基于等效简化模型的柔性吊装多体系统动力响应分析

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振动与冲击 ›› 2020, Vol. 39 ›› Issue (18) : 255-261.

论文

颜世军1，彭剑2，任中俊1，王世鸣1

作者信息 +

Dynamics of a flexible multi-body hoisting system based on an equivalent simplified model

YAN Shijun1,PENG Jian2,REN Zhongjun1,WANG Shiming1

Author information +

文章历史 +

摘要

针对大型吊装多体系统在回转作业时的刚柔耦合动力学行为，开展了简化模型构建和动态响应分析。利用等效弹簧质量阻尼系统描述吊臂臂头弹性振动，利用空间悬吊系统模拟吊物空间摆动。以浮动坐标系对系统各部件开展运动学描述，基于拉格朗日方程，采用递推列式推导并建立了吊装多体系统的等效简化分析模型，并给出相应数值计算方法。针对某大型轮式起重机开展了仿真分析，通过与实测数据对比分析表明，简化模型能较好地评价柔性吊装多体系统的非线性动力学行为。对柔性臂架振动频谱分析表明，在轻载长绳状态下，吊臂振动幅值受吊物偏摆激励和自身惯性激励的共同影响，但在重载短绳状态下，响应幅值主要取决于吊物偏摆激励，且系统刚柔耦合效应明显增强。

Abstract

Rigid-flexible dynamical characteristics of a flexible multi-body hoisting system are investigated during its slewing, by using a simplified equivalent mathematical model. In this study, the boom head vibrations are modeled by an equivalent spring mass damper system, while the sway motions of the payload are described by a spatial suspend system. Based on the Lagrange equation, a simplified mathematic formulation is derived, by using the recursive formulation, with the floating frames to describe the motions of bodies. Dynamics of a real large scale truck crane is analyzed with the proposed formulation and computational method. Comparisons between the simulation and test results show that this method is very effective and convenient for truck crane’s slewing simulation. The results of spectrum analysis reveal the dynamic behavior that, with the weight increase of the payload and length decrease of the rope, the contribution of the payload sway to the boom vibration increases, however, the influence of the self-excitation causing by inertial force is reduced, besides, under heavy load and short rope condition, the coupling effect between the boom vibration and payload sway becomes significant.

导出引用

颜世军1，彭剑2，任中俊1，王世鸣1. 基于等效简化模型的柔性吊装多体系统动力响应分析[J]. 振动与冲击, 2020, 39(18): 255-261

YAN Shijun1,PENG Jian2,REN Zhongjun1,WANG Shiming1. Dynamics of a flexible multi-body hoisting system based on an equivalent simplified model[J]. Journal of Vibration and Shock, 2020, 39(18): 255-261

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