某设备挖掘机构机械液压系统的分析及控制研究
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摘要
随着中国铁路发展的不断提速,对铁路养护机械化的技术发展要求也越来越高。清筛机是昆明中铁自主研发的用来挖掘和清筛铁路边坡道碴的一种新型清筛机械。在研发的过程中,应用虚拟样机技术代替物理样机进行试验,对缩短产品开发周期,降低研发成本,提高设计质量,改善产品性能等具有重要的意义。
本论文在对国内外清筛机研究现状、种类和工作参数、虚拟样机、仿真技术的发展进行分析后,以清筛机挖掘链导槽结构为研究对象,对其是否有‘死点’问题、机械结构的动态性能以及机械液压耦合系统的动态性能问题进行了仿真分析,并在此基础上提出了新的控制方法。
首先在UG里面对该机构进行三维模型的建立和整体的装配；其次将模型导入ADAMS进行虚拟样机的建立,对其机械结构进行动力学分析得出,该机构无‘死点’现象,工作平稳,受力方面无明显突变,符合工作要求；再次,在对该机构的液压系统进行分析后,利用AMESim软件建立了该机构的液压系统模型,并通过两个软件的接口文件,进行机械和液压系统的对接,进行联合仿真。通过对仿真结果的分析和对比,验证了联合仿真模型建立的准确性和联合仿真方法的可行性；最后,在上述研究的基础上,通过模糊控制与清筛机挖掘机构的分析,建立了一种清筛机挖掘链条导槽的数学模型,提出了一种重力补偿模糊PD控制器的控制方法。仿真结果表明重力补偿模糊PD控制器改善了系统的动态性能,具有较好的实用性,优越性,抗干扰和鲁棒性。
本论文应用先进的三维建模技术、虚拟样机技术和联合仿真技术对边坡清筛机挖掘机构进行了分析和优化,取得了预期的研究成果。同时清筛机挖掘机构和类似机构以及产品的设计和开发提供一种有效的新方法；重力补偿模糊PD控制器方法对清筛机挖掘链条导槽具有一定的指导作用和工程应用价值。
With the rapid development of the Chinese railway and its increase of carriage amount by railway, mechanical technology in field of Railway maintenance is developed faster and faster. Designing and researching technical methods now are too low in efficiency and too high in cost to fit the economy development and marketing competition. Instead of physical prototype experiment, Virtual Prototype Technology is of great meaning in shorting product developing cycle, lowering researching cost, improving design quality and product performance.
In this paper, current situations of Screen scarifier for both civil and aboard, classify and working parameters of Screen scarifier and develop of virtual technology are analyzed firstly. A right digging structure of a ballast shouder cleaning machine is taken as researching object, analysis and discussion are done about if 'dead point' issue occurs, performance of its mechanical structure and mechanical hydraulic coupled system, based on which, an appropriate precept is selected after comparing other four precepts.
Three-dimensional models of the structure are modeled and assembled in UG software firstly; secondly, models are imported into ADAMS software to finish virtual prototype. The working requirements are met from the structure's smooth work, no obvious break in loading condition and no 'dead point' occurrence, which is reflected by the performance out of the dynamic analysis of mechanical structure. Thirdly, the hydraulic system is analyzed. Co-simulation between mechanical system and hydraulic system is done by software interface after hydraulic system model is simulated by AMEsim software then. Results of co-simulation and dynamic analysis from ADAMS are compared, which make accuracy of co-simulation modeling and co-simulation method believable. Evaluation of hydraulic system is also done. At last, combined the research with practical situation, four mechanical structures are proposed. Comparisons are done with the original precept, an optimized precept is brought out.
The fuzzy control and Screen scarifier excavation institutional analysis, the propose a Screen scarifier digging chain guides of mathematical model, we design a gravity compensation fuzzy PD controller that combines the advantages of gravity compensation PD control with those of fuzzy control and then introduce the fuzzy PD controller into Screen scarifier digging chain guide groove. The simulation results show that, compared with the traditional PD controller, the gravity compensation fuzzy PD controller can improve the dynamic performance of the digging chain guide groove, effectiveness and produce a better robustness.
