三级同步液压缸设计及建模仿真研究.pdf

562009(7)A!9#y_华东交通大学机电工程学院SK1:!9B3)A,Matlab/Simulink_q3)A+_,_TV!93)AVLCbH8_qAD-AMS,|3)AA0d_,aaFwLvl#A0Yb_TVA0d3)Al5%,L=P1pb1oM:3)A；0；+；_；ADAMSAbstract:Thepaperpresentshowthethree-stagesynchronoushydrauliccylinderisdesignedandhowthedynamicsimulationofthecylinderpssynchronouscharacteristicsiscarriedoutbymeansofMatlab/Simulinknumericalsimulationsoftware1Theresultsshowthatthismethodcanmakethecylindersynchronousoperation1Furthermore,thethree-stagesynchronoushydrauliccylinderusedinthehydraulicelevatorsystemissimulatedtostudytheeffectofthecylinderpspos-ition,velocity,accelerationcurveerroronthehydraulicelevatorpsrunningsmoothness1Theresultshowsthatthesynchro-nouserrorofthecylinderisless5percentandcanmeettheoperationalrequirement1Keywords:three-stagehydrauliccylinder；elevator；synchronouscharacteristics；numericalsimulation；ADAMS3)A1A0#bT46bTT%*cAM1,8bW,=GL1+,Ua；y)%HHT,VE%ZT1b3)A,s3)A!9a+_#_,z3)AA0#46M1,V7812,83YVgAdMbAH,83,w_M,cWl,AYV_ld82,P9_M,8A81,w_bYV!91+,?LC3)AT,7OMb/V9VTsbiV,8p1p2p3,2_DS1,/KH,_DD_,PDgu7,A)Wr,Ph2bm13)Aem11c21_D)9)562009(7)VA,Y1y8WP+jbyN!9H8TA3-8TA2M,A3UA2,iOY8382bMMx3H,838$v=A3x3,A82,PM3M$v/A2,x2-x3=$v/A2U$v/A3=x3(1)TV:x2U2x3bsV1T:v2U2v3；Qsa2U2a3bVwx1U3x3,v1U3v3,a1U3a3bsVZFv1P4d21=v2P4(D22-d22)v2P4D22=v3P4(D23-d23)(2)v1av2av3M/B)Mb!v1=v2=v3,5T(2)VeD22=d21+d22D23=D22+d23(3)|d1=85mm,d2=125mm,d3=170mmT(3)V:D2=150mm,D3=230mm,7D1=105mm,d4=260mm,VCD1=12(d2-D1)=10mmD2=12(d3-D2)=10mmD3=12(d4-D3)=15mm(4)|T(2)V91v1=D22-d22d21#v2=01952v2v2=D23-d23D22#v3=110675v3v1=0195211067v3=1101625v3(5)v1zv2zv3=41065z4127z4=1101625z110675z1|)V1UbV1Vd1d2d3d4/mm85125170260D1D2D3L1aL2aL3/mm1051502303000D1D2D3L/mm101015900023)A+Simulink_+3)AK1+,_qMatlab/Simulink3)A_14!9A)M,V7F/4Ib_H|3)As30,iL!AVS7S,/VMQ,b211dsc-Zdp3dt=EBV03+A3Qt0v3dt(q3-v3#A3)(6)Tp3)83V03)83S8v3)EB)r8A3)-8Tq3)VsVM3dv3dt=p3A3-M3g-p2(A2+A3)-Bpv3+p1A2-F(7)TM3)p2)82p1)81Bp)TEDA2)-8TA3)8TA2)8T)10)562009(7)F)E-Zdp2dt=EBV02+A2Qt0v2dt(q2-v2#A2)(8)TV02)82S8v2)q2)82VsVM2dv2dt=p2A2-M2g-p1(A2+A2=)-F-Bpv2(9)TM2)A2=)=8TF)E-Zdp1dt=EBV01+A1Qt0v1dt(q1-v1#A1)(10)TV01)81S8v1)q1)81VsVM1dv1dt=p1A1-FL-M1g-FcI-Bpv1(11)TM1)A1)8TFL)FFcI)212_Ts|T,s,!0N1m/s,N92500kgbm23)AwL,VmVA,I(90N)1m/s,0167m/s,0133m/s,3)A)13z2z1,)M/B)M0133m/sb_V!9)AVSbm2A)wL11213133)A+_!9qPro/Eqy3)AL8,Pro/E8_qADAMS,|Pro/Ef/,|91ld,d_,i_,9TbPro/El8F,|.ADAMS/View_s,V3)AaaFwLvl#A0Yb311qyn5,|Pro/EX7yz,qmFqmADAMS/ViewqM；Ql8,sY4Fqm,q7yaa#c48,K4g3bT,Done/Return,OK,1ADAMS/View(m)b|.ADAMS/View,7y%3MJoint_2aJoint_3Joint_4；H7y3MFzMotion_1aMotion_2Motion_3,lStepf:(1)(Motion_3)fSTEP(time,010,010,01470,-0133)+STEP(time,8185,010,9145,0133)；(2)(Motion_2)fSTEP(time,41425,010,41945,-0167)+STEP(time,41945,0,818455,0)+STEP)11)562009(7)(time,818455,010,9145,0167)；(3)I(Motion_1)fSTEP(time,51945,010,61435,-1)+STEP(time,61435,0,8194,0)+STEP(time,8194,010,9145,110)b312_TsVm3awL_TV3)AM3m,T3)A?r9m,V11pbVm3bwLmVA,(90N)1m/s,O167m/s,0133m/s,3)A)13z2z1,O3)AM/B)M0133m/s,3)Abm3cQaFwLMt,13z2z1,O3)Al5%bm3_T(a)wLm(b)wLm(c)FwLm1121314!9B3)A,bMatlab/Simulink3)A+_s,|T,s,_TV!9AVLCb8_qADAMS,|3)AA0d_,aaFwLvl#A0Yb_TV!93)AVLC,!91pbID1oS1%TA)