土方作业动态切削的可视实时仿真  

Visual and real-time simulation of dynamic cutting of earthmoving work

作　　者：于长志[1,2] 倪涛[2] 林杰[1] 周丹晨[1] 尚鋆[1] 

机构地区：[1]中国工程物理研究院机械制造工艺研究所,绵阳621900 [2]吉林大学机械科学与工程学院,长春130025

出　　处：《农业工程学报》2015年第4期217-223,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(51305153);吉林省重点科技攻关项目(20130206034GX)

摘　　要：针对液压挖掘机驾驶模拟器土方作业仿真中缺乏时变负载——土壤切削阻力,基于Delta3D视景仿真引擎和多体动力学实时交互软件Vortex搭建了系统软件框架,实现了挖掘机车辆动力学特性的真实模拟,并建立了铲斗与土壤的交互仿真平台。根据挖掘机铲斗的实际作业情况,将土壤假定为刚塑性体,并引入地形倾角、加速力、土壤对铲斗侧面摩擦力等参数,推导并修正了Reece提出的土壤切削基本方程,实现了土方作业中土壤动态切削的可视实时仿真。将模型导入到某驾驶模拟器中,进行3次交互作业,获得了土壤相对于铲斗的切削阻力,并对影响切削阻力的因素进行了分析。仿真平台逼真度高、交互性强,实现了铲斗与土壤交互作业具有物理学行为的拟实模拟,可为操作培训人员和产品开发人员提供可视化和交互性的手段,提高培训效果和产品开发效率。The surface objects of terrain are the main operation objects of earthmoving machinery, and soil cutting resistance from the process is a basic source of all vehicle dynamic phenomenons. The soil cutting resistance is the basis of mathematical model of excavator-terrain dynamic interaction, which has an important influence on hydraulic system, working device, motion mechanism and vehicle performances. Hydraulic excavator as a representative model of engineering machinery, is widely used in construction, mining, forestry, municipal engineering and other fields. The most common working condition of excavator is earthmoving work. However, because of the complexity of working environments, even if the skilled operator couldn＇t completely understand the status of operation terrain areas, soil parameters, soil-cutting resistance, etc. Especially the soil-cutting resistance has a great significance for the phase of product design and development and path planning. Due to unpredictability of operational terrain areas, improper operation often causes safety accidents, and even machine apart. At present, most construction machinery driving simulators are typically limited to the modeling and simulation of the kinematics and dynamics of the working device under no-loading or steady loading condition. This neglects the influence of the soil excavation resistance on the system under operating conditions. Therefore, it is difficult for these simulators to realistically capture the dynamic interaction between the device and environment, and impossible to make a proper evaluation of the closed-loop human-machine-environment system, which caused the physics behavior of vehicle was not accurate enough. This caused the sense of reality is very low and couldn＇t provide drivers enough immersion, forming the situation that demonstration effect is greater than engineering application. On the basis of geometric entity modeling in visual simulation engine, Delta3 D, real-time multi-body dynamics simulation platform, Vortex, are adopt

关 键 词：可视化 挖掘机 土壤 土方作业 多体动力学 动态交互 土壤切削 实时仿真 

分 类 号：U415.51[交通运输工程—道路与铁道工程]