多功能联合采伐机平顺性研究及动力学仿真
摘要
本论文是在“十一五”国家科技支撑计划项目——多功能林木采育作业关键技术装备研究与开发项目的基础上完成的,是此课题研究的一部分。随着轻工业不断发展,轻工业对木材需求量越来越大,仅靠我国现有的采伐机械和设备已经不能满足这样的需求。许多发达国家已经大量使用多功能联合采伐机械,但国内仍未有此类联合采伐机械投入使用。国外多功能联合采伐机械价格昂贵且不适于国内木材生产,因此,课题组研制了首台适用于国内林区采伐作业的采伐机械——多功能联合采伐机。多功能联合采伐机的研制对于提高木材生产效率,降低工人劳动强度具有一定的意义。多功能联合采伐机是集伐木、打枝、造材等功能为一体的智能联合采伐装备。多功能联合采伐机在林地间行进和作业时由于多种原因必然会产生振动。因此,本文首次理论推导出多功联合采伐机行进时的平顺性模型,并且建立了多功能联合采伐机多体动力学模型,对其在不同工况下的运动状态进行仿真,为多功能联合采伐机优化设计提供理论依据。
本文首先介绍了国内外采伐机械研究应用的现状,着重探讨了国外几家大公司的联合采伐机械的研究发展现状。多功能联合采伐机具有与普通工程车辆类似底盘结构,因此,为了研究多功能联合采伐机的平顺性,本文对近年来年车辆振动研究概况进行了全面的综述。
介绍了多功能联合采伐机的结构,分析了多功能联合采伐机的工作原理,以及它的振动来源。在一些合理的理论简化和条件假设下,建立了多功能联合采伐机的5自由度的振动力学模型。模型主要以多功能联合采伐机外部振源作为振动激励。根据所建立的振动力学模型,运用第二拉格朗日方程理论推导出多功能联合采伐机行进时的振动微分方程。
根据振动微分程的矩阵形式,在Matlab＼Simulink环境下采用子系统结构嵌套的方式编制了五自由度振动系统通用的仿真求解模型。五自由度振动系统写成矩阵形式后便可由此模型仿真求解。将多功能联合采伐机的参数采用集中输入方式输入模型,经计算得到多功能联合采伐机振动模型各变量的加速度、速度曲线。经分析,地面激励产生的振动在轮胎和座椅的减振作用下得到了大幅度衰减,但人椅系统的振动频率部分为低频。
本文还以Mechanism/Pro模块作为桥梁,将三维设计软件Pro/E和多体动力学分析软件ADAMS协同使用,发挥各自的优点,建立了多功能联合采伐机多体动力学模型。在ADAMS环境中,对多功能联合采伐机在直线行驶、三角凸块激励、伐根激励和驻车作业时运动状态进行了模拟仿真,得到了多功能联合采伐机在不同工况下的运动状态。轮胎和座椅对产生的振动有较好的抑制作用,但人体的瞬时速度和加速度都比较大。可以通过给驾驶增加减振系统和调节座椅刚度和阻尼提高整机的减振性能。
多功能联合采伐机五自由振动模型的仿真求解和多体动力学模型的模拟仿真相互映证,映证了多功以联合采伐机动力学模型和振动的模型的合理性。同时,仿真结果对多功能联合采伐机的改进提供了有力的依据。本文对多功能联合采伐机振动模型和仿真模型的建立、对模型仿真求解的方法也对解决类似林业机械振动问题提供了参考和借鉴。
This thesis is finished based on the State Eleventh Five-year Scientific and Technological Support Project——The Research and Explore of the Multifunctional Key Technical Equipment on the Forest Harvesting and Cultivating Operation.This thesis is also one part of the project.With the continuous development of the domestic light industry,their demand of wood is more and more big,which is not satisfied only by the domestic harvesting machinery and equipment.Though many countries already have a large number of the multifunctional harvesting machinery,there wasn't such harvesting machinery in our country.Abroad multifunctional harvesting machinery is so expensive,and they are not suit for the domestic wood production.So,the study team develops the first multifunctional harvester that is more suitable for the domestic forest harvesting operation.The development of the multifunctional harvester has certain significance to improve wood productivity and inducing labor intensity of wood workers.The multifunctional harvester is an intelligent equipment which concentrates the functions felling,delimbing,scaling,cross-cutting,and so on.When it is driving and working,it would vibration inevitably because of certain causes.So,the ride comfort model of the multifunctional harvester while driving is built in the first time.And its multi-body dynamic model is also built in the first time.Based on the model,the movement states of the multifunctional harvester are simulated on different work situation.The results provide the theory proof to the further improvement of the multifunctional harvester.
The research and development status of the harvesting machinery home and abroad are in introduced.Especially the research and development status of several abroad big company harvesters is discussed.The multifunctional harvester has similar chassis to the common vehicles.So,the general situation of the recent research on the vibration system of the vehicle was summarized with the aim of providing some useful information for the research of the harvester ride comfort.
