CN109002608A - A kind of ladle carne dynamic optimization method considering driver's comfort - Google Patents
A kind of ladle carne dynamic optimization method considering driver's comfort Download PDFInfo
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- CN109002608A CN109002608A CN201810778464.3A CN201810778464A CN109002608A CN 109002608 A CN109002608 A CN 109002608A CN 201810778464 A CN201810778464 A CN 201810778464A CN 109002608 A CN109002608 A CN 109002608A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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Abstract
The invention discloses a kind of ladle carne dynamic optimization methods for considering driver's comfort, based on crane structure parameter, people-crane-rail system nine-degree of freedom mathematical model is solved using Newmark method, obtain the response of human body vibration acceleration time domain, the power spectral density of human body vibration acceleration is obtained in conjunction with Fast Fourier Transform (FFT), calculates human body vibration acceleration-root-mean square.Using ISO2361-1:2011 as theoretical direction, the worried rate model of driver is constructed, the quantized result of worried rate is provided.Using crane structure parameter as basic variable, using driver's worry rate model as objective function, the acceleration amplitude and displacement amplitude respectively constructed using crane is constraint condition, using the optimum results for the crane structure parameter that particle swarm algorithm obtains meeting driver's comfort index.The present invention reduces crane structure vibration and driver's worry rate, improves the service life of crane, reduces driver and vibrates the probability for generating occupational disease.
Description
Technical field
The invention belongs to Dynamics of Cranes technical fields, are related to a kind of prioritization scheme of ladle carne, especially relate to
And a kind of ladle carne dynamic optimization method for considering driver's comfort.
Background technique
Ladle carne is a kind of high-energy product for realizing that ladle is placed and zero load is resetted by operating mechanism's aggregate motion
Poly-, high risk operation metallurgical machinery equipment.As technological progress and city constantly expand, coastal area harbour is often to fill out sea
Epeirogenetic mode establishes industrial base, leads to that the subsidence of foundations occurs in the crane runway of plant floor, railroad flaws become larger, in turn
Cause the problems such as ladle carne Welding Seam of Metallic Structure cracks, driver's vibration sense is strong.Ladle carne working environment is severe, high
Temperature, high humidity, Gao Chen, railroad flaws etc. are larger to its structural metallic materials Effect on Mechanical Properties, accelerate ladle carne metal
Structural damage, the service life for reducing crane, affect driver physical health, or even can to workshop staff with
Carry out life danger.
Human body, which is exposed in short term under vibration environment, makes driver generate discomfort, and long-time judder can also give driver
Body causes safety hazard.In ladle carne Dynamical Characteristics, human body vibration comfort is even more ignored important side
Face, while there is also not energetic disadvantages in existing human body vibration evaluation criterion.
Existing rubber tyre gantry crane design target only pursues crane performance, and lacks and consider to driver and environment, is based on people-
Machine-loop system rubber tyre gantry crane design target from it is single to multipole, from unilateral to comprehensive, embody rubber tyre gantry crane design and environment fitted
The high efficiency of Ying Xing, the comfort of human body and crane.Therefore, the rubber tyre gantry crane design thought for looking around angle based on people-machine-will be promoted
Design mass and level have great theory significance and project reference value.
Summary of the invention
In order to solve the problems, such as crane evaluation criterion in the prior art, the invention discloses a kind of consideration drivers
The ladle carne dynamic optimization method of comfort reduces crane structure vibration and driver's worry rate, improves crane
Service life, reduce driver vibrate generate occupational disease probability.
In cart operational process, high low defect and fault in seam are the main reason for causing crane structure to vibrate, rail
The influence of road and wheel own material defect influences little compared with both defects.It is main in cart starting or braking process
Beam and end carriage existZDirection (see figure 1) can generate the flexible deformation of very little, and when cart travels at the uniform speed, inertia force suffered by girder is
Zero andZThe deformation in direction disappears quickly under structural damping effect, at this time crane structure edgeZDirection vibration is negligible.
Due to the presence of wheel and track gaping of joints, girder can be made to existXDirection (see figure 1) generates flexible deformation, but is running
In journey caused by gaping of jointsXThe impact in direction also very little, at this time crane structure edgeXThe vibration in direction is negligible.Casting
Make that crane quality is big, lacks suspension system, since railroad flaws are short to the crane attack time, the speed of service is substantially not subject to
The influence of track impact, and the amplitude very little of each component, can be reduced to linear system for system.In research railroad flaws to lifting
When machine driver has an impact, considers to generate the principal element of vibration, ignores secondary cause, to simplify system vibration model and solution
Process and do following hypothesis:
(1) ignore crane structure in the horizontal direction vibration and girder, end carriage edgeX、ZThe deformation in direction；
(2) each component is simplified to mass block and each mass block does micro breadth oscillation in equilbrium position；
(3) rigidity in system and displacement, damping and corresponding speed are in a linear relationship；
(4) horizontal velocity remains unchanged constant when crane passes through railroad flaws；
(5) for each wheel, exciting force caused by running railroad flaws is all the same；
(6) girder running track is other than the high low defect and fault in seam of junction, other its position zero defects.
