液压起重机柔性平动连杆建模新方法及误差仿真研究

New Modeling Method and Error Simulation Study of Flexible Translational Link of Hydraulic Crane

针对液压起重机运动过程中,压力和选择角度变化难以预测问题,对液压起重机进行建模,提出了基于假设模态液压起重机运动控制模型。介绍了液压起重机结构,采用拉格朗日定理对液压起重机运动臂进行建模,推导出起重机动力学方程式。同时,假设平动连杆近似为单梁,对液压起重机伸缩臂的变形进行研究,采用MATLAB软件对液压起重机执行机构的压力和吊杆的旋转角度进行仿真,并且与实际测量值进行比较。结果表明:液压起重机执行机构的仿真压力变化值、吊杆的旋转角度变化值与实际测量值接近,能够对实际工作中压力变化及吊杆的旋转角度变化值进行很好的预测。采用假设模态建立的液压起重机运动模型,能够有效的模拟起重机臂运动产生的压力变化和角位移变化。

In order to solve the problem that the pressure and angle changes are difficult to predict in the process of hydraulic crane operation,the model of hydraulic crane movement control based on an assumed mode was proposed.The structure of the hydraulic crane was introduced.The Lagrange theorem was used to model the moving arm of a hydraulic crane,and the dynamic equation of the crane was deduced.Assumed that the translational link was approximately a single beam,the deformation of the telescopic boom of the hydraulic crane was studied.The pressure of the hydraulic crane actuator and the rotation angle of the boom were simulated by MATLAB.The simulation results were compared with the actual measured values.The results show that the simulated pressure change value of the hydraulic crane actuator and the change value of the suspender rotation angle are close to the actual measurement values,which can make a good prediction of the pressure change and the suspender rotation angle change in the actual work.The hydraulic crane motion model based on the assumed mode can effectively simulate the pressure change and angular displacement change caused by the crane arm motion.