基于U-K理论的折臂式起重机钢丝绳系统载荷分析  

Load analysis of wire rope system of folding boom crane based on U‑K theory

作　　者：胡锦宇 胡三宝[1,2] 金湘遂 HU Jinyu;HU Sanbao;JIN Xiangsui(Hubei Provincial Key Laboratory of Advanced Technology of Automotive Components,Wuhan University of Technology,Wuhan 430070,China;Hubei Provincial Collaborative Center for Automotive Component Technology,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070

出　　处：《武汉大学学报(工学版)》2025年第3期460-469,共10页Engineering Journal of Wuhan University

基　　金：国家自然科学基金资助项目(编号:51305314)。

摘　　要：为了分析折臂式起重机运行时各节点载荷,基于U-K(Udwadia-Kalaba)理论建立了折臂式起重机的动力学模型,该方法将约束以广义力的形式添加至无约束动力学方程中,从而避免了科氏力和离心力。以折臂式起重机末端吊点重物运动轨迹作为虚拟约束,利用MATLAB/Simulink软件进行数值求解,得到各液压缸的驱动力和起升绳索张力,并将驱动力作为ADAMS模型的输入,验证建模方法的有效性。研究结果表明,利用所提方法建立的折臂式起重机动力学模型能够准确求解给定运动轨迹下的起升绳索张力和液压缸驱动力,为折臂式起重机运动载荷分析提供参考。In order to analyze the load at each node during the operation of folding boom crane,a dynamic model of the folding boom crane is established based on the U-K(Udiwadia-Kalaba)theory.In this method,constraints are added to the unconstrained dynamic equation in the form of generalized forces,thereby avoiding Coriolis and centrifugal forces.Taking the motion trajectory of the heavy object at the end of the folding boom crane as a virtual constraint,the driving force of each hydraulic cylinder and the hoisting rope tension are obtained by numerical solution using MATLAB/Simulink software,and the driving force is used as the input of ADAMS model to verify the validity of the modeling method.The research results show that the dynamic model of the folding boom crane established by the proposed method can accurately solve the hoisting rope tension and hydraulic cylinder driving force under the given motion trajectory,and provide a reference for the analysis of the moving load of folding boom cranes.

关 键 词：U-K理论 折臂式起重机 约束 载荷分析 

分 类 号：TH16[机械工程—机械制造及自动化]