The structure of the multifunctional harvester is introduced.Working operation and vibration source of the multifunctional harvester is also analyzed.Though the reasonable necessary academic simplification and reasonable condition hypothesis,five-degree-of-freedom vibration mechanical model of the multifunctional harvester is built.The excitation of the vibration model is mostly the outer vibration excitation of the multifunctional harvester. According to the built vibration mechanical model,the vibration differential equation is derived by using the second kind Lagrange equation in the first time.
Based on the matrix form of the vibration differential equation,the universal solver of the five-degree-of-freedom vibration system is built in the Matlab\simulink software.Most five- degree-of-freedom vibration system can be all solved after transformed the matrix form.By the intensive input way,input all the value of the parameters to the solver program,the acceleration,velocity,displacement curve of the all model parameters are obtained by computing.Though analysis,vibration generated by ground excitation is weaken owing to the tyres and seat.But the frequency of the man-seat is in the low frequency,so the vibration reduction performance of the seat should be improved.
The multi-body dynamical model of the multifunctional harvester is established in the first time by combining the Pro/E software and ADAMS using Mechanism/Pro as bridge, which exerts their advantages.In the ADAMS,the states of the multifunctional harvester is simulated when it is driving straightly,excited by triangle bump and tree stump,working too. So,the vibration state in all conditions is obtained.The tyres and seats have good vibration reduction,but the instantaneous velocity and acceleration is large.So the vibration reduction of the harvester needs to improve.
The solution of the five-degree-of-freedom vibration system and simulation of the multi-body dynamical model of the multifunctional harvester prove that the vibration model and the multi-body dynamical model are reasonable.In the same time,the results supply the evidence to improve the multifunctional harvester.This thesis also offers the ways and reference to study the similar forestry machine vbirtaion.
本文首先介绍了国内外采伐机械研究应用的现状,着重探讨了国外几家大公司的联合采伐机械的研究发展现状。多功能联合采伐机具有与普通工程车辆类似底盘结构,因此,为了研究多功能联合采伐机的平顺性,本文对近年来年车辆振动研究概况进行了全面的综述。
介绍了多功能联合采伐机的结构,分析了多功能联合采伐机的工作原理,以及它的振动来源。在一些合理的理论简化和条件假设下,建立了多功能联合采伐机的5自由度的振动力学模型。模型主要以多功能联合采伐机外部振源作为振动激励。根据所建立的振动力学模型,运用第二拉格朗日方程理论推导出多功能联合采伐机行进时的振动微分方程。
根据振动微分程的矩阵形式,在Matlab＼Simulink环境下采用子系统结构嵌套的方式编制了五自由度振动系统通用的仿真求解模型。五自由度振动系统写成矩阵形式后便可由此模型仿真求解。将多功能联合采伐机的参数采用集中输入方式输入模型,经计算得到多功能联合采伐机振动模型各变量的加速度、速度曲线。经分析,地面激励产生的振动在轮胎和座椅的减振作用下得到了大幅度衰减,但人椅系统的振动频率部分为低频。
本文还以Mechanism/Pro模块作为桥梁,将三维设计软件Pro/E和多体动力学分析软件ADAMS协同使用,发挥各自的优点,建立了多功能联合采伐机多体动力学模型。在ADAMS环境中,对多功能联合采伐机在直线行驶、三角凸块激励、伐根激励和驻车作业时运动状态进行了模拟仿真,得到了多功能联合采伐机在不同工况下的运动状态。轮胎和座椅对产生的振动有较好的抑制作用,但人体的瞬时速度和加速度都比较大。可以通过给驾驶增加减振系统和调节座椅刚度和阻尼提高整机的减振性能。
多功能联合采伐机五自由振动模型的仿真求解和多体动力学模型的模拟仿真相互映证,映证了多功以联合采伐机动力学模型和振动的模型的合理性。同时,仿真结果对多功能联合采伐机的改进提供了有力的依据。本文对多功能联合采伐机振动模型和仿真模型的建立、对模型仿真求解的方法也对解决类似林业机械振动问题提供了参考和借鉴。
This thesis is finished based on the State Eleventh Five-year Scientific and Technological Support Project——The Research and Explore of the Multifunctional Key Technical Equipment on the Forest Harvesting and Cultivating Operation.This thesis is also one part of the project.With the continuous development of the domestic light industry,their demand of wood is more and more big,which is not satisfied only by the domestic harvesting machinery and equipment.Though many countries already have a large number of the multifunctional harvesting machinery,there wasn't such harvesting machinery in our country.Abroad multifunctional harvesting machinery is so expensive,and they are not suit for the domestic wood production.So,the study team develops the first multifunctional harvester that is more suitable for the domestic forest harvesting operation.The development of the multifunctional harvester has certain significance to improve wood productivity and inducing labor intensity of wood workers.The multifunctional harvester is an intelligent equipment which concentrates the functions felling,delimbing,scaling,cross-cutting,and so on.When it is driving and working,it would vibration inevitably because of certain causes.So,the ride comfort model of the multifunctional harvester while driving is built in the first time.And its multi-body dynamic model is also built in the first time.Based on the model,the movement states of the multifunctional harvester are simulated on different work situation.The results provide the theory proof to the further improvement of the multifunctional harvester.
