七轴钻机底盘三桥转向分析

发布时间：2018-02-01 00:22

本文关键词： 多轴转向数学模型虚拟样机优化分析刚柔耦合　出处：《西南交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,随着石油钻机的深入与钻机技术的不断发展,钻机车的品种日益丰富和多样化。由于钻机车车身较长、载重较大,受于工作场地和道路条件限制,要求其转弯半径控制在一定的范围内,因此多轴转向技术被广泛的运用于钻机车中。多轴转向车辆相比于两轴车辆来说,其参与转向的轴数增多,导致在转向过程条件下易发生轮胎磨损和杆系损坏,为使多轴转向车辆具有良好的转向传动特性,有必要对转向机构进行深入的研究。本文首先阐述了石油钻机车的背景与发展现状,引出本文所研究的对象。在消化、吸收、归纳、总结前人的成果上,利用相关汽车理论知识,全面地对七轴钻机底盘三桥转向机构中的梯形机构、转向摇臂机构进行理论分析并建立数学模型,运用MATLAB软件编写优化计算程序;利用ADAMS运动学仿真软件建立七轴钻机底盘三桥转向机构虚拟样机模型,并对前三桥各转向轮转角进行运动学分析,再利用ADAMS软件中的优化工具箱对转向摇臂机构关键连接点参数进行优化分析,进一步提高各转向轮转角特性;最后计算钻机车在原地转向时的转向阻力矩,并对转向助力系统的动力进行匹配校核;在刚性模型的基础上,采用刚柔替换的方式建立转向系统刚柔耦合模型,先利用ANSYS软件对转向机构中的杆件进行柔性化处理,并将生成的转向杆件柔性mnf中性文件导入到ADAMS里建立刚柔耦合模型,然后对刚柔耦合模型进行运动学与动力学分析,并与刚性条件下所求解出的各转向轮转角和杆件受力情况进行对比分析,研究杆件弹性变形对转向系统运动学和动力学的影响。本文所采用的优化分析方法以及设计流程可为多轴车辆转向机构的设计和研发提供一定的参考价值。
[Abstract]:In recent years, with the deepening of oil drilling rig and the continuous development of drilling rig technology, the variety of drilling rig has become increasingly rich and diversified. The turning radius is required to be controlled in a certain range, so the multi-axle steering technology is widely used in drilling rigs. Compared with two-axle vehicles, multi-axle steering vehicles have more shafts involved in steering. In order to make the multi-axle steering vehicle have good steering characteristics, tire wear and rod system damage are easy to occur under the condition of steering process. It is necessary to further study the steering mechanism. Firstly, this paper describes the background and development status of oil drilling rigs, leads to the object of this study. In digestion, absorption, induction, summary of previous achievements. Based on the knowledge of automobile theory, the trapezoidal mechanism and steering arm mechanism of three-bridge steering mechanism of seven-axle drilling rig chassis are analyzed theoretically and the mathematical model is established. Using MATLAB software to compile the optimization calculation program; Using ADAMS kinematics simulation software, the virtual prototype model of three-bridge steering mechanism of seven-axis drilling rig chassis is established, and the kinematics analysis of each steering wheel angle of the first three bridges is carried out. The optimization toolbox of ADAMS software is used to optimize the key connection point parameters of the steering rocker mechanism to further improve the steering wheel rotation angle characteristics. Finally, the steering resistance moment of the rig in situ steering is calculated, and the power of the steering power system is matched and checked. On the basis of the rigid model, the rigid-flexible coupling model of steering system is established by means of rigid and flexible substitution. Firstly, the flexible processing of the steering member in the steering mechanism is carried out by using ANSYS software. The flexible mnf neutral file is imported into ADAMS to establish the rigid-flexible coupling model, and then the kinematics and dynamics analysis of the rigid-flexible coupling model is carried out. The results are compared with the steering wheel angle and the stress on the bar under the rigid condition. The effect of elastic deformation on the kinematics and dynamics of steering system is studied. The optimization analysis method and the design flow can provide some reference value for the design and development of steering mechanism of multi-axle vehicle.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE922

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