已阅读5页,还剩4页未读, 继续免费阅读
版权说明:本文档由用户提供并上传,收益归属内容提供方,若内容存在侵权,请进行举报或认领
文档简介
Multi-DomainSimulation:MechanicsandHydraulicsHHHofanExcavatorHirokazuAraya,MasyukiKagoShimaMechanilEngineeringRerchLbortoryKobestl,Ltd,Nishi-KvobeHyogo6512271,JapanAbstracItidemonstraedhowtomodelandsimulatenexcavatorwithModelicandDymolabyusingModelicalibrriesformti-bodyndfhydraulicsystem.Thehydrulicsystemisontrolldbya“loadsensing”controlle.Uualy,modelscontaining3-dimnsionalmechanilndhydrauliomponentsaredificultosimulte.AthandofthexcavatoritshownthaModelicawluitdorsuchkindsofsystemsimulations.1.IntroducionThedesignofanewproductrequirsanumberofdecisonsintheinitalphasethaseverlyafecthesuccesofthefinihedmchine.Today,digitlsimultionistheforusdinarlytagetolookatdiferntoncepts.heviewofthipaperithaanewexcvatoristbedesignedndsveralcndidatshydraulicontolsystemhavetobeeluated.Stmstconsistof3-dimnsionalmechanialndofhydraulicomponentslikeexcavatorsareficultosimulat.Usualy,twodiferntsimulationnvironmnthavetobeoupled.Thiiofteninconvenient,ladstounnecesrynumeicalproblemsandhasfragilinterfacs.IthisarticlitsdemonstrdathandofthemodelofnxcvatortModeliweluitedfortheetypesofystems.T3-dimensionalcomponentsofthexcavatorarmodeldwithhenew,freModelicaultiBodylibrary.Thialowsepecilytouseannalyticsolutionofthekinemtiloopathebucketndtokethemasofthehydruliylinder,i.e.,t“forcelmnts”,directlyintacount.Thydraulicpartismodeledinadetiledway,utilzngpump,valvesndylindersfomHyLib,ahydraulicslibrryforModelica.Forthecontrolpartageneic“loadsensing”controlystemisused,mledbysetofsimplequations.Thisapprchgivestheequirdultandkeepstheimenededforanalyzingtheproblemonaresonablelvel.2.ModlingChoicesThereasveralpproacheswnsimulatingasystem.Dependingonthetaskitmaybenecytobuildaveryprecimodel,continingverydetailoftystemndedingalotofinformtion,.g.,mlparametrs.Thiskindmodelsiexpensivetobuildupbutontheotrhandveryusfulipaametrofaweldefinedsystmhatbemodified.Atypicalexamplistheoptimztionparmtrsofacounterbalancevalveinaxcvator(Krft1996).Theotrkindofmodelisneededairstudyofasystem.Inthiscaesompropertiesofthepump,cylinderandloadsepecifed.Rquirdinformtionabouttheperformanceofthasystem,.g.,thesdofthepistonsorthenecesaryinputpowethepumpsft,omakeadecionwtrthideigncanbeusdinprincplfortaskthand.Thismodelhastherefortobe“chep”,i.e.,itmbepossibletobuilditnahortimeithoutdetaildknowledgeofparticularcomponents.Theauthorintendedtobuildupamodelofthesecondtype,runitandhavefirstresultwithminimumamountoftimespent.ToahivethisgoalthemodelinglanguageModelica(odelic2002),theModelicsimultionenvironmentDymola(Dymol2003),thenewMlicalibrryfor3-dimensionalmchanialsystem“ultiBody”(Otertal.2003)ndtheodelicalibrryofhydrulicomponentHyLib(eatr2000)sused.Tmodelonsistofthe3-dimensionalmehanicalconstructionoftheexcavator,adetileddecriptontpowrhydraulisndgeneic“loadsnsing”controlle.ThismodelwilbeavailbleasdemointhenextversionofHyLib.3.CtrucionofExcavatorsInashematidrawingofatypicalexcavatorunderconsiderationishown.Itconsitofchaintrckndthehydrulipropeldrivewhihisusedtomanoeuvrethemahinebutusualynotduringaworkcycle.Ontopofthaiacrigewhertopertoristing.Itcanrotteroundvertialxisithrespetothehaintack.ItalsoholdstheDieslngine,thehydraulicpumpsndcontolystem.Furthermore,thereiaboom,anrmandtendbucketwhihisatchedviaplanarkinematiclooptohearm.Boom,armndbucketcanberotatedbytheappropriatecylinders.Figureshowthatherequirdpresurinthecylindersdependonthepositon.orthe“trecd”situaiontheeitboomcylinderis60%higherthanittapositon.Notonlythepositonbutalsothemovementhavetobetakeintocount.Figure3showasituaiwheretrmhangsdown