【摘要】：混凝土泵車屬于大型工程機械,其整體結(jié)構(gòu)為復雜系統(tǒng)全控制多擺結(jié)構(gòu)模型,是動力學系統(tǒng)分析與控制的一個良好平臺。隨著經(jīng)濟和科技水平的不斷提高,建筑行業(yè)對混凝土泵車的需求量和工作要求也在不斷增加,尤其是大型多臂架混凝土泵車以其高效率、低損耗、零污染而越來越受到人們的青睞�；炷帘密嚨闹饕ぷ鞑糠质潜盟蜋C構(gòu)和臂架系統(tǒng)。 本文首先概述了混凝土泵車的國內(nèi)外研究進展和混凝土泵車的結(jié)構(gòu)組成,介紹了泵車臂架體系建模的Mathematic軟件和相關理論。 運用第二類拉格朗日方程和齊次坐標變換理論,推導建立了多臂架泵車體系的動力學與控制模型,為系統(tǒng)結(jié)構(gòu)的合理設計與參數(shù)的選擇分析提供必要條件。 針對臂架體系從一種姿態(tài)改變到另外一種姿態(tài),以臂架轉(zhuǎn)角為設計變量,以轉(zhuǎn)移過程中消耗能量為目標函數(shù),建立了最優(yōu)姿態(tài)優(yōu)化求解模型。應用Fortran-PowerStation軟件,編制優(yōu)化計算程序,并通過算例優(yōu)化分析獲得了五個臂架的最優(yōu)角度。 針對最優(yōu)姿態(tài)的改變問題,運用已建立的動力學簡化模型,分析了臂架的逐級姿態(tài)改變過程中施加的液壓力與時間的非線性函數(shù)關系。建立合理液壓力函數(shù)的求解程序,并完成了算例求解。 本文的研究綜合運用了動力學、優(yōu)化理論、程序設計和仿真計算分析,探討了混凝土泵車臂架系統(tǒng)的力學和控制相關問題,為進一步的研究提供基礎。
[Abstract]:Concrete pump vehicle is a large-scale construction machinery. Its whole structure is a fully controlled multi-pendulum structure model of complex system. It is a good platform for dynamic system analysis and control. With the continuous improvement of economy and science and technology, the demand and working requirement of concrete pump vehicle in the construction industry is increasing, especially the large-scale Dobby concrete pump truck with its high efficiency and low loss. It is more and more popular because of zero pollution. The main work part of concrete pump truck is pumping mechanism and boom system. In this paper, the research progress of concrete pump vehicle at home and abroad and the structure composition of concrete pump truck are summarized, and the Mathematic software and related theory for modeling of pump truck boom system are introduced. Based on the Lagrange equation of the second kind and the theory of homogeneous coordinate transformation, the dynamics and control model of the pump vehicle system with multi-arm frame is derived and established, which provides the necessary conditions for the reasonable design of the system structure and the selection of the parameters. Aiming at the change from one attitude to another, the optimal attitude optimization model is established by taking the jib angle as the design variable and the energy consumption in the transfer process as the objective function. Using Fortran-PowerStation software, the optimization calculation program is compiled, and the optimal angles of five jib are obtained by example optimization analysis. In order to solve the problem of optimal attitude change, the nonlinear function relationship between hydraulic pressure and time during the step-by-step attitude change of the boom is analyzed by using the established simplified dynamic model. A program for solving the reasonable hydraulic pressure function is established and a numerical example is completed. In this paper, dynamics, optimization theory, program design and simulation analysis are used to discuss the mechanics and control of concrete pump truck boom system, which provides a basis for further research.
【學位授予單位】：沈陽建筑大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：TU646

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