步行式挖掘机纵向爬坡稳定性分析  

Stability Analysis of Longitudinal Gradient Climbing for Walking Mobile Excavator

作　　者：韩军 陈高杰 陶莉 吴继斌 王红坚 

机构地区：[1]总装工程兵科研一所,无锡214035

出　　处：《中国机械工程》2009年第14期1685-1688,1694,共5页China Mechanical Engineering

摘　　要：针对步行式挖掘机纵向爬坡时的稳定性问题,建立了包含底盘机构和作业装置多自由度系统的步行式挖掘机的静力学模型,考虑了爬坡过程中作业装置运动时的附加惯性力矩,构造了步行式挖掘机纵向爬坡时的多目标优化分析模型,并利用效用函数法对其求解,对纵向步行时的最大爬坡度、底盘和作业装置的状态参数进行了优化分析,结果表明,该方法具有简单、可靠的特点,多目标优化兼顾了作业装置爬坡过程中的附加惯性力矩,使得优化结果更具有一定的应用价值,可为确定步行式挖掘机的性能参数和安全控制提供理论依据。For purpose of analyzing the stability of longitudinal gradient climbing for walking mobile excavator, a static model including multidegree system for working device and chassis mechanism was described, and the additional inertia moment of working device during climbing was considered. A mathematical model of multi--objective optimization for walking mobile excavator was constructed, and the utility function method was employed to solve the optimal model. The maximum climbing slope and state parameters of working device and the chassis were optimized. The results show that the proposed method has its merits, such as simple and reliable. As the additional inertia of working device in maximum extended state was taken into account, the application of multi--objective optimization can make result more reasonable and applicable. The results can provide theoretical basis for confirming the climbing parameters of the walking mobile excavators and safety control.

关 键 词：步行式挖掘机 纵向坡度 爬坡 稳定性 多目标优化 

分 类 号：TH123[机械工程—机械设计及理论] O22[理学—运筹学与控制论]