某船载装置的虚拟样机分析
|
摘要
计算机及其相关技术的发展和应用为建立机械系统虚拟样机提供了一个切实可行径。通过虚拟样机技术可以解决机械系统设计、制造到使用中的许多难题,为保
系统的准确和可靠提供了重要的分析方法。虚拟样机技术正以它不可比拟的优被广泛运用在机械系统的设计和分析中。
本文主要以某船载装置为研究对象,运用多刚体动力学理论,采用三维造型软件和多体系统动力学仿真软件,建立了船载装置的多刚体虚拟样机模型。分析了在不同海况环境下、在不同工况中船载装置的运动状态,得到了船载装置的运动特性和动力参数,并进一步分析了船载装置中的轨道应力应变,为修正和改进船载装置的设计提供了依据。
在对船载装置进行多刚体动力学分析之后,得到了船载装置轮轨主要接触面的接触力。以此作为输入参数,对轨道进行了有限元结构静力学分析,求得轨道的应力变形。根据轨道变形情况分析船载装置的安全性,提出增加横向轮,减少轨道横向变形的改进措施。
为了更准确的对船载装置的运动情况进行分析,本文运用多柔体动力学理论,借助多体动力学仿真软件的柔性体分析模块,通过模态中性文件将柔性较大的横向轮支撑板用柔性体进行替换,建立了船载装置的刚柔耦合虚拟样机模型。并以船舶5级海况下横摇运动作为分析工况,分析比较了刚性体模型仿真分析结果与刚柔耦合模型仿真分析结果,得到了调整驱动齿轮与齿条之间间隙的合理参数。
分析表明,对于复杂机构,尤其像本文中所涉及的不方便进行物理样机试验的机构,必须采用虚拟样机技术,构建虚拟样机模型,对模型进行虚拟仿真分析。对于柔性比较大的零件,必须将其柔性化,建立刚柔耦合模型进行仿真分析。本文为虚拟样机分析,探索了一条可行的方法,也为以后更复杂的虚拟样机模型建模奠定了基础。
The development and application of the computers and related technology provides a practical way for virtual prototype mechanical system. Virtual prototyping technology can solve many difficult issues such as the design, manufacture and use of mechanical system. And they provide important analysis methods for ensuring the accuracy and reliability of mechanical systems. Virtual prototyping technology is widely used in mechanical system design and analysis.
This thesis mainly studies on a ship-borne device. It uses multi-body dynamics theory, 3-D modeling software and multi-body system dynamics simulation software, establishes a rigid virtual prototype model for the ship-borne device. This thesis analyzes a ship-borne device's parameter in different sea-conditions and different working environments. The ship-borne device characteristics and dynamic parameters of movement for further analysis of the orbit provides a stress-strain data, as well as amendments ship-borne devices and improving the design of a basis. Though the multi-body dynamics analysis of ship-borne devices, we obtain the contact forces of main interfaces. Using the contact forces as input, we obtain the orbits'stress-strain though finite element static structural analysis. According to orbits'deformation, we propose to increase the horizontal wheel, reducing horizontal deformation of the orbits for security.
In order to get more accurately result, the paper using flexible multi-body dynamics theory, the use of multi-body dynamics simulation software for flexible analysis. Through modal neutral document we can replace the rigid body for flexible body. We make the flexible model of horizontal wheel support plates and establish the ship rigid-flexible coupling device virtual prototype model. After taking ship five rolling for example, comparing the simulation results of rigid model with rigid-flexible coupling model, we get the proposal that adjust the clearance of the gear and rack.
The analysis show that, for complex devices, particularly as this can not be involved in the physical prototype testing agencies, must adopt virtual prototyping technology and to establish a virtual prototype model for virtual simulation analysis. For some flexible parts, they must be flexible and establish rigid-flexible coupling model for simulation analysis. This paper explores a feasible method for virtual prototype analysis, as well as lays a foundation for more complex virtual prototype model.
