带铰弹性开环多体臂架变位姿固有频率算法  

Multibody open-loop mobile concrete pump boom with joint elasticity multi posture natural frequency algorithm

作　　者：任武[1,2] 吴运新[1,2] 张赵威 曾谊晖[1,2] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [2]中南大学机电工程学院,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2015年第2期485-490,共6页Journal of Central South University:Science and Technology

基　　金：国家高技术研究发展计划(863计划)项目(2008AA042802);安徽省高等学校省级自然科学研究重点项目(KJ2013A141);湖南省自然科学基金资助项目(11JJ3059)~~

摘　　要：针对多体泵车臂架作业中频繁位姿变换固有频率不易求解的问题,采用多体传递矩阵法建立四节臂架动力学模型,模型分为A和B 2个子系统,子系统A为第1节臂、支座油缸连接,子系统B为后3节臂、油缸连接。加入液压驱动油缸两端铰弹性的影响,进行整体模型封装分析4种常用位姿的固有频率,并在已有臂架实验台上进行实验验证。研究结果表明:采用多体传递矩阵法求解变位姿多体系统臂架固有频率避免了传统方法中重新设定计算的步骤,4种位姿加入铰弹性的固有频率均比理想铰降低且更接近实测值,为此类机械的变位姿频率计算和整车实时振动控制提供参考。In order to calculate the different postures natural frequencies of multibody mobile concrete pnnap truck boom, the transfer matrix method was adopted. Then a four-boom equivalent mechanical model was established. The model was divided into sub-system A and B. The sub-system A was linked to the first boom, standoffs and its hydraulic cylinder. The sub-system B was linked to the other three booms and cylinders. The revolute joint elasticity of the boom cylinder connection was also considered. After packaging the two sub-systems, the frequencies of four common postures were solved, and an experiment was carried out on a test rig. The results show that it is not necessary to reset the parameters and resolve in different posture frequency calculations by transfer matrix method. At the same time, the frequencies considering joints elasticity are smaller than those of ideal joints and are closer to the test ones. All of these provide reference for natural frequency calculation and real-time monitoring for mobile truck booms.

关 键 词：多体 臂架 铰弹性 传递矩阵法 振动 固有频率 

分 类 号：TU646[建筑科学—建筑技术科学]