The value range of each organ intrinsic frequency of human body is 3~17Hz.Wherein, head intrinsic frequency is 8~12Hz, abdomen
Internal organ intrinsic frequency is 4~6Hz, and the resonant frequency of human body entirety is in 7.5Hz or so.This chapter is from driver's overall comfort angle
Influence of the degree evaluation vertical vibration to human body, the evaluation method and ISO 2631-1:2011(Mechanical Vibration
And shock- Evaluation of human exposure to whole-body vibration- Part 1) it is advised
Fixed mechanical equipment driver's Comfort Evaluation criterion is consistent.Therefore, when evaluating driver's overall comfort, in model simplification
Be it is middle driver is discussed as a whole, rather than the institutional frameworks such as connection, organ according to human body are simplified.
Based on the simplification of above-mentioned model, the technical scheme of the present invention is realized as follows:
The invention discloses a kind of ladle carne dynamic optimization methods for considering driver's comfort, are with crane structure parameter
Basic variable is constraint item with the acceleration amplitude of each component of crane and displacement amplitude using driver's worry rate as optimization aim
Part, using the optimum results for the crane structure parameter that particle swarm algorithm obtains meeting crew comfort index.
Further, the ladle carne dynamic optimization method of above-mentioned consideration driver comfort, comprising the following steps:
Step 1: quantization considers the incentive action of railroad flaws, according to ladle carne structure feature and parameter, determines casting
The physical simplifications model of crane establishes people-crane-rail system nine-degree of freedom motion according to Lagrange's equation
Equation；
Step 2: quantization considers human body subjective assessment caused by ladle carne vibrates, establish only with acceleration weighted root mean square
Related human body vibration Comfort Evaluation worry rate model, and as objective function (i.e. fitness function), and with lifting
The acceleration amplitude of each component of machine is constraint condition；Wherein, the concept of worried rate belongs to psychophysics scope, refers to a certain vibration
The number that worried reaction is generated under fatigue resistance accounts for the ratio of testee's sum, is reflected under certain oscillation intensity and thinks vibration " no
It is acceptable " or therefore make one to generate worried ratio.The theoretical basis of worried rate model evaluation method is Data Processing in Experiment
Psychophysics signal detection；
Step 3: on the basis of analyzing railroad flaws, based on people-crane-rail system nine-degree of freedom differential equation of motion
With the dynamic optimization model of worried rate model foundation crane structure vibrational system；
Step 4: random initializtion being carried out (at this time to the speed of each particle (i.e. design variable) and position using particle swarm algorithm
The number of iterations), the adaptive optimal control degree of ladle carne is obtained by iteration several times.
As a preferred implementation manner, in step 1, people-crane-rail system nine-degree of freedom is respectively as follows: cart Y
It is rotated to vibration and around X, Z-direction；Trolley Y-direction is mobile and turns about the Z axis；And hanging object, drivers' cab, seat and the human body side Y
To vibration.
Further, the ladle carne structural parameters are respectively as follows: crane wheel equivalent stiffnessWith equivalent resistance
Buddhist nun；Trundle equivalent stiffnessAnd equivalent dampingDrivers' cab coupling stiffnessAnd equivalent damping；Seat rigidityWith etc.
Effect damping；Wirerope rigidityAnd equivalent damping；Human body equivalent stiffnessAnd equivalent damping。
Preferably, railroad flaws incentive action includes since high low defect and interstitial defect rush crane in step 1
The effect of hitting.
As a preferred implementation manner, in step 2, the acceleration amplitude be in model two components that interact it
Between relative displacement.
Further, in step 3, using crane structure parameter as basic variable, using driver's worry rate model as target
Function, the acceleration amplitude and displacement amplitude respectively constructed using crane is constraint condition, it is established that heavy-duty machine Structural Vibration System
Dynamic optimization model.
