论文部分内容阅读
桥式卸船机采用的静止卸料方式和抓斗移动过程中发生的摆动是影响卸船效率的重要因素。从抓斗的受控摇摆和主动抛料卸料工作方式的实现出发,结合小车和抓斗水平速度的变化规律曲线,对抓斗摆动特性进行分析,提出了卸船机抛料卸料的抓斗受控摇摆控制策略。并利用Adams对抓斗系统进行了离散化建模和受控摇摆过程的运动学仿真,仿真结果与理论控制曲线对比表明了该控制策略的可行性。
The unloading method adopted by the bridge ship unloader and the swinging during the movement of the grab are the important factors that affect the unloading efficiency. Based on the control of the controlled swing of the grab and the realization of the active discharging and unloading, the swing characteristics of the grab are analyzed based on the changing curve of the horizontal speed of the car and the grab. Bucket controlled swing control strategy. The kinematics simulation of the grab system was discretized and controlled by using Adams. The simulation results were compared with the theoretical control curves to show the feasibility of the control strategy.