CN112195697B - Widening and modifying design method for curve of approach road of wind power plant in mountainous area - Google Patents
Widening and modifying design method for curve of approach road of wind power plant in mountainous area Download PDFInfo
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Abstract
The invention discloses a method for widening, reforming and designing an entrance road curve of a wind power plant in a mountainous area, which is characterized in that a coordinate system is established through a working point plane diagram of the entrance road curve based on actual measurement, a track line of a large transport semi-trailer in the curve steering process is calculated and drawn, the curve passability of the approach road can be visually judged according to the driving track of the semitrailer in the whole steering process, visual and accurate reference standards can be provided for curve modification design with unsatisfied passability, the condition of secondary modification or overlarge design scale in the prior design is avoided, the design efficiency and the accuracy of design results are improved, meanwhile, the smooth transportation of the large fan parts is ensured, the transportation efficiency is improved, the construction period of the large fan part transportation link is ensured, meanwhile, the engineering quantity of the mountain area approach road reconstruction is reduced, the engineering cost is reduced, the engineering investment is saved, and the economic and social benefits are higher.
Description
Technical Field
The invention relates to a widening and reforming design method for a curve of an approach road of a wind power plant in a mountainous area, and belongs to the technical field of reforming of super-long equipment transportation roads.
Background
In recent years, wind power is gradually developed from the east coastal region and the north region from abundant and provincial wind resources to inland provinces as the main part of new energy development, the altitude of a wind power plant is gradually increased, the wind resource condition of the inland region is good, and sites suitable for building the wind power plant are basically located in valley and mountain areas. With the promotion of approval construction of wind power plants in high-altitude mountain areas in southwest areas, road transportation conditions become restriction factors of development of wind power plants in mountain areas, the mountainous areas are rugged and uneven in terrain, slopes are sharply bent, and large fan transportation is a bottleneck problem in construction of wind power plants in mountain areas.
The movement tracks of front and rear wheels are not coincident when a vehicle turns, the difference of the inner wheels exists, the inner side of a road needs to be widened for ensuring the smoothness and safety of driving on a curve, large wind power plant fan parts (tower barrels and blades) are large in size, generally, a semi-trailer which is flexible in steering and large in wheelbase is selected for transportation, semi-trailers of some rear-supported carrying blades even have the length of more than 30 meters, the longer the trailer is, the larger the difference of the inner wheels of a tractor and a rear wheel of the trailer is, and the larger the widening value of the inner side of the curve is needed. The approach road is usually required to be modified by using some existing roads, the existing road in the mountainous area is usually a road with four grades and lower standards, the radius of the curve is smaller, the turning width far does not meet the transportation requirement of a large transportation semi-trailer, the curve needs to be widened and modified, the terrain in the mountainous area is steeper, the modification engineering amount is larger, the approach road of the wind power plant is an important restriction factor in the construction of the wind power plant in the mountainous area, and the proportion of the approach road occupying the total investment is larger compared with that in coastal areas and plain areas.
The design of the route in the domestic road design industry mainly refers to a highway route design specification JTG-2017, the specification only considers the widening indexes that the wheelbase of a hinged vehicle is 3.3m +11m and the radius is more than 50m for a special hinged train, the large fan belongs to ultra-long equipment, the approach road of a wind power plant belongs to the field of special roads, at present, no specification which can be directly referred to in China exists, and no specific curve design index can be referred to.
Some wind turbine manufacturers provide local transportation manuals, and wind power development is performed in plain areas at the earliest time, so that some indexes in the transportation manuals are high, for example, the minimum turning radius of a road is not less than 50 meters as specified in SL1500 wind turbine component transportation handbook of Huarui wind power science and technology Limited, and the indexes are suitable for plain areas and are not suitable for the actual conditions of mountain transportation.
Because of no directly-referenced standard, the curve passability and widening modification design of the process road of the wind power plant in the mountainous area at present has semi-empirical property, and the semi-empirical design avoids the situations of inaccurate passing judgment and incomplete modification, so that the situation that the local curve does not meet the transportation requirement and needs to be secondarily modified in the transportation process of the fan occurs, and the transportation efficiency is influenced. Partial scholars analyze the steering of the semi-trailer, calculate the maximum channel width when the semi-trailer turns to enter the steady state steering, and adopt the index to guide the widening design of the curve and have two disadvantages: for a curve with a small steering angle, the semitrailer does not enter a steady state stage after steering, and the adoption of a uniform steady state index can cause an overlarge widening value and overlarge design margin, so that the reconstruction investment is increased; second, for curves that go into steady-state steering, this approach does not solve the problem of how to transition from the existing road width to the maximum widening value.
