| The non-rigid lifting equipment such as the lifting load of the crane and the cabin of the passenger ropeway will swing during the work,which directly affects the work efficiency,safety and passenger experience of the equipment.Reducing and eliminating this swing through product design and control parameter settings is of great significance for improving product performance.Both the swing of the lifting load and the cable car can be simplified into a sliding pendulum system.For a certain system,the movement of the slider determines the movement law of the simple pendulum.Reasonable setting of the slider speed curve can make the single pendulum quickly reach a stable state and reduce until the swing angle is eliminated.In this paper,the typical dynamic system of the slider pendulum model the acceleration dynamics process of the detachable ropeway cabin is studied.Firstly,a dynamic simulation model of a typical system is established,the existing speed curve is simulated,and compared with the measured acceleration curve of the car to verify the correctness of the simulation model.According to the dynamic differential equation of the slider single pendulum system and the principle of anti-sway of the bridge crane,a new acceleration curve is designed,and its characteristics are studied in a simplified simulation model.Finally,the new acceleration curve is applied to the system model to study its effect.The main work of this article is:(1)Use the ADAMS software to establish the rigid-flexible coupling model of the typical system acceleration process.Including the effect of the elastic body of the flexible body and the transmission belt under load on the simulation results;(2)Verify the correctness and accuracy of the model by comparing the measured and simulated results of the key components of a typical system;(3)Analyze the working principle and deficiencies of the existing acceleration curve to provide a basis for the design of the new acceleration curve;(4)Establish a slider single pendulum model,use the Lagrange method to derive the pendulum angle dynamic equations,study the relationship between the various elements that affect the pendulum angle size,and use a simplified simulation model to verify;(5)Propose a new acceleration curve and bring it into the rigid-flexible coupling model of the typical system acceleration process for simulation,and study its actual effect.The research ideas and results of this paper have certain reference significance for the design of anti-sway operation curve of passenger ropeway and bridge crane and other similar equipment. |
