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散粮入仓机回转机构设计及受力分析

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机电工程学院毕业设计任务书题 目 : 散粮入仓机回转结构的设计与受力分析学生姓名:学 号:专业班级:指导教师:毕业设计(论文)任务书1本毕业设计(论文)课题应达到的目的:散粮入仓机将改变传统采用输送带进行粮食入仓的不灵活性,以提高粮食入仓的效率,节约经济成本,满足国家提出的粮食“四散”技术要求。本课题主要研究粮食入仓泵车臂架的整体设计与静、动力学分析。通过本次毕业设计,使学生综合地运用四年所学知识去分析、解决问题,它是整个大学学习的一个总结,学生通过毕业设计可以将所学知识得到全面疏理和运用,使学生的综合应用能力、应用参考文献的能力、提高学生对有限元技术理解与认识,提高学生解决问题以及对所学理论知识的综合应用能力和工程设计能力。2本毕业设计(论文)课题任务的内容和要求(包括原始数据、技术要求、工作要求等):1.内容:对散粮入仓机回转结构进行设计,并对回转结构的静动力学进行分析。目的是使学生综合地运用四年所学知识去分析、解决问题,了解学习机械设备设计及力学分析。2.技术及工作要求:(1) 结合设计内容,完成外文文献翻译,译文字数在 3000 汉字以上;(2) 查阅相关资料,进行实习调研,完成方案论证报告;(3) 方案设计、总体设计、回转结构设计和参数设计计算;(4) 绘制完成泵车回转结构装配整体的设计,包括回转结构的三维模型及相关的二维图;(5)按要求撰写毕业设计论文,字数不少于 20000 字(不含计算公式和图表)(页数至少 30 页以上不包括参考文献)。毕业设计(论文)任务书3对本毕业设计(论文)课题成果的要求包括毕业设计论文、图表、实物样品等:毕业设计成果主要包括:(1)完成指定的与课题相关的外文文献翻译 1 篇,译文字数在 3000 汉字以上;(2)完成调研和方案论证报告 1 份(不少于 3000 字) ,应包含参观、实习、调研、搜集资料、方案分析比较和论证等内容;(3)绘制完成回转结构装配整体的设计,包括回转结构的三维模型及相关的二维图;(4)完成论文(含毕业设计心得) ,要求格式规范,字数不能少于 20000 字(不含计算公式和图表) 。 (页数至少 30 页以上不包括参考文献)。4主要参考文献:1袁巧霞,张华珍,万蜀渊,等。GLI 型根茎类蔬菜清洗机的研制J。农机与食品科技,1996,(3) 。2陈湘宁,艾启俊,黄漫青,等。HACCP 在净菜加工中的应用初探 J.粮油加工与食品机械,2003(4).3吴玉发,梁健,水气浴叶菜清洗机的应用研制J.现代农业装备,2004,(4) 。4张国忠。现代混凝土泵车及施工应用技术。北京:中国建材工业出版社,2004。5薛维华。技术储备是产品创新的基础。企业技术进步,2008, (1)27毕业设计(论文)任务书5本毕业设计(论文)课题工作进度计划:起 迄 日 期 工 作 内 容2013 年1 月 10 日3 月 6 日完成外文翻译,毕业实习调研,查阅文献资料、收集整理资料3 月 1 日 3 月 20 日 方案论证,完成方案论证报告3 月 20 日 5 月 15 日 回转结构设计,力学分析,绘制图纸5 月 15 日 5 月 20 日 修改、完善设计资料,撰写说明书阶段5 月 20 日 5 月 24 日 资料审查,答辩准备阶段所在系(教研室)审查意见:负责人: 年 月 日院(部)学术委员会意见:负责人: 年 月 日seumvibraworkh theadyorrettvibrat 2012 Elsevier B.V. All rights reserved.1. Introductionused fde applays anconcreof produselectiolity coAutomation in Construction 31 (2013) 265273Contents lists available at SciVerse ScienceDirectAutomation inelsevier.The boom system, an important component of a truck-mounted con-crete pump, lends support to the conveying pipes where the concreteispumpedinto.Thisdesignenablestheendoftheconveyingpipescon-veniently moving with the booms. The operation of the booms can di-rectly affect the work efciency, stability, reliability and service life ofa truck-mounted concrete pump.The current trends for the design of boom system include large insize, various structures and intelligent operation. At this standard, thelongandlightweightmulti-boomserveswelltomeetthehighdemand-software-development environments and nite element analysis 8,9,which are valuable contribution to the boom research. Despite the factthat the differential equation of rigid motion of the booms is deducedby the multi-body dynamic theory and the Lagrange equation 1012,the exible model 1315 is more accurate and more complex underthe assumption mode since deformation occurs in pouring process. Incontrol strategies, particle swarm optimization is applied to calculatethe nal value of every joint point, and adaptive robust PD is used fortip trajectory synthesis with gravity compensation 18,19. The sensorsing of construction. Nonetheless, the controalways appears to be problematic 36. Inimpact, the boom deformation and the unp Corresponding author. Tel.: +86 25 83792719.E-mail address: sunny (X. Sun).0926-5805/$ see front matter 2012 Elsevier B.V. All/10.1016/j.autcon.2012.12.012ntrol method 2. For alltion scale and range, thebeen rapidly advanced.the concept of automation vs. robotics in construction has been pro-posedanddeveloped7.XiaandEltonetal.havevisuallydemonstratedthe models and dynamic characteristics of the booms by using variousthese reasons with the expanding of construcdesign of truck-mounted concrete pump hasAs a large engineering machinerytruck-mounted concrete pump has wiof high-rise buildings, bridges, highwprojects. Because the use of suitableproductivity and increase the qualityconstruction sites are