The mathematical model of the crane structure vibrational system in step 3 is by vibration system as a preferred implementation manner,
System energy substitutes into what Lagrange's equation obtained, and the vibrational system energy includes: system kinetic energy, potential energy of system and system consumption
Dissipate energy；The system kinetic energy includes being vibrated by cart Y-direction and around X, Z-direction rotational kinetic energy, trolley Y-direction is mobile and turns about the z axis
Dynamic kinetic energy and hanging object, drivers' cab, seat and human body Y-direction kinetic energy；Potential energy of system include each equivalent spring elastic potential energy and
Cart, trolley rotation potential energy；System Dissipated energy includes that each connecting spring damping and cart, trolley rotary damping generate energy damage
Consumption.
Specifically, assuming that on the basis of establish crane vibrational system physical model it is as shown in Figure 1.The system can recognize
To be constant coefficient linearity dynamic system.It is mainly in view of the vibration of cart Y-direction in the vibrational system and turns around X, Z-direction
It is dynamic；Trolley Y-direction is mobile and turns about the Z axis；And the vibration of hanging object, drivers' cab, seat and human body Y-direction.With respective balance position
Set up vertical generalized coordinates systemWith, the kinetic energy of system may be expressed as:
Potential energy of system
It mainly include each equivalent spring elastic potential energy and cart, trolley rotation potential energy, potential energy
It may be expressed as:
System Dissipated energyIt mainly include that the damping of each connecting spring and cart, trolley rotary damping generate energy loss, Dissipated energy
It may be expressed as:
The second order differential equation that generalized coordinates indicates is lagrange equation of the second kind, and Lagrange's equation is to solve to have had
The common method of the dynamics of particle system problem of whole constraint, it is especially suitable to discrete particle system and multiple degrees of freedom Rigid-body System,
And it can be very good to establish the equation of motion of dynamics nonlinear problem.In nonconservative system system, Lagrange
Journey may be expressed as:
In formula:For system kinetic energy；For potential energy of system；For system capacity dissipative function；For because of Dissipation Function of EnergyCaused by damping force；For the broad sense exciting force under external force；For generalized coordinates；For generalized velocity.
Formula (1)-(3) give the energy method computations of crane vibrational system, on this basis, according to nonconservative force
Under Lagrange's equation, that is, formula (4) and driver-crane-track vibration system generalized coordinates, can be obtained and generalized coordinates phase
With the vibration equation of number, it may be assumed that each lumped mass (cart, trolley, drivers' cab, seat, hoist and driver)YThe vibration in direction
The differential equation, cart aroundX、ZThe rotation differential equation and trolley in direction aroundZDirection rotates the differential equation.
CartYDirection oscillatory differential equation may be expressed as:
TrolleyYThe oscillatory differential equation in direction may be expressed as:
Drivers' cabYThe oscillatory differential equation in direction may be expressed as:
SeatYThe oscillatory differential equation in direction may be expressed as:
HoistYThe oscillatory differential equation in direction may be expressed as:
DriverYThe oscillatory differential equation in direction may be expressed as:
Cart aroundXThe axis rotation differential equation may be expressed as:
Cart aroundZThe axis rotation differential equation may be expressed as:
Trolley aroundZThe axis rotation differential equation may be expressed as:
Formula (5)-(13) are nine mutually independent differential equations, arrange differential equation group and are write as matrix form, such as formula (14)
It is shown.
Reduce crane structure vibration and driver's worry rate, improve the service life of crane, reduces driver's vibration
Further, in step 4, the particle swarm algorithm includes: the probability of the raw occupational disease of movable property
1) initial population is generated；
2) according to the objective function fitness function of worried rate model；
3) optimal value and average value of fitness are constantly updated according to the superiority and inferiority of fitness；
4) until the value for the adaptive optimal control degree that iteration obtains is optimal solution.
The present invention utilizes Newmark method solving model people-crane-rail system based on crane structure parameter
Nine-degree of freedom mathematical model, obtain human body vibration acceleration time domain response, in conjunction with Fast Fourier Transform (FFT) (FFT) obtain human body
The power spectral density (PSD) of vibration acceleration calculates human body vibration acceleration-root-mean square.Refer to by theory of ISO2361-1:2011
It leads, constructs the worried rate model of driver, provide the quantized result of worried rate.Using crane structure parameter as basic variable, with
Driver's worry rate model is objective function, and the acceleration amplitude and displacement amplitude respectively constructed using crane is adopted as constraint condition
The optimum results for the crane structure parameter for meeting driver's comfort index are obtained with population (PSO) algorithm.The present invention is comprehensive
Lumped parameter modeling method and particle swarm optimization algorithm have been used, the comfort of driver's vibration is considered in rubber tyre gantry crane design and is mentioned
A kind of a kind of fast Optimization independent of failure test and test period out provides weight for crane parameter designing
The data reference wanted.