In this paper, advanced three-dimensional modeling, virtual prototype technology and co-simulation technology are introduced to analyze and optimize the digging structure of ballast shouder Screen scarifier. A study conducted for the slope Screen scarifier mining institutions and similar institutions as well as product design and development to provide a new effective way; Screen scarifier digging chain guide groove, with some guidance and engineering application value.
本论文在对国内外清筛机研究现状、种类和工作参数、虚拟样机、仿真技术的发展进行分析后,以清筛机挖掘链导槽结构为研究对象,对其是否有‘死点’问题、机械结构的动态性能以及机械液压耦合系统的动态性能问题进行了仿真分析,并在此基础上提出了新的控制方法。
首先在UG里面对该机构进行三维模型的建立和整体的装配；其次将模型导入ADAMS进行虚拟样机的建立,对其机械结构进行动力学分析得出,该机构无‘死点’现象,工作平稳,受力方面无明显突变,符合工作要求；再次,在对该机构的液压系统进行分析后,利用AMESim软件建立了该机构的液压系统模型,并通过两个软件的接口文件,进行机械和液压系统的对接,进行联合仿真。通过对仿真结果的分析和对比,验证了联合仿真模型建立的准确性和联合仿真方法的可行性；最后,在上述研究的基础上,通过模糊控制与清筛机挖掘机构的分析,建立了一种清筛机挖掘链条导槽的数学模型,提出了一种重力补偿模糊PD控制器的控制方法。仿真结果表明重力补偿模糊PD控制器改善了系统的动态性能,具有较好的实用性,优越性,抗干扰和鲁棒性。
本论文应用先进的三维建模技术、虚拟样机技术和联合仿真技术对边坡清筛机挖掘机构进行了分析和优化,取得了预期的研究成果。同时清筛机挖掘机构和类似机构以及产品的设计和开发提供一种有效的新方法；重力补偿模糊PD控制器方法对清筛机挖掘链条导槽具有一定的指导作用和工程应用价值。
With the rapid development of the Chinese railway and its increase of carriage amount by railway, mechanical technology in field of Railway maintenance is developed faster and faster. Designing and researching technical methods now are too low in efficiency and too high in cost to fit the economy development and marketing competition. Instead of physical prototype experiment, Virtual Prototype Technology is of great meaning in shorting product developing cycle, lowering researching cost, improving design quality and product performance.
In this paper, current situations of Screen scarifier for both civil and aboard, classify and working parameters of Screen scarifier and develop of virtual technology are analyzed firstly. A right digging structure of a ballast shouder cleaning machine is taken as researching object, analysis and discussion are done about if 'dead point' issue occurs, performance of its mechanical structure and mechanical hydraulic coupled system, based on which, an appropriate precept is selected after comparing other four precepts.
Three-dimensional models of the structure are modeled and assembled in UG software firstly; secondly, models are imported into ADAMS software to finish virtual prototype. The working requirements are met from the structure's smooth work, no obvious break in loading condition and no 'dead point' occurrence, which is reflected by the performance out of the dynamic analysis of mechanical structure. Thirdly, the hydraulic system is analyzed. Co-simulation between mechanical system and hydraulic system is done by software interface after hydraulic system model is simulated by AMEsim software then. Results of co-simulation and dynamic analysis from ADAMS are compared, which make accuracy of co-simulation modeling and co-simulation method believable. Evaluation of hydraulic system is also done. At last, combined the research with practical situation, four mechanical structures are proposed. Comparisons are done with the original precept, an optimized precept is brought out.
The fuzzy control and Screen scarifier excavation institutional analysis, the propose a Screen scarifier digging chain guides of mathematical model, we design a gravity compensation fuzzy PD controller that combines the advantages of gravity compensation PD control with those of fuzzy control and then introduce the fuzzy PD controller into Screen scarifier digging chain guide groove. The simulation results show that, compared with the traditional PD controller, the gravity compensation fuzzy PD controller can improve the dynamic performance of the digging chain guide groove, effectiveness and produce a better robustness.
In this paper, advanced three-dimensional modeling, virtual prototype technology and co-simulation technology are introduced to analyze and optimize the digging structure of ballast shouder Screen scarifier. A study conducted for the slope Screen scarifier mining institutions and similar institutions as well as product design and development to provide a new effective way; Screen scarifier digging chain guide groove, with some guidance and engineering application value.
引文
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