基于Modelica汽车起重机支腿系统失稳分析的建模仿真

摘要

基于Modelica语言的Mworks平台,建立了机械、液压、控制等多领域耦合的汽车起重机动力学模型.对汽车起重机带载回转一周的工作过程进行动态仿真,分析其支腿系统的稳定性.针对起重机可能发生的侧滑或侧翻等失稳情况,在模型中建立了卸载保护控制系统,有效地实现了预防系统翻车的功能.结果表明,该机、液、控耦合仿真模型对汽车起重机的失稳分析,充分考虑机械、液压和控制的能量耦合效应,克服了普遍采用的ADAMS单一领域刚体动力学分析的不足及传统动载系数设计方法的缺陷.%Using the Mworks platform based on Modelica language, this paper builds multi-field truck crane dynamic model considering mechanical, hydraulic and control, dynamically simulates the operating process of the loaded crane slewing for one cycle, and analyzes the stability of the support leg system. For the possible instability condition of side slipping or side overturning, it builds unloading protection system in the model, so as to effectively protect the crane from side overturning. The results show that the multi-field simulation model, fully considering energy coupling function of mechanical, hydraulic and control systems, can overcome the shortcomings of ADAMS rigid-body dynamic analysis in the single field which is widely used, and traditional dynamic load coefficient design method.