The research and development status of the harvesting machinery home and abroad are in introduced.Especially the research and development status of several abroad big company harvesters is discussed.The multifunctional harvester has similar chassis to the common vehicles.So,the general situation of the recent research on the vibration system of the vehicle was summarized with the aim of providing some useful information for the research of the harvester ride comfort.
The structure of the multifunctional harvester is introduced.Working operation and vibration source of the multifunctional harvester is also analyzed.Though the reasonable necessary academic simplification and reasonable condition hypothesis,five-degree-of-freedom vibration mechanical model of the multifunctional harvester is built.The excitation of the vibration model is mostly the outer vibration excitation of the multifunctional harvester. According to the built vibration mechanical model,the vibration differential equation is derived by using the second kind Lagrange equation in the first time.
Based on the matrix form of the vibration differential equation,the universal solver of the five-degree-of-freedom vibration system is built in the Matlab\simulink software.Most five- degree-of-freedom vibration system can be all solved after transformed the matrix form.By the intensive input way,input all the value of the parameters to the solver program,the acceleration,velocity,displacement curve of the all model parameters are obtained by computing.Though analysis,vibration generated by ground excitation is weaken owing to the tyres and seat.But the frequency of the man-seat is in the low frequency,so the vibration reduction performance of the seat should be improved.
The multi-body dynamical model of the multifunctional harvester is established in the first time by combining the Pro/E software and ADAMS using Mechanism/Pro as bridge, which exerts their advantages.In the ADAMS,the states of the multifunctional harvester is simulated when it is driving straightly,excited by triangle bump and tree stump,working too. So,the vibration state in all conditions is obtained.The tyres and seats have good vibration reduction,but the instantaneous velocity and acceleration is large.So the vibration reduction of the harvester needs to improve.
The solution of the five-degree-of-freedom vibration system and simulation of the multi-body dynamical model of the multifunctional harvester prove that the vibration model and the multi-body dynamical model are reasonable.In the same time,the results supply the evidence to improve the multifunctional harvester.This thesis also offers the ways and reference to study the similar forestry machine vbirtaion.
引文
[1]夏自谦,滕秀.世界森林资源现状及前景展望.北京林业大学学报(社会科学版),2003,2(3):24-28.
[2]陈水合.速生丰产林促进我国胶合板迅速发展.国际木业,2007,(7):25-27.
[3]王红梅.我国速生丰产林的发展概况和对策初探.农产品加工学刊,2007,(12):55-56.
[4]李俊,许兴.桉树生物质能源的价值研究.企业技术开发,2008,27(9):96-98
[5]白志敏.浅议伐木机械的现状与发展.活力,2003,(4):59-60.
[6]樊成孝,李万飞.森林采运机械的选型.森林工程,1997,13(4):33-37.
[7]关强,储江伟.美国油锯及集材拖拉机发展概况.林业机械与木工设备,1998,26(5):11-14.
[8]许泣祥.国外油据新技术运用的思考.林业机械与木工设备,2002,30(10):28-29.
[9]http://www.deere.com/en_US/cfd/forestry/deere_forestry/feller_bunchers/feller_bunchers_selection.html
[10]http://www.deere.com/en_US/cfd/forestry/deere_forestry/feller_bunchers/feller_bunchers_selection.html
[11]http://www.ponsse.com/english/products/harvesters/index.ph p
[12]http://www.komatsuforest.com/default.aspx?id=1266
[13]顾正平,沈瑞珍.世界木材生产机械研究现状与发展趋势.世界林业研究,1999,12(5):26-30
[14]何渝生,魏克严,洪宗林.汽车振动学.北京:人民交通出版社,1990:1-2
[15]余志生著.汽车理论(第3版).北京:机械工业出版社,2000:27-36
[16]魏智,程耀东.发动机对车辆振动影响的分析.振动与冲击,1997,(4):74-78
[17]S.W.R.,Duym.The Dynamics and Vibration Analysis of the Rear Axle System of the Vehicle.Vehicle System Dynamic,2000,33(4):261-285
[18]C Kim.The Analysis of the Vibration of the Vehicle Body and Chasis by the Substructure Synthesis Method.International Journal of Vehicle Design,2000,24(4):360-371
[19]张威,张景海.汽车动力学仿真模型的发展.汽车技术,2003,(2):1-4
[20]张洪欣,宋传学.汽车行驶平顺性的计算机预测.汽车工程,1986,(2):21-30
[21]Segel L.An Overview of Developments in Road Vehicle Dynamics:Past,Present and Future.Proceedings of Imech E Conference on Vehicle Ride and Handing,1993,(3):15-18
[22]Michael W et al.A Generic Multibody Vehicle Model for Simulating Handing and Braking.Vehicle System Dynamics,1996(2):25-28
[23]孙建成.车辆行驶平顺性的预测与优化.汽车研究与开,1998(1):28-32
[24]陈步达,江浩斌,周孔亢.农用运输车行驶平顺性的模拟计算与分析.农业机械学报,1997,28(4):23-26.
