颚式破碎机系统动力学统一化建模与仿真向量键合图法  

VECTOR BOND GRAPH METHOD FOR UNIFIED MODELING AND SIMULATION OF JAW CRUSHER SYSTEM DYNAMICS

作　　者：王中双[1] 周千斌 师永珍 WANG ZhongShuang;ZHOU QianBin;SHI YongZhen(School of Mechatronic Engineering,Qiqihar University,Qiqihar 161006,China)

机构地区：[1]齐齐哈尔大学机电工程学院,齐齐哈尔161006

出　　处：《机械强度》2022年第2期402-408,共7页Journal of Mechanical Strength

基　　金：国家自然科学基金项目(51175272)资助。

摘　　要：针对电机驱动简摆颚式破碎机系统的动力学统一化建模与仿真问题,提出了相应的向量键合图法。根据机构运动副的约束关系,将各构件的向量键合图模型相互键接,建立了六杆简摆颚式破碎机机构的向量键合图模型。将运动副约束反力向量作为势源向量作用在机构向量键合图模型相应的0-结处,实现机构向量键合图模型的贮能元件皆具有积分因果关系。在此基础上,建立了计及驱动电机、破碎阻力及运动副约束反力向量的简摆颚式破碎机系统的向量键合图模型,实现了机电系统的统一化计算机建模及动力学仿真。通过与牛顿-欧拉动力学方法计算结果相对比,验证了所述方法的可靠性。研究表明:所述方法是有效的,其程式化的建模方式提高了机电系统动力学建模与仿真工作的自动化程度及可靠性。在一个运动周期内,动颚破碎行程及排料行程角速度的正、反向最大值相差甚小,破碎行程及排料行程所用时间也比较接近。在一个运动周期的初始和终了阶段,动颚角加速度、动颚两端的运动副约束反力均会产生较大幅度的变化;终了阶段的变化尤为突出,动颚角加速度由0反向增至-83.36 rad/s^(2),其两端运动副约束反力的增长率分别为2 576.44%、249.10%。另外,动颚在左极限位置时,破碎力的突变导致动颚两端运动副约束反力均产生较大幅度的突变,其减少率分别为95.84%、72.43%。这为破碎机结构及参数的优化设计奠定了基础,也进一步表明方法具有鲜明的特色优势。Aiming at the problem of unified modeling and simulation of system dynamics of simple swing jaw crusher driven by electric motor, the corresponding vector bond graph method was proposed. According to the constraint relation of the kinematic pair of the mechanism, the vector bond model of each component was bonded to each other, and the vector bond graph model of a six bar simple swing jaw crusher mechanism was made. By acting on the constraint force vectors of kinematic pair as the effort source vector at the corresponding 0-junction, the energy storage elements of the mechanism vector bond graph model were made have integral causality. Based on this, the vector bond graph model of the simple swing jaw crusher system was made, which takes into account the driving motor, crushing resistance force and the constraint force vector of the kinematic pair, and the unified computer modeling and dynamic simulation of the electromechanical system were realized. Compared with the results calculated by Newton-Euler dynamics method, the reliability of the proposed method was verified. The results show that the method described in this paper is effective, and its stylized modeling method improves the automation degree and reliability of electromechanical system dynamics modeling and simulation. In a movement cycle, the positive and reverse maximum of angular velocity for jaw crushing stroke and discharging stroke have little difference, and the time of crushing stroke and discharging stroke is close. At the beginning and the end of a motion cycle, the angular acceleration of the moving jaw and the constrained reaction force at both ends of the moving jaw will change greatly. In the final stage, the angular acceleration of the moving jaw increases from 0 to-83.36 rad/s^(2), and the growth rate of the constrained reaction force at both ends is 2 576.44% and 249.10%, respectively. In addition, when the jaw is in the left limit position, the abrupt change of crushing force leads to large abrupt change of constrained reaction force

关 键 词：向量键合图 简摆颚式破碎机 统一化建模 动力学仿真 因果关系 

分 类 号：TH113[机械工程—机械设计及理论]