considering theand pay attention to the pumping quaor concrete pouring, theications in constructionsd in water conservancyte pump may improvects and services, moren of concrete pumps 1changes may cause the vibration and the imprecise end-positioning.At present, the majority of truck-mounted concrete pumps can onlybeoperatedmanually,whichisstilllaborintensive,techniquedemand-ing and dangerous. This places a high priority on developing automaticoperation with a main objective to reduce/eliminate the vibration andits interference with the controller.Inrecentyears,manypublicationshavefocusedonthedesignofau-tomatic operation and the methods to reduce vibration. Among them,A closed-loop detection and open-loop controlconcrete pumpXiaojie Sun, Hua Ye, Shumin FeiSchool of Automation, Southeast University, Jiangsu Nanjing 210096, Key Laboratory of Measurementabstractarticle infoArticle history:Accepted 17 December 2012Available online xxxxKeywords:Closed-loop detection and open-loop controlFiltering and curve ttingBooms of truck-mounted concrete pumpVibration reductionIn this paper, we have propotruck-mounted concrete pandlightweightbooms.Thetroller,whichleadstopoorthe open-loop control witoutput but contains a stclosed-loop detection via clish the ltering and curveterference originated fromproposed strategy.journal homepage: www.l for this type of boomsaddition, the hydraulicredicted environmentalrights reserved.strategy for booms of truck-mountedand Control of CSE, Ministry of Education, Chinad a closed-loop detection and open-loop control strategy for the booms ofp. During pumping, vibration inevitably appears in the operation of longtioncannotbeeasilyweakenedanditmayevenbecapturedbythecon-efciencyandquality.Inordertosolvethisproblem,werstlycomparee closed-loop control and reveal that the open-loop control has a stableerror. This defect can be xed by our proposed strategy using thecting the planning start and the open-loop gain. Furthermore, we estab-ing for the collected angle values by sensors, which greatly reduce the in-ion. Lastly, our simulation results verify the effectiveness of theConstructioncom/locate/autcontodetecttheanglevaluesareinstalledforakindofintelligentboomsys-tem 20 but with some conditions limited to the boom moving. Twodifferent types of devices for reducing the vibration have been intro-duced by X. Yi and W. Yi et al. 21,22. X. Yi et al. have invented theanti-vibration hydraulic cylinder and its control unit while W. Yi andcolleagues have obtained the vibration amplitude through the detectormodule and through controlling the piston position of the boom hy-draulic cylinder. However, both methods mentioned above requirenew equipments with higher weight and volume of truck-mountedconcrete pump which would remarkably increase the cost for themachinery.Therefore,ourgoalistodevelopanautomaticcontrolmethodfortheboom system which would be minimally disturbed by the vibration.Moreover, this method can also be implemented in programmablelogic controller (PLC) of truck-mounted concrete pump without assis-tance from any other equipment in real time. To fulll this purpose,we have formulated a closed-loop detection and open-loop controlstrategy which offers better performances including a stable outputinherited from the open-loop control and a corrected tracking by theclosed-loop detection. With the application of this strategy, the vibra-tion will be further reduced by the ltering and curve tting for thecollected angle values.InSection2ofthispaper,wedescribethemodelstobediscussed;inSection 3,werstly compare the closed-loop control with the open-loop control, and then propose a closed-loop detection to reduce thesteady error caused by the open-loop control; in Section 4,thelteringmachinery due to its