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随着大型臂架式起重机械起重臂长细比的增加,其柔性运动特性越来越明显,提出一种柔性起重臂系统的动力学模型并讨论其动力学方程的数值解法。该动力学模型运用浮动标架法对起重臂单元进行位形描述,采用有限元法对起重臂进行离散,结合分析力学中的拉格朗日方程得到可以完整描述柔性起重臂的动力学方程,并基于小变形假设对动力学方程进行简化,最后,应用MATLAB的Simulink组件对该动力学方程进行求解。建立柔性起重臂动力学模型并对其求解,为大型臂架式起重机械在工程实际中的运用提供了理论依据,并为后续相似研究奠定了分析基础。
With the increase of the slenderness ratio of large jib crane jib, its flexible movement characteristics become more and more obvious. A dynamic model of flexible jib system is proposed and its numerical solution of dynamic equation is discussed. The dynamic model uses the floating frame method to describe the position of the boom unit. The finite element method is used to discretize the boom. Combined with the Lagrange equation in analytical mechanics, the dynamic characteristics of the flexible boom can be completely described. Learn the equations, and simplify the dynamics equations based on the assumption of small deformation. Finally, this kinematics equation is solved by MATLAB Simulink components. The establishment of a flexible boom kinetic model and its solution, which provided a theoretical basis for the application of large jib crane in engineering practice, and laid the foundation for the subsequent researches.