CN109406187A - The many-body dynamics simulator and method of crane wind resistance non-skid property - Google Patents
The many-body dynamics simulator and method of crane wind resistance non-skid property Download PDFInfo
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
本发明涉及一种起重机抗风防滑性能的多体动力学模拟装置和方法，它能够静态、动态地验证分析起重机抗风防滑性能，从而可以整体在抗风制动过程中的动力学响应进行分析研究，还可以利用该模型对制动器的选型进行配置优化进行分析；基于力平移定理对风荷载的等效处理能够简化边界条件施加步骤；利用本模型可以对起重机抗风防滑失效机理进行探讨，并可根据此动力模型的仿真数据对起重机抗风防滑现场试验提供指导和理论依据。通过增设监测系统，能对起重机的运行参数进行全面监控并管理，提高了检测效率，能保证起重机的安全运行。制动器上的风速传感器和速度传感器可以配合得到数据，通过风力大小、速度判断出制定的制动方案，并指令相关制动装置制动。
The invention relates to a multi-body dynamic simulation device and method for the wind-resistant and anti-skid performance of a crane, which can verify and analyze the wind-resistant and anti-skid performance of the crane statically and dynamically, so as to analyze the overall dynamic response during the wind-resistant braking process. The model can also be used to analyze the configuration optimization of the brake selection; the equivalent treatment of wind loads based on the force translation theorem can simplify the steps of applying boundary conditions; this model can be used to discuss the failure mechanism of the crane against wind and anti-skid. According to the simulation data of this dynamic model, it can provide guidance and theoretical basis for the field test of the crane against wind and anti-skid. By adding a monitoring system, the operating parameters of the crane can be fully monitored and managed, the detection efficiency is improved, and the safe operation of the crane can be ensured. The wind speed sensor and the speed sensor on the brake can cooperate to obtain data, judge the formulated braking plan according to the wind strength and speed, and instruct the relevant braking device to brake.
Description
Technical field
The present invention relates to a kind of many-body dynamics simulator of crane wind resistance non-skid property and methods, it uses power
The anti-skidding failure mechanism of crane wind resistance is studied in modeling, and emulation data analysis.
Background technique
Outdoor goliath, particularly the disaster of the high wind sliding initiation in coastal and harbour goliath are works
The problem of journey circle is paid close attention to.Due to not establishing the design and check and evaluation system of effective wind-resisting sliding system, cause by high wind
Accident caused by sliding frequently occurs.
Two, Shanghai 60T gantry crane is blown by burst high wind and slides within 2004, has slided inclination out of control after about 70m and has fallen
Ground；PORT OF YINKOU in 2004 is worth 70,000,000 yuans of two Quayside container gantry cranes in normal weather,
It is prominent to meet strong gusts of wind, which is scraped, is rapidly walked along crane runway, until track terminal is tumbled to marine, is caused altogether
About 1.4 hundred million yuans of loss；
The typhoon " ring cicada " of South Korea is swept away within 2003, the blast of moment up to 42.7m/s have scraped Pusan's Port Container code
The crane of more than the 10 nearly kilotons that weigh of head, 11 container cranes, which are blown down and are damaged death toll in various degree, is more than
Hundred people, 1,300,000,000 dollars of direct economic loss.
It can be seen that the anti-skidding failure of crane wind resistance either has serious accident at home or in foreign countries, and
The reason of crane wind resistance anti-skidding failure, is not very clear at present.Some scholars think that crane produces under the action of wind load
Raw movement, with the continuous action of wind load, crane is accelerated, and is formed very big kinetic energy, is then touched with other cranes
It hits, the accident for causing group to damage.
But it is anti-skidding to crane wind resistance in rubber tyre gantry crane design check, be distinctly claimed in some specifications
There is general 9~10 grades of maximum wind loading rating when complete machine sliding, the antidumping of coastal crane under off working state in heavy-duty machine
Stability wind pressure value is 600~1000pa, and causes the goliath of Port of Zhanjiang 16 to be ruined in No. 15 typhoons in 1996
Later, Ministry of Communications will have issued " coastal port harbour and its Finishing of Machinery in Large-Scale Port about newly-built enlarging, reconstruction in the end of the year 1996
Configure the notice of wind resistance device ", the design wind loading rating under notification working condition is increased to by 9~storm
Hurricane；Design wind loading rating under off working state is increased to 1850Pa (being equivalent to wind speed 55m/s) by 600~1000Pa,
It improves by about one time.But pass through accident investigation and find local meteorological aspect not very big wind later, all scenes of the accident
Wind is no more than 10 grades, and this wind only causes damage to crane, really not bright to trees close at hand, building
Aobvious influence.
