基于ADAMS的柔性混凝土泵车臂架仿真研究

Abstract

混凝土泵车臂架模型的正确创建对控制算法的研究有至关重要的作用。本文运用Pro/E建立与实物等比例大小的泵车模型，并导入ANSYS中进行网格划分，在ADAMS中替代刚性臂，构建柔性的混凝泵车臂架系统。在ADAMS中编写仿真脚本文件，结合传感器的使用，对泵车工作时常见的起动和制动过程进行了仿真。通过对柔性体模态阻尼比的设置，使柔性泵车模型如实反映混凝土泵车的工作状态，以此验证模型的正确性，为进一步的控制算法研究奠定了基础。 Creating a correct model of the arms of truck-mounted concrete pump plays a crucial role in studying on the control algorithm. In this paper, we establish a model with the same size of a real truck-mounted concrete pump in the software Pro/E and then export its arms into ANSYS for meshing. In ADAMS, we replace the rigid arms with those flexible ones to build a system of flexible arms of truck-mounted concrete pump truck. In addition, we write a simulation script file, combining with the use of sensors, to simulate the process in which the pump starts and brakes as it works in a real working condition. We set the flexible arms’ modal damping ratio to make the model reflect the working condition of a real concrete pump correctly. So we can verify the correctness of the model we establish and carry out further researches about the control algorithm based on the flexible model.