The invention has the benefit that
(1) present invention considers the ladle carne dynamic optimization design method and existing rubber tyre gantry crane design method of driver's comfort
It compares, the advantage is that the design feature according to crane and considers drivers' cab and driver factor and establish lifting machine vibration
Model, one of the standard that driver's vibration comfort is considered as design, and there is no consider driver's vibration in existing design
Comfort；
(2) present invention quantifies driver's vibration comfort by worried rate, and vibrates worried rate as optimization aim using driver, passes through grain
Swarm optimization carries out dynamic optimization to crane structure, and the system parameter optimized effectively improves driver's vibration and relaxes
Adaptive.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is driver of the present invention-crane-rail system nine-degree of freedom model of vibration.
Fig. 2 is driver-crane of the present invention-rail system dynamic optimization flow chart.
Fig. 3 is the relational graph of the number of iterations of the present invention and comfort level.
In Fig. 1:WithRespectively cart, trolley, drivers' cab, seat, hoist and department
The quality of machine；WithRespectively cart turns about the Z axis inertia around X-axis, Z axis rotary inertia and trolley；
For cart mass centerTo the X of end carriage 1 to distance；For cart mass centerTo the X of end carriage 2 to distance；For drivers' cab
Suspension centreTo cart mass centerX to distance；For trolleyTo trolley front end X to distance；Wirerope suspension centre
It arrivesX to distance；For trolley mass centerTo trolley rear end X to distance；It is cart mass center away from 1 distance of girder；
It is cart mass center away from 2 distance of girder；For cart mass centerTo drivers' cab suspension centreDistance；For trolley mass centerTo trolley
Right end Z-direction distance；For wirerope suspension centreTo trolley mass centerDistance；For trolley mass centerTo trolley front end Z-direction away from
From；It is cart around the rotation displacement in X-coordinate direction；It is cart around the rotation displacement in Z coordinate direction；
It is trolley around the rotation displacement in Z coordinate direction；For track excitation suffered by cart and trolley.
(1) according to ladle carne structure feature and parameter, the physical simplifications model of ladle carne is determined, according to glug
Bright day establishing equation people-crane-rail system nine-degree of freedom differential equation of motion；
(2) quantization considers human body subjective assessment caused by ladle carne vibrates, and is evaluated according to ISO 2631-1:2011 quasi-
Then, the subordinating degree function for determining human body subjective assessment, in conjunction with the Fechner law in psychophysics, establish only with acceleration
The related human body vibration Comfort Evaluation worry rate model of weighted root mean square, and as objective function (i.e. fitness letter
Number), and using the acceleration amplitude of each component of crane as constraint condition；
(3) on the basis of analyzing railroad flaws, based on people-crane-rail system nine-degree of freedom differential equation of motion and
The dynamic optimization model of worried rate model foundation crane structure vibrational system, determines the value model of design variable and design variable
It encloses, random initializtion (iteration time at this time is carried out to the speed of each particle (i.e. design variable) and position using particle swarm algorithm
Number)；
(4) Newmark immediate integration is used, the numerical solution of Structural Vibration System mathematical model is determined, obtains human body acceleration
Time domain response obtains power spectral density function in conjunction with FFT transform, based on human body acceleration time domain response, using ISO
The continuous weighted function method that 2631-1:2011 recommends obtains human body vibration acceleration weighted root mean square.Judge whether to reach maximum
The number of iterations N, if being unsatisfactory forIt is required that step (4) are executed, until meeting condition, execute step (5)；
(5) constraint condition for combining crane acceleration amplitude and displacement amplitude to respond, calculates the fitness value of each particle, really
Determine optimum individual and optimum population, on this basis, modifies inertia weight and update particle position and speed, the number of iterations.Judge whether to reach maximum number of iterations N, if meeting the requirements, export iterative process figure and design variable most
After the figure of merit, substitutes into step (3) and obtain the response of the human body vibration under optimal design variable, otherwise by updated particle position and speed
Degree substitutes into step (3)；
(6) output time-domain response diagram and power spectral density plot, and verify the validity of optimization.
The above-mentioned process for dynamic improving process is completed with inventor according to the technical solution of invention with reference to the accompanying drawing
Specific embodiment, so that the present invention is further elaborated.
(1) design variable
Design variable vector form is as the formula (1), and wherein the value range of design variable is as shown in table 1.
(2) objective function is established
When passing through railroad flaws, human body can be generated than stronger vibration crane, these vibrations can make driver generate occupation
Disease.In order to improve the vibration comfort of driver in operational process, optimization object function is chosen for formula (2), i.e., tired with human body vibration
The value of angry rate is as optimization aim.
