混凝土湿喷机臂架系统的动力学建模与分析

doi:10.3785/j.issn. 1006-754X.2014.03.005

工程设计学报

建模、分析、优化和决策

混凝土湿喷机臂架系统的动力学建模与分析

胡仕成^1,2,3，宋晶晶^1，2，王祥军³

1. 中南大学机电工程学院，湖南长沙 410083；
2. 中南大学高性能复杂制造国家重点实验室，湖南长沙 410083；
3.中铁五新集团，湖南长沙 410100

Dynamics modeling and analysis on boom system of wet spraying machine

HU Shi-cheng^1，2，3， SONG Jing-jing^1，2， WANG Xiang-jun³

1. College of Mechanical and Electrical Engineering， Central South University， Changsha 410083， China;
2. State Key Laboratory of High Performance Complex Manufacturing， Central South University, Changsha 410083， China;
3. China Railway Wuxin Group， Changsha 410100， China

全文: PDF(2531 KB) HTML

摘要： 针对混凝土湿喷机臂架系统的液压油缸驱动力难以显式计算的问题，采用解析几何法和拉格朗日方程建立混凝土湿喷机臂架系统的动力学模型．将驱动油缸等效为活塞杆沿着套筒运动的二连杆机构，这样臂架成为不完全开链的十连杆机构．采用解析几何法，推导臂架杆件转角与液压油缸行程的函数关系，即臂架系统的运动学方程．在运动学基础上根据拉格朗日动力学方程，建立广义力（液压油缸驱动力）对广义坐标（油缸行程）的数学模型．仿真分析时选择了湿喷机的一个典型工作过程，利用符号运算工具MAPLE求解广义力的解析式，并导入MATLAB进行数值求解．同时，利用PRO/E的机构动力学仿真工具对臂架进行分析．对比可见MATLAB与PRO/E仿真结果相吻合，验证了混凝土湿喷机臂架系统动力学模型的正确性．最后，结合动力学模型分析驱动油缸铰点位置变化对油缸工作过程中最大驱动力的影响，结果表明原湿喷机臂架系统结构有待进一步优化．因此，该动力学模型为油缸选型和油缸受力优化提供了理论依据．

关键词： 混凝土湿喷机; 臂架系统; 动力学建模; 油缸驱动力; 优化

Abstract: In view of the problem in explicitly calculating the driving force of hydraulic cylinders accurately in the boom system of a wet spraying machine, the dynamics model of the boom system was established by using the method of analytic geometry and Lagrange equation. An equivalent driving cylinder was established as a twobar linkage mechanism including a cylinder rod and a sleeve which were in rectilinear motion relatively. Thus the boom became a multilink mechanism that was an incompleteopenedchain. Using the method of analytic geometry, a functional relation between boom bars' rotation angles and hydraulic cylinders' stroke was deduced as the kinematic model of the boom system. On the basis of kinematics and Lagrange's dynamical equations, the mathematical model related generalized forces (driving force of hydraulic cylinders) to generalized coordinates (cylinder stroke) was established. A typical working process of the wet spraying machine was selected to analysis. The analytic expressions of the generalized forces were solved by using the software of MAPLE. Then the expressions were imported into MATLAB to carry out numerical solutions. At the same time, the boom system was analyzed by using the tool of Pro/E mechanism dynamics. It contrastively showed that the simulation results of MATLAB were approximately in conformity with the PRO/E's, which verified the validity of the dynamics model of the boom system. Finally, the influence on maximum driving force of driving cylinder on a typical condition by change of position of the cylinder pivot point was analyzed and the results showed the original structure of boom system should be optimized. Thus, the dynamical model provides a theoretical basis for selecting the type of cylinders and optimization on the actuator force of driving cylinders.

