地下铲运机多体系统虚拟样机建模及系统动态特性仿真研究
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摘要
地下铲运机是20世纪60年代发展起来的一种高效、灵活、机动,集铲、运、卸于一体的地下无轨矿山主要装运设备。针对国内地下铲运机设计中存在的问题,论文所进行的理论分析及试验研究解决了地下铲运机设计中整机三维动力学行为和系统动态特性的关键问题,这些工作对地下铲运机的现代化三维数字设计具有重要的理论和实际指导意义。论文的主要研究内容有:
1、系统地论述了地下铲运机的发展概况、研究现状、存在的问题,并对论文的选题意义进行了阐述;
2、系统地论述多体系统动力学的发展概况,对国内外车辆动力学研究动向作了较为详尽的阐述并对机械系统分析软件ADAMS的建模理论及求解方法进行了分析;
3、应用多体系统运动学理论,建立了地下铲运机工作装置多体系统运动学数学模型,推导出工作装置各刚体的运动轨迹方程(矩阵)、速度和加速度公式;并推导出地下铲运机工作装置部件之一—铲斗斗齿尖的运动轨迹方程。在Solidworks环境下对地下铲运机正五杆工作装置进行可视化三维数字建模,运用ADAMS/View对某型号地下铲运机工作装置进行三维运动学仿真研究,并仿真研究其平移特性和卸料特性;
4、运用多刚体动力学理论,建立地下铲运机工作装置多体系统动力学模型。运用ADAMS/View对某型号地下铲运机工作装置进行三维动力学仿真研究,并对影响地下铲运机工作装置动力学行为的敏感参数如物料的偏载、铲取力的作用位置进行仿真研究,得出了相应的结论;
5、运用虚拟样机理论,建立地下铲运机多体系统动力学模型。在Solidworks环境下对地下铲运机整机进行了可视化三维数字建模,运用ADAMS/View对某型号地下铲运机铲装过程进行三维动力学仿真研究,得到了工作装置各刚体在铲装工作过程中的受力状况,并对影响地下铲运机整机动力学行为的参数如插入阻力、铲装初速度、铲斗与物料间的铲装距离进行仿真研究,得出了相应的结论;
6、利用ANSYS模态分析理论和ADAMS柔性体理论,成功的对地下铲运机动臂进行柔性化处理,得到了柔性动臂的模态振型,实现了地下铲运机工作装置刚体——柔性体耦合建模。本文所描述并完成的从有限元结构分析到动力学仿真计算,再从动力学仿真计算返回有限元计算结构部件动态应力/变形的方法,同样也适用于其它研究领域;
7、对地下铲运机动臂在转斗、举升、卸载三个工况下的动态应力/变形进行仿真,得到弹性动臂的应力/变形时间历程和瞬间应力/变形分布云图,为动臂进一步的疲劳分析奠定了基础;
8、通过对地下铲运机多种型式的转向和制动系统的分析研究,建立相应的仿真数学模型,在MATLAB/SIMULINK环境下对系统动态特性进行仿真。并对影响系统动态特性的敏感参数进行仿真研究,得出了相应的结论;
9、为验证地下铲运机虚拟样机仿真模型的正确性,对某型号地下铲运机制动系统及工作液压系统进行试验。试验结果证明:虚拟样机仿真数学模型是正确的。
综上所述,论文所提出的地下铲运机多体系统虚拟样机设计的理论与系统动态特性分析计算方法,不仅成功的解决了地下铲运机三维动力学和系统动态特性问题,而且极大地丰富和发展了地下铲运机的设计理论,对地下铲运机的现代化数字设计具有重要的理论和工程应用价值。
Underground Load-haul-dump Vehicle (LHD) is the key equipment used in underground trackless mines from 1960s. It is high efficient, maneuverable and flexible, and it has loading, hauling and dumping functions. Researches have been carried out in this study according to the problems existing in LHD design in our country. The theoretical and experimental methods in this study can solve the key problems of a complete LHD set dynamics and dynamic characteristics of system. These methods are of theoretical and practical significance for the three-dimensional and digital design of LHD. The main contents of this dissertation are as follows.
1. The current developments, research trend and problems in designing and producing LHD in our country are fully and accurately summarized. At the same time, the significance of this study is expounded.
2. The current developments of multi-body system dynamics and vehicle dynamics at home and outside are fully summarized, and the modeling theory and solving method of Software ADAMS were discussed.
3. The kinetic mathematical model of LHD bucket system was built through adopting the kinetic theory of multi-body system. And then the velocity, acceleration and motion orbit equation of every rigid body of LHD bucket system and the motion orbit equation of the bucket tooth tip were obtained. The visual three-dimensional (3-D) digital kinetic LHD bucket system was modeled under the Solidworks software environment. By using the bucket system of model DCY-1 LHD as an example, the kinematics of 3-D bucket system of LHD with ADAMS software was simulated. And then the translational characteristics and dumping characteristics of the bucket system of LHD was simulated and analyzed.
