摘要
针对直臂式高空作业平台直线轨迹问题,对其在水平直线运动中的振动特性进行了研究。首先,采用逆运算算法得出了作业平台臂架伸缩与变幅运动关系;其次,通过研究臂架叠加处搭接与底部变幅液压缸支承情况,将臂架等效为底部铰接,叠加部位具有集中参数的变截面、变长度梁;然后,采用Hamilton原理建立了臂架在水平直线运动中的微分方程,结合模态叠加法求解了在不同时刻的瞬态振型函数,后拟合时变参量,研究了不同长度下臂架振型;最后,采用Galerkin截断法取前两阶模态,得出了广义坐标下的状态空间方程,在MATLAB/Simulink环境下进行了动态仿真,对臂架在水平直线运动过程中头部的振动响应进行了研究。研究结果表明:在实例求解数值计算结果的过程中,该模型可以提高高空作业平台臂架在直线轨迹运动中的动力学建模精度,并为其振动控制提供理论参考。
Aiming at the linear trajectory movement of the straight-arm aerial work platform,its vibration characteristics were studied.Firstly,the inverse algorithm was used to get the relationship between the boom expansion and luffing.Secondly,considering the actual overlap of the booms and the actual support of the bottom luffing hydraulic cylinder,the boom was considered as a variable-section,variable-length beam with hinged roots,elastic support and centralized parameters.Then,based on the Hamilton principle,differential equations of the boom in horizontal linear motion were established.The modal superposition method was applied to solve the transient mode function at different times,and the time-varying parameters were fitted to approximate the vibration mode with different length.Finally,the Galerkin truncation method was used to truncate the first two order modes,which was used to establish the state space equations in generalized coordinates.The dynamic simulation was performed in the MATLAB/Simulink environment to obtain the vibration response of the boom head,and the numerical calculation results were obtained through example solution.The results indicate that the model provides a theoretical reference for the vibration control of the boom of the aerial work platform in the linear trajectory movement.
作者
邓铭
纪爱敏
张磊
王豪
赵仲航
DENG Ming;JI Ai-min;ZHANG Lei;WANG Hao;ZHAO Zhong-hang(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)
出处
《机电工程》
CAS
北大核心
2021年第1期35-41,共7页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51175146,51805144)
国际科技合作资助项目(CZ20190018)
常州市高空作业装备与智能技术重点实验室开放基金资助项目(CLAI201805)。
关键词
水平直线运动
哈密顿原理
状态空间方程
振动响应
horizontal linear motion
Hamilton principle
state-space equation
vibration response
