起重机臂架系统刚柔耦合瞬态动力学仿真分析
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摘要
近年来,我国工业的迅猛发展,使得港口、码头、电厂、货场等工业场所对起重机的需求量不断增加,也进而对起重机的设计、制造质量和性价比提出了更高的要求。计算机硬件、计算技术、应用数学、力学、计算机图形学、软件等技术的不断结合、融合,推动着设计理念、理论、方法、技术乃至工具的进步,设计理论研究和新技术应用空前繁荣。传统的设计方法常采用古典力学和数学为基础的经典静态设计方法,对复杂结构的简化和假设太多,往往导致设计结果准确性不高,不仅使整机的结构和零部件强度有很大富裕,而且导致重大的结构件事故时有发生,比如疲劳、断裂破坏等。起重机臂架系统是臂架类型起重机的重要承载部件之一,其力学特性对整机的正常运转有直接的影响。在港口机械研制过程中引入虚拟样机技术可以实现起重机臂架系统在各种工况下随载荷变化的运行状态及随时间变化过程的仿真模拟,得到臂架系统的动力学特性,对港口机械进行动态分析和计算具有一定参考价值。
本文根据起重机动力学振动理论,利用ANSYS、UG、ADAMS软件平台,求解臂架系统模态参数,建立起重机臂架系统的三维数字化虚拟样机,对其进行多体系统动力学仿真分析,为起重机臂架系统的动态设计提供有效的技术支持。
论文的主要内容包括：利用有限元分析软件(?)ANSYS完成对臂架系统的模态分析,得到臂架系统的固有频率、各阶振型等参数；运用ANSYS瞬态分析模块求解臂架系统在起吊货物过程中的瞬态响应；利用UG软件建立臂架系统结构三维实体模型,并导入ADAMS软件,得到多刚体虚拟样机分析模型并对其进行动力学仿真分析；利用ANSYS软件的接口技术,在ADAMS中建立臂架系统结构的柔性体模型,根据实际情况添加相应的约束和驱动,得到刚柔耦合动力学模型,完成臂架系统刚柔耦合运动学和动力学动态仿真,求解臂架系统结构动态应力等。运用虚拟样机技术解决起重机臂架系统动力学问题的研究是本文的研究目标,为研究起重机臂架系统等大型结构动力学仿真分析提供一种动态设计方法。
In recent years, the rapid development of industry, port, wharf, power plant, industrial sites dealing for the increasing demand of crane, and then to design and manufacture of the crane quality and price put forward higher request. Computer computer graphics, and software technology constantly, promotes the fusion of design concepts, theories, methods, techniques and tools of progress, design theory research and application of new technologies unprecedented prosperity. The traditional design of classical mechanics and mathematics may be adopted for the classic static design method based on complex structure, the calculation of using simplified and assume much, often leads to design the accuracy is not high, on the one hand, the whole structure and component part of surplus, on the other hand, the great intensity of structural accidents occur frequently, such as fatigue and fracture damage etc. Crane booms system is an important type of crane booms bearing parts, its mechanical properties of the normal operation of machine has direct influence. In port machinery development process into the virtual prototype technology can realize the crane arm under different conditions of suspension system with load change with time running state and process simulation, the dynamic characteristics of suspension system arm, port machinery for dynamic analysis and calculation have certain reference value. According to the dynamic vibration theory, crane by using ANSYS software ADAMS, UG platform, suspension system, arm modal parameters, establish the system of crane booms 3d digitizing virtual prototype, carries on the multibody system dynamics simulation analysis for crane booms, the dynamic system designed to provide effective technical support.
The thesis mainly includes:using finite element analysis software ANSYS to arm the modal analysis of suspension system, the natural frequency of the manipulator, the vibration parameters; etc. Using ANSYS transient analysis module of suspension system is in lifting the arms in the process of goods, the transient response, Using UG software based on the arm of suspension system structure, and the three-dimensional model of ADAMS software, multi-rigid-body virtual prototype analysis model and its dynamics simulation analysis, Using ANSYS software interface technology, build arm in ADAMS suspension system structure of flexible body model, according to the actual situation of the corresponding restraint and drive to add, soft coupling dynamics model, the arm of suspension system and soft coupling dynamic simulation of kinematics and dynamics, arm of suspension system structure dynamic stress, etc.
The virtual prototype technology to solve the crane arm of suspension system dynamics research is advanced design, analysis and simulation technology applied to the preliminary design of crane for crane booms system etc. Large structure dynamics simulation analysis provides a dynamic design method.
