泵车臂架体系动力学建模与仿真分析
发布时间：2019-04-13 21:08
【摘要】：混凝土泵车属于大型工程机械,其整体结构为复杂系统全控制多摆结构模型,是动力学系统分析与控制的一个良好平台。随着经济和科技水平的不断提高,建筑行业对混凝土泵车的需求量和工作要求也在不断增加,尤其是大型多臂架混凝土泵车以其高效率、低损耗、零污染而越来越受到人们的青睐。混凝土泵车的主要工作部分是泵送机构和臂架系统。 本文首先概述了混凝土泵车的国内外研究进展和混凝土泵车的结构组成,介绍了泵车臂架体系建模的Mathematic软件和相关理论。 运用第二类拉格朗日方程和齐次坐标变换理论,推导建立了多臂架泵车体系的动力学与控制模型,为系统结构的合理设计与参数的选择分析提供必要条件。 针对臂架体系从一种姿态改变到另外一种姿态,以臂架转角为设计变量,以转移过程中消耗能量为目标函数,建立了最优姿态优化求解模型。应用Fortran-PowerStation软件,编制优化计算程序,并通过算例优化分析获得了五个臂架的最优角度。 针对最优姿态的改变问题,运用已建立的动力学简化模型,分析了臂架的逐级姿态改变过程中施加的液压力与时间的非线性函数关系。建立合理液压力函数的求解程序,并完成了算例求解。 本文的研究综合运用了动力学、优化理论、程序设计和仿真计算分析,探讨了混凝土泵车臂架系统的力学和控制相关问题,为进一步的研究提供基础。
[Abstract]:Concrete pump vehicle is a large-scale construction machinery. Its whole structure is a fully controlled multi-pendulum structure model of complex system. It is a good platform for dynamic system analysis and control. With the continuous improvement of economy and science and technology, the demand and working requirement of concrete pump vehicle in the construction industry is increasing, especially the large-scale Dobby concrete pump truck with its high efficiency and low loss. It is more and more popular because of zero pollution. The main work part of concrete pump truck is pumping mechanism and boom system. In this paper, the research progress of concrete pump vehicle at home and abroad and the structure composition of concrete pump truck are summarized, and the Mathematic software and related theory for modeling of pump truck boom system are introduced. Based on the Lagrange equation of the second kind and the theory of homogeneous coordinate transformation, the dynamics and control model of the pump vehicle system with multi-arm frame is derived and established, which provides the necessary conditions for the reasonable design of the system structure and the selection of the parameters. Aiming at the change from one attitude to another, the optimal attitude optimization model is established by taking the jib angle as the design variable and the energy consumption in the transfer process as the objective function. Using Fortran-PowerStation software, the optimization calculation program is compiled, and the optimal angles of five jib are obtained by example optimization analysis. In order to solve the problem of optimal attitude change, the nonlinear function relationship between hydraulic pressure and time during the step-by-step attitude change of the boom is analyzed by using the established simplified dynamic model. A program for solving the reasonable hydraulic pressure function is established and a numerical example is completed. In this paper, dynamics, optimization theory, program design and simulation analysis are used to discuss the mechanics and control of concrete pump truck boom system, which provides a basis for further research.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU646
本文编号：2457950
[Abstract]:Concrete pump vehicle is a large-scale construction machinery. Its whole structure is a fully controlled multi-pendulum structure model of complex system. It is a good platform for dynamic system analysis and control. With the continuous improvement of economy and science and technology, the demand and working requirement of concrete pump vehicle in the construction industry is increasing, especially the large-scale Dobby concrete pump truck with its high efficiency and low loss. It is more and more popular because of zero pollution. The main work part of concrete pump truck is pumping mechanism and boom system. In this paper, the research progress of concrete pump vehicle at home and abroad and the structure composition of concrete pump truck are summarized, and the Mathematic software and related theory for modeling of pump truck boom system are introduced. Based on the Lagrange equation of the second kind and the theory of homogeneous coordinate transformation, the dynamics and control model of the pump vehicle system with multi-arm frame is derived and established, which provides the necessary conditions for the reasonable design of the system structure and the selection of the parameters. Aiming at the change from one attitude to another, the optimal attitude optimization model is established by taking the jib angle as the design variable and the energy consumption in the transfer process as the objective function. Using Fortran-PowerStation software, the optimization calculation program is compiled, and the optimal angles of five jib are obtained by example optimization analysis. In order to solve the problem of optimal attitude change, the nonlinear function relationship between hydraulic pressure and time during the step-by-step attitude change of the boom is analyzed by using the established simplified dynamic model. A program for solving the reasonable hydraulic pressure function is established and a numerical example is completed. In this paper, dynamics, optimization theory, program design and simulation analysis are used to discuss the mechanics and control of concrete pump truck boom system, which provides a basis for further research.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU646
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