simple structure, low cost, minimal oil pollutionBased on the characteristic equations of HSV, directional valve andhydraulic cylinder 23,24, the mathematic model for the hydraulicsystem can be achieved asYsKq1AvKx2nAmss2 2nns 2nC0C1A2vs KvKc1C0C1Ds 1where y is the displacement of hydraulic cylinder, d is the duty cycleof PWM, and Y(s) and D(s) are the Laplace transform of y and d, re-spectively; Kq1and Kc1are the ow gain and the ow-pressure coef-cient of HSV, respectively; Av, Kvand Kxare the valve cores area, thevalve core-spring elasticity coefcient and the ow gain of directionalvalve, respectively; Amis the average area of cylinders piston; and nand nare the related parameters of hydraulic cylinder. From themathematic model (1), we deduce that the position of hydrauliccylinder y can be controlled by the duty cycle d.266 X. Sun et al. / Automation in Construction 31 (2013) 265273and digital control. HSV is usually utilized as a pilot valve because ofits small allowable ow while hydraulic-operated directional valveis often employed as HSVs power amplier stage. The nal controlof the hydraulic system is realized via changing the displacement ofdirectional valve through adjusting the duty cycle of PWM HSV.and curve tting algorithm is presented and discussed; Section 5 con-tains the simulation results and control effects from four controlmethods, including the open-loop control, the closed-loop control, theopen-loop control with closed-loop detection and additional lteringand curve tting; Finally, a conclusion is drawn in Section 6.2. System descriptionOur research objectis a 46-meter-long ve-boom system, includingthe rotary mechanism,ve booms, the hydraulic cylinders, the convey-ing pipes and the hose at the terminus. The function of the hydrauliccylinders is to stretch out or draw back the booms. When the pistonof the hydraulic cylinder is completely out, the boom reaches the max-imum angle. The whole boom system moves freely within the rangeand transports the concrete in the accessible range. The rotary mecha-nism enables the working range of the booms xed at a certain pointto be a large, spheroidic pouring space.2.1. Model of hydraulic systemHydraulic cylinder controlled by pulse width modulation (PWM)high speed ON/OFF valve (HSV) has been widely used in constructionFig. 1. Structural diagram2.2. The link between displacement of hydraulic cylinder and joint angleNext, we delineate the relationship between the displacement ofhydraulic cylinder and the joint angle. Since all of the booms canonly move in one plane, the space coordinates may be obtained by ro-tating the plane coordinates. The structural diagram of ve booms isshown in Fig. 1. Assume the booms are homogeneous. i, i=1,5represents the angle of two neighboring booms.The vibrating portion of truck-mounted concrete pump is a compli-cateduidsolidcouplingsystemcomposedoftheboomexibilityandthe concrete pulsation. Wang and Chen et al. have done deep researchon the vibration mechanism of boom system 25,26. Finite elementmodel of booms has been built and the corresponding damped vibra-tion response has been obtained by test. Schematic of the exiblebooms is shown in Fig. 2. Assume Piis the tip of the ith boom. Thetips longitudinal displacement ypihas the damped vibration form asypi Aisin 2t=Tieit; i 1;5: 2From Fig. 2, ypiand the angle change iof the ith boom have thefollowing relationypi lilii; i 1;5 3where liis the length of the ith boom and liis the length change fromthe origin to the tip due to the boom vibration. Since the vibrating dis-placement is much smaller than the pouring movement of the booms,of ve booms.licanbeneglectedhere.Approximatively,ihasthesamedampedvi-bration form as pi is the subscript of y. From Figs. 1 and 2, the anglesinuenced