全地面起重机起升变幅协调策略研究  

Research on coordination between hoisting and luffing of all-terrain crane

作　　者：罗凯 滕儒民[2] 樊传平 王鑫[2] LUO Kai;TENG Rumin;FAN Chuanping;WANG Xin(Zoomlion Heavy Industry Science&Technology Co.,Ltd.,Changsha 414000,Hunan,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,Liaoning,China)

机构地区：[1]中联重科工程起重机公司,湖南长沙414000 [2]大连理工大学机械工程学院,辽宁大连116024

出　　处：《中国工程机械学报》2021年第4期313-317,共5页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(11872137)。

摘　　要：在大臂长重载作业时,由于伸缩臂的非线性变形被吊物在起升离地或就位时会瞬间发生摆动。考虑了轴向载荷的二阶效应,利用微分方程法和坐标转换法对臂架末端发生的非线性变形位移进行了数值求解。在此基础上考虑了臂架自重变形的影响,对起升加载过程中工作幅度的变化值进行了讨论,并结合逐步渐进法提出了一种基于预先设置变幅液压缸伸缩长度的起升变幅协调策略,选取了一种工况进行了数值计算和有限元仿真。结果表明:预先伸缩变幅液压缸的起升防摆策略可以有效地提高吊装精度,避免了重物偏摆的发生。When lifting or settling heavy loads,the heavy objects swing at the moment of lifting off or touching the ground due to the nonlinear deformation of the telescopic boom. Considering the second-order effect of the axial load,the nonlinear deformation displacement of the boom tip is solved by the differential equation method and the coordinate transformation method. On this basis,the influence of the deadweight deformation of the boom is considered,and the variation value of the working amplitude in the loading process of the boom is solved. Combined with the step-by-step method,a coordination strategy of lifting and luffing based on the preset extension length of luffing hydraulic cylinder is proposed. The numerical calculation and finite element simulation are carried out when luffing angle is 45°. The results show that the strategy of preset the length of luffing hydraulic cylinder can effectively improves the hoisting accuracy and avoids the occurrence of swing.

关 键 词：伸缩臂架 非线性变形 起升变幅协调 防摆策略 

分 类 号：TH21[机械工程—机械制造及自动化]