堆垛机速度控制与立柱动态挠曲变形分析

Single Mast Stacker Crane Speed Control and Stand Column Dynamic Flexure Deformation Analysis

采用多体动力学分析方法并应用欧拉-伯努利梁受载挠曲变形公式,利用叠加原理得到立柱动态挠曲变形公式,建立立柱振动微分方程,分析立柱变形影响因素。应用Simulink建立立柱变形与振动仿真分析模型并求解,得到立柱变形参数与堆垛机运行时间关系曲线,将模型分析结果同有限元分析结果进行比较。采用三种不同的速度控制曲线分析堆垛机速度控制方式对立柱变形产生的影响,揭示了堆垛机在运行过程中影响立柱变形的主要因素,从而确定较为优化合理的堆垛机速度控制方式。

Using multi-body dynamics analysis method and application of Euler-Bernoulli beam flexure deformation formula,dynamic deflection formula column are obtained by superposition principle,then established column vibration differential equation,analysis the factors influencing column deformation.Application of Simulink to establish column deformation and vibration simulation analysis model and solving,got the column deformation curve with the stacker-crane runtime,compared the mathematical model solving results with the finite element results,analysis of the causes of the result error.Analysis of the speed control curve of using three different stacker crane speed control models for the impact of column deformation,reveals the main factors influencing the deformation of column when the stacker in the process of running,to determine the optimized reasonable stacker crane speed control mode.