基于零力矩点理论的汽车起重机稳定性研究  

Stability of truck crane based on zero moment point

作　　者：周庆辉 张晨龙 刘耀飞 张希望 谢贻东 李欣 ZHOU Qing-hui;ZHANG Chen-long;LIU Yao-fei;ZHANG Xi-wang;XIE Yi-dong;LI Xin(School of Mechatronics and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Construction Safety Monitoring Engineering Technology Research Center,Beijing 100044,China;China Railway Construction Group Co.,Ltd.,Beijing 100040,China;Beijing Machinery Construction Co.,Ltd.,Beijing 100045,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京市建筑安全监测工程技术研究中心,北京100044 [3]中铁建设集团有限公司,北京100040 [4]北京市机械施工集团有限公司,北京100045

出　　处：《机电工程》2022年第6期727-733,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金青年基金项目(51905028);北京建筑大学市属高校基本科研业务费专项(X20080);北京建筑大学研究生教育教学质量提升项目(J2021008)。

摘　　要：针对汽车起重机稳定性问题,提出了一种基于零力矩点(ZMP)理论的汽车起重机最大起重量计算方法和防倾覆检测方法。首先,建立了汽车起重机的力学模型,得到了其零力矩点坐标的求解公式;为了提高理论模型的准确性,运用拉格朗日方程建立了回转运动时起重机吊重摇摆的微分方程;其次,利用ZMP理论分析了汽车起重机的稳定性,得到了起重机的最大起重量,并通过实验验证了ZMP理论的可靠性;分析了吊重摆动、变幅运动和回转运动对最大起重量的影响;最后,提出了一种基于ZMP理论的汽车起重机防倾覆检测方法。研究结果表明:稳定性指数Smoment数值越接近1,起重机倾覆可能性越大,作业越危险;在相同的变幅角度,回转角度位于90°和270°时,即吊臂在正侧方作业时,危险性最大;而吊臂作业在支腿附近时,危险性最小。The stability of truck cranes has always been a hot research topic.In order to measure the stability of the truck crane,and improve the construction efficiency and safety of the lifting operation,the anti-overturning stability of the truck crane is calculated by using the zero-moment point(ZMP)theory and considering the impact of dynamic load.First,the mechanical model of the truck crane was established and the solution formula of the zero-moment point was obtained to improve the accuracy of the theoretical model.Lagrangian equation was used to analyze the dynamic model of truck crane.Secondly,the stability of truck crane was analyzed by ZMP theory,and the maximum lifting weight was obtained.Then,the reliability of ZMP theory was verified through experiments,and the influence of hoisting swing,luffing motion and slewing motion on the maximum lifting capacity was analyzed.Finally,an anti-overturning detection method based on ZMP theory was proposed.The research shows that the operation is more dangerous when the stability index is closer to 1.The operation risk increases with the decrease of luffing angle.At the same luffing angle,the risk is the greatest when the rotation angle is at 90°and 270°.The risk is the least when the boom works near the outrigger.

关 键 词：轮式自行起重机 最大起重量 防倾覆 零力矩点 吊重摆动 变幅运动 回转运动 

分 类 号：TH213.6[机械工程—机械制造及自动化]