.Ifthecrigedoesnotrotateheriapullingforcerquidinthecylinder.Whenrotatingexcavatorcntypiclyottewithupto12volutionsperminutetforceinthermylinderhangesitignandnowapushingforceisneded.Thishangeisveysignificantbecausenowthe“ctive”chamberoftheylinderswitcheandtmustbetkenioountbytontrolsystem.Bothfiguresdemonstaethasimulationmodelmustakeintoacountthecouplingsbetwnthefourgrsoffredomthisexcavatorhas.Asimplermodelthausesaconstantloadoreachcylindeandthewiveldrileadstooneousresult4.LoadSensigSystemExcavatorhavetypicalyoneDieslngine,twohydraulicmotorsandthrecylinders.Therexistdifernthydraulicruitsprovidetheonsumerwithherequidhydraulicnergy.AtypicldesigniaLoadSensingciruithatisenergyficntnduserfindly.Theiaitohaveflowratcontolsystemforthepumpsuchthaitdelivesxactlyneededflowrate.Asensortheprurdropacrossanorifceisused.Therefncvalueistheitancoftorifce.Ashemtidrwingihownigur4,agoodintroductiontohatopiisgiveni(anon.1992).Thepumpcontrolvalvemaintnsapresurathepumpporthatistypicaly15barhigherthanthepresurintheLSline(=LoadSensingline).Ifthediretionalvalveisclosedtpumphatreforastnd-byprsurof15bar.itsopenthepumpdeliversaflowratetladstopreurdropracossthadirectionalvalve.Note:Thedictionalvaveisnotusdtohrottlehepumpflowbutasflowmetr(prsurdropthaisfedback)andsarfnc(rsitance).Theciruitisnegyeficntbecausethepumpdeliveronlytheneededflowrt,throttlinglossarsmlompardtootrciuits.Ifmorethanonecylinderisusedtheciruitbecomesmorecompliated,sefigure5.E.g.iftheboomrequiaprurof100barandthebucketprsurof300barthepumppresurmustbebove300barwhichouldcausenunwantedmovementoftboomcylinder.Thereforcompensatorsareusthathrottlheoilfowandthusachieveapresurdropof15barcostheparticulardiectionalvalve.Thesecompenstorscnbeinstaledupsteamordownstemofthertill.Anadditionalvavereducsthenominalprsuredifrntialftmaximumpumpflowrteorthemaximumprureisrached(.g.Nikolus1994).5.ModlofechanialPartInFigur6,aModelicashematicofthemechanialpartishown.Thechaintrackisnotmodeled,i.e.,itumedthatintrckdoenotmove.Components“rev1”,.,“rv4”arethe4rvolutjointstomovethepartselativetoeachother.Theiconswithhelongblacklineare“virtual”rodsthaausdtmrkspeifcpointsonapart,especilythemountingpointsofthehydrulicylinde.Thelightbluepheres(b2,b3,b4,b5)arebodiesthavemasndaninertiaensorandreusedtomodelthecorrespondingpropertioftheexcvatorparts.Thethreomponent“cyl1f”,“cyl2f”,and“cyl3f”arelineforceomponentsthadescribeaforcierationalongalinebetwentotchmntpoints.Themalgrenquaresthescomponentsreprsnt1-dimnsionaltransltionalconnetorsfromtheModelica.Mehani.Tanslt
温馨提示
- 1. 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
- 2. 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
- 3. 本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
- 4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
- 5. 人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对用户上传分享的文档内容本身不做任何修改或编辑,并不能对任何下载内容负责。
- 6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
- 7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
最新文档
- 18-萘内酰亚胺项目市场研究报告及运营管理方案|瑞克咨询|2024年编|
- 2024年机械制造行业技能考试-综合维修钳工笔试参考题库含答案
- 2024年机械制造行业技能考试-多轴数控加工笔试参考题库含答案
- 水路旅客运输服务项目可行性研究报告及运营方案|瑞克咨询|2024年编|
- 酚类项目市场研究报告及运营管理方案|瑞克咨询|2024年编|
- 2024年服务行业技能考试-珠宝玉石质检师笔试参考题库含答案
- 2024年建设工程质量检测人员-建设工程质量检测人员(见证取样)笔试参考题库含答案
- 2024年岗位知识竞赛-化工区岗位知识笔试参考题库含答案
- 2024年山东住院医师-山东住院医师儿科笔试参考题库含答案
- 2024年大学试题(计算机科学)-计算机辅助制造笔试参考题库含答案
- 绿色施工方案(四节一环保)
- 小学数学单元整体教学论文
- 4《生物多样性公约》及国际组织
- 租客养宠物合同范本
- 高三 数学《概率与统计》说课课件
- 小学生情绪管理教育的策略与实施
- 基于育人视角的小学英语单元教学设计策略的优化 论文
- 05J909工程作法图集
- 医院廉政风险点防控表格
- 胶带有限公司开炼机岗位风险告知卡
- GB/T 10002.1-2023给水用硬聚氯乙烯(PVC-U)管材
评论
0/150
提交评论