七軸鉆機(jī)底盤三橋轉(zhuǎn)向分析
本文關(guān)鍵詞： 多軸轉(zhuǎn)向 數(shù)學(xué)模型 虛擬樣機(jī) 優(yōu)化分析 剛?cè)狁詈?/strong> 出處：《西南交通大學(xué)》2017年碩士論文 論文類型：學(xué)位論文
【摘要】：近年來,隨著石油鉆機(jī)的深入與鉆機(jī)技術(shù)的不斷發(fā)展,鉆機(jī)車的品種日益豐富和多樣化。由于鉆機(jī)車車身較長、載重較大,受于工作場地和道路條件限制,要求其轉(zhuǎn)彎半徑控制在一定的范圍內(nèi),因此多軸轉(zhuǎn)向技術(shù)被廣泛的運(yùn)用于鉆機(jī)車中。多軸轉(zhuǎn)向車輛相比于兩軸車輛來說,其參與轉(zhuǎn)向的軸數(shù)增多,導(dǎo)致在轉(zhuǎn)向過程條件下易發(fā)生輪胎磨損和桿系損壞,為使多軸轉(zhuǎn)向車輛具有良好的轉(zhuǎn)向傳動(dòng)特性,有必要對轉(zhuǎn)向機(jī)構(gòu)進(jìn)行深入的研究。本文首先闡述了石油鉆機(jī)車的背景與發(fā)展現(xiàn)狀,引出本文所研究的對象。在消化、吸收、歸納、總結(jié)前人的成果上,利用相關(guān)汽車?yán)碚撝R,全面地對七軸鉆機(jī)底盤三橋轉(zhuǎn)向機(jī)構(gòu)中的梯形機(jī)構(gòu)、轉(zhuǎn)向搖臂機(jī)構(gòu)進(jìn)行理論分析并建立數(shù)學(xué)模型,運(yùn)用MATLAB軟件編寫優(yōu)化計(jì)算程序;利用ADAMS運(yùn)動(dòng)學(xué)仿真軟件建立七軸鉆機(jī)底盤三橋轉(zhuǎn)向機(jī)構(gòu)虛擬樣機(jī)模型,并對前三橋各轉(zhuǎn)向輪轉(zhuǎn)角進(jìn)行運(yùn)動(dòng)學(xué)分析,再利用ADAMS軟件中的優(yōu)化工具箱對轉(zhuǎn)向搖臂機(jī)構(gòu)關(guān)鍵連接點(diǎn)參數(shù)進(jìn)行優(yōu)化分析,進(jìn)一步提高各轉(zhuǎn)向輪轉(zhuǎn)角特性;最后計(jì)算鉆機(jī)車在原地轉(zhuǎn)向時(shí)的轉(zhuǎn)向阻力矩,并對轉(zhuǎn)向助力系統(tǒng)的動(dòng)力進(jìn)行匹配校核;在剛性模型的基礎(chǔ)上,采用剛?cè)崽鎿Q的方式建立轉(zhuǎn)向系統(tǒng)剛?cè)狁詈夏Ｐ?先利用ANSYS軟件對轉(zhuǎn)向機(jī)構(gòu)中的桿件進(jìn)行柔性化處理,并將生成的轉(zhuǎn)向桿件柔性mnf中性文件導(dǎo)入到ADAMS里建立剛?cè)狁詈夏Ｐ?然后對剛?cè)狁詈夏Ｐ瓦M(jìn)行運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)分析,并與剛性條件下所求解出的各轉(zhuǎn)向輪轉(zhuǎn)角和桿件受力情況進(jìn)行對比分析,研究桿件彈性變形對轉(zhuǎn)向系統(tǒng)運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的影響。本文所采用的優(yōu)化分析方法以及設(shè)計(jì)流程可為多軸車輛轉(zhuǎn)向機(jī)構(gòu)的設(shè)計(jì)和研發(fā)提供一定的參考價(jià)值。
[Abstract]:In recent years, with the deepening of oil drilling rig and the continuous development of drilling rig technology, the variety of drilling rig has become increasingly rich and diversified. The turning radius is required to be controlled in a certain range, so the multi-axle steering technology is widely used in drilling rigs. Compared with two-axle vehicles, multi-axle steering vehicles have more shafts involved in steering. In order to make the multi-axle steering vehicle have good steering characteristics, tire wear and rod system damage are easy to occur under the condition of steering process. It is necessary to further study the steering mechanism. Firstly, this paper describes the background and development status of oil drilling rigs, leads to the object of this study. In digestion, absorption, induction, summary of previous achievements. Based on the knowledge of automobile theory, the trapezoidal mechanism and steering arm mechanism of three-bridge steering mechanism of seven-axle drilling rig chassis are analyzed theoretically and the mathematical model is established. Using MATLAB software to compile the optimization calculation program; Using ADAMS kinematics simulation software, the virtual prototype model of three-bridge steering mechanism of seven-axis drilling rig chassis is established, and the kinematics analysis of each steering wheel angle of the first three bridges is carried out. The optimization toolbox of ADAMS software is used to optimize the key connection point parameters of the steering rocker mechanism to further improve the steering wheel rotation angle characteristics. Finally, the steering resistance moment of the rig in situ steering is calculated, and the power of the steering power system is matched and checked. On the basis of the rigid model, the rigid-flexible coupling model of steering system is established by means of rigid and flexible substitution. Firstly, the flexible processing of the steering member in the steering mechanism is carried out by using ANSYS software. The flexible mnf neutral file is imported into ADAMS to establish the rigid-flexible coupling model, and then the kinematics and dynamics analysis of the rigid-flexible coupling model is carried out. The results are compared with the steering wheel angle and the stress on the bar under the rigid condition. The effect of elastic deformation on the kinematics and dynamics of steering system is studied. The optimization analysis method and the design flow can provide some reference value for the design and development of steering mechanism of multi-axle vehicle.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TE922
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