摘要
液压重载机械臂工作时由重力引起的预应力刚化对于整体结构的仿真分析具有显著的影响,针对此问题,提出了一种考虑预应力刚化的计算模态分析方法和基于径向基函数代理模型的有限元模型修正方法。以某型液压重载机械臂为研究对象,建立整体复杂结构的有限元模型及其预应力刚化模态频率的代理模型,以多个工况试验模态分析结果为目标,基于全局优化算法实现了整体结构的模型修正。对试验修正后的模型开展了应变响应预测,验证了模型的预测能力。研究结果表明,所提方法不仅提高了模型复现修正响应的能力,而且能够准确预测未修正的响应,从而验证了方法的可行性,为重载机械臂的自动控制和优化设计提供了精确动力学模型。
While a hydraulic heavy-duty mechanical arm operates,the pre-stress resulting from gravity has a significant hardening on the structural dynamic characteristics'stiffness.Therefore,a modal analysis method that accounts for pre-stress stiffness-hardening and a finite element model updating method based on radial basis function meta-models are being implemented and studied.Taking a hydraulic heavy-duty mechanical arm as the research object,the finite element model of the overall structure and the meta-model of pre-stressed modal frequencies have been established.The structure's model updating process is grounded in the global optimization algorithm,and the strain response prediction is conducted based on the updated model to verify the prediction ability of the model.The results show that the proposed method not only significantly improves the ability of the model to replicate the updated response but also can accurately predict the response of the un-updated model,thereby validating the method's feasibility.The method provides an accurate dynamic model for the structural optimization and automatic control of heavy-duty mechanical arm.
作者
杨柳松
郝兵
胡同海
郭勤涛
陶言和
YANG Liusong;HAO Bing;HU Tonghai;GUO Qintao;TAO Yanhe(Luoyang Mining Machinery Engineering Design Institute Co.,Ltd.Luoyang,471003,China;National Key Laboratory of Intelligent Mining Heavy Equipment Luoyang,471003,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics Nanjing,210016,China)
出处
《振动．测试与诊断》
EI
2024年第2期380-384,415,共6页
Journal of Vibration,Measurement & Diagnosis
基金
国家重点研发计划资助项目(2017YFB1302100)。
关键词
液压重载机械臂
预应力刚化
模型修正
响应预测
hydraulic heavy-duty mechanical arm
pre-stress stiffness-hardening
model updating
response prediction
