九轴大型轮式起重机转向特性的研究

发布时间：2018-06-23 04:41

本文选题：轮式起重机 + 多轴转向　；参考：《太原科技大学》2014年硕士论文

【摘要】：随着社会的进步、国民经济的快速发展，大型轮式起重机在核电、桥梁、高铁等各大工程项目中得到了广泛的应用，并逐步向智动化高水平方向发展。大型轮式起重机具有轴数多、承载能力大、运输效率高等的优点，但轴数的增多给大型轮式起重机在低速时的转弯和高速时的稳定性都带来了困难,同时转向系统性能的优劣又会影响到大型轮式起重机燃油的经济性和行驶安全性，因此对大型轮式起重机的转向特性功能的研究具有重要的现实意义。本文首先对多轴转向系的转向方式和结构组成进行了比较，然后按照所要实现的转向模式选择了前桥组（前五轴）转向为机械式、后桥组（后四轴）采用电子控制液压系统的转向方式，这种转向方式可以保证转向时的可靠性和灵活性。其次，对大型轮式起重机的转向系统简化，根据汽车理论推导出其运动微分关系式，通过Matlab编程和Simulink模块分析了其在零质心侧偏角控制算法条件下的转向动态特性，并且对比分析了不同的质心的位置和不同的轮胎侧偏刚度对转向特性的影响。接着，运用经验公式分析了转向阻力矩，并初步选取了液压缸的主要参数。最后，，在对转向执行机构进行简化的基础上建立了其数学模型，通过Bode图对单个液压助力转向桥的稳定性进行分析，并运用Matlab/Simulink和AMESim对该转向系统中的单个转向桥进行建模和对转向盘在角阶跃输入信号的激励下进行动态响应特性仿真分析。通过对单桥转向系统的快速响应特性和稳定性的模拟研究为多桥转向系统的研究提供借鉴。
[Abstract]:With the progress of the society and the rapid development of the national economy, large wheeled cranes have been widely used in nuclear power, bridges, high-speed rail and other major projects, and gradually developed to a high level of intelligence. Large wheeled cranes have many advantages, such as many shafts, large load-carrying capacity and high transportation efficiency, but the increase of shaft numbers brings difficulties to the turning of large wheeled cranes at low speed and stability at high speed. At the same time, the performance of steering system will affect the fuel economy and driving safety of large wheeled crane, so it is of great practical significance to study the steering characteristics of large wheeled crane. In this paper, the steering mode and structure composition of the multi-axis steering system are compared, and then the front axle group (the first five axes) steering is chosen as the mechanical type according to the steering mode to be realized. The rear axle group (rear four axis) adopts the electronic control hydraulic system steering mode, this kind of steering mode can guarantee the reliability and flexibility of steering. Secondly, the steering system of the large wheeled crane is simplified, and the differential equation of its motion is deduced according to the automobile theory. The dynamic characteristics of the steering system under the condition of zero-centroid side deflection control algorithm are analyzed by Matlab programming and Simulink module. The effects of different centroid positions and different tire lateral stiffness on steering characteristics are analyzed. Then, the steering resistance moment is analyzed by empirical formula, and the main parameters of hydraulic cylinder are preliminarily selected. Finally, based on the simplification of steering actuator, the mathematical model is established, and the stability of single hydraulic steering axle is analyzed by Bode diagram. Using Matlab / Simulink and AMESim to model a single steering bridge in the steering system and to simulate the dynamic response characteristics of the steering wheel under the excitation of the angular step input signal. The simulation study on the fast response characteristics and stability of single axle steering system provides a reference for the study of multi-axle steering system.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH213.6

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