汽车起重机变幅机构的耦合建模仿真与运动学分析

Coupled modeling simulation and kinematics analysis of luffing mechanism for mobile crane

以某企业提供的QY110汽车起重机液压变幅机构为研究对象,基于复数矢量分析法对变幅机构进行运动学建模和俯仰运动分析;从机电液耦合的角度出发,利用ADAMS和AMESim软件建立了包括臂架结构、变幅液压缸驱动系统、臂架俯仰角度位置控制系统在内的变幅机构机电液复合模型,在此基础上进行ADAMS和AMESim联合仿真,重点研究了PID控制器参数、液压平衡阀、内泄漏故障在内的电控与液压因素对俯仰运动性能的影响规律。结果表明,变幅机构的耦合建模及俯仰运动学仿真分析符合实际情况及理论分析结果,可为其运动性能分析及机电液耦合设计提供有益参考。

The hydraulic luffing mechanism of QY110 mobile crane is taken as the object of research. The method of complex vector is used to establish kinematics model and conduct kinematics analysis for luffing mechanism. From the point of mechatronics and hydraulics coupling, an integrated model of the luffing mechanism including the luffing boom, cylinder drive system and luffing angle position control system is built by the ADAMS and AMESim software. At last the co-simulation is performed and the control and hydraulic factors influencing the luffing characteristics such as PID parameters, balance valve, internal leakage are also analyzed as the focus of research. The results demonstrate that the coupled modeling, kinematics simulation and analysis of luffing mechanism are suited to realities and agree with theory analyses. It could also provide beneficial reference for kinematic performance analysis and coupling design of luffing mechanism in mobile crane.