4. The dynamic mathematical model of LHD bucket system was built by means of adopting the dynamic theory of multi-body system. By using the bucket system of model DCY-1 LHD as an example, the dynamics of the 3-D bucket system of LHD with ADAMS software was simulated. The parameters affecting dynamic characteristics of LHD bucket system such as non-central loading and the action point of bucket- out force were simulated and analyzed. And then relevant conclusions were obtained respectively.
5. The dynamic mathematical model of LHD was built through adopting the dynamic theory of virtual prototype. The 3-D digital dynamic modeling of LHD was modeled under the Solidworks software environment. By means of employing the model DCY-1 LHD as an example, the dynamics of 3-D LHD with ADAMS software was simulated, and then the load states of the every rigid body of LHD were obtained. The parameters affecting dynamic characteristics of LHD such as loading resistance, loading velocity and the loading distances between the bucket and the pile of ore were simulated and analyzed. And then relevant conclusions were obtained respectively.
6.With theories of ANSYS software modal analysis and ADAMS software flexibility, the lift arm of LHD was translated from rigid body to flexible body, and the modal vibration types were obtained. The coupling model of rigid body and flexible body of LHD bucket system was made. The method presented in this dissertation, from finite element construction analysis in ANSYS software to dynamic analysis in ADAMS software, and then from dynamic analysis in ADAMS software to finite element construction analysis in ANSYS software, can be applied to other research fields too.
7. The dynamic stresses and strain of LHD lift arm in the course of bucket out, bucket lifting and bucket dumping were simulated respectively. The dynamic stress and or strain diagrams of LHD flexible lift arm were obtained after dynamic simulation. These results laid foundation for fatigue analysis and life estimation of component.
8. The simulated mathematic models were built respectively according to the analyses and researches on different kinds of steering system and braking system of LHD. The dynamic characteristics of different kinds of steering system and braking system of LHD were simulated with MATLAB/SIMULINK software. And then relevant conclusions were obtained respectively.
9. In order to verify the validity of simulated mathematic model of virtual prototype of LHD, the experiments were conducted by means of employing the pneumatic-hydraulic brake system and bucket hydraulic system of model DCY-1 LHD as an example. The experimental results verify that this simulated model in this study was correct.
In a word, the design theories and analyses and calculating methods proposed in this dissertation not only successfully solve the problems of LHD 3-D dynamics and system's dynamic characteristics, but also have enriched and developed the design theories of LHD. At the same time, it is of both theoretical significance and practical value to modern digital design of LHD.
1、系统地论述了地下铲运机的发展概况、研究现状、存在的问题,并对论文的选题意义进行了阐述;
2、系统地论述多体系统动力学的发展概况,对国内外车辆动力学研究动向作了较为详尽的阐述并对机械系统分析软件ADAMS的建模理论及求解方法进行了分析;
3、应用多体系统运动学理论,建立了地下铲运机工作装置多体系统运动学数学模型,推导出工作装置各刚体的运动轨迹方程(矩阵)、速度和加速度公式;并推导出地下铲运机工作装置部件之一—铲斗斗齿尖的运动轨迹方程。在Solidworks环境下对地下铲运机正五杆工作装置进行可视化三维数字建模,运用ADAMS/View对某型号地下铲运机工作装置进行三维运动学仿真研究,并仿真研究其平移特性和卸料特性;
4、运用多刚体动力学理论,建立地下铲运机工作装置多体系统动力学模型。运用ADAMS/View对某型号地下铲运机工作装置进行三维动力学仿真研究,并对影响地下铲运机工作装置动力学行为的敏感参数如物料的偏载、铲取力的作用位置进行仿真研究,得出了相应的结论;
5、运用虚拟样机理论,建立地下铲运机多体系统动力学模型。在Solidworks环境下对地下铲运机整机进行了可视化三维数字建模,运用ADAMS/View对某型号地下铲运机铲装过程进行三维动力学仿真研究,得到了工作装置各刚体在铲装工作过程中的受力状况,并对影响地下铲运机整机动力学行为的参数如插入阻力、铲装初速度、铲斗与物料间的铲装距离进行仿真研究,得出了相应的结论;
6、利用ANSYS模态分析理论和ADAMS柔性体理论,成功的对地下铲运机动臂进行柔性化处理,得到了柔性动臂的模态振型,实现了地下铲运机工作装置刚体——柔性体耦合建模。本文所描述并完成的从有限元结构分析到动力学仿真计算,再从动力学仿真计算返回有限元计算结构部件动态应力/变形的方法,同样也适用于其它研究领域;
7、对地下铲运机动臂在转斗、举升、卸载三个工况下的动态应力/变形进行仿真,得到弹性动臂的应力/变形时间历程和瞬间应力/变形分布云图,为动臂进一步的疲劳分析奠定了基础;
8、通过对地下铲运机多种型式的转向和制动系统的分析研究,建立相应的仿真数学模型,在MATLAB/SIMULINK环境下对系统动态特性进行仿真。并对影响系统动态特性的敏感参数进行仿真研究,得出了相应的结论;
9、为验证地下铲运机虚拟样机仿真模型的正确性,对某型号地下铲运机制动系统及工作液压系统进行试验。试验结果证明:虚拟样机仿真数学模型是正确的。
综上所述,论文所提出的地下铲运机多体系统虚拟样机设计的理论与系统动态特性分析计算方法,不仅成功的解决了地下铲运机三维动力学和系统动态特性问题,而且极大地丰富和发展了地下铲运机的设计理论,对地下铲运机的现代化数字设计具有重要的理论和工程应用价值。
Underground Load-haul-dump Vehicle (LHD) is the key equipment used in underground trackless mines from 1960s. It is high efficient, maneuverable and flexible, and it has loading, hauling and dumping functions. Researches have been carried out in this study according to the problems existing in LHD design in our country. The theoretical and experimental methods in this study can solve the key problems of a complete LHD set dynamics and dynamic characteristics of system. These methods are of theoretical and practical significance for the three-dimensional and digital design of LHD. The main contents of this dissertation are as follows.