系统的准确和可靠提供了重要的分析方法。虚拟样机技术正以它不可比拟的优被广泛运用在机械系统的设计和分析中。
本文主要以某船载装置为研究对象,运用多刚体动力学理论,采用三维造型软件和多体系统动力学仿真软件,建立了船载装置的多刚体虚拟样机模型。分析了在不同海况环境下、在不同工况中船载装置的运动状态,得到了船载装置的运动特性和动力参数,并进一步分析了船载装置中的轨道应力应变,为修正和改进船载装置的设计提供了依据。
在对船载装置进行多刚体动力学分析之后,得到了船载装置轮轨主要接触面的接触力。以此作为输入参数,对轨道进行了有限元结构静力学分析,求得轨道的应力变形。根据轨道变形情况分析船载装置的安全性,提出增加横向轮,减少轨道横向变形的改进措施。
为了更准确的对船载装置的运动情况进行分析,本文运用多柔体动力学理论,借助多体动力学仿真软件的柔性体分析模块,通过模态中性文件将柔性较大的横向轮支撑板用柔性体进行替换,建立了船载装置的刚柔耦合虚拟样机模型。并以船舶5级海况下横摇运动作为分析工况,分析比较了刚性体模型仿真分析结果与刚柔耦合模型仿真分析结果,得到了调整驱动齿轮与齿条之间间隙的合理参数。
分析表明,对于复杂机构,尤其像本文中所涉及的不方便进行物理样机试验的机构,必须采用虚拟样机技术,构建虚拟样机模型,对模型进行虚拟仿真分析。对于柔性比较大的零件,必须将其柔性化,建立刚柔耦合模型进行仿真分析。本文为虚拟样机分析,探索了一条可行的方法,也为以后更复杂的虚拟样机模型建模奠定了基础。
The development and application of the computers and related technology provides a practical way for virtual prototype mechanical system. Virtual prototyping technology can solve many difficult issues such as the design, manufacture and use of mechanical system. And they provide important analysis methods for ensuring the accuracy and reliability of mechanical systems. Virtual prototyping technology is widely used in mechanical system design and analysis.
This thesis mainly studies on a ship-borne device. It uses multi-body dynamics theory, 3-D modeling software and multi-body system dynamics simulation software, establishes a rigid virtual prototype model for the ship-borne device. This thesis analyzes a ship-borne device's parameter in different sea-conditions and different working environments. The ship-borne device characteristics and dynamic parameters of movement for further analysis of the orbit provides a stress-strain data, as well as amendments ship-borne devices and improving the design of a basis. Though the multi-body dynamics analysis of ship-borne devices, we obtain the contact forces of main interfaces. Using the contact forces as input, we obtain the orbits'stress-strain though finite element static structural analysis. According to orbits'deformation, we propose to increase the horizontal wheel, reducing horizontal deformation of the orbits for security.
In order to get more accurately result, the paper using flexible multi-body dynamics theory, the use of multi-body dynamics simulation software for flexible analysis. Through modal neutral document we can replace the rigid body for flexible body. We make the flexible model of horizontal wheel support plates and establish the ship rigid-flexible coupling device virtual prototype model. After taking ship five rolling for example, comparing the simulation results of rigid model with rigid-flexible coupling model, we get the proposal that adjust the clearance of the gear and rack.
The analysis show that, for complex devices, particularly as this can not be involved in the physical prototype testing agencies, must adopt virtual prototyping technology and to establish a virtual prototype model for virtual simulation analysis. For some flexible parts, they must be flexible and establish rigid-flexible coupling model for simulation analysis. This paper explores a feasible method for virtual prototype analysis, as well as lays a foundation for more complex virtual prototype model.
引文
1.郑建荣.Adams虚拟样机技术入门与提高[M].机械工业出版社,2003.
2.王国强.虚拟样机技术及其在ADAMS上的实践[M].西北工业大学出版社,2002.
3.郑凯等.ADAMS 2005机械设计高级应用实例[M].机械工业出版社,2006.
4.李积德.船舶耐波性[M].国防工业出版社,1981.
5.Ansys9.0经典产品基础教程与实例详解[M]. 博弈创作室编著.中国水利水电出版社,2006.
6.蓝宇.大型有限元分析软件ANSYS[J].应用科技,2000,27(6)：11-15.
7.李子富,杨盐生.船舶在规则波中纵摇与升沉运动的仿真[J].大连海事大学学报,2002,28(4)：13-16.
8.王海英,杜度.船舶大幅摇荡运动的计算机仿真[J].船海工程,2001,6：1-3.
