摘要
为了实现汽车起重机自动化控制作业,同时有效提升作业效率,对汽车起重机工作过程中吊物产生摆动的影响因素进行了分析。改变工作过程中可控的因素(臂长、绳长、变幅角度、重量)水平,组合了54组常用工况并分别利用陀螺仪测量各组工况下摆角幅值,得到臂长对摆角幅值为正影响,其余因素为负影响的结果。利用拉格朗日分析力学建立起汽车起重机准确的动力学模型,并根据此模型,研究了对汽车起重机吊物防摆行之有效的三角函数S曲线回转策略,然后以建立的准确动力学模型为基础,计算了不同回转时间对摆角幅值的影响,为后续控制算法的实现过程中选择合适的加速段、匀速段和总回转时间提供参考。
The study aimed to realize the automatic control of automobile crane operation and effectively improve the working efficiency of automobile cranes. The influence factors to the load swing in the working process of automobile cranes were analyzed. The controllable factors of arm length, rope length, angle, weight to the working process were varied to combine 54 sets of common conditions, and the pendulum angle amplitude for each condition was measured by using a gyroscope. The results showed that arm length was the positive correlation to the amplitude of pendulum angle and others were the negative correlation. The accurate dynamic model of automobile cranes was es- tablished by using Lagrange＇ s analytical mechanics, based on which the effective method of triangle function S-curve strategy was studied to calculate the influence of different rotation time on the amplitude of swing angle The above resuhs would provide references for implementation of the control algorithm design by selecting the appropriate acceleration, uniform section and total rotation time
作者
朱长建
姜洪喆
王伟
陶永
Zhu Changjian Jiang Hongzhe Wang Wei Tao Yong(Xuzhou Heavy Machinery Co. , Ltd, Xuzhou 221044 College of Engineering, China Agricultural University, Beijing 100083 School of Mechanical Engineering, Beihang University, Beijing 100191)
出处
《高技术通讯》
CAS
CSCD
北大核心
2016年第8期767-772,共6页
Chinese High Technology Letters
基金
国家重大科技成果转化(财建[2011]379)资助项目
关键词
汽车起重机
摆角
可控因素
动力学模型
S曲线
automobile crane, swing angle, controllable factors, dynamic model, S-curve