[25]李智永,张才三.面向对象的车辆传动系统仿真研究.车辆与动力技术,2003,2:16-18
[26]刘辉,项昌乐,郑慕侨.车辆动力传动系通用扭振模型的研究.中国机械工程,2003,15(14):1282-1285
[27]A.范世典法,M.鄂伯黑弥,H.柏特勒.车辆传动系的扭转振动的复合模型和仿真.传动技术,2003(3):36-45
[28]小林明.汽车工程手册.北京:机械工业出版社,1980:243-245
[29]鲁统利.汽车动力传动系扭转振动与整车纵向振动、垂直振动耦合的研究.吉林工业大学博士论文.1990:40-45
[30]楼黎明.汽车承载系统垂直振动与动力传动系扭转振动耦合的研究.吉林工业大学博士论文长春.1985:24-30
[31]殷涌光,程悦荪.车轴垂直振动与半轴扭振耦合机理的探讨.农业机械学报,1989(4):63-67
[32]陈连云,蒋国平.车辆动力传动系扭转振动特性的分析.广西工学院学报,2005,16(1):13-16
[33]彭彦宏,张建文,王占岐.汽车动力传动系扭振与整车振动耦合的研究.技术经济,1997(3):43-45
[34]赵秋玲,张奇志.汽车耦合振动的研究.北京机械工业学院学报,1998,13(4):55-59
[35]刘方抗.机械振动学.北京:航空工业出版社.1992:95-99
[36]师汉民,谌刚,吴雅.机械振动系统:分析·测试·建模·对策.湖北:华中理工大学出版,2004:210-216
[37]王贺鹏.车体自振频率的研究.大连交通大学硕士论文.2004:9-12
[38]许本文,焦群英.机械振动与模态分析基础.北京:机械工业出版社.1998:51-55
[39]陈乐生,王以伦.多刚体动力学基础.黑龙江:哈尔滨工业大学出版社,1995:16-28
[40]D J Segal.Highway Vehicle Object Simulation Model.Programmers Manual,1976
[41]王国权,余群.8自由度乘坐动力学模型及时域仿真.中国农业大学学报.2002,7(2):99-103
[42]黄志刚,郑慕侨.微型汽车五自由度模型的振动分析.北京轻工业学院学报, 1996,13(1):68-78.
[43]Cole DJ,Cebon D.Validation of an Articulated Vehicle Simulation.Vehicle System Dynamics,1992(4):21-28
[44]Philip M.Leucht.The Directional Dynamics of the CommercialTractor-Semitrailer Vehicle During Braking.SAE Trans,70037
[45]李向华.汽车振动仿真.武汉理工大学硕士论文.2001:3-16
[46]Thompson A G..Design of active suspensions.Proc.Inst.Mech.Engrs.,1970-1971,185:553-563
[47]潘海兵,刘晋浩,舒庆.防风固沙机器人振动系统的研究.中国工程机械学报,2008:6(4):279-283
[48]王鹏辉,许金余,李为民.机场道面不平度功率谱特性研究.中外公路,2008,28(3):50-53
[49]单丽岩,侯相深,马松林,行车舒适性路面不平度评价标准.哈尔滨工业大学学报,2008,40(6):935-938
[50]徐延海.随机路面谱的计算机模拟.农业机械学报,2007,38(1):33-36,29
[51]李威,杨臻.路面不平度对车辆行驶动力学模型的简化研究.机械管理开发,2008:23(5):14-16
[52]左卓,仇光亮,刘晓晖.五自由度人.车.路模型振动分析.采矿技术,2007,7(2):67-69
[53]李志强,马吉胜,张亚欧.基于Matlab的路面不平度功率谱计算.兵工自动,2006,25(3):77-79
[54]方锡邦,黄新洪.基于Matlab/Simulink的汽车整车模型非线性仿真.汽车科技,2008,(6):28-30
[55]陈华.SIMULINK在非线性系统分析中的应用.重庆工学院学报:自然科学版,2008,22(10):131-134
[56]郑联珠,刘明树,张友坤等.田间有效软路面谱形成过程分析.农业工程学报,1994,10(2):29-34
[57]梅雷军,程悦荪,郑联珠等.路面不平度测量——进展与现状评述.吉林工业大学学报,1990,(2):113-118
[58]张泽民,王国林,周孔亢.基于MATLAB/Simulink的车辆操纵稳定性分析.拖拉机与农用运输车,2008,35(4):95-97
[59]朱杰,王国志,任修勇等.基于Matlab/Simulink的挖掘机挖掘力仿真分析.机械工程师,2008,(8):57-58
[60]张春红.基于MATLAB的汽车振动系统仿真.机械工程与自动化,2008,(2):83-84
[61]杨秀林,钟绍华.基于虚拟样机的汽车悬架与四轮转向综合控制动力学仿真分 析.北京汽车,2008,(1):1-3
[62]匡伟春,张柏清,张传才.基于Simulink的多自由度机械振动系统仿真.煤矿机械,2007,28(12):54-57
[63]杜永峰,刘彦辉,李慧兰.智能隔震结构控制算法Simulink仿真分析.系统仿真学报,2007,19(18):4270-4273,4278
[64]夏飞,黄金泉,周文祥.基于MATLAB/SIMULINK的航空发动机建模与仿真研究.航空动力学报,2007,22(12):2134-2138
[65]陆金铭.增压柴油机推进系统仿真研究.船舶工程,2007,(29)6:46-48
[66]熊光楞,郭斌.协同仿真与虚拟样机技术.北京:清华大学出版社,2004:22-24,46-52
[67]T.R.Kane,D.A.levinson.The use of Kane's Dynamical Equations in Robots:19-76
[68]R.serban,E.J.Haug.Kinematic and Rinctic Derivatives in Multi-body System.Analysis Mech:Struct&Math,1998,26(2):10-48
[69]肖田元,张燕云,陈加栋.系统仿真导论.北京:清华大学出版社,2000:25-74
[70]R.Schwertasek,R.E.Roberson.Dynamics of Multi-body System.Berlin:Springer-Verlag,1986:15-202
[71]G.Bianchi.W.Shiehlen.Dynamisc of Multi-body System.Berlin:Springer-Verlag,1986:3-104
[72]刘延柱.高等动力学.北京:高等教育出版社.2001:179-190
[73]ADAMS Users Reference Manual.MDI,1997:1-36
