折叠式高空作业车臂架系统的动力学建模

摘要

With the flexible multi-body dynamics theory, the dynamic characteristics of the arm system of folding-boom aerial platform vehicle (FBAPV) were analyzed. The flexible multi-body dynamics equation of the arm system of FBAPV was established by with flexible multi-body dynamics theory and the Lagrange equations. Through the derivation and numerical solving of differential equation, the rigid and the flexible model were respectively given. Comparison of simulation results of both two models, the results indicate that considering the implications of each arm rods flexible deformation is necessary. Research results for FBAPV trajectory precision and oscillation control of table will have an effective reference.%用柔性多体动力学的理论分析折叠式高空作业车臂架系统的动态特性.把高空作业车的臂架模拟成柔性机械臂,采用柔性多体动力学理论和拉格朗日方程建立高空作业车臂架系统的柔性多体动力学方程,通过对高空作业车臂架运动微分方程的推导和数值求解,对高空作业车各臂架的运动情况进行分析.分别建立高空作业车臂架的刚性模型和柔性模型.仿真得出两种模型的变形曲线,结果表明,考虑各个臂杆柔性变形的影响是非常必要的,同时研究成果为折叠式高空作业车臂架及工作台的振荡控制和轨迹精确控制研究打下基础.