本文關(guān)鍵詞： 橋式抓斗卸船機 動態(tài)卸料 拋料卸料 運動特性　出處：《武漢理工大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：經(jīng)濟的迅猛發(fā)展，促使對煤炭、礦石、糧食等資源型干散貨需求逐漸增加，同時資源的分布不均勻，導(dǎo)致以船舶運輸為主的干散貨國際貿(mào)易量日益增長，干散貨運輸朝著船舶大型化、港口裝卸專業(yè)化的方向發(fā)展。橋式抓斗卸船機，作為港口碼頭散貨裝卸的重要設(shè)備，具有運營成本低、適應(yīng)性好、安全可靠等優(yōu)點。為適應(yīng)大宗散貨物流裝備高效化、大型化、節(jié)能環(huán)保的發(fā)展趨勢，研究如何提高其作業(yè)效率具有重要意義。 本文針對傳統(tǒng)的靜態(tài)卸料工藝進行改進與創(chuàng)新，將ZV輸入整形防搖控制方法應(yīng)用動態(tài)卸料和拋料卸料中，并深入研究其運動特性�？紤]繩長變化、系統(tǒng)阻尼等因素，進行橋式抓斗卸船機抓斗擺動過程動力學(xué)分析，用拉格朗日方程法建立數(shù)學(xué)模型，并采用四階龍格—庫塔數(shù)值計算方法求解動力學(xué)微分方程，，得到各時刻的吊重擺角、角速度、角加速度等參數(shù)。在傳統(tǒng)ZV輸入整形的基礎(chǔ)上，提出以等效自然頻率和阻尼比來計算整形器參數(shù)，從而提高整形器魯棒性和防搖性能。規(guī)劃抓斗運行路徑，提出抓斗走弧形路徑時的三種安全距離，以避免抓斗和設(shè)備發(fā)生碰撞。計算開斗時間以及保證卸料時不撒料的可卸料時間，得到卸料時物料下落軌跡包絡(luò)線，直觀顯示卸料過程是否發(fā)生卸料。基于對橋式抓斗卸船機動態(tài)卸料和拋料卸料運動特性的研究，開發(fā)了橋式抓斗卸船機卸料運動特性研究仿真軟件。軟件可實現(xiàn)ZV整形器參數(shù)計算、路徑規(guī)劃、開斗時間及可卸料時間計算、半自動運行仿真、參數(shù)提取，得到速度曲線、抓斗擺角曲線及卸料時物料下落軌跡線等功能。軟件操作簡單、界面美觀，降低了研究工作強度，直觀的反映了控制效果。 通過大量仿真，揭示了橋式抓斗卸船機卸料運動特性受抓斗寬度、初始擺角、電機時滯、阻尼系數(shù)、最小繩長等參數(shù)影響的變化規(guī)律，改進的ZV輸入整形防搖控制方法對靜態(tài)卸料、動態(tài)卸料以及拋料卸料都具有良好的防搖效果。動態(tài)卸料較靜態(tài)卸料大幅提高了作業(yè)效率，拋料卸料又較動態(tài)卸料有明顯效率提高。
[Abstract]:With the rapid development of economy, the demand for dry bulk goods, such as coal, ore, grain and so on, increases gradually, and the distribution of resources is uneven, which leads to the international trade volume of dry bulk cargo, which is dominated by ship transportation, increasing day by day. As an important equipment of bulk cargo loading and unloading in port, the bridge grab ship unloader has low operating cost and good adaptability. In order to adapt to the development trend of high efficiency, large scale, energy saving and environmental protection of bulk bulk logistics equipment, it is of great significance to study how to improve its working efficiency. In this paper, the traditional static unloading process is improved and innovated, ZV input shake-proof control method is applied to dynamic unloading and dumping unloading, and the motion characteristics of ZV are studied in depth, taking into account the variation of rope length. The dynamic analysis of grab swing process of bridge grab ship unloader is carried out, and the mathematical model is established by Lagrange equation method, and the fourth order Runge-Kutta numerical calculation method is used to solve the dynamic differential equation. Based on the traditional ZV input shaping, the equivalent natural frequency and damping ratio are used to calculate the parameters of the shaper. In order to improve the robustness and anti-rolling performance of the plastic shaper, the operation path of grab is planned, and three kinds of safe distance are proposed. In order to avoid collision between grab bucket and equipment, calculate the opening time and unload time to ensure the unload time, and obtain the material drop trajectory envelope. Based on the research on the dynamic unloading and unloading characteristics of the bridge grab ship unloader. A simulation software is developed for the study of unloading characteristics of bridge grab ship unloader. The software can realize the calculation of ZV shaper parameters, path planning, bucket opening time and unload time calculation, semi-automatic operation simulation, parameter extraction. The functions such as velocity curve, swing angle curve of grab bucket and material falling track line during unloading are obtained. The software is simple to operate, beautiful interface, reduce the working intensity of research, and reflect the control effect directly. Through a large number of simulations, it is revealed that the dynamic characteristics of bridge grab ship unloader are affected by the parameters such as grab bucket width, initial swing angle, motor delay, damping coefficient and minimum rope length. The improved ZV input shaping anti-rolling control method has a good anti-rolling effect on static unloading, dynamic unloading and throwing unloading, and dynamic unloading greatly improves the working efficiency compared with static unloading. The efficiency of discharging is higher than that of dynamic unloading.
【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】：2014
【分類號】：U653.928.1

【參考文獻】

相關(guān)期刊論文 前8條

1 孫斌;王旭昶;;抓斗式卸船機自動作業(yè)的性能優(yōu)化[J];機電工程;2011年06期

2 宋合川;姚振強;張雪萍;;橋式卸船機抓斗搖擺數(shù)值仿真與控制分析[J];機械設(shè)計與研究;2008年02期

3 梁春燕,鐘慶昌,謝劍英;時滯濾波器抑制殘留振蕩:理論、方法及應(yīng)用[J];控制與決策;2001年03期

4 王煥;;橋式抓斗卸船機取料過程分析[J];武漢水運工程學(xué)院學(xué)報;1987年03期

5 王煥;;橋式抓斗卸船機制動瀉料過程仿真[J];武漢水運工程學(xué)院學(xué)報;1986年02期

6 王煥;;橋式抓斗卸船機制動瀉料過程動態(tài)規(guī)劃[J];武漢水運工程學(xué)院學(xué)報;1986年04期

7 王曉軍;邵惠鶴;;時變輸入整形在橋式起重機防擺控制中的應(yīng)用[J];系統(tǒng)仿真學(xué)報;2007年03期

8 任會禮;付玲;梅志千;高常春;李向國;孫雷;;基于輸入整形的起重機消擺控制研究進展[J];機械制造與自動化;2013年05期

本文編號：1453775