9.郑建荣,汪慧群.过山车虚拟样机的建模与动态仿真分析[J].机械设计与研究,2004,20(2)74-77.
10.雷静桃,高峰,丁靖.基于虚拟样机技术的四足步行机的动力学建模与仿真[J].系统仿真学报,2007,19(8)：1731-1735.
11.王秀山,杨建国,吴昊.基于Pro/E、ADAMS和ANSYS的齿轮减速器一体化开发平台[J].上海交通大学学报,2007,41(1)：1-4.
12.李同焕,王智明,高秀华.虚拟样机技术在轮式装载机设计中的应用研究[J].设计计算,2006,12(1)：74-76.
13.石珍强,徐培民.ADAMS刚柔耦合多体系统动力学建模[J].安徽工业大学学报,2007,24(1)：43-45.
14.刘俊,林砺宗,刘小萍,王刚.ADAMS柔性体运动仿真分析研究及运用[J]. CAD/CAPP/CAM/CAE,2004 (5):53-55.
15.张胜利.Pro/E、ADAMS与ANSYS在机械系统设计中的联合运用[J].机械设计与制造,2005,11:143-145.
16.白争锋,田浩,赵阳.基于ADAMS航天器太阳帆板展开与锁定动力学仿真[J].机械设计与制造,2006(11)：124-126.
17.侯红玲,赵永强,魏伟锋.基于ADAMS和ANSYS的动力学仿真分析[J].现代机械,2005(4)：62-63.
18.廉自生,刘楷安.虚拟样机种的柔性化方法分析[J].煤矿机械,2005(4)：59-61.
19.王秀山,杨建国,吴昊.大型有限元分析软件ANSYS [J].应用科技,2000,27(6)：11-15.
20. ZHANG Yin-long, SHEN Qing, CHEN Xu-jun. Synchronous Effect of Slipping Heavy Loads on a Ro-Ro Ship Rolling in Waves [J]. Journal of Ship Mechanics,2005,9 (6):1-20.
21.王建平,王景全,陈运生,杨国来.船载火炮发射时的动力响应研究和试验[J].兵工学报,2001, 22(1)：124-126.
22.张银龙,沈庆,陈徐均.滚装船-滑动车辆浮基多体系统的横摇研究[J].应用力学学报,2005,22(2)：247-252.
23.彭祺揅,李海阳.基于虚拟样机技术的机械臂建模与仿真[J].华东理工大学学报(自然科学版),2006,33：58-62.
24.杜平安,于德江,岳萍.虚拟样机技术的技术与方法体系研究[J].系统仿真学报,2007,19(15)：3447-3451.
25.何孔德,方子帆,何玉林.摩托车虚拟样机技术的研究[J].机械设计与制造,2007,7：177-181.
26.王明强,朱永梅,刘文欣.有限元网格划分方法应用研究[J].机械设计与制造,2004,2(1)：22-24.
27.王毅,吴立言,韩冰.ANSYS的两种有限元单元应用研究[J].科学技术与工程,2007,7(6)：955-958.
28. T. Kakizaki, J. F. Deck, S. Dubowsky. Modeling the Spatial dynamics of Robotic Manipulators with Flexible Links and Joint Clearances [J]. Journal of Mechanical Design,1993,115:839-847.
29. MSC. Software Corporation. ADAMS/Solver Theroy Seminar. Mechanical Dynamics Inc,2005.
30. B. M. Quadrelli, S. N. Atluri. Analysis of Flexible Multibody Systems with Spatial Beams Using Mixed Variational Principles [J]. Journal of Numerical Methods in Engineering,1998,42:1071-1090.
31. Matthias Waechter, Falk Riess. A Multibody Model for the Simulation of Bicycle Suspension Systems [J]. Vehicle System Dynamics,2002,37:3-28.
32. A. W. Jackson, M. Dragovan. An experimental investigation of bicycle dynamics [D]. University of Chicago.
33.殷小清,段明扬,刘俊英,黄文汉.基于ADAMS的有轨运输车辆运动学仿真[J].装备制造技术,2006,5：14-16.
34.黄泽平,马吉胜,吴大林.齿轮轮齿接触力仿真研究[J].机械传动,2007,31(2)：26-28.
