柔性动臂式汽车起重机起落钩修正与重物消摆技术研究
发布时间：2019-03-03 10:18
【摘要】：汽车起重机在吊装作业过程中由于变形或运行加速度的影响，吊重会产生偏摆，，对于吊装定位精度、作业效率及安全性都有影响，因此需要对起重机吊重偏摆进行修正和控制。传统的研究起重机吊重偏摆控制问题主要都是针对小车式变幅起重机的小车-吊重系统展开的，对于动臂式起重机不再适用。本文对于汽车起重机起钩、落钩、回转、变幅不同作业情况吊重偏摆问题进行了分析，建立了起落钩工况的系统变形分析模型并进行了偏摆修正，同时建立了回转变幅工况的动力学模型，完成了消摆控制研究。 对起落钩工况起重机伸缩臂进行了模型等效，考虑变幅液压缸的支承作用，计及轴力对变形的影响，利用微分方程法得到了适用于任意臂节数的吊臂末端挠度精确计算表达式。 对起重机底座结构进行了分析，针对起重机活动支腿弹性变形较大的特点，推导了由活动支腿变形导致的回转台转动变形公式，并进一步得到了变幅平面内回转台的转动变形。将底座弹性变形与吊臂弯曲变形结合起来，推导了起重机起落钩工况^/载前后工作幅度与吊臂变幅角度之间的关系式。利用逐步搜素法对修正后的变幅角度进行求解，并将其转化为变幅液压缸的伸缩量，通过直接改变变幅油缸伸缩量实现了起落钩工况吊重偏摆的修正。 分析了汽车起重机作业过程中系统运动部件之间的相对运动关系，利用齐次坐标及齐次变换的方法对各部件进行了运动描述，基于等效元素集成法针对回转、变幅、吊重空间摆动的四自由度系统建立了动力学模型。对回转工况建立了Simulink动力学仿真模块，分别改变初始变幅角度、钢丝绳长、吊重质量对系统进行了运动特性分析，利用双闭环鲁棒PID控制方法实现了吊重摆动角度及回转角度的控制。
[Abstract]:Due to the influence of deformation or running acceleration in the hoisting process of truck crane, the lifting weight will be tilted, which has influence on the positioning accuracy, working efficiency and safety of the crane. Therefore, it is necessary to modify and control the cranes' lifting pendulum. The traditional research on crane weight swing control is mainly aimed at the trolley-lifting system of small-car frame-changing crane, which is no longer applicable to jib cranes. In this paper, the problem of lifting and swinging of truck crane under different working conditions is analyzed, and the system deformation analysis model of landing hook is established and the tilting correction is carried out. At the same time, the dynamic model of the turning amplitude condition is established, and the research on the control of the swing elimination is completed. Considering the bearing action of variable amplitude hydraulic cylinder and taking into account the influence of axial force on deformation, the exact expression for calculating the end deflection of boom is obtained by using differential equation method, which is suitable for the number of jib nodes in a crane under the condition of landing hook, and the effect of bearing on the deformation of the boom is taken into account in consideration of the bearing action of the hydraulic cylinder. The structure of crane base is analyzed. According to the characteristics of large elastic deformation of crane movable leg, the rotational deformation formula of turntable caused by the deformation of movable leg is derived, and the rotational deformation of rotary table in variable amplitude plane is further obtained. Combining the elastic deformation of the base with the bending deformation of the boom, the relationship between the working amplitude of the lifting hook before and after loading ^ / and the angle of the boom is derived. The modified amplitude-changing angle is solved by the step-by-step search method, and it is transformed into the expansion of the variable-amplitude hydraulic cylinder. By directly changing the expansion of the variable-amplitude oil cylinder, the load swing of the landing hook is corrected. This paper analyzes the relative motion relationship between the moving parts of the system during the operation of the truck crane, and describes the motion of the components by means of homogeneous coordinate and homogeneous transformation. Based on the equivalent element integration method, it aims at turning and changing amplitude. The dynamic model of the four-degree-of-freedom system with lifting space swing is established. The dynamic simulation module of Simulink is established for the rotating condition. The motion characteristics of the system are analyzed by changing the initial angle of amplitude change, the length of wire rope and the quality of lifting weight. The double-closed-loop robust PID control method is used to control the swing angle and rotation angle of the lifting weight.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.6
本文编号：2433606
[Abstract]:Due to the influence of deformation or running acceleration in the hoisting process of truck crane, the lifting weight will be tilted, which has influence on the positioning accuracy, working efficiency and safety of the crane. Therefore, it is necessary to modify and control the cranes' lifting pendulum. The traditional research on crane weight swing control is mainly aimed at the trolley-lifting system of small-car frame-changing crane, which is no longer applicable to jib cranes. In this paper, the problem of lifting and swinging of truck crane under different working conditions is analyzed, and the system deformation analysis model of landing hook is established and the tilting correction is carried out. At the same time, the dynamic model of the turning amplitude condition is established, and the research on the control of the swing elimination is completed. Considering the bearing action of variable amplitude hydraulic cylinder and taking into account the influence of axial force on deformation, the exact expression for calculating the end deflection of boom is obtained by using differential equation method, which is suitable for the number of jib nodes in a crane under the condition of landing hook, and the effect of bearing on the deformation of the boom is taken into account in consideration of the bearing action of the hydraulic cylinder. The structure of crane base is analyzed. According to the characteristics of large elastic deformation of crane movable leg, the rotational deformation formula of turntable caused by the deformation of movable leg is derived, and the rotational deformation of rotary table in variable amplitude plane is further obtained. Combining the elastic deformation of the base with the bending deformation of the boom, the relationship between the working amplitude of the lifting hook before and after loading ^ / and the angle of the boom is derived. The modified amplitude-changing angle is solved by the step-by-step search method, and it is transformed into the expansion of the variable-amplitude hydraulic cylinder. By directly changing the expansion of the variable-amplitude oil cylinder, the load swing of the landing hook is corrected. This paper analyzes the relative motion relationship between the moving parts of the system during the operation of the truck crane, and describes the motion of the components by means of homogeneous coordinate and homogeneous transformation. Based on the equivalent element integration method, it aims at turning and changing amplitude. The dynamic model of the four-degree-of-freedom system with lifting space swing is established. The dynamic simulation module of Simulink is established for the rotating condition. The motion characteristics of the system are analyzed by changing the initial angle of amplitude change, the length of wire rope and the quality of lifting weight. The double-closed-loop robust PID control method is used to control the swing angle and rotation angle of the lifting weight.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.6
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