摘要
右旋顺捻钢丝绳在高速回撤过程中会发生右偏现象,钢丝绳在回撤末期剧烈甩动,存在缠绕滑轮和损坏周边设备的安全隐患。为评估钢丝绳在回撤过程中的风险,指导回撤轨迹规划算法设计,以多体动力学为基础建立了钢丝绳回撤过程的运动仿真模型。首先,根据“质量-弹簧-阻尼”模型,推导出钢丝绳的张力;然后,在假设钢丝绳摩擦因子有各向异性特征的条件下,建立了各向异性摩擦力学模型,分析右旋顺捻钢丝绳的右偏现象;再次,将绳丝等效为柔性梁,根据捻制钢丝绳的抗弯刚度模型推导了钢丝绳的弯矩;最后,将所有物理特性集中于节点,通过牛顿第二定律与运动学方程得到各节点的运动轨迹,并基于所建立的钢丝绳回撤运动仿真模型,分别对右旋顺捻钢丝绳和右旋交互捻钢丝绳在两种不同速度轨迹规划下的回撤过程进行了仿真分析。分析结果与试验现象相符,初步验证了所建模型的正确性。
During the high-speed withdrawal process,the right side deviation of the right-hand clockwise twist wire rope occurs.At the end of the withdrawal,the wire rope swings violently,which leads to the potential safety hazard of winding pulley and damaging peripheral equipment.In order to eva-luate the risk of wire rope in the process of withdrawal and guide the design of withdrawal trajectory planning algorithm,a motion simulation model of wire rope withdrawal process was established based on multi-body dynamics.Firstly,the tension of the wire rope was derived according to"mass-spring-damping"mode.And then,on the assumption that the friction factor of the wire rope has anisotropic characteristics,the anisotropic friction mechanics model was established to analyze the right deviation phenomenon of the right-hand clockwise twisted wire rope.Once again,the wire rope was equivalent to a flexible beam,and the bending moment of the wire rope was deduced according to the bending stiffness model of the twisted wire rope.Finally,all the physical characteristics were concentrated on the node,and the connection was realized.Through Newton′s second law and kinematics equation,the motion of each node was obtained.Based on the simulation model of wire rope retraction motion,the retraction process of right-hand clockwise twist wire rope and right-hand cross-twist wire rope under two different speed trajectory planning were simulated and analyzed.The analysis results are consistent with the experimental phenomena,which preliminarily verify the correctness of the model.
作者
欧阳斌
梁勇
丁智深
刘勇
OUYANG Bin;LIANG Yong;DING Zhi-shen;LIU Yong(National Key Laboratory of Science and Technology on Vessel Integrated Power System, Naval Univ. of Engineering, Wuhan 430033, China)
出处
《海军工程大学学报》
CAS
北大核心
2022年第2期83-90,共8页
Journal of Naval University of Engineering
关键词
摩擦关联力
各向异性摩擦
绳丝角
抗弯作用力
friction related force
anisotropic friction
rope angle
bending force
