摘要
针对吊装多体系统,建立了考虑刚柔耦合效应的动力学模型,并提出了抑制系统振动的双模输入整形控制法。分别利用等效弹簧质量阻尼系统和空间悬吊系统模拟了吊臂弹性振动和吊物空间摆动,结合递推列式和浮动坐标系对各部件开展运动学描述;基于拉格朗日方程,推导并建立了计及多体吊装系统刚柔耦合效应的动力学模型。同时对某大型轮式起重机进行了动态响应分析,并与实测结果对比验证了模型有效性。根据耦合系统振动特性,设计了能同时抑制吊臂振动和负载摆动的双模零阶振(ZV2)输入整形器和双模零阶振微分(ZVD2)输入整形器。通过振动控制分析得到:对于大型柔性臂架系统,双模输入振型控制法的振动抑制效果相对于传统单模输入整形法得到了极大提升,ZVD2整形器作用下系统的残余振动幅值低于5%。
A dynamic model considering rigid-elastic coupling effect is presented for hoisting multi-body systems,and a two-mode input shaping control method is put forwarded to suppress the vibration of the system.An equivalent spring mass damping system and a space suspension system are used to simulate the boom’s elastic vibration and the payload swing respectively.The kinematics of components is described by recursive formulation and in floating coordinate systems,and the dynamic model considering the rigid-flexible coupling effect of hoisting multi-body system is derived based on the Lagrange equation.The dynamic response of a large wheeled crane is analyzed,and the validity of the model is verified by comparing with the measured results.According to the vibration characteristics of the coupled system,a two-mode zero-order(ZV2)input shaper and a two-modezero-order differential(ZVD2)input shaper are designed to suppress the vibration of the boom and load swing simultaneously.The analysis of vibration control results shows that the control effect of two mode input shaper is better than that of traditional single mode input shaper for large flexible boom systems,and the residual vibration amplitude of the system is less than 5%under the action of ZVD2 shaper.
作者
颜世军
彭剑
王世鸣
任中俊
Yan Shijun;Peng Jian;Wang Shiming;Ren Zhongjun(School of Civil Engineering,Hunan University of Science and Technology,411201,Xiangtan,China;Hunan Provincial Key Laboratory of Structures for Wind Resistance and Vibration Control,Hunan University of Science and Technology,411201,Xiangtan,China)
出处
《应用力学学报》
CAS
CSCD
北大核心
2020年第6期2455-2462,I0010,I0011,共10页
Chinese Journal of Applied Mechanics
基金
国家自然科学基金(11402085)
湖南省教育厅项目(19C0752)。
关键词
吊装多体系统
刚柔耦合
振动控制
输入整形器
hoisting multi-body system
rigid-flexible coupling
vibration control
input shaping method