with the exibility can be written asi arccosl2i1;2 l2i;1y2i2li1;2li;1! i; i 1;5: 4The maximum angle of two neighboring booms should be consid-ered in the practical calculation of arccos ()i. For instance, the maxi-mum angle between the rst boom and the horizontal plane is 90,that is 0arccos ()190, the maximum angle between the rstboom and the second boom is 180, that is 0arccos ()2180, sub-sequently, there are 0arccos ()3180, 0arccos ()4240 and0arccos ()5240.Although we know the damped vibration form of iin Eq. (4),itisdifculttomeasuretheamplitudeAiandtheperiod Tiduringthework-ingprocessofbooms.Theseparametersarecloselyrelatedtothespecif-icmechanicalstructure,concretevelocity,workenvironmentandothercontrol performs poorly in tracking precision, which can be reectedFig. 3. Open-loop control block diagram.267X. Sun et al. / Automation in Construction 31 (2013) 265273factors. Therefore, designing a satisfactory controller in the existing ofunknown iis worth to be discussed.CombiningEqs.(1)and(4),iftheproperdutycycleofPWMisgivento drive the displacement of hydraulic cylinder, the angle of the boomwill change with it, which will lead to the control of the system.3. Closed-loop detection and open-loop control3.1. Open-loop controlThe open-loop control is a simple algorithm which calculates theproper control output according to the object model or the responsecurve without any feedback information from the controlled plant.PLC gures out the desired angle of every boom by inverse operationafter receivingthedesired position commandsent by the remotecon-trol. If id(k) and id(k+1) denote the desired angles of the ith boomat the instant k and k+1, respectively, the open-loop control has theform asdikkpiidk 1idkC138; i 1;5 5where di(k) is the duty cycle and kpiis the open-loop gain. Theopen-loop control block diagram is shown in Fig. 3.One important advantage of open-loop control as the automaticmode for the booms is easy to fulll. The vibration is not broughtinto the open-loop control and the control output is stable since thedesired angle of the ith boom idand the open-loop gain kpiinEq. (5) do not change with the boom vibration. However, open-loopFig. 2. Schematic of the exible booms.by the steady error between the desired and the actual values.3.2. Closed-loop controlThe closed-loop control requires angle values to be collected inreal time, and the controller is designed using the error between thedesired and the actual values. The angle sensors can be installed inbetween two adjacent booms. Similarly, id(k) denotes the desiredangleof the ithboomattheinstant k,andi (k)denotesthemeasuredvalueofthe ithboomby thesensorattheinstant k.Theerrorbetweenthem is expressed aseikidkik; i 1;5: 6With the proportional method, the closed-loop control has theform asdikkcpieik; i 1;5: 7where kcpiis the closed-loop gain. The closed-loop control block dia-gram is shown in Fig. 4.The feedback control is a strategy to eliminate the error betweenthe target and the actual behavior. Since this strategy does not haveto rely on the model of the controlled plant, as long as the choice ofcontrol parameters makes the closed-loop system stable, a class ofplants can reach the static indicators. This is the main reason thatthe closed-loop control has been widely used in industrial system.Then the stability of proportional control law (Eq. (7) and thechoice of control gain kcpiare analyzed. From the relationship (Eq. (4)without considering unknown i, yi(yi0) can be calculated directlyfrom i.Sorstly the algebraic transformation is done to change theangle value to the displacement of hydraulic cylinder as followsyidkl2i1;2 l2i;12li1;2li;1cos idkq; i 1;5yikl2i1;2 l2i;12li1;2li;1cos ikq; i 1;5:8Then the angle error is changed into the displacement