Disclosure of Invention
The invention aims to provide a method for widening, reforming and designing a curve of an approach road of a wind power plant in a mountainous area. The curve trafficability is visually judged according to the curve turning track of the semitrailer and widened and modified, the modification design of the wind power plant approach road in the mountainous area is guided, the design efficiency is improved, the smoothness of large-piece transportation of the fan is guaranteed, the construction period of a large-piece transportation link is guaranteed, the construction cost is reduced, and the project investment is saved.
The technical scheme of the invention is as follows: a method for widening and reforming a curve of an approach road of a wind power plant in a mountainous area comprises the following steps,
a. measuring a curve work point topographic map of a wind power plant approach road as a research object;
b. based on an actually measured curve working point plane diagram, a rectangular coordinate system is established by taking the steering circle center of a curve as the origin of coordinates O, the approach direction (1) of a large transport vehicle as the positive direction of a Y axis and the straight round point (2) on the X axis as the principle;
c. determining the width b (3) of a straight line road and the outer radius R of a curve according to an actually measured curve working point plane graphOuter cover(4) Width of curve b1(5) And a curve steering angle parameter alpha0(6) A circular straight point (7);
d. determining a transportation half according to the size of a large part of a fanWidth B of trailer1Axle base L of rear axle and turning radius R of tractor1(ii) a Assuming that the outline of the large part is coincident with the outer edge of the road, determining the turning radius of the tractor as follows: r1 ═ ROuter cover-B1/2；
e. Establishing a function iterative relationship of the motion tracks of the large transport semitrailer in a plane coordinate system;
f. reducing iterative step length trial calculation, setting the step length as half of the previous trial calculation step length, repeating the calculation result of the step e, continuously introducing the calculated B point coordinates into a CAD to generate a B point track multi-line segment, and when the maximum distance between the multi-line segments generated by each two times of calculation is less than 0.1m, considering that the result of the previous iterative step length calculation meets the engineering precision requirement;
g. f, obtaining the track of any point on the semitrailer from the track line generated in the step f through a CAD (computer-aided design) offset command, judging the trafficability of the semitrailer through the plane boundary of the track line of the semitrailer and the approach path, and judging the semitrailer to be trafficable if the track line of the outer contour of the semitrailer is located within the inner side line of the curve; if the outer contour trajectory of the semitrailer is positioned outside the inner side line of the curve, judging that the trafficability of the semitrailer does not meet the requirement, and widening the inner side of the curve;
h. and g, judging the curve with the trafficability not meeting the requirement, increasing the width of 0.5-2.0 m in the widened clear region of the curve to carry out modification design, and then repeating the step g to carry out trafficability judgment until the trafficability requirement is met.
The widening and modifying design method for the curve of the approach road of the wind power plant in the mountainous area comprises the following steps: e1 semi-trailer linearly drives into the fourth quadrant from the third quadrant of the coordinate system to do circular motion, the coordinate of the articulated traction point A of the tractor is as follows when the tractor enters the fourth quadrant to do circular motion at any moment i
The coordinate of the point B of the central point of the rear axle of the semitrailer is
The included angle between the rigid rod AB at the moment i and the X axis is alphaiThe traction point a point is then represented in the coordinate XOY by the following equation:
xAi＝-R1cos(βi) (1)
yAi＝-R1sin(βi) (2)
xBi＝xAi-cos(αi)l (3)
yBi＝yAi-sin(αi)l (4)
taking a tiny delta beta angle of the traction point rotating around the circle center as the moment i +1, and according to the principle of the turning process of the semitrailer, the coordinate of the traction point A at the moment i +1 is (x)Ai+1,yAi+1) Center point B of rear axle of semitraileri+1The coordinates are (x)Bi+1,yBi+1) There are the following relationships:
yBi+1＝(xBi+1-xAi)tan(αi)+yAi (5)
(xAi+1-xBi+1)2+(yAi+1-yBi+1)2＝l2 (6)
according to the motion rule of the point B, a boundary condition | xAi|＜|xBi+1|＜|xBi| or | xBi|＜|xBi+1|＜|xAi|
Deducing according to the two formulas and boundary conditions:
x is to beBi+1Substitution of formula (5) to yBi+1；
Next step size
According to the relation between the two step lengths, giving an initial beta value, and according to the radius of the outer side road edge of the approach road curve, the outer side tire of the tractor considers the margin width of 0.5-1.0m, namelyThe traction radius R of the traction point can be obtained1Given continuous step length delta beta, sequentially iterating to obtain the track coordinate of the middle point of the last row of rear wheels of the semitrailer after the tractor enters the circular curve;
R1the distance between the outer side wheel of the semitrailer and the outer side route line is 0.5-1.0m, and the traction radius of the tractor hinge point is the distance between the outer side wheel of the semitrailer and the outer side route line;
beta is an included angle between a connecting line of the traction point and the circle center and the x axis;
