三级同步液压缸设计及建模仿真研究.pdf
5×62009(7)Ø)AâÒ!9#y_ùî华东交通大学机电工程学院±SÆÏK1:!9BÕ3)AâÒ,æ¨Matlab/Simulink´_Èq3)AâÒ¥+Éîÿ_,_²TVüî!9¥3)AâÒVLCbHæ¨8îïÐ_ÈqAD-AMS,|3)AâÒ¿AâÈ0"dÏÉ_,ùîÊÂaÎaFÎwLµvl#AâÈ0Ü×¥Yb_²TVüAâÈ0"dÏ3)AâÒµl¿5%,¡L=P¨1pb1oM:3)AâÒ;È0;+;´_;ADAMSAbstract:Thepaperpresentshowthethree-stagesynchronoushydrauliccylinderisdesignedandhowthedynamicsimulationofthecylinderpssynchronouscharacteristicsiscarriedoutbymeansofMatlab/Simulinknumericalsimulationsoftware1Theresultsshowthatthismethodcanmakethecylindersynchronousoperation1Furthermore,thethree-stagesynchronoushydrauliccylinderusedinthehydraulicelevatorsystemissimulatedtostudytheeffectofthecylinderpspos-ition,velocity,accelerationcurveerroronthehydraulicelevatorpsrunningsmoothness1Theresultshowsthatthesynchro-nouserrorofthecylinderisless5percentandcanmeettheoperationalrequirement1Keywords:three-stagehydrauliccylinder;elevator;synchronouscharacteristics;numericalsimulation;ADAMS3)AâÒö1¨¿AâÈ0#ÚbT<Ú©<°46ÏbÐýñÏȨ¥T¨T%ê*cAâÒM1,"µ«8½bW,=êGLµ1ש+Ä,εڥðUÜ×a;yò)Ö%êHHîT,VE稽%êZT¥ÖФ1bÓ3)AâÒ¹è,sÅ3)AâÒ¥²!9a+_#îÐ_,z3)AâÒAâÈ0#46©M1<ϥبS¶b13)AâÒ!93)AâÒ¥²ðØÂm1îUbñ®ÖIaÖIIaÖIIIÒc*ß7îb2)Ö¥¸òµ1_D,ÈH1>¥,V7îÿë¸812,¸83YV²gÐAâ"dMõbAâÒH,âï²ÉƸ83,wîÖÓ_Mî,ÒcÐÖW¥Ì¸êl,Ï¥²AYVÖ¥§_ldÉÆÖÒ¥¸82,PÖÒ9_Mî,̸8¥²AÉƸ81,wîÖÑ_îbYVØ!9µ1+,?LC3)AâÒ¥îT,7OÎMb/Vñ9VT"¥sb´¤ÿi¥VñÏ,®¿ò¸8Ï¥âïp1>p2>p3,î2ñ_DSÔ1>,/ñ¤ÍKÊÂH,_DD¥_Æ·Ò¸,PDgu7,²A°Àò)WrÜÿ,Ph"Ƶ2bm13)AâÒ²ðØem11Òc21_D)9)5×62009(7)V²ðØA,YÚ¥ö1ðyò¸8W¥P+j¥µ©byN!9HÖÓ8ÌT¨ëA3ÌÐÖÒ¥-8T¨ëA2Í»M©,A3ÌUA2,iOY¸83¸82bÖÓÊMMÄx3H,¸838$âê$v=A3Ìx3,¥²AÉƸ82,PÖÒMøÖÑÁ3ÊM$v/A2,x2-x3=$v/A2U$v/A3Ì=x3(1)®TV¤:x2U2x3b±sV¤Î1"T:v2U2v3;Q±sµa2U2a3bØVwx1U3x3,v1U3v3,a1U3a3bôðØsV¤ZñFv1P4d21=v2P4(D22-d22)v2P4D22=v3P4(D23-d23)(2)Ïv1av2av3¹M/B)Ö¥MÎb!v1=v2=v3,5T(2)VeĹD22=d21+d22D23=D22+d23(3)|d1=85mm,d2=125mm,d3=170mmÆT(3)V¤:D2=150mm,D3=230mm,7D1=105mm,d4=260mm,V¤C¨D1=12(d2-D1)=10mmD2=12(d3-D2)=10mmD3=12(d4-D3)=15mm(4)|ÆT(2)V9ØÎ1v1=D22-d22d21#v2=01952v2v2=D23-d23D22#v3=110675v3v1=0195211067v3=1101625v3(5)v1zv2zv3=41065z4127z4=1101625z110675z1|ò)´ÂV1îUbV1²Vd1d2d3d4´/mm85125170260D1D2D3L1aL2aL3´/mm1051502303000D1D2D3L´/mm101015900023)AâÒ+Simulink_+3)AâÒ¥Kö1+,´_ÈqMatlab/SimulinkÏ3)AâÒÉ_¥"¥ö14³î!9¥AâÒò)ÖÎM©,V7¹FýÅ/4Ib_H|3)AâÒs¹3ñ0Ì«,iL!AâÒVSÊÂ7Sî,/VñMQ,b211"d¥ÐsÒc-ÖÓÌ«õÃZñdp3dt=EBV03+A3Qt0v3dt(q3-v3#A3)(6)TÏp3)¸83¥âïV03)¸83¥S8v3)ÖÓ¥ÎEB)µr8A3)ÖÓ-8T¨ëq3)µ®ÖÓ¥îVñsV¤M3dv3dt=p3A3-M3g-p2(A2+A3Ì)-Bpv3+p1A2Ì-FÓ(7)TÏM3)ÖÓ¥Ép2)¸82¥âïp1)¸81¥âïBp)TED"A2)ÖÒ-8T¨ëA3Ì)ÖÓ8T¨ëA2Ì)ÖÒ8T¨ë)10)5×62009(7)FÓ)EïÖÓ-ÖÒÌ«¥õÃZñdp2dt=EBV02+A2Qt0v2dt(q2-v2#A2)(8)TÏV02)¸82¥S8v2)ÖÒ¥Îq2)ÉƸ82¥®ÖÒ¥îVñsV¤M2dv2dt=p2A2-M2g-p1(A2Ì+A2=)-FÒ-Bpv2(9)TÏM2)ÖÒ¥ÉA2=)ÖÒ=8T¨ëFÒ)EïÖÒ-ÖÑÌ«¥õÃZñdp1dt=EBV01+A1Qt0v1dt(q1-v1#A1)(10)TÏV01)¸81¥S8v1)ÖÑ¥Îq1)ÉƸ81¥®ÖÑ¥îVñsV¤M1dv1dt=p1A1-FL-M1g-FcI-Bpv1(11)TÏM1)ÖÑ¥ÉA1)ÖÑ8T¨ëFL)FµïFcI)ï212_²Ts¨¨|T¹,¥ÆsÖÆÖ¥Î,!