34.吴镇,彭卫平.用虚拟样机技术研究门座起重机的自重平衡[J].设计制造,2003,11：59-60.
35. M. S. Pereira, P. Nikravesh. Impact Dynamics of Multibody Systems with Frictional Contact using Joint Coordinates and Canonical Equation of Motion [J]. Nonlinear Dynamics,1996,9:53-71.
36. Jean-Claude Piedbceuf, Jean De Carufel, Richard Hurteau. Friction and Stick-Slip in Robots:Simulation and Experimentation [J]. Multibody System Dynamics,2000,4:341-353.
37. K. LEE. A Numerical Method for Dynamic Analysis of Vehicles Moving on Flexible Structures having Gaps[J]. Journal for Numerical Methods in Engineering,1997,40:511-531.
38. Evtim Zakhariev. Dynamics of Rigid Multibody Systems with Clearances in Joints [J]. Mech Struct.&. math,1999,27(1):63-87.
39. H. M. Lankarani, M. F. O. S. Pereira. Treatment of Impact with Friction in Planar Multibody Mechanical System [J]. Multibody System Dynamics,2001,6:203-227.
40. S. Hariharesan, A. A. Barhorst. Modelling Simulation and Experimental Verification of Contact/Impact Dynamics in Flexible Multi-body Systems [J]. Journal of Sound and Vibration,1999,221 (4): 709-732.
41.王毅.机械系统动力学的虚实混合仿真建模方法研究[D].西北工业大学,2007.
42.熊光楞,李伯虎,柴旭东.虚拟样机技术[J].系统仿真学报,2001,13(1)：114-117.
43.李三群,贾长治,武彩岗,刘海平.基于虚拟样机技术的齿轮啮合动力学仿真研究[J].系统仿真学报,2007,19(4)：901-904.
44.范群.摩托车人-机系统刚柔耦合动态特性研究[D].重庆大学,2006.
45.王立新,黄文良.基于ADAMS的两维/三维混合仿真研究[J].系统仿真学报,2005,17(8)：2022-2024.
46.宋春霞.基于虚拟样机的月球车移动性能仿真分析研究[D].国防科学技术大学,2005.
47. Olley M..Independent wheel suspension-its whys and wherefores. SAE Journal,1934Vol.34. No.3:73-81.
48. Evans, R. D.. Properties of tires affecting riding, steering, and handling. Journal of the Society of Automotive Engineers.36 (2):41.1935.
57. Milliken W. F and Milliken, D. L Race car vehicle dynamics. SAE Press,1995.
49. Allen, R. Wade, Theodore J. Rosenthal. Field Testing and Computer Simulation Analysis of Ground Vehicle Dynamic Stability. S,AE Technical Paper Series#900127.1990.
50. Allen, R. Wade, Theodore J. Rosenthal. A Computer Simulation Analysis of Safety Critical Maneuvers for Assessing Ground Vehicle Dynamic Stability. SAE Technical Paper Series#930760. 1993.
51. Orlandea,N.A.Chace. Simulation of a Vehicle Suspension with the ADAMS Computer program[J], SAE770053
52. Michael W.Sayers. A Generic Multibody Vehicle Model for Simulation Handling and Braking[J], Vehicle System Dynamics,1996
53. Bakker.E. Tyre modeling for use in vehicle dynamics studies[J], Society of Automotive Engineers Inc.U.S.A., SAE paper870421
54. Nalece.A.G. Analysis of dynamic response of four wheel steering vehicles at high speed[J], Int.J.Vehicle Design,1988 Vol.9:179-202
55. R.Schwertasek, R.E.Roberson. Dynamics of Multibody System[M], Berlin:Spring—Verlag,1986: 27-54
56. Brach R. Vehicle dynamics model for simulation on a microcomputer[J], IntJ of Vehicle Design, Vol 12 NO.4
2.王国强.虚拟样机技术及其在ADAMS上的实践[M].西北工业大学出版社,2002.
3.郑凯等.ADAMS 2005机械设计高级应用实例[M].机械工业出版社,2006.
4.李积德.船舶耐波性[M].国防工业出版社,1981.
5.Ansys9.0经典产品基础教程与实例详解[M]. 博弈创作室编著.中国水利水电出版社,2006.
