Multi-Body Dynamic PD Control of Concrete Pump Truck Arm System

2009 ◽  
Vol 16-19 ◽  
pp. 806-810 ◽  
Author(s):  
Li Dai ◽  
Jian Wang ◽  
Bo Zhao ◽  
Jie Liu
Keyword(s):  
Control Theory ◽  
Numerical Solution ◽  
Dynamic Equation ◽  
Dynamic Theory ◽  
Hydraulic Cylinder ◽  
Pd Control ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body ◽  
Body Dynamic

For the concrete pump truck, the movements of the arm and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. And with the applying of PD control theory, the dynamic equation of arm system is also built. And according to the numerical solution of the equation, it is proved that the dynamic equation can describe every dynamic character of the concrete pump truck well.

The Dynamic Analysis of Concrete Pump Truck Arm in Civil Engineering

2012 ◽  
Vol 568 ◽  
pp. 138-141
Author(s):  
Li Dai ◽  
Yun Gong Li ◽  
Yu Liu ◽  
Jian Wang
Keyword(s):  
Kinetic Equation ◽  
Dynamic Equation ◽  
Civil Engineering ◽  
Dynamic Theory ◽  
Hydraulic Cylinder ◽  
Body Dynamics ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body ◽  
Body Dynamic

The concrete pump truck integrates transportation with pouring process ，which is characterized with flexibility, facility and celerity in civil engineering. As for the concrete pump truck, the arm system is the most important because the rationality of the arm directly influences the performance and pouring position of the truck in its application in civil engineering. For the arm system of the concrete pump truck, the movement of the arm system and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. By using numerical arithmetic to resolve the dynamic equation, the terminal track of the arms is analyzed. It shows that the kinetic equation built by multi-body dynamics can describe the dynamic characteristics of pump truck exactly.

Modeling and Simulation of Flexible Hydraulic Robotic Arm

2012 ◽  
Vol 538-541 ◽  
pp. 773-776 ◽  
Author(s):  
Li Dai ◽  
Da Lu Xu ◽  
Yu Liu ◽  
Jian Wang
Keyword(s):  
Coupled Model ◽  
Position Angle ◽  
Hydraulic Cylinder ◽  
Simulation Software ◽  
Robotic Arm ◽  
Body Dynamics ◽  
Hydraulic Cylinders ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Multi Body

The flexible robotic arm drived by hydraulic are widely applied in most kinds of large engineering equipments, such as concrete pump truck, bridge monitor truck,etc. Nevertheless, the flexible distortion always break the precision of end-position and cause liberation of the whole arm system. In this paper, the movement of flexible hydraulic robotic arm and hydraulic cylinders are separately analyzed with flexible multi-body dynamics. And the dynamic differential equation is built with the driving force of the hydraulic cylinder as the main force. The equation is based on the theory of flexible multi-body dynamics, building the coupled model of robotic arm system and hydraulic-driving system to study the relation between the end-position, angle and the hydraulic system. What’s more, the simulation model of the mechanical arms is built by the dynamic simulation software. The project will theorectically support the intelligent control or auxiliary control of large engineering equipments.

Kinematic Formulation of Mooring Platform During Collisions Based on Multi-Body Dynamic Theory

2018 ◽  
Author(s):  
Qiuwan Duan ◽  
Yang Yang
Keyword(s):  
Finite Element Method ◽  
Impact Force ◽  
Dynamic Theory ◽  
Kinematics Analysis ◽  
Body Dynamics ◽  
Load Analysis ◽  
Multi Body ◽  
The Impact ◽  
Analytical Expressions ◽  
Body Dynamic

When a platform is operating in a mooring, various vessels that frequently pass by result in severe accidental collisions of the platform. Thus, the kinematic response of the mooring platform should be investigated. A new analytical method, including a load analysis and kinematics analysis, is proposed in this paper. In the load analysis, the impact force is calculated using finite element method (FEM). In the kinematic analysis, closed-form analytical expressions based on multi-body dynamics are derived with the impact force as an input. Furthermore, the expressions are improved considering the fluid effect. A series of collision cases are implemented to validate the proposed method by FEM. The kinematic results solved by the proposed method agree well with FEM, which illustrates that the method is feasible and accurate. However, the proposed method taking around 30s, which is much shorter than 7200s by FEM, is proved to be more efficient.

Analysis of Arc-Shaped Support Plate Influence on Muzzles Vibration of Gatling Gun Fire on Tripod

2013 ◽  
Vol 712-715 ◽  
pp. 1464-1467
Author(s):  
Jia Sheng Li ◽  
Zhen Qiang Liao ◽  
Ming Qiu ◽  
Fei Wang
Keyword(s):  
Dynamic Model ◽  
Dynamic Simulation ◽  
Dynamic Theory ◽  
Support Plate ◽  
Supporting Effect ◽  
Multi Body ◽  
Body Dynamic

To improve the firing stability of Galtling gun by installing an arc-shaped support plate on a light tripod,a firing dynamic model of Gatling gun shooting on light tripod which has a arc-shaped support plate fixed on the different positions established based on rigid-flexible multi-body dynamic theory. The muzzles vibration and tripods deformation obtained through dynamic simulation. The results show that while the arc-shaped support plate fixed close to the bracket, the supporting effect to Galting gun decreased, tripods deformation and muzzles vibration increased. On the contrary, it reduced muzzles vibration and enhanced the firing stability. The analytic results provide a reference to improve the arc-shaped support plate in tripod.