1. The current developments, research trend and problems in designing and producing LHD in our country are fully and accurately summarized. At the same time, the significance of this study is expounded.
2. The current developments of multi-body system dynamics and vehicle dynamics at home and outside are fully summarized, and the modeling theory and solving method of Software ADAMS were discussed.
3. The kinetic mathematical model of LHD bucket system was built through adopting the kinetic theory of multi-body system. And then the velocity, acceleration and motion orbit equation of every rigid body of LHD bucket system and the motion orbit equation of the bucket tooth tip were obtained. The visual three-dimensional (3-D) digital kinetic LHD bucket system was modeled under the Solidworks software environment. By using the bucket system of model DCY-1 LHD as an example, the kinematics of 3-D bucket system of LHD with ADAMS software was simulated. And then the translational characteristics and dumping characteristics of the bucket system of LHD was simulated and analyzed.
4. The dynamic mathematical model of LHD bucket system was built by means of adopting the dynamic theory of multi-body system. By using the bucket system of model DCY-1 LHD as an example, the dynamics of the 3-D bucket system of LHD with ADAMS software was simulated. The parameters affecting dynamic characteristics of LHD bucket system such as non-central loading and the action point of bucket- out force were simulated and analyzed. And then relevant conclusions were obtained respectively.
5. The dynamic mathematical model of LHD was built through adopting the dynamic theory of virtual prototype. The 3-D digital dynamic modeling of LHD was modeled under the Solidworks software environment. By means of employing the model DCY-1 LHD as an example, the dynamics of 3-D LHD with ADAMS software was simulated, and then the load states of the every rigid body of LHD were obtained. The parameters affecting dynamic characteristics of LHD such as loading resistance, loading velocity and the loading distances between the bucket and the pile of ore were simulated and analyzed. And then relevant conclusions were obtained respectively.
6.With theories of ANSYS software modal analysis and ADAMS software flexibility, the lift arm of LHD was translated from rigid body to flexible body, and the modal vibration types were obtained. The coupling model of rigid body and flexible body of LHD bucket system was made. The method presented in this dissertation, from finite element construction analysis in ANSYS software to dynamic analysis in ADAMS software, and then from dynamic analysis in ADAMS software to finite element construction analysis in ANSYS software, can be applied to other research fields too.
7. The dynamic stresses and strain of LHD lift arm in the course of bucket out, bucket lifting and bucket dumping were simulated respectively. The dynamic stress and or strain diagrams of LHD flexible lift arm were obtained after dynamic simulation. These results laid foundation for fatigue analysis and life estimation of component.
8. The simulated mathematic models were built respectively according to the analyses and researches on different kinds of steering system and braking system of LHD. The dynamic characteristics of different kinds of steering system and braking system of LHD were simulated with MATLAB/SIMULINK software. And then relevant conclusions were obtained respectively.
9. In order to verify the validity of simulated mathematic model of virtual prototype of LHD, the experiments were conducted by means of employing the pneumatic-hydraulic brake system and bucket hydraulic system of model DCY-1 LHD as an example. The experimental results verify that this simulated model in this study was correct.
In a word, the design theories and analyses and calculating methods proposed in this dissertation not only successfully solve the problems of LHD 3-D dynamics and system's dynamic characteristics, but also have enriched and developed the design theories of LHD. At the same time, it is of both theoretical significance and practical value to modern digital design of LHD.
引文
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