6.蓝宇.大型有限元分析软件ANSYS[J].应用科技,2000,27(6)：11-15.
7.李子富,杨盐生.船舶在规则波中纵摇与升沉运动的仿真[J].大连海事大学学报,2002,28(4)：13-16.
8.王海英,杜度.船舶大幅摇荡运动的计算机仿真[J].船海工程,2001,6：1-3.
9.郑建荣,汪慧群.过山车虚拟样机的建模与动态仿真分析[J].机械设计与研究,2004,20(2)74-77.
10.雷静桃,高峰,丁靖.基于虚拟样机技术的四足步行机的动力学建模与仿真[J].系统仿真学报,2007,19(8)：1731-1735.
11.王秀山,杨建国,吴昊.基于Pro/E、ADAMS和ANSYS的齿轮减速器一体化开发平台[J].上海交通大学学报,2007,41(1)：1-4.
12.李同焕,王智明,高秀华.虚拟样机技术在轮式装载机设计中的应用研究[J].设计计算,2006,12(1)：74-76.
13.石珍强,徐培民.ADAMS刚柔耦合多体系统动力学建模[J].安徽工业大学学报,2007,24(1)：43-45.
14.刘俊,林砺宗,刘小萍,王刚.ADAMS柔性体运动仿真分析研究及运用[J]. CAD/CAPP/CAM/CAE,2004 (5):53-55.
15.张胜利.Pro/E、ADAMS与ANSYS在机械系统设计中的联合运用[J].机械设计与制造,2005,11:143-145.
16.白争锋,田浩,赵阳.基于ADAMS航天器太阳帆板展开与锁定动力学仿真[J].机械设计与制造,2006(11)：124-126.
17.侯红玲,赵永强,魏伟锋.基于ADAMS和ANSYS的动力学仿真分析[J].现代机械,2005(4)：62-63.
18.廉自生,刘楷安.虚拟样机种的柔性化方法分析[J].煤矿机械,2005(4)：59-61.
19.王秀山,杨建国,吴昊.大型有限元分析软件ANSYS [J].应用科技,2000,27(6)：11-15.
20. ZHANG Yin-long, SHEN Qing, CHEN Xu-jun. Synchronous Effect of Slipping Heavy Loads on a Ro-Ro Ship Rolling in Waves [J]. Journal of Ship Mechanics,2005,9 (6):1-20.
21.王建平,王景全,陈运生,杨国来.船载火炮发射时的动力响应研究和试验[J].兵工学报,2001, 22(1)：124-126.
22.张银龙,沈庆,陈徐均.滚装船-滑动车辆浮基多体系统的横摇研究[J].应用力学学报,2005,22(2)：247-252.
23.彭祺揅,李海阳.基于虚拟样机技术的机械臂建模与仿真[J].华东理工大学学报(自然科学版),2006,33：58-62.
24.杜平安,于德江,岳萍.虚拟样机技术的技术与方法体系研究[J].系统仿真学报,2007,19(15)：3447-3451.
25.何孔德,方子帆,何玉林.摩托车虚拟样机技术的研究[J].机械设计与制造,2007,7：177-181.
26.王明强,朱永梅,刘文欣.有限元网格划分方法应用研究[J].机械设计与制造,2004,2(1)：22-24.
27.王毅,吴立言,韩冰.ANSYS的两种有限元单元应用研究[J].科学技术与工程,2007,7(6)：955-958.
28. T. Kakizaki, J. F. Deck, S. Dubowsky. Modeling the Spatial dynamics of Robotic Manipulators with Flexible Links and Joint Clearances [J]. Journal of Mechanical Design,1993,115:839-847.
29. MSC. Software Corporation. ADAMS/Solver Theroy Seminar. Mechanical Dynamics Inc,2005.
30. B. M. Quadrelli, S. N. Atluri. Analysis of Flexible Multibody Systems with Spatial Beams Using Mixed Variational Principles [J]. Journal of Numerical Methods in Engineering,1998,42:1071-1090.
31. Matthias Waechter, Falk Riess. A Multibody Model for the Simulation of Bicycle Suspension Systems [J]. Vehicle System Dynamics,2002,37:3-28.
