摘要
基于柔性多体动力学理论和拉格朗日方程建立了三节臂的桥梁检测车臂架的机械系统动力学模型.通过数值求解并结合动力学仿真分析软件,证明了采用柔性多体动力学方法建立的桥梁检测车臂架的运动微分方程,可以准确地描述桥梁检测车的各项动力学特性,通过桥梁检测车臂架末端轨迹和驱动特性分析,还表明对轻质长臂杆的桥梁检测车臂架系统考虑柔性变形的影响是非常必要的.在此基础上,对桥梁检测车臂架采用双闭环(PD)控制,为桥梁检测车工作装置轨迹控制及实现探测装置平稳和高精度的轨迹跟踪提供参考.
Based on flexible multi-body dynamics theory and Lagrange＇s equation, the dynamical model of mechanical system is established for three-arm bridge detection vehicle booms. Through the numerical solution and dynamical analysis software, it is proven that the kinematics differential equations of flexible multi-body dynamics can accurately depict diverse dynamical properties of bridge detection vehicles. Fur- thermore, the analysis on boom-end tracks and driving properties implies that the flexible distortion should be considered in light-weight and long boom system. To this end, the double close-looped boom control sets a reference for working device track control as well as detection device stability and high-precision tracking.
出处
《中国工程机械学报》
2009年第2期200-205,共6页
Chinese Journal of Construction Machinery
关键词
桥梁检测作业车
多体动力学
臂架
控制
bridge detection operating vehicle
multi-body dynamics
boom
control
