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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 the theory of flexible multibody dynamics and the Lagrange equation, a mechanical system dynamics model of a three-arm bridge test car boom is established. By numerical solution combined with the dynamic simulation software, it is proved that the flexible multibody dynamics method The motion differential equation of the bridge detection vehicle boom can accurately describe the dynamic characteristics of the bridge detection vehicle, and the axle detection and drive characteristics analysis of the vehicle boom through the bridge also shows that the bridge detection of the light long-arm boom It is necessary to consider the influence of the flexible deformation on the vehicle boom system.Based on this, double-closed loop (PD) control is applied to the bridge detection vehicle boom to control the trajectory of the working device of the bridge detection vehicle and to realize the stable and high-precision Track tracking for reference.