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  本文選題：混凝土泵車　切入點：臂架　出處：《哈爾濱工業(yè)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：混凝土泵車是利用車載混凝土泵使混凝土沿著依附在泵車臂架上的管道輸送至澆筑施工現(xiàn)場的特種工程設(shè)備。隨著我國經(jīng)濟的快速發(fā)展,許多大型工程建設(shè)項目對混凝土泵車的需求迅速增長�；炷帘密嚤奂艿恼駝右种茊栴},特別是在垂直方向上的振動抑制成為近幾年混凝土機械領(lǐng)域中急需解決的問題。本文針對混凝土泵車臂架狀態(tài)空間的建模問題,利用了一種基于臂架正則模態(tài)分析結(jié)果建立其在物理坐標(biāo)空間中狀態(tài)空間模型的方法,針對一款國產(chǎn)48米五節(jié)全液壓式混凝土泵車臂架進行了分析,獲得了其固有頻率和振型,通過選擇臂架上合適的主節(jié)點,得到了其降階的狀態(tài)空間模型。經(jīng)過對比ANSYS和MATLAB中臂架動態(tài)響應(yīng)分析的結(jié)果,驗證了所建立泵車臂架狀態(tài)空間模型的正確性。根據(jù)現(xiàn)代控制理論,對獲得的臂架狀態(tài)空間模型的可控性、能觀性、穩(wěn)定性、階躍響應(yīng)特性,以及在不同干擾下的振動響應(yīng)等進行了分析。分別利用狀態(tài)反饋控制和輸入補償控制設(shè)計了兩種振動抑制控制器。前者采用主導(dǎo)二階極點法,實現(xiàn)極點配置,提高系統(tǒng)阻尼,改善抗振特性;后者利用封閉承載腔中的壓力波動作為臂架振動的檢測,并通過對干擾輸入進行部分抵消,減小輸入到系統(tǒng)中的振動激勵。通過仿真驗證了這兩種控制器均能對臂架的振動進行有效抑制。臂架振動的輸入補償控制中對各節(jié)臂液壓缸的控制為獨立控制,單液壓缸控制系統(tǒng)為其基礎(chǔ)。最后,以單個臂架液壓缸的控制系統(tǒng)為研究對象,搭建了電液比例閥控制的臂架液壓控制系統(tǒng)試驗臺。采用輸入補償控制策略,對單個臂架液壓缸控制系統(tǒng)進行振動抑制仿真分析和試驗研究,驗證了所設(shè)計的控制器對單臂架液壓缸控制系統(tǒng)的振動抑制具有較好的效果。
[Abstract]:The concrete pump car is a special engineering equipment which uses the on-board concrete pump to transport the concrete along the pipe attached to the arm frame of the pump car to the pouring construction site. With the rapid development of our country's economy, The demand for concrete pump cars is growing rapidly in many large engineering projects. In particular, vibration suppression in vertical direction has become an urgent problem in the field of concrete machinery in recent years. Based on the results of the regular modal analysis of the boom, a state space model in the physical coordinate space is established. The jib of a domestic 48-meter five-section fully hydraulic concrete pump vehicle is analyzed, and its natural frequency and mode shape are obtained. The reduced order state space model is obtained by selecting the appropriate primary node on the boom. The results of dynamic response analysis of the boom in ANSYS and MATLAB are compared. According to the modern control theory, the controllability, observability, stability and step response characteristics of the obtained state space model of the boom are verified. Two kinds of vibration suppression controllers are designed by using state feedback control and input compensation control respectively. The former adopts dominant second-order pole method to achieve pole assignment and improve system damping. The latter uses the pressure fluctuation in the closed bearing cavity as the detection of the boom vibration, and partially cancels the interference input. The simulation results show that the two controllers can effectively suppress the vibration of the boom. In the input compensation control of the vibration of the boom, the control of the hydraulic cylinder with each arm is independent control. The control system of single hydraulic cylinder is based on it. Finally, taking the control system of single boom hydraulic cylinder as the research object, the hydraulic control system test-bed of arm frame controlled by electro-hydraulic proportional valve is built, and the input compensation control strategy is adopted. Simulation analysis and experimental study on vibration suppression of single arm hydraulic cylinder control system are carried out, and it is verified that the designed controller has a good effect on vibration suppression of single arm hydraulic cylinder control system.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TU646

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相關(guān)期刊論文 前1條

1 ;Vibration control of the finite L-shaped beam structures based on the active and reactive power flow[J];Science China(Physics,Mechanics & Astronomy);2011年02期

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本文編號：1567454