【摘要】：自行式高空作業(yè)平臺是一種運(yùn)用工作平臺通過伸展機(jī)構(gòu)運(yùn)送工作人員、工具、設(shè)備和材料等到指定位置進(jìn)行工作的特種車輛。自行式高空作業(yè)平臺的最快時(shí)速為6.8km/h,速度低,當(dāng)工作地點(diǎn)距離較遠(yuǎn)時(shí),駕駛自行式高空作業(yè)平臺到達(dá)目的地耗時(shí)較長,而且禁止在公路上行駛,此時(shí)需要借助卡車或運(yùn)輸車,而運(yùn)輸車的運(yùn)輸平臺的寬度有限,為了方便自行式高空作業(yè)平臺的運(yùn)輸,應(yīng)減少整機(jī)寬度。因此在自行式高空作業(yè)平臺的底盤處增加輪軸伸縮技術(shù)(即擴(kuò)橋技術(shù)),該技術(shù)能夠改變底盤輪距,使得高空作業(yè)平臺的底盤存在兩種輪距狀態(tài)。當(dāng)處于運(yùn)輸狀態(tài)時(shí),使用較窄輪距；當(dāng)處于工作狀態(tài)時(shí),使用較寬輪距。由于存在兩種輪距狀態(tài),導(dǎo)致存在兩個(gè)轉(zhuǎn)向機(jī)構(gòu),而每個(gè)轉(zhuǎn)向轉(zhuǎn)向機(jī)構(gòu)均存在轉(zhuǎn)向誤差,如何同時(shí)減少兩個(gè)轉(zhuǎn)向誤差是本文研究的重點(diǎn)。具體內(nèi)容如下： (1)描述了輪軸伸縮轉(zhuǎn)向機(jī)構(gòu)在自行式高空作業(yè)平臺底盤中的應(yīng)用,建立了輪軸伸縮的轉(zhuǎn)向機(jī)構(gòu)轉(zhuǎn)向誤差的數(shù)學(xué)模型,提出雙轉(zhuǎn)向誤差的概念。 (2)針對帶輪距伸縮轉(zhuǎn)向機(jī)構(gòu)的雙轉(zhuǎn)向誤差問題,建立雙轉(zhuǎn)向誤差的多目標(biāo)數(shù)學(xué)模型,以消除輪胎側(cè)滑為目的,選取相對誤差平方的均值為目標(biāo)函數(shù),以轉(zhuǎn)向機(jī)構(gòu)的底角和腰長為設(shè)計(jì)變量,建立邊界約束條件和性能約束條件,利用多目標(biāo)遺傳算法,借助于MATLAB遺傳算法工具箱,解決本文的多目標(biāo)優(yōu)化的問題。對于多目標(biāo)優(yōu)化后的Pareto解集,本文利用基于變異系數(shù)法的解集評價(jià)方法,根據(jù)決策者的喜好從解集中選出感興趣的解。以某型號自行式高空作業(yè)平臺為算例,以多目標(biāo)優(yōu)化技術(shù)對其進(jìn)行優(yōu)化改進(jìn),證明了優(yōu)化方法的可行性和合理性。 (3)運(yùn)用灰色關(guān)聯(lián)度理論,探討了結(jié)構(gòu)變量對輪軸伸縮轉(zhuǎn)向機(jī)構(gòu)轉(zhuǎn)向誤差的敏感度,找到與轉(zhuǎn)向誤差關(guān)系密切的結(jié)構(gòu)變量,為后文經(jīng)驗(yàn)公式選擇設(shè)計(jì)變量提供了參考意見。 (4)利用優(yōu)化評價(jià)后的解,探索輪軸伸縮轉(zhuǎn)向機(jī)構(gòu)的最優(yōu)布置規(guī)律。布置的原則是消除輪胎側(cè)滑,通過優(yōu)化技術(shù)探索底角和腰長與主銷距離之間的規(guī)律關(guān)系。運(yùn)用最小二乘法數(shù)據(jù)處理技術(shù),處理評價(jià)的優(yōu)化數(shù)據(jù),得到經(jīng)驗(yàn)公式,為將來設(shè)計(jì)同類型自行式高空作業(yè)平臺的轉(zhuǎn)向機(jī)構(gòu)提供了參考依據(jù)。
[Abstract]:Self-propelled aerial work platform is a special vehicle which uses the work platform to transport staff, tools, equipment and materials to a designated location. Self-propelled aerial platforms have the fastest speed of 6.8 km2 / h, which is low, takes longer to get to their destination when the workplace is far away, and is not allowed to drive on the road. In order to facilitate the transportation of the self-propelled aerial platform, the width of the whole machine should be reduced. Therefore, in the chassis of the self-propelled aerial platform, the technology of axle expansion (i.e. bridge expansion technology) is added, which can change the chassis wheel spacing and make the chassis of the platform have two kinds of wheel spacing states. Use narrower wheels when in transit and wider wheels when in operation. Due to the existence of two wheel spacing states, there are two steering mechanisms, and each steering mechanism has steering error. How to reduce the two steering errors at the same time is the focus of this paper. The main contents are as follows: (1) the application of wheel-shaft telescopic steering mechanism in the chassis of self-propelled aerial platform is described, the mathematical model of steering error of wheel-shaft telescopic steering mechanism is established, and the concept of double-steering error is proposed. (2) aiming at the problem of double steering error of wheeled telescopic steering mechanism, a multi-objective mathematical model of double steering error is established. In order to eliminate tire sideslip, the mean value of relative error square is chosen as objective function. Taking the bottom angle and waist length of steering mechanism as design variables, the boundary and performance constraints are established, and the multi-objective genetic algorithm is used to solve the problem of multi-objective optimization by means of MATLAB genetic algorithm toolbox. For the Pareto solution set after multi-objective optimization, the solution set evaluation method based on variation coefficient method is used to select the solution of interest from the solution set according to the preference of the decision makers. Taking a self-propelled aerial work platform as an example, the multi-objective optimization technology is used to optimize and improve it, which proves the feasibility and rationality of the optimization method. (3) the sensitivity of structural variables to steering errors of wheel-shaft telescopic steering mechanism is discussed by using the theory of grey correlation degree, and the structural variables closely related to steering errors are found, which provides a reference for the selection of design variables in the empirical formulas. (4) the optimal arrangement of the wheel-shaft telescopic steering mechanism is explored by using the optimized evaluation solution. The principle of layout is to eliminate tire sideslip and to explore the relationship between bottom angle and waist length and the distance of main pin by optimizing technology. Using the data processing technology of the least square method, the optimized data of evaluation is processed, and the empirical formula is obtained, which provides a reference for designing the steering mechanism of the same type of self-propelled aerial work platform in the future.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH21

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