[74]I.S.Chung,P.E.Nikravesh,J.S.Arora-Automobile Crash Simulation Using a General Purpose Rigid Body Dynamic Analysis Program-AMD,1982,50(2):25-60
[75]McConville J B.The application of the ADAMS,general-purpose mechanical systems simulation code to aerospace problems.14th Annual AESS/IEEE Dayton Section Symposium.Synthetic Visualization:Systems and Applications.1997.35-50
[76]李军,邢俊文,覃文洁.ADAMS实例教程.北京:北京理工大学出版社.2002:19-23,129-136
[77]郑建荣.ADAMS—虚拟样机技术入门与提高.北京:机械工业出版社.2002:62-65,109-115
[78]W.Schiehlen.Modeling and Analysis of Nonlinear Multi-body Systems.Vehicle System Dynamics,1986,(15):5-36
[79]M.A.Chance,D.A.simth.DAMN-A Digital Computer Program for the Dynamic Analysis of Generalized Mechanical System.SAE Paper,71-244,Ian.1971
[80]Axel Lemann.Prospects of System Modelling and Simulation in the Next Century[A].System Simulation and Scientific Computing,October 19-21,1999,Beijing,China.5-9
[81]Zobel R N.Generic Models for Rapid Product Prototyping[A].Proc ESM94.Barcelona,Spain,SCSI,GHENT,Belgium.341-345
[82]E.J.Haug.Computer Aided Kinematics and Dynamical system.Vol.Basis Methods,Needham Heights,Massachusetts,Allyn and Bacon,1989.
[83]T.R.Kanr,C.F.Wang.On the Privation of Equations of Motion.J,SOC.Ind.App.Math,vol,13,1969
[84]W.Schichlen.Computational Aspects in Military System Dynamics.Computer Methods in Applied Mechanics and Engineering,30,1991
[85]W.schichlen.Computer Generation of Equations of Motion NATO ASI series.Vol.59.Computer Aided Analysis and Optimization of Mechanical system Dynamics.Springer Verlag Berlin Heiddbeg 1984.
[86]Martikka,Heikki,Mikkola Aki.Dynamics simulation and design of a hydraulic driving boom using ADAMS.International ADAMS Conference,15-17.5.1995.Yasilanti Michigan,USA Vol.1,pp 359-368
[87]Xiao Tianyuan,et al..Next Generation Manufacturing—Distributed Interactive Virtual Product Development.System Simulation and Scientific Computing.October 19-21
[88]M Georgijevic.ADAMS Simulations as a Base in Designing of Modern Automated rane.10'h European ADAMS User Conference Papers,Nov.14-15,1995,Marburg,Germany.
[89]Y H Zweiri,L D Seneviratne,K Althoefer.Model-based Automation for Heavy-duty Mobile Excavator.2002 IEEE/RSJ Int.Conference on Intelligent Robots and Systems (IROS 2002).pp.2967-2972,EPFL,Switzerland,Sept.30-Oct.4,2002
[90]M.Piechnick,Mannesmann.Simulating Hydraulic-driven Mechanical Systems.10th European ADAMS User Conference Papers,Nov.14-15,1995,Marburg,Germany
[91]Bakker.E.Tyre Modeling for Use in Vehicle Dynamic Studies.Society of Automative Engineers Inc.U.S.A.SAE paper870421
[92]Nalece.A.G.Analysis of Dynamic Reponse of Four Wheel Steering Vehicles at High Speed.Int.J.Vehicle Design.1988,9:179-202
[93]Nalece.A.G.Investigation into the Stability of Four Wheel Steering Vehicles.Int.J.VehicleDesign,1988,9:159-178
[94]庄继德.汽车轮胎学.北京理工大学出版社,1997:15-156
[95]J.Witterburg,V.wolg.The Program Mesa Verde for Robot Dynamics simulation.Robotics Research:The Tlaird International Symposium 1986.