本文根据起重机动力学振动理论,利用ANSYS、UG、ADAMS软件平台,求解臂架系统模态参数,建立起重机臂架系统的三维数字化虚拟样机,对其进行多体系统动力学仿真分析,为起重机臂架系统的动态设计提供有效的技术支持。
论文的主要内容包括：利用有限元分析软件(?)ANSYS完成对臂架系统的模态分析,得到臂架系统的固有频率、各阶振型等参数；运用ANSYS瞬态分析模块求解臂架系统在起吊货物过程中的瞬态响应；利用UG软件建立臂架系统结构三维实体模型,并导入ADAMS软件,得到多刚体虚拟样机分析模型并对其进行动力学仿真分析；利用ANSYS软件的接口技术,在ADAMS中建立臂架系统结构的柔性体模型,根据实际情况添加相应的约束和驱动,得到刚柔耦合动力学模型,完成臂架系统刚柔耦合运动学和动力学动态仿真,求解臂架系统结构动态应力等。运用虚拟样机技术解决起重机臂架系统动力学问题的研究是本文的研究目标,为研究起重机臂架系统等大型结构动力学仿真分析提供一种动态设计方法。
In recent years, the rapid development of industry, port, wharf, power plant, industrial sites dealing for the increasing demand of crane, and then to design and manufacture of the crane quality and price put forward higher request. Computer computer graphics, and software technology constantly, promotes the fusion of design concepts, theories, methods, techniques and tools of progress, design theory research and application of new technologies unprecedented prosperity. The traditional design of classical mechanics and mathematics may be adopted for the classic static design method based on complex structure, the calculation of using simplified and assume much, often leads to design the accuracy is not high, on the one hand, the whole structure and component part of surplus, on the other hand, the great intensity of structural accidents occur frequently, such as fatigue and fracture damage etc. Crane booms system is an important type of crane booms bearing parts, its mechanical properties of the normal operation of machine has direct influence. In port machinery development process into the virtual prototype technology can realize the crane arm under different conditions of suspension system with load change with time running state and process simulation, the dynamic characteristics of suspension system arm, port machinery for dynamic analysis and calculation have certain reference value. According to the dynamic vibration theory, crane by using ANSYS software ADAMS, UG platform, suspension system, arm modal parameters, establish the system of crane booms 3d digitizing virtual prototype, carries on the multibody system dynamics simulation analysis for crane booms, the dynamic system designed to provide effective technical support.
The thesis mainly includes:using finite element analysis software ANSYS to arm the modal analysis of suspension system, the natural frequency of the manipulator, the vibration parameters; etc. Using ANSYS transient analysis module of suspension system is in lifting the arms in the process of goods, the transient response, Using UG software based on the arm of suspension system structure, and the three-dimensional model of ADAMS software, multi-rigid-body virtual prototype analysis model and its dynamics simulation analysis, Using ANSYS software interface technology, build arm in ADAMS suspension system structure of flexible body model, according to the actual situation of the corresponding restraint and drive to add, soft coupling dynamics model, the arm of suspension system and soft coupling dynamic simulation of kinematics and dynamics, arm of suspension system structure dynamic stress, etc.
The virtual prototype technology to solve the crane arm of suspension system dynamics research is advanced design, analysis and simulation technology applied to the preliminary design of crane for crane booms system etc. Large structure dynamics simulation analysis provides a dynamic design method.
引文
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[2]汗亚非.港口装卸机械现代设计方法的应用与开发.物流技术,2001,6：5～7
[3]李瑞涛.虚拟样机技术的概念及应用.机电一体化,2000.5
[4]陈立平,张云清等.机械系统动力学分析及ADAMS应用教程.北京：清华大学
[5]钟登华,郑家祥.可视化仿真技术及其应用.北京：中国水利水电出版社,2002
[6]鸿伟,王维平等.虚拟样机中的异构产品模型研究[J].计算机仿真,2002,9(4)：100～106)
[7]赵志平,李新勇.虚拟样机技术及其应用和发展.机械研究与应用,2006.2(1)
[8]李炳伟,潘双夏,冯培恩.面向CAD/CAE集成的虚拟样机建模方法[J].农业机械学报,2006.3：95～99
[9]吴修彬.虚拟样机建模技术浅析.机械制造与研究.2007,36(5)：33～34
[10]Deeken, Michael. Simulation of the tribological contacts in an axial piston machine.2004 ASME International Mechanical Engineering Congress and Exposition, IMECE,2004: 71-75
[11]李军,邢俊文,谭文浩.ADAMS实例教程.北京：北京理工大学出版社,2002-7
[12]郝云堂,金烨,季辉.虚拟样机技术及其在ADAMS中的实践.《机械设计与制造》,2003.6(3)
[13]侯宝存,李伯虎等.虚拟样机设计仿真环境中多领域工具集成的研究[J].系统仿真学报.2004,16(2)：234～241
[14]WASFY T M, NOOR A K. Computational strategies for flexible multibody systems[J]. Appl Mech Rev,2003,56 (6):553-613.
