基于Adams有轨起重机的非圆轨道修正及动态仿真

摘要

In order to solve the problem that the rail crane gnaws rail during turning.The method of fixing medial orbital firstly and then revising the lateral orbital were proposed.For medial orbital,it is joined to an cyclotron line between straight line and arc segments,which can change the radius of curvature from infinity gradually transition to the arc radius of curvature gradually;for the lateral orbital,it is calculated the lateral angle of two points tracks through four door points.Then the center line of the two tracks can be calculated,namely the lateral orbital of the four door points,and further revise the lateral orbital through superposing several rounds of revised delta δ.Adams is applied to test whether fixed orbit can be passed though safely,and further used to optimize the size of crane base and balance beam. Results show that the greater Ls length is joined,the smaller the offset.At the same time,it is concluded the optimal solution of rail crane balance beam and basal streak%为了解决有轨起重机在转弯时,出现的啃轨问题.提出先修正内侧轨道再修正外侧轨道的方法.对于内侧轨道,在直线段和圆弧段轨道加入一段缓和曲线,使曲率半径从无穷大逐渐过渡到圆弧曲率半径;对于外侧轨道,通过四角门框计算出外侧两角点的轨迹.通过求两角点轨迹的中线,即四角门框的外侧轨道,再叠加多轮修正值δ进一步修正外侧轨道.应用Adams进行动态仿真,验证修正轨道是否可以安全通过,并用Adams仿真优化起重机基距、平衡梁尺寸.结果表明,加入的回旋线长度Ls越大,有轨起重机大车在转弯时,出现的偏移量越小.同时,得出有轨起重机平衡梁和基距最优解.