[96]Peter Beater,Martin Otter.Multi-domain Simulation:Mechanics and Hydraulics of an Excavator.Proceedings of Modelica's 2003 conference,pp.331-340
[97]檀润华.汽车减振器及乘坐动力学非线性建模研究.浙江大学博士学位论 文.1998:9-78
[98]张庆才.汽车七自由度振动模型建模及在汽车平顺性能仿真研究中的应用.上海汽车,1999,(3):23-28
[99]张越今.汽车多体动力学及计算机仿真.吉林科学技术出版社.1998:1-88
[100]S.Johnny Fu,Mark Liffring,Ishaque S.Mehdi.Integrated Electro-hydraulic System Modeling and Analysis.IEEE AESS Systems Magazine,2002,(7):4-8
[101]宋健,张越今,穆希辉.机械系统分析软件ADAMS在汽车列车动力学仿真中的应用.汽车工程,1997,(5):286-290
[2]陈水合.速生丰产林促进我国胶合板迅速发展.国际木业,2007,(7):25-27.
[3]王红梅.我国速生丰产林的发展概况和对策初探.农产品加工学刊,2007,(12):55-56.
[4]李俊,许兴.桉树生物质能源的价值研究.企业技术开发,2008,27(9):96-98
[5]白志敏.浅议伐木机械的现状与发展.活力,2003,(4):59-60.
[6]樊成孝,李万飞.森林采运机械的选型.森林工程,1997,13(4):33-37.
[7]关强,储江伟.美国油锯及集材拖拉机发展概况.林业机械与木工设备,1998,26(5):11-14.
[8]许泣祥.国外油据新技术运用的思考.林业机械与木工设备,2002,30(10):28-29.
[9]http://www.deere.com/en_US/cfd/forestry/deere_forestry/feller_bunchers/feller_bunchers_selection.html
[10]http://www.deere.com/en_US/cfd/forestry/deere_forestry/feller_bunchers/feller_bunchers_selection.html
[11]http://www.ponsse.com/english/products/harvesters/index.ph p
[12]http://www.komatsuforest.com/default.aspx?id=1266
[13]顾正平,沈瑞珍.世界木材生产机械研究现状与发展趋势.世界林业研究,1999,12(5):26-30
[14]何渝生,魏克严,洪宗林.汽车振动学.北京:人民交通出版社,1990:1-2
[15]余志生著.汽车理论(第3版).北京:机械工业出版社,2000:27-36
[16]魏智,程耀东.发动机对车辆振动影响的分析.振动与冲击,1997,(4):74-78
[17]S.W.R.,Duym.The Dynamics and Vibration Analysis of the Rear Axle System of the Vehicle.Vehicle System Dynamic,2000,33(4):261-285
[18]C Kim.The Analysis of the Vibration of the Vehicle Body and Chasis by the Substructure Synthesis Method.International Journal of Vehicle Design,2000,24(4):360-371
[19]张威,张景海.汽车动力学仿真模型的发展.汽车技术,2003,(2):1-4
[20]张洪欣,宋传学.汽车行驶平顺性的计算机预测.汽车工程,1986,(2):21-30
[21]Segel L.An Overview of Developments in Road Vehicle Dynamics:Past,Present and Future.Proceedings of Imech E Conference on Vehicle Ride and Handing,1993,(3):15-18
[22]Michael W et al.A Generic Multibody Vehicle Model for Simulating Handing and Braking.Vehicle System Dynamics,1996(2):25-28
[23]孙建成.车辆行驶平顺性的预测与优化.汽车研究与开,1998(1):28-32
[24]陈步达,江浩斌,周孔亢.农用运输车行驶平顺性的模拟计算与分析.农业机械学报,1997,28(4):23-26.