Key words: wet spraying machine boom system dynamics modeling actuator force optimization

出版日期: 2014-06-28

基金资助:

国家自然科学基金资助项目(51375501)．

作者简介: 胡仕成（1968—），男，湖南益阳人，副教授，博士，从事工程机械与材料成型工艺研究，E-mail: schenghu@163.com．

	服务
	把本文推荐给朋友
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章

引用本文:

胡仕成，宋晶晶，王祥军. 混凝土湿喷机臂架系统的动力学建模与分析[J]. 工程设计学报, 10.3785/j.issn. 1006-754X.2014.03.005.

HU Shi-cheng， SONG Jing-jing， WANG Xiang-jun. Dynamics modeling and analysis on boom system of wet spraying machine. Chinese Journal of Engineering Design, 10.3785/j.issn. 1006-754X.2014.03.005.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn. 1006-754X.2014.03.005 或 https://www.zjujournals.com/gcsjxb/CN/Y2014/V21/I3/227

[1]	宁志强,卫立新,权龙,赵美卿,高有山. 变排量非对称轴向柱塞泵抗扰控制及并行整定方法[J]. 工程设计学报, 2022, 29(4): 401-409.
[2]	张嘉宁,张明路,李满宏,张坦. 面向灰库清理的超大伸缩比机械臂结构设计与刚度优化[J]. 工程设计学报, 2022, 29(4): 430-437.
[3]	赵富强,杜特,常宝玉,牛志刚. 肢腿履带足机构抬腿工况动力学分析与实验研究[J]. 工程设计学报, 2022, 29(4): 474-483.
[4]	李科军,邓旻涯,黄文静,张宇,曾家旺,陈淼林. 混凝土湿喷机摆动系统工作特性研究[J]. 工程设计学报, 2022, 29(4): 519-526.
[5]	刘洪江,胡腾,何勇,董峰,罗为. 基于CSO-SVM的数控机床主轴热误差建模[J]. 工程设计学报, 2022, 29(3): 339-346.
[6]	王景良,朱天成,朱龙彪,许飞云. 连续体结构的变密度拓扑优化方法研究[J]. 工程设计学报, 2022, 29(3): 279-285.
[7]	孙光明,王奕苗,万仟,弓堃,汪文津,赵坚. 考虑装配变形的精密机床床身优化设计[J]. 工程设计学报, 2022, 29(3): 318-326.
[8]	张春燕,丁兵,何志强,杨杰. 转盘式多足仿生机器人的运动学分析及优化[J]. 工程设计学报, 2022, 29(3): 327-338.
[9]	高伟,张玮,谷海涛,孟令帅,高浩,赵志超. 大型深海AUV无动力螺旋下潜运动特性分析[J]. 工程设计学报, 2022, 29(3): 370-383.
[10]	李琴,贾英崎,黄玉峰,李刚,叶闯. 一种工业机器人多目标轨迹优化算法[J]. 工程设计学报, 2022, 29(2): 187-195.
[11]	辛传龙,郑荣,任福琳,梁洪光. AUV接驳装置悬浮平衡分析与配重优化设计[J]. 工程设计学报, 2022, 29(2): 176-186.
[12]	肖圳, 何彦, 李育锋, 吴鹏程, 刘德高, 杜江. 改进MDSMOTE与PSO-SVM在汽车组合仪表分类预测中的应用[J]. 工程设计学报, 2022, 29(1): 20-27.
[13]	梁栋, 梁正宇, 畅博彦, 齐杨, 徐振宇. 多臂机提综臂辅助旋铆并联机器人优化设计[J]. 工程设计学报, 2022, 29(1): 28-40.
[14]	钟道方, 田颖, 张明路. 轮腿式爬壁机器人的永磁吸附装置设计与优化[J]. 工程设计学报, 2022, 29(1): 41-50.
[15]	杨世香, 李文强. 焚烧灰处理装备密封结构的创新设计[J]. 工程设计学报, 2021, 28(6): 679-686.

Viewed

Full text

Abstract

Cited

Shared

Discussed