alpha is the included angle between the simplified rigid body AB of the semitrailer and the x axis;
l is the distance from the traction point of the semitrailer to the midpoint of the last row of rear wheels;
k is the slope of the straight line section of the entrance curve exit in an XOY coordinate system;
inputting tow pin initial coordinates
Is (R)10), the initial beta is 0 degrees, the initial alpha is 90 degrees, given the initial iteration step length delta beta, the iterative calculation is carried out, and the traction point is calculated by the formulas (1) and (2)
From the rear wheelbase l and into the initial alpha0Calculating the midpoint of the rear axle of the trailer according to the formulas (7) and (5)
Then, α is calculated from equation (8)1Then entering the next iteration step to calculate sequentially
Obtaining the motion trail coordinate of the midpoint of the rear axle of the trailer in a coordinate system;
e2 straight driving phase after traction point a exits the curve: after the tractor drives out of the circular curve, the intersection point of the traction point A track at the exit of the curve converted from the circular curve to the straight line is taken as an initial coordinate
The slope of the linear motion of the traction point A is a constant k, the traction step length delta x of the linear segment is set, and the motion of the traction point A meets the following relation:
xAi+1＝xAi+Δx (9)
yAi+1＝yAi+kΔx (10)
the relative relation between the central point B of the rear axle and the central point A under the traction of the point A still meets the following formula (5), formula (7) and formula (8), the iteration step length delta x is given, and the track coordinate of the point B under the linear traction of the point A is obtained
The invention has the beneficial effects that: according to the invention, a coordinate system is established through a working point plane diagram of the curve of the approach road based on actual measurement, a trajectory line of a large transportation semi-trailer in the curve turning process is calculated and drawn, the passing performance of the curve of the approach road can be judged visually according to the driving trajectory of the whole turning process of the semi-trailer, and a visual and accurate reference standard can be provided for the curve modification design with insufficient passing performance, so that the condition that secondary modification or overlarge design scale occurs in the conventional design is avoided, the design efficiency and the accuracy of design results are improved, meanwhile, the smooth transportation of large fans is ensured, the transportation efficiency is improved, the construction period of the large fan transportation link is ensured, the engineering quantity of the entrance road modification in mountainous areas is reduced, the engineering cost is reduced, the engineering investment is saved, and higher economic and social benefits are achieved.
The calculation method disclosed by the invention is rigorous in process, easy to implement, convenient to design, reliable, remarkable in economic and environmental benefits, and difficult to form a uniform industrial standard due to different sizes of large pieces of wind power plants and different conditions of transport vehicles.
Description of the drawings:
FIG. 1 is a schematic diagram of curve work point elements of an approach road of a wind power plant in a mountainous area;
FIG. 2 is a diagram of a standard collimation angle coordinate system corresponding to a curve work point element;
FIG. 3 is a schematic diagram of main parameters of a large-piece transport semitrailer;
FIG. 4 is a diagram of main parameters of a standard coordinate system;
FIG. 5 is a motion trail diagram of a point B in the circumferential motion phase of a traction point A of the large-piece transportation semitrailer;
FIG. 6 is a schematic diagram of a trajectory line of a point B in a linear motion phase of a traction point A of the large-piece transport semitrailer;
FIG. 7 is a schematic diagram of the inner side outer contour line of the large-part transportation semitrailer in the steering process;
FIG. 8 is a schematic diagram of a net widening area of a curve working point of a large transport semitrailer;
FIG. 9 is a schematic drawing of a curve working point widening plane design of a large-piece transportation semitrailer;
reference numerals: 1-the entering direction of a large transport vehicle (positive direction of Y axis), 2-straight round points, 3-road width b and 4-outer radius R of a curveOuter cover5-Width of bend b16-bend steering angle alpha07-round straight point, A-semitrailer traction point, B-semitrailer rear axle midpoint and B1-trailer control width (taking the width of the transported large part when the width of the transported large part is greater than the width of the vehicle body), L-semitrailer wheelbase, 8-traction point a circular motion stage trajectory, 9-traction point a linear motion stage trajectory, 10-traction point a circular motion stage B locus, 11-traction point a trajectory from curve linear motion stage B locus, 12-generating large transport semitrailer turning process inside outer contour line by deviation, 13-curve work point inside contour line, 14-region of the large transport semitrailer turning process inside outer contour line beyond the curve work point inside contour line, namely net widening region, 15-contour line generated after deviation of a margin safety distance (0.5 m-2.0 m) on the basis of the inside outer contour line of the large transport semitrailer turning process, L-semitrailer wheelbase, L-trailer wheelbase, L-track, 16-the inner side outer contour line of the large transport semitrailer exceeds the area of the inner side road line side line of the working point of the curve after deviating a safe distance in the steering process, namelyTo design the widening zone.