[25]李智永,张才三.面向对象的车辆传动系统仿真研究.车辆与动力技术,2003,2:16-18
[26]刘辉,项昌乐,郑慕侨.车辆动力传动系通用扭振模型的研究.中国机械工程,2003,15(14):1282-1285
[27]A.范世典法,M.鄂伯黑弥,H.柏特勒.车辆传动系的扭转振动的复合模型和仿真.传动技术,2003(3):36-45
[28]小林明.汽车工程手册.北京:机械工业出版社,1980:243-245
[29]鲁统利.汽车动力传动系扭转振动与整车纵向振动、垂直振动耦合的研究.吉林工业大学博士论文.1990:40-45
[30]楼黎明.汽车承载系统垂直振动与动力传动系扭转振动耦合的研究.吉林工业大学博士论文长春.1985:24-30
[31]殷涌光,程悦荪.车轴垂直振动与半轴扭振耦合机理的探讨.农业机械学报,1989(4):63-67
[32]陈连云,蒋国平.车辆动力传动系扭转振动特性的分析.广西工学院学报,2005,16(1):13-16
[33]彭彦宏,张建文,王占岐.汽车动力传动系扭振与整车振动耦合的研究.技术经济,1997(3):43-45
[34]赵秋玲,张奇志.汽车耦合振动的研究.北京机械工业学院学报,1998,13(4):55-59
[35]刘方抗.机械振动学.北京:航空工业出版社.1992:95-99
[36]师汉民,谌刚,吴雅.机械振动系统:分析·测试·建模·对策.湖北:华中理工大学出版,2004:210-216
[37]王贺鹏.车体自振频率的研究.大连交通大学硕士论文.2004:9-12
[38]许本文,焦群英.机械振动与模态分析基础.北京:机械工业出版社.1998:51-55
[39]陈乐生,王以伦.多刚体动力学基础.黑龙江:哈尔滨工业大学出版社,1995:16-28
[40]D J Segal.Highway Vehicle Object Simulation Model.Programmers Manual,1976
[41]王国权,余群.8自由度乘坐动力学模型及时域仿真.中国农业大学学报.2002,7(2):99-103
[42]黄志刚,郑慕侨.微型汽车五自由度模型的振动分析.北京轻工业学院学报, 1996,13(1):68-78.
[43]Cole DJ,Cebon D.Validation of an Articulated Vehicle Simulation.Vehicle System Dynamics,1992(4):21-28
[44]Philip M.Leucht.The Directional Dynamics of the CommercialTractor-Semitrailer Vehicle During Braking.SAE Trans,70037
[45]李向华.汽车振动仿真.武汉理工大学硕士论文.2001:3-16
[46]Thompson A G..Design of active suspensions.Proc.Inst.Mech.Engrs.,1970-1971,185:553-563
[47]潘海兵,刘晋浩,舒庆.防风固沙机器人振动系统的研究.中国工程机械学报,2008:6(4):279-283
[48]王鹏辉,许金余,李为民.机场道面不平度功率谱特性研究.中外公路,2008,28(3):50-53
[49]单丽岩,侯相深,马松林,行车舒适性路面不平度评价标准.哈尔滨工业大学学报,2008,40(6):935-938
[50]徐延海.随机路面谱的计算机模拟.农业机械学报,2007,38(1):33-36,29
[51]李威,杨臻.路面不平度对车辆行驶动力学模型的简化研究.机械管理开发,2008:23(5):14-16
[52]左卓,仇光亮,刘晓晖.五自由度人.车.路模型振动分析.采矿技术,2007,7(2):67-69
[53]李志强,马吉胜,张亚欧.基于Matlab的路面不平度功率谱计算.兵工自动,2006,25(3):77-79
[54]方锡邦,黄新洪.基于Matlab/Simulink的汽车整车模型非线性仿真.汽车科技,2008,(6):28-30
[55]陈华.SIMULINK在非线性系统分析中的应用.重庆工学院学报:自然科学版,2008,22(10):131-134
[56]郑联珠,刘明树,张友坤等.田间有效软路面谱形成过程分析.农业工程学报,1994,10(2):29-34
[57]梅雷军,程悦荪,郑联珠等.路面不平度测量——进展与现状评述.吉林工业大学学报,1990,(2):113-118
[58]张泽民,王国林,周孔亢.基于MATLAB/Simulink的车辆操纵稳定性分析.拖拉机与农用运输车,2008,35(4):95-97
[59]朱杰,王国志,任修勇等.基于Matlab/Simulink的挖掘机挖掘力仿真分析.机械工程师,2008,(8):57-58
[60]张春红.基于MATLAB的汽车振动系统仿真.机械工程与自动化,2008,(2):83-84
[61]杨秀林,钟绍华.基于虚拟样机的汽车悬架与四轮转向综合控制动力学仿真分 析.北京汽车,2008,(1):1-3
[62]匡伟春,张柏清,张传才.基于Simulink的多自由度机械振动系统仿真.煤矿机械,2007,28(12):54-57
[63]杜永峰,刘彦辉,李慧兰.智能隔震结构控制算法Simulink仿真分析.系统仿真学报,2007,19(18):4270-4273,4278
[64]夏飞,黄金泉,周文祥.基于MATLAB/SIMULINK的航空发动机建模与仿真研究.航空动力学报,2007,22(12):2134-2138
[65]陆金铭.增压柴油机推进系统仿真研究.船舶工程,2007,(29)6:46-48
[66]熊光楞,郭斌.协同仿真与虚拟样机技术.北京:清华大学出版社,2004:22-24,46-52
[67]T.R.Kane,D.A.levinson.The use of Kane's Dynamical Equations in Robots:19-76
[68]R.serban,E.J.Haug.Kinematic and Rinctic Derivatives in Multi-body System.Analysis Mech:Struct&Math,1998,26(2):10-48
[69]肖田元,张燕云,陈加栋.系统仿真导论.北京:清华大学出版社,2000:25-74
[70]R.Schwertasek,R.E.Roberson.Dynamics of Multi-body System.Berlin:Springer-Verlag,1986:15-202
[71]G.Bianchi.W.Shiehlen.Dynamisc of Multi-body System.Berlin:Springer-Verlag,1986:3-104
[72]刘延柱.高等动力学.北京:高等教育出版社.2001:179-190
[73]ADAMS Users Reference Manual.MDI,1997:1-36
[74]I.S.Chung,P.E.Nikravesh,J.S.Arora-Automobile Crash Simulation Using a General Purpose Rigid Body Dynamic Analysis Program-AMD,1982,50(2):25-60
