機械設計外文翻譯-小車的動態(tài)模型和動態(tài)橋式起重機的仿真?【中文2260字】【PDF+中文WORD】,中文2260字,PDF+中文WORD,機械設計,外文,翻譯,小車,動態(tài),模型,橋式起重機,仿真,中文,2260,PDF,WORD The Trolleys Dynamic Model and Dynamic Simulation of the Bridge Crane Xiangdong Li,Xucheng Yuan,Chao Zhou,Xu Chen Jiangsu Institute of Special Equipment Safety Supervision and Inspection Nanjing,China Shuishui Li,Yuanxun Fan Nanjing University of Science and Technology Nanjing,China AbstractAccording to the trolleys structure and working characteristics of bridge crane,this paper has established the double pendulum dynamic system mode when the trolley is starting.And it also use ADAMS to proceed this dynamic simulation,then get the hanging heavys partial angular and the wire ropes horizontal tension that changes with time of history,find the main factor-the length of the wire rope and trolleys start-up acceleration that influence the angles size.It realizes a true dynamic characteristic when the trolley is starting.Keywords-bridge crane;trolley;double pendulum;dynamic model;dynamic simulation I.INTRODUCTIONThe biggest characteristic of trolley crane system is starting and braking frequently when working.In the moment of starting and braking frequently and suddenly,the crane mechanical system will have a strong impact and vibration.This shock and vibration will bring the whole system the dynamic load,and make goods swing.The smaller the dynamic load is,the smaller the range of goods swing is.So the crane can work more stably and have longer life.Therefore,the study of the dynamic response of trolley crane system in the starting and braking condition has important engineering significance.This paper focuses on the dynamics characteristic of the trolley in start conditions.At present,the dynamic model of the trolley in start condition is single pendulum dynamic model,which is different from the actual lifting goods operation of the trolley.In this article,the double pendulum dynamics mathematical model of the trolley in the start working condition is established and the dynamic simulation is finished with fully considered the actual operation of the trolley,From three aspects of the length of rope for the suspension of goods,the length of rope from trolley hook suspension point to goods,the acceleration of the trolley,the effect of the trolleys start running condition to the swing angle is researched and the process of the horizontal pull which is changed with time is found.II.THE DOUBLE PENDULUM DYNAMICS MATHEMATICAL MODEL OF THETROLLEYThe trolley of the bridge crane lifting with goods is shown in figure 1:Figure 1 trolley 1-goods 2-hook 3-pulley block 4-wire rope 5-trolley of bridge crane 6-main girder Where 0mis the quality of goods,1mis the quality sums of the hook and the pulley,2mis the trolleys total mass,Q is the driving force conversion of the motor when starting,1Listhe length of rope for hanging goods,2L is the length of wire rope from the suspension point to the hook,1?is the swing angle of wire rope compared with vertical direction when starting,2?the swing angle of goods compared with vertical direction when starting,Excluding the effects of air damping,ignoring the quality of steel wire rope,and the rope length remains unchanged.So according to the characteristics of the trolley systems structure and work,trolley can travel under the and of the system,the double pendulum dynamics mathematical model of the trolley in the start working conditions is established which is shown in Figure 2.?Figure 2 the double pendulum dynamics mathematical model figure of the trolley in the start working condition Quality and Technical Supervision Bureau of Jiangsu,KJ103708_ 978-1-61284-441-1/11/$26.00 2011 IEEE 216III.DYNAMIC EQUATION OF THE TROLLEYFor the trolley,where 2x is the displacement of 2minstart-up process,1xis the horizontal displacement of 1min the start-up process,0 xis the horizontal displacement of 0min the start-up process,f is the friction resistance during the start-up process.Establish plane Cartesian coordinate system,as shown in figure 2 is 1mand0m position respectively in the coordinate system are as follows:1211111sincosxxLyL?And 02112201122sinsincoscosxxLLyLL?Because1?and 2?are very small,so it can be approximated into:112212sin,sin,cos1,cos1?The total kinetic energy of system is as follows:222212211100222022121212222211021211122222121222111)222 11)(222 1)22 22Em xm xymxym xm xL xLm xL xLL xL LL?The systems total potential is:(1 cos)(coscos)21110121122Em gLm g LLLL?Using the second Lagrange equation,can get the trolleys starting work double pendulum dynamics system equation as follows:221121110120110122111011 0m L xm Lm L xm Lm L Lm gLm gL?1?221211102011022m xm xm Lm xm Lm LQf?2?202212122022()0m L xL LLm gL?3?From type(1)through(3)we can see that the major influence factors of the partial angle1?and 2?is the quality of the goods0m,the quality of pulley and hook1m,wire ropes length of suspension goods1L,ropes length from hooks to goods2L,acceleration of trolley2x?.Further analysis shows that in these factors,1L,2Land 2x?plays a main influence.IV.SIMULATION AND ANALYSIS OF TROLLEYThe paper has used a 