Dynamic Research with Drivetrain Simulation and Modal Analysis of Wind Turbine Gearbox

2014 ◽  
Vol 952 ◽  
pp. 161-164 ◽  
Author(s):  
Zheng Li ◽  
Yang Chen
Keyword(s):  
Wind Turbine ◽  
Modal Analysis ◽  
Dynamic Theory ◽  
Dynamic Performance ◽  
Modal Parameters ◽  
Analysis Software ◽  
Wind Turbine Gearbox ◽  
System Vibration ◽  
Multi Body ◽  
Body Dynamic

The dynamic performance of wind turbine gearbox is very important for measuring the integrated vibration and noise of the whole drivetrain system of wind turbine. The stiffiness and modal parameters of the gearbox will influence the system vibration situation obviously. The wind turbine gearbox is a kind of complicated coupled mechanics; it means the modal analysis on gearbox should consider the coupling effects of the components and define logical damping factors. This paper presents a method to simulate wind turbine gearbox system with the multi-body drivetrain dynamic analysis software. The modal analysis of wind turbine gearbox can be carried out on the basis of the multi-body dynamic theory.

Dynamic Analysis and Simulation of Deployable Planar Truss Mechanism

2009 ◽  
Vol 69-70 ◽  
pp. 649-654
Author(s):  
Yi Sun ◽  
G.K. Shi ◽  
J.H. Shan ◽  
Ming Feng Dong
Keyword(s):  
Dynamic Analysis ◽  
Mechanism Design ◽  
Dynamic Model ◽  
Dynamic Equation ◽  
Optimization Design ◽  
Dynamic Theory ◽  
Lagrange Equation ◽  
Body System ◽  
Force Condition ◽  
Multi Body

This document researches on the improved deployable planar truss mechanism design and builds an dynamic equation of the model based on Lagrange equation in the multi-body system dynamic theory. The dynamic model is established to simulate the motion of the system and calculate the force condition of members respectively by ADAMS. Finally, the significant references for the elasto-dynamic analysis and optimization design of the truss mechanism will be provided.

Analysis of Damping Components of Roll Resistant Specific Hydraulically Interconnected Suspension System

2013 ◽  
Vol 380-384 ◽  
pp. 195-200
Author(s):  
Yu Long Wang ◽  
Bang Ji Zhang ◽  
Nong Zhang
Keyword(s):  
Dynamic Equation ◽  
Coupled System ◽  
Design Approach ◽  
State Space Method ◽  
Innovative Design ◽  
Car Model ◽  
Multi Body ◽  
Eigenvalue And Eigenvector ◽  
Body Dynamic ◽  
Space Method

This paper presents a full-car model of vehicle fitted with roll resistant specific HIS system in order to research the coordination of the main modals of sprung mass. Based on the transfer matrix method and state space method, the mechanical and hydraulic coupled multi-body dynamic equation is derived. The eigenvalue and eigenvector is solved by eigenvalue iteration identification method of frequency-dependent characteristic. By discussing the characteristic of the damping components which are the dominant parameters of the coupled system, an innovative design approach of damping components of the HIS system is proposed. Finally, comparison of vehicle vibration is carried out between vehicle with traditional suspension and that fitted with roll resistant specific HIS system. The obtained result indicates that with the proposed design approach of damping components, the roll resistant specific HIS system can promote the capacity of anti-rollover specific observably with reasonable comfort performance.

Modal Analysis of Concrete Pump Truck Boom

2014 ◽  
Vol 889-890 ◽  
pp. 148-151 ◽  
Author(s):  
Kun Li Mao
Keyword(s):  
Finite Element ◽  
Modal Analysis ◽  
Natural Frequencies ◽  
Hydraulic Cylinder ◽  
Element Analysis ◽  
The Finite Element Analysis ◽  
Concrete Pumping ◽  
Pumping Mode ◽  
Concrete Pump Truck ◽  
Concrete Pump

Boom is one of key components of concrete pump trucks which can be looked as a projecting beam when unfolded at pumping mode. Under different concrete pumping modes, vibration of boom is serious for the hydraulic cylinder switching over shock, which can lead to the early damage of boom structure. In the finite element analysis software, boom of 37 meters concrete pump truck is simulated for its modal. Natural frequencies and corresponding modes are got and analyzed. To reduce vibration of concrete pump trucks, advices are presented by finite element modal analysis.

Design and Spread Analysis of a New Deployable Bridge Section

2013 ◽  
Vol 639-640 ◽  
pp. 206-210
Author(s):  
Duan Cai Yuan ◽  
Qi Gao Hu ◽  
Guang Xu Sun
Keyword(s):  
Theoretical Analysis ◽  
Maximum Error ◽  
Hydraulic Cylinder ◽  
Adams Software ◽  
Integral Structure ◽  
Simulation Results ◽  
Multi Body ◽  
Spread Analysis ◽  
And Storage ◽  
Body Dynamic

For the volume of the new prefabricated bridge with integral structure is huge and transportation and storage are difficult, scissors mechanism driven by hydraulic cylinder is presented to bridge design. Wth theoretical analysis, the position of the node, velocity and acceleration are analyzed. Using the ADAMS software, the whole model of deployable bridge section is established. The multi-body dynamic simulation of the whole model is studied. The simulation results are compared with those of theoretical analysis. The maximum error of them is 2.26%. The methods and conclusions are available for the design of developable bridge section.

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