It can be seen that crane wind resistance failure be not it is simple as wind scale it is excessive caused by, may there are also its
His factor, such as wind prevention braking device coefficient of friction is insufficient, influence, track and the wheel of the uplift force of wind, hanging object to crane
Whether there is foreign matter to reduce coefficient of friction etc. between son, these are likely to the wind resistance skid resistance for reducing lifting.
The current wind resistance non-skid property for crane is mainly still in the research of brake, including New Brake
Development, brake type selecting and configuration and wind resistance anti-skid device experiment porch etc., such as there are also scholar propose scene survey
The anti-skidding test method of crane wind resistance is tried, but this method can only be from static state from the anti-skidding energy of wind resistance to verifying crane
Power.Some scholars study wheel-rim brake braking ability of crane using many-body dynamics, but should
Research is only studied from part, can not be analyzed the whole dynamic response in wind resistance braking process of crane.
Research is lacked for dynamic characteristics anti-skidding to crane on the whole.
Summary of the invention
In order to solve the technical problems in background technology, the present invention provides a kind of the more of crane wind resistance non-skid property
Body dynamics simulator and method, it can static, dynamically verify analysis crane wind resistance non-skid property, and overall monitor is simultaneously
Management, analyzes and researches so as to dynamic response of the entirety in wind resistance braking process.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of many-body dynamics simulator of crane wind resistance non-skid property, the simulator use gantry crane mould
Type is analyzed to simulate crane, which includes girder, the setting of girder horizontal cross, the bottom of girder two sides
Portion is fixed by more stabilizer blades and horizontal two longitudinally disposed crossbeams, and the bottom of crossbeam is set to horizontal longitudinal direction by wheel and sets
On the track set, the wheel includes driving wheel and driven wheel, and driving wheel and driven wheel interval are arranged, and driving wheel is by motor control
Driving, moves together with driven wheel, retarder is connected on the driving wheel, matched braking is connected on retarder
Device, is equipped with control system on the brake, which includes PLC controller, air velocity transducer, velocity sensor, quiet
State brake apparatus, dynamic braking device, air velocity transducer, velocity sensor are connected on the input terminal of PLC controller, the static state
Brake apparatus and dynamic braking device are fixed on crane, and static brake device and dynamic braking device and PLC are controlled
The output end of device is connected, and static brake device includes rim brake and iron Wedge brake, and the dynamic braking device is setting
Storage box in institute's driving wheel direction of motion front, the storage box are provided with several rubber speed limit blocks, and the storage box is opened
Mouth down, the opening are vertically oriented to track, and the input terminal of brake is connected with braking motor, by braking motor come to driving wheel
It is braked, it is made to become rolling from sliding, realize braking, one end of the crossbeam is additionally provided with rail clamping device, and the gate-type rises
Signal acquisition unit is housed on heavy-duty machine model, signal acquisition unit includes gravity sensor, stroke sensor, velocity sensor,
Signal acquisition unit is connected by analog-digital converter, isolation circuit with information process unit, and the information process unit is FPGA
Chip, information process unit and control output unit, information memory cell, information display unit and information export interface unit phase
Even, and information process unit is connected by communication chip with monitoring host computer, the communication chip be wireless communication chips,
RS485/RS232 communication chip or ethernet communication chip.
A kind of many-body dynamics analogy method of crane wind resistance non-skid property: it is established based on ADAMS and SolidWorks
Crane structure model only establishes crane load-carrying members, wheel, track, brake to Dynamics of Cranes model simplification
Watt and wheel shaft, crane share 64 wheels, arrange brake on 32 wheels, have the wheel of brake and brakeless device friendship
For arrangement, being connected between wheel shaft-vehicle frame and the above structural member of vehicle frame with fixed joint, wheel shaft is connected with wheel with revolute,
Brake block is established according to certain rim brake, and guarantees that brake shoe and wheel have the gap of opening a sluice gate of 1mm, brake block and wheel
Dynamic friction coefficient take 0.35, confficient of static friction takes 0.4, with the secondary connection brake block of sliding and vehicle frame, wheel and track, braking
Device brake shoe-wheel is theoretical using Hertz, simulates its contact force, rim brake-vehicle using non-linear equivalent spring damper model
The frictional force Coulomb modeling of wheel and wheel-rail is connected track and the earth with fixed joint, and simulation the earth is to rail
The support force in road applies the driving of driving moment, simulated machine and retarder to crane in the revolute of wheel shaft and wheel
Power applies horizontal loading in vertical brake shoe direction, simulates the brake force of rim brake；
Wind load is acted on crane by way of wind pressure, in order to simplify the process that is further applied load, according to power in rigid body
On translation principle, thrust of the wind load to crane structure is simplified to crane centroid position, obtains a power and one
A torque, emulation crane operation course are as follows: applying driving force on crane centroid position first, crane starts to transport
It is dynamic, apply at crane centroid position when speed reaches 1m/min it is equivalent after wind load, while rim brake starts
Apply clamping force, clamping force is 1s, the frictional force of brake block and wheel from starting to work specified clamping force action time
Crane is set to slow down until stopping, the numerical simulation time is 7s.
Beneficial effects of the present invention:
The meticulous model that the many-body dynamics simulator and method of this crane wind resistance non-skid property are established can be right
The braking ability of brake carries out carry out simulation study, it can static, dynamically verify analysis crane wind resistance non-skid property,
It analyzes and researches so as to dynamic response of the entirety in wind resistance braking process, such as the variation of wheel load, sliding displacement, vehicle
Motion state etc. is taken turns, configuration optimization can also be carried out using type selecting of the model to brake and analyzed；It is fixed based on power translation
Reason can simplify boundary condition to the equivalent process of wind load and apply step, improve simulation efficiency；Using this model can to rise
The anti-skidding failure mechanism of heavy-duty machine wind resistance is inquired into, and can be according to the emulation data of this dynamic model to the anti-skidding scene of crane wind resistance
Test provides guidance and theoretical foundation.By adding monitoring system, overall monitor can be carried out to the operating parameter of crane and is managed
Reason, improves detection efficiency, can guarantee the safe operation of crane.Air velocity transducer and velocity sensor on brake can be with
Cooperation obtains data, goes out the braking scheme formulated by wind-force size, velocity estimated, and related brake devices is instructed to brake.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic diagram of the many-body dynamics simulator of crane wind resistance non-skid property of the present invention.
Fig. 2 is the main view of Fig. 1 middle cross beam.
Fig. 3 is the top view of Fig. 1 middle cross beam.
Fig. 4 is the shape that wind load passes through wind pressure in the many-body dynamics analogy method of crane wind resistance non-skid property of the present invention
Formula acts on the translation motion figure of the power of crane.
Fig. 5 is the folder that rim brake applies in the many-body dynamics analogy method of crane wind resistance non-skid property of the present invention
The timeamplitude map of clamp force.
Fig. 6 be in the many-body dynamics analogy method of crane wind resistance non-skid property of the present invention crane whether there is or not wind loads
Brake displacement timeamplitude map under effect.
Fig. 7 is that crane is walked along wind direction in the many-body dynamics analogy method of crane wind resistance non-skid property of the present invention
When front wheels and rear wheels wheel load curve graph.
When Fig. 8 is the vehicle wheel rotational speed of crane in the many-body dynamics analogy method of crane wind resistance non-skid property of the present invention
Journey curve graph.
Fig. 9 is the schematic diagram of the monitoring system of portal crane model in Fig. 1.
Figure 10 is the schematic diagram of the control system in Fig. 1 on brake.
In figure: portal crane model 1, girder 2, stabilizer blade 3, crossbeam 4, driving wheel 5, driven wheel 6, retarder 7, brake
8, PLC controller 8.1, air velocity transducer 8.2, velocity sensor 8.3, static brake device 8.4, dynamic braking device 8.5, system
Dynamic motor 9, rail clamping device 10, signal acquisition unit 11, gravity sensor 11.1, stroke sensor 11.2, velocity sensor 11.3,
Camera 11.4, information process unit 12, control output unit 13, information memory cell 14, information display unit 15, information are led
Outgoing interface unit 16, communication chip 17, monitoring host computer 18.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
Such as Fig. 1 to Fig. 3, the present invention relates to a kind of many-body dynamics simulator of crane wind resistance non-skid property and sides
Method, simulator are analyzed using portal crane model 1 to simulate crane, which includes girder
2, the bottom of the setting of 2 horizontal cross of girder, 2 two sides of girder is solid by more stabilizer blades 3 and horizontal two longitudinally disposed crossbeams 4
Fixed, the bottom of crossbeam 4 is set on horizontal longitudinally disposed track by wheel, and the wheel includes driving wheel 5 and driven wheel
6, driving wheel 5 and the setting of the interval of driven wheel 6, driving wheel 5 are driven by motor control, are moved together with driven wheel 6, the active
It is connected with retarder 7 on wheel 5, matched brake 8 is connected on retarder 7, the input terminal of brake 8 is connected with braking motor
9, driving wheel 5 is braked by braking motor 9, it is made to become rolling from sliding, realizes and brakes, the one of the crossbeam 4
End is additionally provided with rail clamping device 10 for clamping guide rail to prevent 1 play of portal crane model.
