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塔式起重机刚柔耦合多体系统建模与降阶方法

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为建立准确的塔式起重机多体系统动力学模型,采用绝对节点坐标缆索单元描述起升机构钢丝绳大变形、大位移动力学行为.针对绝对节点坐标法质量阵定常而切线刚度阵时变的特点,将钢丝绳的运动过程划分为若干子区间,在每个子区间内部对动力学方程采用基于一阶泰勒展开的线性化处理,从而使得基于模态截断的降阶方法得以应用.通过运动学约束将塔机钢结构振动方程与钢丝绳大变形动力学方程整合得到整机系统多体动力学方程.给出了约束方程的线性化处理方法以及主坐标描述的系统动力学方程格式.数值算例结果表明本文提出的塔机多体系统动力学建模与降阶方法可以在保证精度的条件下有效地降低系统规模,提高仿真分析效率.
Multibody System Dynamic Modeling and Order Reduction of Tower Crane
In order to build the multibody system dynamic model of the tower crane,the absolute nodal coordinate formulation cable element is used to model the steel wire rope in the hoisting system. As a characteristic of the absolute nodal coordinate formulation,the mass matrix is constant while the tangen-tial stiffness matrix is varying. The whole process of the rope motion is divided into several subdomains. The first order Tylor expansion is applied on the dynamic equation of the rope within each subdomain. Therefore,the order reduction based on modal truncation can be performed. The kinetic constraint is used to integrate the structural vibration equation and the large-deformation equation of the steel wire rope to form the multibody system dynamic equation of the entire tower crane system. The local linear-ization formulation of the constraint equation is also given. Numerical results demonstrate that the multibody system dynamic modeling and order reduction method proposed in this investigation can effec-tively reduce the size of the problem and improve the simulation efficiency without losing accuracy.

tower cranesteel wire ropeabsolute nodal coordinate formulationmodel order re-ductionmultibody system dynamics

於祖庆、顾子健、兰朋、田青龙

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河海大学机电工程学院,常州 213200

西安建筑科技大学西部绿色建筑国家重点实验室,西安 710055

西安建筑科技大学机电工程学院,西安 710055

塔式起重机 钢丝绳 绝对节点坐标法 模型降阶 多体系统动力学

国家自然科学基金资助项目国家自然科学基金资助项目西部绿色建筑国家重点实验室开放研究基金西部绿色建筑国家重点实验室自主研究课题

1227212312302047LSKF202327LSZZ202209

2024

10.6052/1672-6553-2024-023

动力学与控制学报
中国力学学会　湖南大学

动力学与控制学报

CSTPCD
影响因子：0.446
ISSN：1672-6553
年,卷(期)：2024.22(8)