考虑重力的液压重载机械臂模型修正应用研究
Model Updating of Hydraulic Heavy-Duty Manipulator Under Gravity
杨柳松 1郝兵 2胡同海 1郭勤涛 3陶言和3
作者信息
- 1. 洛阳矿山机械工程设计研究院有限责任公司 洛阳,471003;智能矿山重型装备全国重点实验室 洛阳,471003
- 2. 智能矿山重型装备全国重点实验室 洛阳,471003
- 3. 南京航空航天大学机电学院 南京,210016
- 折叠
摘要
液压重载机械臂工作时由重力引起的预应力刚化对于整体结构的仿真分析具有显著的影响,针对此问题,提出了一种考虑预应力刚化的计算模态分析方法和基于径向基函数代理模型的有限元模型修正方法.以某型液压重载机械臂为研究对象,建立整体复杂结构的有限元模型及其预应力刚化模态频率的代理模型,以多个工况试验模态分析结果为目标,基于全局优化算法实现了整体结构的模型修正.对试验修正后的模型开展了应变响应预测,验证了模型的预测能力.研究结果表明,所提方法不仅提高了模型复现修正响应的能力,而且能够准确预测未修正的响应,从而验证了方法的可行性,为重载机械臂的自动控制和优化设计提供了精确动力学模型.
Abstract
While a hydraulic heavy-duty mechanical arm operates,the pre-stress resulting from gravity has a significant hardening on the structural dynamic characteristics' stiffness.Therefore,a modal analysis method that accounts for pre-stress stiffness-hardening and a finite element model updating method based on radial basis func-tion meta-models are being implemented and studied.Taking a hydraulic heavy-duty mechanical arm as the re-search object,the finite element model of the overall structure and the meta-model of pre-stressed modal fre-quencies have been established.The structure's model updating process is grounded in the global optimization al-gorithm,and the strain response prediction is conducted based on the updated model to verify the prediction abil-ity of the model.The results show that the proposed method not only significantly improves the ability of the model to replicate the updated response but also can accurately predict the response of the un-updated model,thereby validating the method's feasibility.The method provides an accurate dynamic model for the structural op-timization and automatic control of heavy-duty mechanical arm.
关键词
液压重载机械臂/预应力刚化/模型修正/响应预测Key words
hydraulic heavy-duty mechanical arm/pre-stress stiffness-hardening/model updating/response pre-diction引用本文复制引用
基金项目
国家重点研发计划(2017YFB1302100)
出版年
2024
NETL
NSTL
维普
万方数据