The angle between the rigid body AB and the X axis of the semitrailer at any moment i in the alpha-steering process, the angle between the connection line of the traction point and the circle center of the semitrailer and the negative direction of the X axis at any moment i in the beta-steering process, and the angle between the traction point and the circle center of the semitrailer and the negative direction of the X axis at any moment i in the beta-steering process1-a tow point turning radius. The traction point of the semitrailer A and the middle point of the rear shaft of the semitrailer B.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
The embodiment of the invention comprises the following steps: a method for widening and reforming a curve of an approach road of a wind power plant in a mountainous area comprises the following steps,
a. measuring a curve work point topographic map of a wind power plant approach road as a research object;
b. based on an actually measured curve working point plane diagram, a rectangular coordinate system is established by taking the steering circle center of a curve as the origin of coordinates O, the approach direction (1) of a large transport vehicle as the positive direction of a Y axis and the straight round point (2) on the X axis as the principle;
c. determining the width b (3) of a straight line road and the outer radius R of a curve according to an actually measured curve working point plane graphOuter cover(4) Width of curve b1(5) And a curve steering angle parameter alpha0(6) A circular straight point (7);
d. determining the width B of the transport semitrailer according to the size of the large part of the fan1Axle base L of rear axle and turning radius R of tractor1(ii) a Assuming that the outline of the large part is coincident with the outer edge of the road, determining the turning radius of the tractor as follows: r1 ═ ROuter cover-B1/2；
e. Establishing a function iterative relationship of the motion tracks of the large transport semitrailer in a plane coordinate system;
f. reducing iterative step length trial calculation, setting the step length as half of the previous trial calculation step length, repeating the calculation result of the step e, continuously introducing the calculated B point coordinates into a CAD to generate a B point track multi-line segment, and when the maximum distance between the multi-line segments generated by each two times of calculation is less than 0.1m, considering that the result of the previous iterative step length calculation meets the engineering precision requirement;
g. f, obtaining the track of any point on the semitrailer from the track line generated in the step f through a CAD (computer-aided design) offset command, judging the trafficability of the semitrailer through the plane boundary of the track line of the semitrailer and the approach path, and judging the semitrailer to be trafficable if the track line of the outer contour of the semitrailer is located within the inner side line of the curve; if the outer contour trajectory of the semitrailer is positioned outside the inner side line of the curve, judging that the trafficability of the semitrailer does not meet the requirement, and widening the inner side of the curve;
h. and g, judging the curve with the trafficability not meeting the requirement, increasing the width of 0.5-2.0 m in the widened clear region of the curve to carry out modification design, and then repeating the step g to carry out trafficability judgment until the trafficability requirement is met.