[15]刘铸永,洪嘉振.柔性多体系统动力学研究现状与展望.计算力学学报.2008.8(4)
[16]Sunada W & Dubowsky S. The application of finite element methods to the dynamic anasysis of flexible spatial and co-planar linkage systems. ASME Journal of mechanical design,1971,103:643～651.
[17]Likins P W. Finite element appendage equation for hybird coordinate dynamic analysis. Journal of Solids & Structures,1972,8:709～731
[18]黄文虎,邵成勋等.多柔体系统动力学.科学出版社
[19]曹妍妍,赵登峰.有限元模态分析理论及其应用.机械工程与自动化.2007.2(1)：73～74
[20]龚曙光ANSYS基础应用及范例分析.北京：人民交通出版社,1999
[21]李皓月,周田朋,刘湘新ANSYS工程计算应用教程,北京：中国铁道出版社,2002.11
[22]谭建国.使用ANSYS6.0进行有限元分析,北京大学出版社,2002.5
[23]宋勇,艾宴清等.精通ANSYS7.0有限元分析.北京：清华大学出版社
[24]陈新刚,张士新,李永伟.UG与ADAMS之间的图形数据传输实验.农业装备与车辆工程.2007,第10期
[25]郁飞鹏,贾鸿社ADAMS与UG、Solid Works的数据交换实践.现代制造工程.2005(10)
[26]赵希芳ADAMS中的柔性体分析研究.电子机械工程.2006,第3期
[27]洪嘉振.计算多体系统动力学.高等教育出版社
[28]王侃,杨秀梅.虚拟样机技术综述.《新技术新工艺》·数字技术与机械加工工艺装备,2008(3
[29]Sun Guangfu, Kleeberger Michael. Dynamic responses of hydraulic mobile crane with Sun Guangfu, Kleeberger Michael. Dynamic responses of hydraulic mobile crane with)
[30]贾长治,王兴贵.基于虚拟样机技术的火炮故障仿真机应用研究.机械工程学报,2004,40(9)：89～93
[31]邵立.虚拟制造中仿真技术的应用.工业工程与管理,2000,(4)：21-25
[32]李丹,李印川.虚拟样机技术在制造业中的应用及研究现状.机械,2008.6(35)
[33]刘延柱,陈文良,陈立群.振动力学.北京：高度教育出版社,1998
[34]孙世基.机械系统刚柔耦合动力学分析及仿真.北京：人民交通出版社,1999
[35]ADAMS/Flex Documentation. Mechanical Dynamics Inc,2002
[36]张质文,虞和谦等.起重机设计手册.1998年3月第1版
[37]陆国贤,倪庆兴,张容康,马登哲.起重机设计.人民交通出版社
[38]Tucker W V, Stuckey L D. The Roles of Modeling and Simulation at Boeing [J]. TRANSACTIONS.1998.1
[39]ADAMS Using Guide. Mechanical Dynamics, Inc.2003
[40]B. L. Karihaloo, R. D. Parbery. Optimal control of a dynamical system representing a gantry crane Journal of Optimization Theory and Applications (Historical Archive). Volume 36, Number 3,1982. P409-417.
[41]Zhang L. Solid Mechanic For Engineers. New York:Pal grave,2001
[42]Ramezanali Mahdavinejad. Finite element analysis of machine and workpiece instability in turning. International Journal of Machine Tools&Manufacture,2005,45:753-760
[43]Kyung K.Choi, JunTang, Edwin Hardee, Hyeng D.Youn. Application of reliability based design optimization to durability of military vehicles. SAE,2005-01
[44]Chongcheng Chen, Liyu Tang. A Distributed Forest Fire Fighting Simulation System Based on HLA. Lecture Notes in Computer Science,2006,3942:1107-1111
[45]范成建,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.北京：机械工业出版社,2006：2-3
[46]吴森,王承,汪新云,曹正策.基于虚拟样机技术的自卸车举升机构仿真与优化.武汉理工大学学报·信息与管理工程版.2003.6
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