technology of engineering vehicles at home and abroad is discussed. According to the working characteristics of sliding loader, the causes of vibration of working device under transportation condition are analyzed. On the basis of defining the main excitation factors and vibration transfer process, a semi-active oil-gas damping scheme based on varying damping is proposed, and the oil-gas damping system of the working device is established. 2. Based on the analysis of the oil and gas damping system, the mathematical model of the system is established, and the nonlinear stiffness and damping characteristics of the system are derived. The main structural parameters that affect the performance of the system are the initial inflatable pressure of accumulator, the initial inflatable volume, the opening of the proportional throttle valve and the through-cut area of the one-way throttle valve, and the programming operation of the output characteristics is carried out. The vibration absorption principle of the system is analyzed. 3. Based on the principle of the vibration absorption system and the characteristics of the output stiffness and damping, the physical model of the vibration system before and after adding the damping system is constructed, and the dynamic mathematical model of the vibration system is established by using the Lagrange equation method. According to the characteristics of the working environment, the road surface model of D class random engineering under normal working conditions and the impact type transverse railway track pavement model under special working conditions are established, which can be used as the excitation input of vibration system. 4. According to the dynamic model of vibration system, the influence of main parameters of the damping system on the ride comfort of the working device is analyzed by using the Matlab-Simulink simulation software, and the simulation analysis of the system working condition is carried out on the road surface of the D class project. On the basis of the obtained dynamic parameters of oil and gas damping system, the structural parameters and components selection of the system are determined, and the vibration absorption system based on the determined parameters is simulated under the condition of D class road condition and track condition, and the ride comfort of the working device is simulated under the condition of D class road condition and track road condition. The results show that the vibration absorption system can meet the requirements of system ride comfort well under the condition of D grade road, but the vibration isolation effect is poor under the condition of track road, and the defects of the fixed parameter vibration absorption system designed for a certain road condition are put forward. 5. In view of the deficiency of the fixed parameter damping system and the complexity of the pavement under the actual transportation condition, the semi-active vibration control method based on fuzzy control is adopted, and the semi-active vibration reduction fuzzy control system is established based on the dynamic model of the system. The fuzzy controller is designed by using the MATLAB-Fuzzy toolbox, the segmented road surface model is established according to the random road condition and the track condition, and the non-vibration damping system is evaluated by simulation. The effect of the fixed parameter damping system and the semi-active vibration absorption system with fuzzy control on the ride comfort of the working device is verified, and the effectiveness of the semi-active vibration reduction fuzzy control scheme is verified. 6. Taking ZHL3210 type slip loader as the platform, the actual road test is carried out, which verifies the effectiveness of the oil and gas damping system to the vibration control of the working device. The correctness of the mathematical models of vibration absorption system and vehicle vibration system and the rationality of the semi-active vibration control scheme based on changing the damping of the system.
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH243

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