[75]McConville J B.The application of the ADAMS,general-purpose mechanical systems simulation code to aerospace problems.14th Annual AESS/IEEE Dayton Section Symposium.Synthetic Visualization:Systems and Applications.1997.35-50
[76]李军,邢俊文,覃文洁.ADAMS实例教程.北京:北京理工大学出版社.2002:19-23,129-136
[77]郑建荣.ADAMS—虚拟样机技术入门与提高.北京:机械工业出版社.2002:62-65,109-115
[78]W.Schiehlen.Modeling and Analysis of Nonlinear Multi-body Systems.Vehicle System Dynamics,1986,(15):5-36
[79]M.A.Chance,D.A.simth.DAMN-A Digital Computer Program for the Dynamic Analysis of Generalized Mechanical System.SAE Paper,71-244,Ian.1971
[80]Axel Lemann.Prospects of System Modelling and Simulation in the Next Century[A].System Simulation and Scientific Computing,October 19-21,1999,Beijing,China.5-9
[81]Zobel R N.Generic Models for Rapid Product Prototyping[A].Proc ESM94.Barcelona,Spain,SCSI,GHENT,Belgium.341-345
[82]E.J.Haug.Computer Aided Kinematics and Dynamical system.Vol.Basis Methods,Needham Heights,Massachusetts,Allyn and Bacon,1989.
[83]T.R.Kanr,C.F.Wang.On the Privation of Equations of Motion.J,SOC.Ind.App.Math,vol,13,1969
[84]W.Schichlen.Computational Aspects in Military System Dynamics.Computer Methods in Applied Mechanics and Engineering,30,1991
[85]W.schichlen.Computer Generation of Equations of Motion NATO ASI series.Vol.59.Computer Aided Analysis and Optimization of Mechanical system Dynamics.Springer Verlag Berlin Heiddbeg 1984.
[86]Martikka,Heikki,Mikkola Aki.Dynamics simulation and design of a hydraulic driving boom using ADAMS.International ADAMS Conference,15-17.5.1995.Yasilanti Michigan,USA Vol.1,pp 359-368
[87]Xiao Tianyuan,et al..Next Generation Manufacturing—Distributed Interactive Virtual Product Development.System Simulation and Scientific Computing.October 19-21
[88]M Georgijevic.ADAMS Simulations as a Base in Designing of Modern Automated rane.10'h European ADAMS User Conference Papers,Nov.14-15,1995,Marburg,Germany.
[89]Y H Zweiri,L D Seneviratne,K Althoefer.Model-based Automation for Heavy-duty Mobile Excavator.2002 IEEE/RSJ Int.Conference on Intelligent Robots and Systems (IROS 2002).pp.2967-2972,EPFL,Switzerland,Sept.30-Oct.4,2002
[90]M.Piechnick,Mannesmann.Simulating Hydraulic-driven Mechanical Systems.10th European ADAMS User Conference Papers,Nov.14-15,1995,Marburg,Germany
[91]Bakker.E.Tyre Modeling for Use in Vehicle Dynamic Studies.Society of Automative Engineers Inc.U.S.A.SAE paper870421
[92]Nalece.A.G.Analysis of Dynamic Reponse of Four Wheel Steering Vehicles at High Speed.Int.J.Vehicle Design.1988,9:179-202
[93]Nalece.A.G.Investigation into the Stability of Four Wheel Steering Vehicles.Int.J.VehicleDesign,1988,9:159-178
[94]庄继德.汽车轮胎学.北京理工大学出版社,1997:15-156
[95]J.Witterburg,V.wolg.The Program Mesa Verde for Robot Dynamics simulation.Robotics Research:The Tlaird International Symposium 1986.
[96]Peter Beater,Martin Otter.Multi-domain Simulation:Mechanics and Hydraulics of an Excavator.Proceedings of Modelica's 2003 conference,pp.331-340
[97]檀润华.汽车减振器及乘坐动力学非线性建模研究.浙江大学博士学位论 文.1998:9-78
[98]张庆才.汽车七自由度振动模型建模及在汽车平顺性能仿真研究中的应用.上海汽车,1999,(3):23-28
[99]张越今.汽车多体动力学及计算机仿真.吉林科学技术出版社.1998:1-88
[100]S.Johnny Fu,Mark Liffring,Ishaque S.Mehdi.Integrated Electro-hydraulic System Modeling and Analysis.IEEE AESS Systems Magazine,2002,(7):4-8
[101]宋健,张越今,穆希辉.机械系统分析软件ADAMS在汽车列车动力学仿真中的应用.汽车工程,1997,(5):286-290