【摘要】：汽車起重機(jī)在吊裝作業(yè)過程中由于變形或運(yùn)行加速度的影響，吊重會產(chǎn)生偏擺，，對于吊裝定位精度、作業(yè)效率及安全性都有影響，因此需要對起重機(jī)吊重偏擺進(jìn)行修正和控制。傳統(tǒng)的研究起重機(jī)吊重偏擺控制問題主要都是針對小車式變幅起重機(jī)的小車-吊重系統(tǒng)展開的，對于動臂式起重機(jī)不再適用。本文對于汽車起重機(jī)起鉤、落鉤、回轉(zhuǎn)、變幅不同作業(yè)情況吊重偏擺問題進(jìn)行了分析，建立了起落鉤工況的系統(tǒng)變形分析模型并進(jìn)行了偏擺修正，同時建立了回轉(zhuǎn)變幅工況的動力學(xué)模型，完成了消擺控制研究。 對起落鉤工況起重機(jī)伸縮臂進(jìn)行了模型等效，考慮變幅液壓缸的支承作用，計及軸力對變形的影響，利用微分方程法得到了適用于任意臂節(jié)數(shù)的吊臂末端撓度精確計算表達(dá)式。 對起重機(jī)底座結(jié)構(gòu)進(jìn)行了分析，針對起重機(jī)活動支腿彈性變形較大的特點，推導(dǎo)了由活動支腿變形導(dǎo)致的回轉(zhuǎn)臺轉(zhuǎn)動變形公式，并進(jìn)一步得到了變幅平面內(nèi)回轉(zhuǎn)臺的轉(zhuǎn)動變形。將底座彈性變形與吊臂彎曲變形結(jié)合起來，推導(dǎo)了起重機(jī)起落鉤工況^/載前后工作幅度與吊臂變幅角度之間的關(guān)系式。利用逐步搜素法對修正后的變幅角度進(jìn)行求解，并將其轉(zhuǎn)化為變幅液壓缸的伸縮量，通過直接改變變幅油缸伸縮量實現(xiàn)了起落鉤工況吊重偏擺的修正。 分析了汽車起重機(jī)作業(yè)過程中系統(tǒng)運(yùn)動部件之間的相對運(yùn)動關(guān)系，利用齊次坐標(biāo)及齊次變換的方法對各部件進(jìn)行了運(yùn)動描述，基于等效元素集成法針對回轉(zhuǎn)、變幅、吊重空間擺動的四自由度系統(tǒng)建立了動力學(xué)模型。對回轉(zhuǎn)工況建立了Simulink動力學(xué)仿真模塊，分別改變初始變幅角度、鋼絲繩長、吊重質(zhì)量對系統(tǒng)進(jìn)行了運(yùn)動特性分析，利用雙閉環(huán)魯棒PID控制方法實現(xiàn)了吊重擺動角度及回轉(zhuǎn)角度的控制。
[Abstract]:Due to the influence of deformation or running acceleration in the hoisting process of truck crane, the lifting weight will be tilted, which has influence on the positioning accuracy, working efficiency and safety of the crane. Therefore, it is necessary to modify and control the cranes' lifting pendulum. The traditional research on crane weight swing control is mainly aimed at the trolley-lifting system of small-car frame-changing crane, which is no longer applicable to jib cranes. In this paper, the problem of lifting and swinging of truck crane under different working conditions is analyzed, and the system deformation analysis model of landing hook is established and the tilting correction is carried out. At the same time, the dynamic model of the turning amplitude condition is established, and the research on the control of the swing elimination is completed. Considering the bearing action of variable amplitude hydraulic cylinder and taking into account the influence of axial force on deformation, the exact expression for calculating the end deflection of boom is obtained by using differential equation method, which is suitable for the number of jib nodes in a crane under the condition of landing hook, and the effect of bearing on the deformation of the boom is taken into account in consideration of the bearing action of the hydraulic cylinder. The structure of crane base is analyzed. According to the characteristics of large elastic deformation of crane movable leg, the rotational deformation formula of turntable caused by the deformation of movable leg is derived, and the rotational deformation of rotary table in variable amplitude plane is further obtained. Combining the elastic deformation of the base with the bending deformation of the boom, the relationship between the working amplitude of the lifting hook before and after loading ^ / and the angle of the boom is derived. The modified amplitude-changing angle is solved by the step-by-step search method, and it is transformed into the expansion of the variable-amplitude hydraulic cylinder. By directly changing the expansion of the variable-amplitude oil cylinder, the load swing of the landing hook is corrected. This paper analyzes the relative motion relationship between the moving parts of the system during the operation of the truck crane, and describes the motion of the components by means of homogeneous coordinate and homogeneous transformation. Based on the equivalent element integration method, it aims at turning and changing amplitude. The dynamic model of the four-degree-of-freedom system with lifting space swing is established. The dynamic simulation module of Simulink is established for the rotating condition. The motion characteristics of the system are analyzed by changing the initial angle of amplitude change, the length of wire rope and the quality of lifting weight. The double-closed-loop robust PID control method is used to control the swing angle and rotation angle of the lifting weight.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH213.6

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