32. A. W. Jackson, M. Dragovan. An experimental investigation of bicycle dynamics [D]. University of Chicago.
33.殷小清,段明扬,刘俊英,黄文汉.基于ADAMS的有轨运输车辆运动学仿真[J].装备制造技术,2006,5：14-16.
34.黄泽平,马吉胜,吴大林.齿轮轮齿接触力仿真研究[J].机械传动,2007,31(2)：26-28.
34.吴镇,彭卫平.用虚拟样机技术研究门座起重机的自重平衡[J].设计制造,2003,11：59-60.
35. M. S. Pereira, P. Nikravesh. Impact Dynamics of Multibody Systems with Frictional Contact using Joint Coordinates and Canonical Equation of Motion [J]. Nonlinear Dynamics,1996,9:53-71.
36. Jean-Claude Piedbceuf, Jean De Carufel, Richard Hurteau. Friction and Stick-Slip in Robots:Simulation and Experimentation [J]. Multibody System Dynamics,2000,4:341-353.
37. K. LEE. A Numerical Method for Dynamic Analysis of Vehicles Moving on Flexible Structures having Gaps[J]. Journal for Numerical Methods in Engineering,1997,40:511-531.
38. Evtim Zakhariev. Dynamics of Rigid Multibody Systems with Clearances in Joints [J]. Mech Struct.&. math,1999,27(1):63-87.
39. H. M. Lankarani, M. F. O. S. Pereira. Treatment of Impact with Friction in Planar Multibody Mechanical System [J]. Multibody System Dynamics,2001,6:203-227.
40. S. Hariharesan, A. A. Barhorst. Modelling Simulation and Experimental Verification of Contact/Impact Dynamics in Flexible Multi-body Systems [J]. Journal of Sound and Vibration,1999,221 (4): 709-732.
41.王毅.机械系统动力学的虚实混合仿真建模方法研究[D].西北工业大学,2007.
42.熊光楞,李伯虎,柴旭东.虚拟样机技术[J].系统仿真学报,2001,13(1)：114-117.
43.李三群,贾长治,武彩岗,刘海平.基于虚拟样机技术的齿轮啮合动力学仿真研究[J].系统仿真学报,2007,19(4)：901-904.
44.范群.摩托车人-机系统刚柔耦合动态特性研究[D].重庆大学,2006.
45.王立新,黄文良.基于ADAMS的两维/三维混合仿真研究[J].系统仿真学报,2005,17(8)：2022-2024.
46.宋春霞.基于虚拟样机的月球车移动性能仿真分析研究[D].国防科学技术大学,2005.
47. Olley M..Independent wheel suspension-its whys and wherefores. SAE Journal,1934Vol.34. No.3:73-81.
48. Evans, R. D.. Properties of tires affecting riding, steering, and handling. Journal of the Society of Automotive Engineers.36 (2):41.1935.
57. Milliken W. F and Milliken, D. L Race car vehicle dynamics. SAE Press,1995.
49. Allen, R. Wade, Theodore J. Rosenthal. Field Testing and Computer Simulation Analysis of Ground Vehicle Dynamic Stability. S,AE Technical Paper Series#900127.1990.
50. Allen, R. Wade, Theodore J. Rosenthal. A Computer Simulation Analysis of Safety Critical Maneuvers for Assessing Ground Vehicle Dynamic Stability. SAE Technical Paper Series#930760. 1993.
51. Orlandea,N.A.Chace. Simulation of a Vehicle Suspension with the ADAMS Computer program[J], SAE770053
52. Michael W.Sayers. A Generic Multibody Vehicle Model for Simulation Handling and Braking[J], Vehicle System Dynamics,1996
53. Bakker.E. Tyre modeling for use in vehicle dynamics studies[J], Society of Automotive Engineers Inc.U.S.A., SAE paper870421
54. Nalece.A.G. Analysis of dynamic response of four wheel steering vehicles at high speed[J], Int.J.Vehicle Design,1988 Vol.9:179-202
55. R.Schwertasek, R.E.Roberson. Dynamics of Multibody System[M], Berlin:Spring—Verlag,1986: 27-54
56. Brach R. Vehicle dynamics model for simulation on a microcomputer[J], IntJ of Vehicle Design, Vol 12 NO.4
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |