考虑吊钩组升降的伸缩臂起重机动力学模型研究
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摘要
建立了一种模拟伸缩臂起重机转台回转,吊臂变幅、伸缩,吊钩升降的运动学、动力学模型.利用光滑连续的正余弦函数描述伸缩臂起重机的运动,使用拉格朗日方法列出吊钩组的动力学方程,并用时变约束方程描述吊钩钢丝绳的升降长度,最终组成微分代数方程,使用约束稳定化方法进行求解.通过算例验证了伸缩臂起重机动力学模型的正确性.该模型可以为伸缩臂起重机的复合动作控制研究及虚拟吊装方案设计提供参考.
Kinematic and dynamic models are established,which can be used to simulate telescopic crane turntable slewing,boom luffing and telescoping,hook lifting and pulling.The joint motion of telescopic crane can be described by smooth continuous sine cosine function,and the dynamic equations of hook assembly are derived by Lagrange method.The lifting and pulling length of hook wirerope is described by a time-variant algebraic constraint equation.The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method.The correctness of the telescopic crane dynamic model is verified through an example.This model can provide information for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality.
Kinematic and dynamic models are established,which can be used to simulate telescopic crane turntable slewing,boom luffing and telescoping,hook lifting and pulling.The joint motion of telescopic crane can be described by smooth continuous sine cosine function,and the dynamic equations of hook assembly are derived by Lagrange method.The lifting and pulling length of hook wirerope is described by a time-variant algebraic constraint equation.The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method.The correctness of the telescopic crane dynamic model is verified through an example.This model can provide information for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality.
引文
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[15]ABDEL-RAHMAN E M,NAYFEH A H,MASOUD Z N.Dynamics and control of cranes:A review[J].Journal of Vibration and Control,2003,9(7):863-908.
[2]席瑞萍,高崇仁.基于ADAMS的塔式起重机动力学仿真[J].中国重型装备,2009(4):1-3.XI Ruiping,GAO Chongren.The dynamics simulation of tower crane based on ADAMS[J].China Heavy Equipment,2009(4):1-3.(in Chinese)
[3]张玉琴,冯山岭,张淑红.桥式起重机的动力学模型与仿真计算[J].重型机械科技,2005(3):1-4,43.ZHANG Yuqin,FENG Shanling,ZHANG Shuhong.The kinetic model and simulation calculation of the bridge crane[J].Heavy Machinery Science and Technology,2005(3):1-4,43.(in Chinese)
[4]嘉红霞,李万莉,SINGHOSE W.考虑臂架弹性的动臂起重机动力学建模及振动分析[J].振动与冲击,2010,29(12):136-140.JIA Hongxia,LI Wanli,SINGHOSE W.Dynamic modeling and vibration analysis of cherry pickers with flexible arms[J].Journal of Vibration and Shock,2010,29(12):136-140.(in Chinese)
[5]王帮峰,张瑞芳,张国忠.回转起重机吊重摆振的动力学模型与控制[J].中国机械工程,2001,12(11):1214-1217.WANG Bangfeng,ZHANG Ruifang,ZHANG Guozhong.Dynamic model and control of slewing crane load sway[J].China Mechanical Engineering,2001,12(11):1214-1217.(in Chinese)
[6]董明晓,刘伟民.回转塔式起重机动力学模型及时滞控制研究[J].应用基础与工程科学学报,2005(S1):70-75.DONG Mingxiao,LIU Weimin.Research on modeling and time-delay control of rotary tower cranes[J].Journal of Basic Science and Engineering,2005(S1):70-75.(in Chinese)
[7]杨超.全地面起重机塔臂工况吊重摆振特性研究[D].大连:大连理工大学,2013.YANG Chao.The influence of slewing motion on the mechanics property of main boom for all[D].Dalian:Dalian University of Technology,2013.(in Chinese)
[8]薛伟,郭永娟.林用起重机起吊木捆偏摆系统的动力学模型与仿真[J].东北林业大学学报,2011,39(6):87-89.XUE Wei,GUO Yongjuan.Dynamic model and simulation of lifting log bundle deflection systems for cranes in forestry[J].Journal of Northeast Forestry University,2011,39(6):87-89.(in Chinese)
[9]MIJAILOVIC′R.Modelling the dynamic behaviour of the truck-crane[J].Transport,2011,26(4):410-417.
[10]MALEKI E,SINGHOSE W.Dynamics and control of a small-scale boom crane[J].Journal of Computational and Nonlinear Dynamics,2011,6(3):031015.
[11]MOUSTAFA K A F,EBEID A M.Nonlinear modeling and control of overhead crane load sway[J].Journal of Dynamic Systems,Measurement and Control,Transactions of the ASME,1988,110(3):266-271.
[12]宋轶.核电站环行起重机吊钩组升降垂线偏差分析[D].大连:大连理工大学,2013.SONG Yi.Analysis of hoisting vertical deflection of hook block of polar crane for nuclear power plant[D].Dalian:Dalian University of Technology,2013.(in Chinese)
[13]田红亮.非定长吊臂非定长系物绳固定旋转起重机的动力学模型[J].机械强度,2008,30(1):20-23.TIAN Hongliang.Dynamical model of the fixed rotating crane with non-constant length of boom and cable[J].Journal of Mechanical Strength,2008,30(1):20-23.(in Chinese)
[14]王帮峰,张国忠.液压履带起重机工作装置的机器人动力学模型[J].机械科学与技术,2001,20(5):684-686.WANG Bangfeng,ZHANG Guozhong.Robotic dynamic model on the working device of hydraulic crawler crane[J].Mechanical Science and Technology,2001,20(5):684-686.(in Chinese)
[15]ABDEL-RAHMAN E M,NAYFEH A H,MASOUD Z N.Dynamics and control of cranes:A review[J].Journal of Vibration and Control,2003,9(7):863-908.