50t/10t double girder crane with M5 working level for example.The parameters are as follows:The moving motor type is YZR160M2-6,power is 8.5KW,rotate speed is 930r/min;Transmission ratio of gear reducer is 37.9;Rate of wire rope is 10;Diameter of drum is 400mm;Diameter of wire rope is 24 mm;The trolleys uniform speed is 640mm/s.Because of rate of wire rope is 10,simulation conditions is that hook takes full lifting 5t goods.Firstly we use SOLIDWORKS to build the bridge cranes related 3d model,and then input the simplified model into ADAMS.Define related movement of goods,including the wire rope which is composed by discrete flexible components.Finally get the bridge cranes working model in virtual 3d simulation environment.Figure 3 shows:Figure 3 trolleys model in ADAMS Through calculation,the trolleys starting time is 3.2 seconds.The simulation time is taken as 10s,simulation step length is 200.Because rate of wire rope is 10,use available compensational method of density to set the weight for 5t.Simulation steps and the simulation analysis are as follows:1)The influence of2L.Take 1L for 2.5 m,the average acceleration is 0.22/m s.Take 2L for 0.5m,1m,1.5m.From the simulation results(the angles figure is omitted),we can know1?,2?all increase only tiny along with the increase of2L.The size of them all influenced relatively small,but the oscillation frequency of 1?and2?are influenced larger.2)The influence of1L.Take 2L for 0.5m,the average acceleration is 0.22/m s.Take 1L for 2m?2.5m?3m to do dynamic simulation.From the simulation(the angles figure is 217omitted)that with the twice increasing of1L.1?every time increased 0.25?.2?every time increased 0.25?and 0.1?respectively.Growth is greater than their influence about2L.And the oscillation frequency of 1?and 2?also decreases with the increasing of 2L.3?The influence of angular and the horizontal tension wire rope from car acceleration.Comprehensive the foregoing conclusion,take 1L for 2m,2L for 0.5m for dynamic simulation.Figure 4 shows the car velocity diagram in simulation conditions.The normal operation speed of the car is 640mm/s.The red solid line shows that achieving the normal operation speed of time is 3.2s,so the starting average acceleration is 0.22/m s,assuming it as 1a.Blue dashed said that achieving the normal operation speed of time is 2.5s,so the starting average acceleration is 2562/mm s,assuming it as 2a.Figure 4 Vehicle speed diagram Figure 5,figure 6 shows the angle(1?and 2?)changing diagram of the car in the two different acceleration(1a and 2a).By the simulation graphics analysis,the start-up acceleration of car increased,and the angular 1?and 2?also increased.When the car average acceleration from 2002/mm s increases to 2562/mm s,Angular1?increased 0.5?and angular 2?increased 0.75?.From this simulation result,angular has great influence on the car start-up acceleration and increases with the increasing of car acceleration while oscillation frequency has small influence on car acceleration.Acceleration is 1a Acceleration is 2aFigure 5 changing rules of 1?in different acceleration Acceleration is 1a Acceleration is 2aFigure 6 changing rules of 2?in different acceleration Figure 7 shows the horizontal tensions changing rule of wire rope in different acceleration.From the result of simulation,we can know that the horizontal tension of wire rope has increased about 750N along with the increase of start-up acceleration.It also has obviously increased the horizontal moving load of the start-up process.And because of this swing which is brought by the dynamic load,the normal speed of the trolley appears slight fluctuations.Figure 7 the horizontal tension of wire rope V.CONCLUSIONResearch the swinging Angle and dynamic characteristics of the heavy has great significance to improve the cranes working efficiency and steadiness.The paper has used ADAMS to simulate the swinging Angle and dynamic characteristics of the heavy when the trolley is starting.From the simulation,firstly we can know that the size of 1L and 2Lhas bigger influence to the swinging frequencies.The bigger length they are,the bigger swinging angle it is.Secondly,the trolleys acceleration has bigger influence to the size of swinging angle and the horizontal dynamic load.And both of them will be increased while the increasing of the trolleys acceleration.REFERENCES1Raymond Manning,Jeffrey Clement,Dooroo Kim,William Singhose,“Dynamics and Control of Bridge Cranes Transporting Distributed-Mass Payloads,”Journal of Dynamic Systems,Measurement,and Control,vol 132,pp.18,January 2010 2Dooroo Kim,William Singhose,“Performance studies of human operators driving double-pendulum bridge cranes,”Control Engineering Practice 18(2010),pp.567576 3Zongwu Hu,Yisong Yan,“crane dynamics,”Machinery industry press,1988 4Zhiweng Zhang,Heqian Yu,Jingnuo Wang,“Crane design manual,”China railway publishing house,1998 5Zenggang Li,“ADAMS introductory explanation and examples,”Defense industry press,2006 6Zeqiang Zhang,Wenming Cheng,“Bridge type crane heavy dof angular model and simulation,”Southwest jiaotong university journal,2006,41(6)pp.696699 218