香蕉园电动滑车式索道运送系统动力学研究

Dynamics of Electric Pulley Conveying Cableway System in Banana Plantation

摘要:

对香蕉园电动滑车式索道系统进行研究，将系统中滑车位置、滑车速度、蕉穗摆角、摆角角速度作为广义坐标状态量，采用拉格朗日方程进行推导并建立系统数学模型，理论和试验分析了系统动力学特性。虚拟样机试验结果表明，在挂钩点到各蕉穗质心距离相同的前提下，可将多运动质量串联式的蕉穗运送系统等效为单运动质量的吊重系统进行研究。由同工况的试验结果可知，采用建立的动力学解析模型、虚拟样机模型，与实际系统在蕉穗摆动角速度的频率、幅值结果基本一致，虚拟样机模型的计算结果与实际值接近。说明建立的系统动力学解析模型正确，虚拟样机模型能真实反映系统动力学特征，可为实际系统的设计和改进提供理论参考和指导。

Abstract:

The electric pulley cableway system in banana plantation was studied. With the selection of the pulley location, pulley speed, swing angle and swing angular velocity of banana bunch as generalized coordinate variables, the mathematical model was derived with Lagrange equations. The dynamic characteristics were analyzed theoretically and experimentally. The results of virtual test showed that the conveying system with multiple moving mass in series was similar to the hoist system with a single moving mass if the distances between each hook point and banana bunch centroid were equal. The test results illustrated that the proposed dynamic analytical model and virtual prototype model were similar to actual system for analyzing the frequency and amplitude of swing angular velocity. The analytical results of virtual prototype model were basically consistent with the actual data. It is evident that the dynamics analytical model is correct and the virtual prototype model gives the realistic reflection to the system dynamics, which provide theoretical reference for the design and modification of the actual system. 