基于绝对节点坐标法的钢索-滑轮系统动力学模型与响应迟滞特性  

Dynamic Model and Response Hysteresis of Rope-pulley System Based on the Absolute Nodal Coordinate Formulation

作　　者：赵梓杰 余海东[1] 杨丹[1] 王皓[1,2] ZHAO Zijie;YU Haidong;YANG Dan;WANG Hao(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China;Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计与研究》2020年第1期96-101,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51775345)。

摘　　要：钢索-滑轮系统间的非线性接触特性严重影响了长距离软式传动系统变形及动态响应迟滞效应的准确计算。基于绝对节点坐标法建立了三维高阶钢索单元模型。在此基础上,建立了钢索-滑轮系统的动态接触模型,应用Hunt-Crossley接触模型计算法向接触力,采用LuGre微变模型计算较低相对运动速度下的切向接触力,准确描述了钢索与滑轮接触由动摩擦向静摩擦的转变过程。仿真结果与准静态实验结果的对比验证了模型的准确性,分析了钢索材料参数和末端载荷对钢索-滑轮系统动态响应以及钢索末端位移的影响。结果表明,钢索-滑轮系统的动态响应延迟时间由钢索材料特性及末端载荷决定;钢索末端位移主要受钢索刚度及末端载荷影响。相同条件下采用小比重钢索材料,适当增加末端载荷以增大钢索结构刚度,可减小系统传动中钢索的末端位移,有效提高钢索-滑轮传动系统的传动性能。The non linear contact characteristics within the rope-pulley structure severely influence the accurate calculation of the deformation and the hysteresis effect of the long distance flexible transmission system.A threedimensional high-order rope element model is established,based on the absolute nodal coordinate method(ANCF).The dynamic contact model of the rope-pulley system is proposed,in which Hunt-Crossley contact model is introduced to calculate the normal con tact force and LuGre model is applied to obtain the tangential contact force at lower speed.Therefore,the transition process from dynamic friction to static friction within rope-pulley structure is described accurately.The accuracy of the model is verified by comparing the numerical results with the quasi-static experimental data.The dynamic response of the rope-pulley system and displacement of the wire rope are numerically analyzed with various material parameters and load cases.The results show that the hysteresis time of the dynamic response for the rope-pulley system is determined by material properties of the wire rope and the axial load.The deformation of the wire rope is mainly influenced by the rope stiffness and the axial load.The wire rope with low density and proper axial load has higher structural stiffness and smaller deformation,which effectively improves the transmission performance of ropepulley transmission system.

关 键 词：绝对节点坐标法 钢索-滑轮系统 接触 迟滞效应 

分 类 号：TH113[机械工程—机械设计及理论]