Such as Fig. 9, signal acquisition unit 11 is housed on the portal crane model 1, signal acquisition unit 11 includes gravity
Sensor 11.1, stroke sensor 11.2, velocity sensor 11.3, camera 11.4 etc., signal acquisition unit 11 passes through modulus
Converter, isolation circuit are connected with information process unit 12, and the information process unit 12 is fpga chip, information process unit
12 are connected with control output unit 13, information memory cell 14, information display unit 15 and information export interface unit 16, and
Information process unit 12 is connected by communication chip 17 with monitoring host computer 18, described logical for monitoring the various parameters of crane
News chip 17 is wireless communication chips, RS485/RS232 communication chip or ethernet communication chip etc..
Such as Figure 10, control system is housed on the brake 8, which includes PLC controller 8.1, wind speed sensing
Device 8.2, velocity sensor 8.3, static brake device 8.4, dynamic braking device 8.5, air velocity transducer 8.2, velocity sensor
8.3 are connected on the input terminal of PLC controller 8.1, and air velocity transducer 8.2 can accurately know the wind speed and wind of objective condition leeward
To wind speed curve just can be used as the comparison standard and amendment standard of wind pressure curve, and velocity sensor 8.3 can measure gate-type and rise
The speed of travel of heavy-duty machine model 1, the static brake device 8.4 and dynamic braking device 8.5 are fixed on crane, and quiet
State brake apparatus 8.4 and dynamic braking device 8.5 are connected with the output end of PLC controller 8.1, and static brake device 8.4 includes
Rim brake and iron Wedge brake, the storage of 5 direction of motion front of driving wheel to be arranged in of the dynamic braking device 8.5
Case, the storage box are provided with several rubber speed limit blocks, and the storage box is opening down, and the opening is vertically oriented to track.
The multi-body Dynamic Analysis method of crane wind resistance non-skid property is based on ADAMS and SolidWorks and establishes crane
Structural model only establishes crane load-carrying members, vehicle to Dynamics of Cranes model simplification under the premise of not influencing to calculate
Wheel, track, brake block and wheel shaft, and the above structure is all handled it according to rigid body, and which shares 64
A wheel arranges brake on 32 wheels, has brake and the wheel of brakeless device to be alternately arranged, wheel shaft-vehicle frame and vehicle
It is connected between the above structural member of frame with fixed joint, wheel shaft is connected with wheel with revolute, does not consider its damping herein.According to
Certain rim brake establishes brake block, and guarantees that brake shoe and wheel have a gap of opening a sluice gate of 1mm, brake block and wheel it is dynamic
Coefficient of friction takes 0.35, and confficient of static friction takes 0.4, with the secondary connection brake block of sliding and vehicle frame, wheel and track, brake
Watt-wheel is theoretical using Hertz, its contact force is simulated using non-linear equivalent spring damper model, rim brake-wheel and
The frictional force of wheel-rail Coulomb modeling.
Track and the earth are connected with fixed joint, support force of the simulation the earth to track.In the revolute of wheel shaft and wheel
The driving force of upper application driving moment, simulated machine and retarder to crane.Apply horizontal loading, mould in vertical brake shoe direction
The brake force of quasi- rim brake.
Wind load is acted on crane by way of wind pressure, in order to simplify the process that is further applied load, according to power in rigid body
On translation principle, thrust of the wind load to crane structure is simplified to crane centroid position, obtains a power and one
A torque, translation motion are as shown in Figure 4.Assuming that crane suddenly encounters wind load in working condition, rim brake at this time
Start to brake, in practical braking process, rim brake needs a braking process, which brings lifting to braking
The impact force of machine plays buffer function, is about 1s or so the time required to the braking process is found through experiments that, emulates crane
Operation course is as follows: applying driving force, crane setting in motion, when speed reaches 1m/min on crane centroid position first
When apply at crane centroid position it is equivalent after wind load, while rim brake start apply clamping force, clamping force from
Starting to work to specified clamping force action time is 1s, and time-history curves are as shown in Figure 5.The frictional force of brake block and wheel makes
Crane slows down until stopping, and the numerical simulation time is about 7s.
Crane is extracted whether there is or not the Brake displacement time-history curves under wind action, as shown in fig. 6, the braking of wheel side can
Preferable braking effect is played, coasting distance difference 1.1m is compared with no wind load.
