大型履带式液压凿岩台车行驶特性分析  

Analysis of Driving Properties for Large Hydraulic Crawler Jumbo

作　　者：罗春雷[1] 陈周伟 郑惠斌 刘健[1] 

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

出　　处：《计算机仿真》2015年第11期183-187,357,共6页Computer Simulation

基　　金：国家高技术研究发展计划项目(863计划)(SS2012AA041809);高性能复杂制造国家重点实验室自主研究课题(zzyjkt2014-08)

摘　　要：针对大型履带式液压凿岩台车在极限工况爬坡和转向时容易出现不稳定性和振动较大的现象,从结构本身找出解方案;以车辆地面力学理论、履带车多刚体建模理论和液压系统动力学理论为基础,在多体动力学软件RecurDyn中构建整车的动力学模型;在AMESim中构建了行走液压系统仿真模型。通过动力学模型,从结构参数分析的角度对整车行驶定性和振动特性进行研究;通过联合仿真分析了作为行驶特性之一的系统压力变化情况,并将系统仿真压力与试验压力比来验证模型的正确性。结果表明:整车重心高度设计为1.1 m和张紧装置预紧力设置为14000N时能大大改善整车的行稳定性和振动特性,仿真结果与试验数据非常接近,证明了模型具有较高的精度;研究结果为履带式凿岩台车行驶性能评和优化设计提供了新思路。In the limit condition of climbing and steering, it is easy for large multi-armed crawler hydraulic bench drill to have running instability. From the structure to solve this problem, based on the vehicle terramechanics theory, tracked vehicle multi-rigid body modeling theory and hydraulic system dynamic theory, a dynamic model of vehicle is built in the multi-body dynamics software RecurDyn. According to hydraulic system working principle of jumbo, the walking hydraulic system simulation model is built in AMESim. Researches about driving stability and vibration characteristics are reflected through the dynamic model. Pressure changes, one of driving characteristics, are analyzed by the joint simulation system. And simulation pressure is compared with the test pressure to verify that the mode is correct. Results indicate that designing the height of vehicle center of gravity for 1.1 meters, and setting up the tensioner＇ pre-tightening force for 14000 Newton can greatly improve vehicle＇s driving stability and vibration characteristics. Simulation results are consistent with experimental results well. That is to say, the model is highly accurate. This research creates a new idea for performance evaluation and optimization design of the walking performance of crawler hydraulic bench drill.

关 键 词：动力学模型 液压系统模型 爬坡 原地转向 联合仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]