本文選題：舉升系統(tǒng) + 非對(duì)稱(chēng)組合正弦��； 參考：《機(jī)械設(shè)計(jì)與制造》2017年09期

【摘要】：液壓多級(jí)缸在換級(jí)時(shí),易產(chǎn)生較大的液壓沖擊,為保證舉升系統(tǒng)的穩(wěn)定性,同時(shí)獲得舉升過(guò)程的快速性,在分級(jí)規(guī)劃時(shí),首先,提出采用加速和減速階段比例為3:7的三種非對(duì)稱(chēng)組合正弦函數(shù)來(lái)擬合起豎臂的位姿變化規(guī)律,并建立軌跡規(guī)劃模型,然后運(yùn)用模式搜索法求解最優(yōu)時(shí)間,仿真得到多級(jí)液壓缸的運(yùn)行軌跡和負(fù)載沖擊情況。最后通過(guò)仿真結(jié)果對(duì)比,表明提出的軌跡規(guī)劃方法是有效的,且不同分段的非對(duì)稱(chēng)組合正弦函數(shù)對(duì)于舉升系統(tǒng)有明顯的影響。
[Abstract]:In order to ensure the stability of the lifting system and obtain the quickness of the lifting process, in order to ensure the stability of the lifting system and obtain the quickness of the lifting process, the first step in the hierarchical planning, Three kinds of asymmetric combined sinusoidal functions with the ratio of 3:7 in acceleration and deceleration stage are proposed to fit the position and pose change of vertical arm, and a trajectory planning model is established, and the optimal time is solved by pattern search method. The running trajectory and load impact of multistage hydraulic cylinder are obtained by simulation. Finally, the simulation results show that the proposed trajectory planning method is effective, and the asymmetric combined sinusoidal function of different segments has obvious influence on the lifting system.
【作者單位】： 武漢科技大學(xué)機(jī)械自動(dòng)化學(xué)院;北京航天發(fā)射技術(shù)研究所;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51175386)
【分類(lèi)號(hào)】：TH137.51

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本文編號(hào)：2004404