【摘要】：抓斗卸船機(jī)抓斗的擺動控制效果是影響其作業(yè)效率的一項(xiàng)重要指標(biāo),對于抓斗卸船機(jī)的擺動控制,通常采用輸入整形方法,該方法需要建立小車 抓斗系統(tǒng)的精確動力學(xué)模型。然而,傳統(tǒng)的建模方法通常將抓斗視為質(zhì)點(diǎn),并且未考慮抓斗開閉斗時(shí)重心的變化。本文通過建立小車 抓斗系統(tǒng)雙擺動力學(xué)模型,對其開閉斗動力學(xué)特性和擺動控制進(jìn)行了研究,主要工作及創(chuàng)新點(diǎn)如下:(1)考慮抓斗的形狀以及鋼絲繩繩長的變化,利用拉格朗日方法建立了抓斗卸船機(jī)小車—抓斗系統(tǒng)雙擺動力學(xué)模型,并利用四階龍格庫塔法對雙擺模型進(jìn)行了數(shù)值求解,得到了二階擺角和角加速度的迭代關(guān)系式。(2)利用ADAMS軟件建立了小車—抓斗系統(tǒng)三維動力學(xué)模型,分析了小車—抓斗運(yùn)動平面的二階擺動頻率,驗(yàn)證了本文所建理論模型的正確性;對抓斗在開閉斗情況下的重心變化進(jìn)行了分析,表明抓斗在不同狀態(tài)(開、閉斗)會對重心產(chǎn)生影響。(3)提出了一種改進(jìn)的ZV擺動控制方法,并考慮效率和安全,對抓斗的運(yùn)動軌跡進(jìn)行了規(guī)劃,實(shí)例仿真表明,改進(jìn)ZV方法具有很好的擺動控制效果;對相同控制參數(shù)下的單擺模型和雙擺模型的控制效果進(jìn)行了比較,表明基于雙擺模型第一階擺動頻率得到的等效單擺模型能獲得與雙擺模型一致的控制效果。(4)利用VB 6.0開發(fā)了小車—抓斗系統(tǒng)擺動控制仿真軟件,通過該軟件可以計(jì)算控制參數(shù),得到小車與起升的規(guī)劃速度曲線、抓斗重心運(yùn)行軌跡和雙擺的二階擺角變化曲線圖,并可對所提出的改進(jìn)ZV方法的控制效果進(jìn)行實(shí)時(shí)仿真分析。
[Abstract]:The swinging control effect of grab bucket unloader is an important index affecting its working efficiency. The input shaping method is usually used to control the swing of grab ship unloader. This method needs to establish the accurate dynamic model of the grab bucket system. However, the traditional modeling method usually regards the grab as a particle and does not consider the change of the center of gravity when the grab is opened or closed. In this paper, the dynamics model of double pendulum is established, and the dynamic characteristics and swing control of open and close bucket are studied. The main work and innovation are as follows: (1) considering the shape of grab and the length of wire rope, The dynamic model of double pendulum of grab ship unloader is established by using Lagrange method, and the double pendulum model is solved numerically by using the fourth order Runge-Kutta method. The iterative relation between the second order pendulum angle and the angular acceleration is obtained. (2) using ADAMS software, the three-dimensional dynamic model of the vehicle-grab system is established, and the second-order oscillating frequency of the moving plane of the car-grab is analyzed. The correctness of the theoretical model is verified. The variation of gravity center of grab bucket under the condition of opening and closing bucket is analyzed. It is shown that grab bucket in different states (open and close bucket) will affect the center of gravity. (3) an improved ZV swinging control method is proposed, and the efficiency and safety are considered. The motion trajectory of grab is planned. The simulation results show that the improved ZV method has a good effect on swing control. The control effects of single pendulum model and double pendulum model with the same control parameters are compared. The results show that the equivalent single pendulum model based on the first order swing frequency of the double pendulum model can obtain the same control effect as the double pendulum model. (4) the simulation software for the wobble control of the trolley grab bucket system is developed by using VB 6.0. Through this software, the control parameters can be calculated, the planning speed curve of the car and hoist can be obtained, the trajectory of gravity center of grab and the curve of second-order swing angle of double pendulum can be obtained, and the control effect of the improved ZV method can be analyzed by real-time simulation.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U653.928.1

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