旋挖钻机变幅机构的动力学建模与仿真

Dynamic modeling and simulation of mast link frame system of rotary drilling rig

为研究和提高变幅机构的动力学性能,采用牛顿-欧拉法建立四连杆机构的动力学数学模型,在Simulink平台上构建基于Matlab函数的变幅机构的动力学仿真模型,分别对4种变幅机构形式各在2种钻桅位姿状态下的变幅过程进行仿真,并对动力学仿真结果进行分析和比较。研究结果表明:动臂变幅油缸需提供的主动力与钻桅位姿以及动臂和连杆间的相对位置均无关,与动臂变幅油缸和动臂的相对位置有关;钻桅位姿和变幅机构的形式对动臂在和转台铰链处所受约束反力以及转台所受约束反力的幅值之和这两者均有影响;动臂位于连杆下方而动臂变幅油缸位于动臂下方的形式具有较好的动力学性能。

In order to research and improve the dynamic behavior of mast link frame system, a mathematical model of four-bar linkage based on Newton-Euter method was established. A simulation model of mast link frame system based on Matlab was built up in Simulink, and four types of mast link frame system were simulated. Analyses and comparisons of the dynamic simulation results were carried out. The simulation results indicate that the driving force supplied by hydraulic cylinder of lift-arm has neither relation to the mast posture nor to the relative position of lift-ann and connecting rod. But the relative position of lift-arm and hydraulic cylinder of lift-arm shows good relation with this force. The mast posture and the type of mast link frame system have great influence on the two kinds of forces, one is the restraining force of the pin joint connecting lift-arm and swing platform, and the other is the sum of restraining forces acting on swing platform. When lift-arm is below connecting rod and hydraulic cylinder of lift-arm is below lift-arm, the mast link frame system will show better dynamic behavior.