本文關(guān)鍵詞：55t汽車起重機柔性臂架動特性及主動控制研究　出處：《大連理工大學》2011年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 汽車起重機 動特性 ADAMS 模糊PD

【摘要】：汽車起重機作為一種典型的箱型臂架類起重機被廣泛的應用于各種吊裝作業(yè)。隨著汽車起重機起重量、起升高度、作業(yè)幅度的不斷提升,其在作業(yè)過程中由運動產(chǎn)生的動載荷已不能為設(shè)計者忽略或僅用簡單的經(jīng)驗法去考慮。傳統(tǒng)方法在計算起重機工作過程中由系統(tǒng)慣性力或載荷擺動產(chǎn)生的對臂架系統(tǒng)的沖擊,多采用添加動載荷系數(shù)的方式進行等效處理,但此方法存在一定的局限性。因此研究一種有效的方法進行汽車起重機臂架系統(tǒng)動特性分析是十分必要。 汽車起重機臂架系統(tǒng)和載荷鋼絲繩系統(tǒng)由于其本身具有柔性和擺動特性造成臂架系統(tǒng)和載荷鋼絲繩系統(tǒng)在起重機作業(yè)過程不可避免的會產(chǎn)生臂架振動和載荷擺動,而臂架振動和載荷擺動對于整機的安全性構(gòu)成了很大的威脅,因此研究如何抑制和減少臂架振動就顯得十分的必要。 本文以55t汽車起重機為研究對象,在前人工作的基礎(chǔ)上,使用現(xiàn)有軟件進行汽車起重機箱型臂架系統(tǒng)的動特性分析、臂架振動及載荷擺動主動控制,主要工作如下： 1)55t汽車起重機典型作業(yè)工況及突然卸載工況動力學分析 利用ADAMS, ANSYS和PRO/E軟件建立55t汽車起重機剛?cè)狁詈隙囿w系統(tǒng)動力學模型,并使用ADAMS軟件進行突然卸載、帶載變幅、帶載回轉(zhuǎn)等工況仿真分析得到了臂架系統(tǒng)應力及振動情況,計算結(jié)果可為結(jié)構(gòu)設(shè)計與優(yōu)化提供理論依據(jù)。 2)汽車起重機臂架振動及載荷擺動常規(guī)PD控制研究 本文使用ADAMS和MATLAB聯(lián)合建立汽車起重機等效控制模型,通過仿真研究提出使用常規(guī)PD控制進行臂架振動及載荷擺動主動控制,經(jīng)仿真實驗驗證了此方法可有效的抑制臂架振動和載荷擺動。 3)汽車起重機臂架振動及載荷擺動模糊PD控制研究 本文在對常規(guī)PD臂架振動和載荷擺動主動控制研究的基礎(chǔ)上進行模糊PD主動控制研究,通過仿真驗證模糊PD控制相對常規(guī)PD具有一定的自適應性,且控制效果良好。
[Abstract]:Truck crane is a typical box type jib crane is widely used in all kinds of lifting operations. With the weight of truck crane, lifting height, the operating range of continuous improvement, which is produced by movement in the operation process of dynamic load can not be ignored or only used empirical method to consider. The traditional method in the calculation of the working process of the crane by the inertia force or load swing of the boom system impact by adding dynamic load coefficient method of equivalent treatment, but this method has some limitations. So the research of an effective method for dynamic analysis of truck crane boom system is very necessary.
Automobile crane jib system and load of wire rope system due to its characteristics of flexibility and swing arm frame system and the load caused by wire rope system boom vibration and load swing in the crane operation process inevitably, while the boom vibration and load swing for the safety of the whole machine constitute a great threat, so the research on how to prevent and to reduce the vibration of boom is very necessary.
Taking 55T truck crane as the research object, based on previous works, the existing software is used to analyze the dynamic characteristics of truck crane box boom system, and the active control of boom vibration and load swing. The main works are as follows:
1) dynamic analysis of typical working condition and sudden unloading condition of 55T truck crane
The use of ADAMS, ANSYS and PRO/E software to establish 55T automobile crane rigid flexible coupling multi-body system dynamics model, and suddenly unloading the use of ADAMS software, with variable load, with simulation analysis of load rotation conditions by jib system stress and vibration condition, the calculation results can provide theoretical basis for structure design and optimization.
2) study on the conventional PD control of the vibration and load swing of the truck crane boom
In this paper, the equivalent control model of truck crane is established by using ADAMS and MATLAB. Through simulation research, it is put forward that conventional PD control is applied to active control of boom vibration and load swing. Simulation results show that this method can effectively suppress boom vibration and load swing.
3) study on the fuzzy PD control of the vibration and load swing of the truck crane boom
Based on the research of active control of conventional PD boom vibration and load swing, fuzzy PD active control is studied. Simulation results show that fuzzy PD control has certain adaptability compared with conventional PD, and the control effect is good.

【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH213.6

【引證文獻】

相關(guān)碩士學位論文 前1條

1 陳燦;某供彈機的振動控制[D];南京理工大學;2013年

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本文編號：1412731