Extract front wheels and rear wheels wheel load walk along wind direction of crane, as shown in fig. 7, wherein CONTAC_32 with
CONTAC_15 is respectively the contact force of front wheels and rear wheels and track, and inquiring self weight known to the data of the crane is 994T, when rising
Each wheel load is 15.46T when heavy-duty machine static balance, then total wheel load is 989.44T, and error is smaller, it was demonstrated that theoretical model and practical feelings
The consistency of condition demonstrates the correctness of model.
As shown in Figure 7, under wind action, wheel load is not a steady state value during crane brake, but edge
Certain value fluctuate up and down, this is because braked wheel becomes sliding from rolling after brake, along with wind load is to crane
The phenomenon that fluctuating is presented in the effect of additional bending moment, the power for causing braked wheel and track.Before rim brake braking, front and back
It is almost equal to take turns wheel load, in braking process, rear-wheel wheel load is less than front-wheel wheel load, exacerbates the abrasion of front-wheel and track, this is
Caused by bringing the additional bending moment of crane as one side wind load, caused by the inertia of another aspect crane itself.When
After crane stop motion, crane self inertia power disappears, but under the action of the additional bending moment of wind load, front and back wheel load
Still there is certain difference, but gap is little.
Front-wheel wheel load is maximum at the time of the time 1.4665 seconds known to wheel load time-history curves, and is existing as shown in Figure 8
The revolving speed of a moment front-wheel after the point quickly reduces, until being 0, it is seen that during this period of time, with brake clamping force
Increase, the frictional force of wheel and track is not enough to provide vehicle wheel rotation, and wheel starts to become sliding from rolling, in wheel movement
Biggish extruding is generated to track during conversion, track and wheel is made to be easier to generate abrasion.In braking time below
In, since the wheel load fluctuation of front-wheel is bigger, so wheel can have sliding to become rolling at wheel load biggish time point, in wheel load
There is rolling to become sliding again when fluctuating low ebb, so its speed curves has the salient point of part, but is taken turns in these salient point periods
The rotational angle of son is smaller.And for rear-wheel, the effect of wind load additional bending moment and crane self inertia makes rear-wheel wheel load
It is smaller, sliding state all nearly all is within the time after wheel stops operating completely.
It is fine that this analysis method based on ADAMS establishes crane-rim brake dynamics under wind action
Model, using the contact force of Hertz theoretical modeling wheel-rail and rim brake wheel, based on Coulomb to braking
The brake force of device is emulated, and has been obtained preferable as a result, and being concluded that
(1) the meticulous model established can the braking ability to rim brake carry out carry out simulation study, and to making
The operating status of crane is analyzed during dynamic, such as the variation of wheel load, sliding displacement, wheel movement state, can be with
Configuration optimization is carried out using type selecting of the model to brake to analyze.Specific parameter can by experimental data to its into
Row amendment；
(2) boundary condition can be simplified based on equivalent process of the power shifting theorem to wind load and applies step, improve emulation
Efficiency；
(3) rim brake can effectively play braking action under wind action, and wheel load is simultaneously in braking process
It does not measure, a horizontal undulate quantity, and the wheel load scene of two-wheeled is larger before and after crane moving direction, easily to vehicle
Wheel and track cause to wear.
(4) the anti-skidding failure mechanism of crane wind resistance can be inquired into using this model, and can be according to this dynamic model
Emulation data to the anti-skidding field test of crane wind resistance provide guidance and theoretical foundation.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (2)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112374373A (en) * | 2020-11-26 | 2021-02-19 | 宁波市凹凸重工有限公司 | Windproof control system and method for crane |
| CN116380509A (en) * | 2023-03-09 | 2023-07-04 | 江苏省特种设备安全监督检验研究院 | Crane multi-working-condition simulation test method and simulation test system |
| CN117249968A (en) * | 2023-11-20 | 2023-12-19 | 南通腾革建筑机械设备有限公司 | Crane windproof detection system and windproof detection device |
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| CN116380509B (en) * | 2023-03-09 | 2023-10-20 | 江苏省特种设备安全监督检验研究院 | Crane multi-working-condition simulation test method and simulation test system |
| CN117249968A (en) * | 2023-11-20 | 2023-12-19 | 南通腾革建筑机械设备有限公司 | Crane windproof detection system and windproof detection device |
| CN117249968B (en) * | 2023-11-20 | 2024-02-27 | 南通腾革建筑机械设备有限公司 | Crane windproof detection system and windproof detection device |
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