考虑臂架弹性的动臂起重机动力学建模及振动分析

Dynamic modeling and vibration analysis of cherry pickers with flexible arms

动臂起重机负载的振荡会大大降低起重机工作时的防倾翻能力。首先建立动臂起重机的静态模型以便全面了解动臂起重机的系统结构。然后运用AUTOLEV建立了考虑臂架弹性的动臂起重机的一个简单模型及完全多体动力学模型,仿真出动臂起重机各机构运行时弹性臂架输出角度及臂架顶部负载对阶跃输入的响应曲线。从仿真结果可以看出,动臂起重机中车体的运行及臂架的回转和起升都会导致负载的剧烈振荡从而影响整机工作的安全性。详细而全面的负载振动分析为系统的振动控制提供了有力的依据。

The tip-over stability of cherry pickers is degraded by the cherry pickers' payload oscillations.As a first step,a static model was given to provide the basic insight of the whole system.After a simple model of cherry picker with flexible arms being carried out,the complete multi-body dynamic model was established based on AUTOLEV.The response curves of the arms' angles and the payload under the excitation of step signal were simulated.From the simulations,it can be seen that the performance of the base and the arms are all able to lead to the significant payload oscillations,which will thereby result in the unsafety of cherry picker.The full analysis of the payload vibration is the basis for repressing the system vibration.