error ofhydraulic cylindereyikyidkyik; i 1;5: 9The closed-loop control is rewritten asdikkcpyieyik; i 1;5: 10Using the control output (Eq. (10) to drive the hydraulic system(Eq. (1), the following characteristic equation is obtaineda4is4 a3is3 a2is2 a1is bikcpyi 0; i 1;5 11Fig. 4. Closed-loop control block diagram.Then the desired angel sequence, which is set previously, is re-placed by the re-planned trajectory pointsidkid0;idk 1id1;idk nidn; i 1;5:15Therefore the open-loop control based on the closed-loop detec-tion has the form asdikkpikidk 1idkC138; i 1;5: 16268 X. Sun et al. / Automation in Construction 31 (2013) 265273where a4i=AmAv2, a3i=Am(KvKc1+2nnAv2), a2i=Am(2nnKvKc1+n2Av2), a1i=Amn2KvKc1and bi=Kq1AvKxn2, and kcpyiis the controlgain to be determined. Based on Routh criterion, the sufcient andnecessary condition of system stability is kcpyishould satisfy0bkcpyiba1ia4ia1ia3ia2ia23ibi; i 1;5: 12Finally, from Eqs. (7) and (10), the closed-loop gain kcpican be de-duced askcpi kcpyieyi=ei; i 1;5: 13Of course, the proportional control (Eq. (7) mentioned above isonly one kind of closed-loop control. However, there are other closed-loop control strategies with more complex forms and logics. For in-stance, particle swarm optimization algorithm was used to calculatethe nal value of every joint point and adaptive robust PD control wasemployed to counteract the interference caused by bad working envi-ronment and boom vibration for booms of truck-mounted concretepump 18. Furthermore, in order to eliminate the effect of gravity, thegravity compensation was integrated in PD control law 19.Intermsof exible-link manipulators, J. Lin et al. proposed fuzzy logic usingthe singular perturbation approach 16. Moreover, a neuro-sliding-mode control strategy was adopted to process the complex nonlineardynamics 17. Although different closed-loop control methods havedifferent forms, these strategies are all designed based on the error eibetween the desired value and the actual value. Similar to the propor-tional control, the actual collected angle idisturbed by the vibrationiis used in the closed-loop control. Then the uncertain vibration willinuence the controller decision, and the difculty of designing closed-loop control will arise. Theoretically, if the real-time closed-loop controlis used for the boom system without any vibration suppression, the ef-fect of iwill be introduced to the controller and the control outputwill be continuously changing with the vibration, which may result inthe damage to hydraulic system.3.3. Open-loop control based on closed-loop detectionOur main objective is to design a practical controller which canprovide tracking precision and at the same time is not affected by vi-bration.Here, weproposea closed-loop detectionand open-loopcon-trol based on the comparison analysis between the open-loop andclosed-loop design. The purpose of adding closed-loop detection isto improve the control precision and reduce steady error.The closed-loop detection method that we propose is: the controllerobtains the change of joint angles by sensors in the operation of thebooms. At regular intervals T, which is called the closed-loop detectionperiod, the measured angle i(k)iscomparedwiththedesiredangleid(k). If the absolute value of their error ei(k)islessthanorequaltothe angle deviation threshold , the open-loop control continues andthe desired angle does not change. On the contrary, if the absolutevalue is greater than the threshold , the trajectory is re-planned bythe actual angle as the starting point, thus we have id(0)=i(k), id(1), id(n), i=1,5, n is the maximum point of the planned trajectory,and meanwhile the open-loop gain kpiis adjusted tokpiaskpikkp
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