In formula:For the oscillation intensity through spectrum overlapping；For oscillation intensity fuzzy membership
Function.
(3) constraint condition
System state equation is the indispensable constraint condition of determining optimal design variable；Crane when passing through railroad flaws, in order to
The comfort of human body vibration is improved, the vibration displacement of each component needs to limit in a certain range；Acceleration peak value needs to limit
Within limits.
The dynamic optimization process referring to shown in Fig. 2 optimizes ladle carne structural parameters, with crane structure parameter
It using driver's worry rate model as objective function is about with the acceleration amplitude of each component and relative displacement amplitude for basic variable
Beam condition optimizes system using particle swarm algorithm, obtains the crane structure parameter for meeting driver's comfort index
Optimum results.In optimization process, original state chooses 20 particles as initial population, by 300 iterative process, and runs
50 times, iterative process is as shown in Figure 3.Optimization front and back parameter comparison is as shown in table 2.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Matrix form in appendix A crane dynamic optimization system equation
Claims (9)
1. a kind of ladle carne dynamic optimization method for considering driver's comfort, it is characterised in that: with crane structure parameter
It is constraint with the acceleration amplitude of each component of crane and displacement amplitude using driver's worry rate as optimization aim for basic variable
Condition, using the optimum results for the crane structure parameter that particle swarm algorithm obtains meeting crew comfort index.
2. as described in claim 1 consider driver's comfort ladle carne dynamic optimization method, it is characterised in that: including with
Lower step:
Step 1: quantization considers the incentive action of railroad flaws, according to ladle carne structure feature and parameter, determines casting
The physical simplifications model of crane establishes people-crane-rail system nine-degree of freedom motion according to Lagrange's equation
Equation；
Step 2: quantization considers human body subjective assessment caused by ladle carne vibrates, establish only with acceleration weighted root mean square
Related human body vibration Comfort Evaluation worry rate model, and as objective function, and with the acceleration of each component of crane
Degree amplitude is constraint condition；
Step 3: on the basis of analyzing railroad flaws, based on people-crane-rail system nine-degree of freedom differential equation of motion
With the dynamic optimization model of worried rate model foundation crane structure vibrational system；
Step 4: random initializtion being carried out (at this time to the speed of each particle (i.e. design variable) and position using particle swarm algorithm
The number of iterations), the adaptive optimal control degree of ladle carne is obtained by iteration several times.
3. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 1
In, people-crane-rail system nine-degree of freedom is respectively as follows: cartYTo vibration and aroundX、ZAxis direction rotation；TrolleyYXiang Yi
It is dynamic and aroundZAxis rotation；And hanging object, drivers' cab, seat and human bodyYThe vibration in direction.
4. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 1
In, the ladle carne structural parameters are respectively as follows: crane wheel equivalent stiffnessAnd equivalent damping；Trundle etc.
Imitate rigidityAnd equivalent dampingDrivers' cab coupling stiffnessAnd equivalent damping；Seat rigidityAnd equivalent damping；Steel wire
Rope rigidityAnd equivalent damping；Human body equivalent stiffnessAnd equivalent damping。
5. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 1
In, railroad flaws incentive action includes the percussion due to high low defect and interstitial defect to crane.
6. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 2
In, the acceleration amplitude is the relative displacement between two components to interact in model.
7. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 3
In crane structure vibrational system mathematical model be by vibrational system energy substitution Lagrange's equation obtain, the vibration
Dynamic system capacity includes: system kinetic energy, potential energy of system and system Dissipated energy；The system kinetic energy include by cart Y-direction vibration and
Around X, Z-direction rotational kinetic energy, trolley Y-direction is mobile and turns about the Z axis kinetic energy and hanging object, drivers' cab, seat and the human body side Y
To kinetic energy；Potential energy of system includes each equivalent spring elastic potential energy and cart, trolley rotation potential energy；System Dissipated energy includes each company
It connects spring damping and cart, trolley rotary damping generates energy loss.
8. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 3
In, using crane structure parameter as basic variable, using driver's worry rate model as objective function, added with what crane respectively constructed
Velocity amplitude and displacement amplitude are constraint condition, it is established that the dynamic optimization model of heavy-duty machine Structural Vibration System.
9. considering the ladle carne dynamic optimization method of driver's comfort as claimed in claim 2, it is characterised in that: step 4
In, the particle swarm algorithm includes:
Generate an initial population；
According to the objective function fitness function of worried rate model；
The optimal value and average value of fitness are constantly updated according to the superiority and inferiority of fitness；
Until the value for the adaptive optimal control degree that iteration obtains is optimal solution.
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