çÈ0N¥Î¹1m/s,N9µ2500kgbm2¹3)AâÒ¥ÎwL,VmÏVA,ÖI¥Î(9üÈ0N¥Î)ÿ¹1m/s,ÖÒ¥Îÿ¹0167m/s,ÖÓ¥Îÿ¹0133m/s,3)AâÒò)ÖÎ1¹3z2z1,Ä)ÖÆM/B)ÖÆ¥Mι0133m/sb_Vüî!9¥)AâÒVSbm2AâÒò)ÖÎwL11ÖÑ¥Î21ÖÒ¥Î31ÖÓ¥Î33)AâÒ+îÐ_Ø»!9ÈqPro/EÏqy3)AâÒ¥L8,æ¨Pro/EÐ8îïÐ_ÈqADAMS¥íõ¤,|Pro/E¨Ìâ¥f/,|¥ª¥9îôî1"çl¹"d,É"d¥îÐîïÐ_,iÉÄ_°,çîí¸¥ÊÂ,9Øÿ¬¥T¨ïbPro/EÏçlÐ8Fÿª,|.ÂADAMS/ViewÏÉîÐ_s,Vùî3)AâÒ¥ÊÂaÎaFÎwLµvl#AâÈ0Ü×¥Yb311îÐqyn5ÉÊÐ,|Pro/EÏX7yz¥,qmFqm¥ÊйÐADAMS/ViewÈqÏ¥ÊMÄ¥;QçlÐ8,sYÊ4FqmÏ¥,q7yÖÆaÖÒaÖÓ#Òc4ñÐ8,KªÊ4¤gõ¤3bîTª,ÄDone/Return,ªÅ,ÄOK,1îÆADAMS/View¸ë(m)b|.ÂADAMS/Viewª,7y%ç¬3ñMî¬Joint_2aJoint_3Joint_4;H7y¥3ñMî¬FzîMotion_1aMotion_2Motion_3,çlStepf:(1)ÖÓ(Motion_3)¥¨fSTEP(time,010,010,01470,-0133)+STEP(time,8185,010,9145,0133);(2)ÖÒ(Motion_2)¥¨fSTEP(time,41425,010,41945,-0167)+STEP(time,41945,0,818455,0)+STEP)11)5×62009(7)(time,818455,010,9145,0167);(3)ÖI(Motion_1)¥¨fSTEP(time,51945,010,61435,-1)+STEP(time,61435,0,8194,0)+STEP(time,8194,010,9145,110)b312îÐ_²TsVm3aÊÂwL_²TV©3)AâÒ¥ÊMÿ©¿3m,°äT3)AâÒñ?r9m,¡V1Ï1pbVm3bÎwLmVA,ÖÑ¥Î(9üÈ0N¥Î)ÿ¹1m/s,ÖÒ¥Îÿ¹O167m/s,ÖÓ¥Îÿ¹0133m/s,3)AâÒò)øÖÎ1¹3z2z1,O3)AâÒÄôøÖÆM/B)øÖÆ¥Mι0133m/s,¡3)AâÒbm3cQÖÑaÖÒÖÓ¥FÎõÛÆwL¥MÄt,1´ÿ¹3z2z1,O3)AâÒµl¿5%bm3_²T(a)ÊÂwLm(b)ÎwLm(c)FÎwLm11ÖÑ21ÖÒ31ÖÓ4²!9BÕ3)AâÒ,ç²b¨Matlab/Simulink3)AâÒ¥îÿ+É_s,¨|T¹,¥ÆsÖ¥Î,_²TVüî!9¥AâÒVLCbæ¨8îïÐ_ÈqADAMS,|3)AâÒ¿AâÈ0"dÏÉ_,ùîÊÂaÎaFÎwLµvl#AâÈ0Ü×¥Yb_²T"Vüî!9¥3)AâÒVLC,¡!91pbIÓD1oçS1«%êTAâÒ¥)1AâÐî,2005(3):61)622³¥,·a,°,©1Ø)AâÒ!9Ð_ùî1AâÐî,2004(7):49)513Ù9Ð1ADAMSÆÊW³ÐLè1Ø:Sý<ñ,2006T:±S¹¶:82Äg¿êYvÐÈýñÐý¯I:330013là°ù:2008-11-03ãáT1ôÊ1p,ªáI¦±TàH,A¶4T¥ñ¦&z£|,#hTªgàH,xù|¥&z£|Óªb2¹L¿ÐTó"a¯7c¨Y©#<?ª¯7àn"<,hgàH4W%a¥ó"¦¯7¹¶a¯Iaó"ÈÅ©b3¹ù<¥1p,hTSÿSìT¥ÓªIÓDb5×6I)12)