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针对传统起竖方式起竖缓慢、装机功率大等问题,提出了一种燃气与液压方式混合驱动的起竖方案,并结合机械结构实际,建立了起竖系统的整体动力学模型;参照起竖过程目标曲线,采用线上匹配参数、线下修正弹道的方案,重点对起竖系统内弹道进行了设计:将系统微分方程嵌入遗传算法程序,龙格库塔方法在线求解,遗传算法进行实时寻优,并对解算结果作了三种方式的修正,通过对比分析,最终确定了一种药柱燃烧8s且在15s时进行动力切换的燃气-液压混合动力起竖方式。数值试验结果表明,该方式可在22.3s内实现负载起竖到位,相比于传统方式,大大缩短了起竖时间,具有理论可行性,可为实现大型装置快速、平稳起竖提供参考。
Aiming at the problems of slow vertical lifting and large power installed, a lifting and driving scheme of gas-hydraulic hybrid drive was proposed. Based on the actual mechanical structure, the overall dynamic model of vertical lifting system was established. Process target curve, using online matching parameters and trajectory correction trajectory, focusing on the trajectory of the vertical system design: the system differential equations embedded genetic algorithm program, Runge-Kutta method online solution, genetic algorithm for real-time search In the end, a gas-hydraulic hybrid vertical launching mode is proposed, in which the combustion time is 8s and the power is switched at 15s. The numerical results show that this method can achieve load erection in 22.3s. Compared with the traditional method, the method can greatly shorten the starting time and has theoretical feasibility. It can provide a reference for fast and smooth erection of large equipment.