Wherein, the step e comprises the following steps: e1 semi-trailer linearly drives into the fourth quadrant from the third quadrant of the coordinate system to do circular motion, the coordinate of the articulated traction point A of the tractor is as follows when the tractor enters the fourth quadrant to do circular motion at any moment i
The coordinate of the point B of the central point of the rear axle of the semitrailer is
The included angle between the rigid rod AB at the moment i and the X axis is alphaiThe traction point a point is then represented in the coordinate XOY by the following equation:
xAi＝-R1cos(βi) (1)
yAi＝-R1sin(βi) (2)
xBi＝xAi-cos(αi)l (3)
yBi＝yAi-sin(αi)l (4)
taking a tiny delta beta angle of the traction point rotating around the circle center as the moment i +1, and according to the principle of the turning process of the semitrailer, the coordinate of the traction point A at the moment i +1 is (x)Ai+1,yAi+1) Center point B of rear axle of semitraileri+1The coordinates are (x)Bi+1,yBi+1) There are the following relationships:
yBi+1＝(xBi+1-xAi)tan(αi)+yAi (5)
(xAi+1-xBi+1)2+(yAi+1-yBi+1)2＝l2 (6)
according to the motion rule of the point B, a boundary condition | xAi|＜|xBi+1|＜|xBi| or | xBi|＜|xBi+1|＜|xAi|
Deducing according to the two formulas and boundary conditions:
x is to beBi+1Substitution of formula (5) to yBi+1；
Next step size
Giving an initial beta value according to the relation between the two step lengths, and obtaining the traction radius R of the traction point by considering the margin width of 0.5-1.0m by the tire outside the tractor according to the radius of the edge of the outer side of the approach road curve1Given continuous step length delta beta, sequentially iterating to obtain the track coordinate of the middle point of the last row of rear wheels of the semitrailer after the tractor enters the circular curve;
R1the distance between the outer side wheel of the semitrailer and the outer side route line is 0.5-1.0m, and the traction radius of the tractor hinge point is the distance between the outer side wheel of the semitrailer and the outer side route line;
beta is an included angle between a connecting line of the traction point and the circle center and the x axis;
alpha is the included angle between the simplified rigid body AB of the semitrailer and the x axis;
l is the distance from the traction point of the semitrailer to the midpoint of the last row of rear wheels;
k is the slope of the straight line section of the entrance curve exit in an XOY coordinate system;
inputting tow pin initial coordinates
Is (R)10), initial beta is 0 DEGThe initial alpha is 90 degrees, the initial iteration step length delta beta is given, iteration calculation is carried out, and the traction point is calculated by the formulas (1) and (2)
From the rear wheelbase l and into the initial alpha0Calculating the midpoint of the rear axle of the trailer according to the formulas (7) and (5)
Then, α is calculated from equation (8)1Then entering the next iteration step to calculate sequentially
Obtaining the motion trail coordinate of the midpoint of the rear axle of the trailer in a coordinate system;
e2 straight driving phase after traction point a exits the curve: after the tractor drives out of the circular curve, the intersection point of the traction point A track at the exit of the curve converted from the circular curve to the straight line is taken as an initial coordinate
The slope of the linear motion of the traction point A is a constant k, the traction step length delta x of the linear segment is set, and the motion of the traction point A meets the following relation:
xAi+1＝xAi+Δx (9)
yAi+1＝yAi+kΔx (10)
the relative relation between the central point B of the rear axle and the central point A under the traction of the point A still meets the following formula (5), formula (7) and formula (8), the iteration step length delta x is given, and the track coordinate of the point B under the linear traction of the point A is obtained
The method can obtain the curve design meeting the requirement of passing of the trailer.
Example 2. Taking the approach path project of a certain wind power station mountain area as an example, the method of the invention comprises the following steps:
1. FIG. 1 is a topographic map of a measured wind farm mountain approach path, a curve work point in the attached FIG. 1 is selected as a research object, and the following elements can be obtained through a plane line shape of the curve: 1-the entering direction of a large transport vehicle (positive direction of Y axis), 2-straight round points, 3-the width of a road b, 4-the outer radius R of a curveOuter cover5-Width of bend b16-bend steering angle alpha07-round straight point. The working point 3-road width b is the standard width of the four-level road, 6.5m, and the outer radius R of the curveOuter cover25m, curve width b18.3m, steering angle alpha0Is 120 deg..
2. FIG. 2 is a rectangular coordinate system diagram which is established on the basis of the actually measured curve working point plan, the curve turning circle center is taken as the coordinate origin O, the approach direction (1) of a large transport vehicle is taken as the positive direction of the Y axis, and the straight round point (2) is positioned on the X axis.
3. FIG. 3 is a schematic diagram of main parameters of a large-piece transportation semitrailer of a wind power plant, wherein the length L from a traction point to the middle point of a rear axle is 19.1m, and the width dimension is controlled to be the dimension B of a large-piece transportation tower barrel14.3m, from which the turning radius R of the towing point A can be determined1＝ROuter cover-B 11/2 was 22.85 m.
4. Fig. 4 is a schematic diagram of main parameters in a coordinate system, the steering motion of the large transportation trailer in a curve can be simplified into a plane rigid motion in the coordinate system, and the whole steering process is simplified into two stages: the first stage is the motion of a rigid body AB when a central point B of a rear shaft of the semitrailer drives into a curve at a traction point A to perform circular motion; the second phase is the movement of rigid body AB when traction point a is driven out of the curve straight-line driving condition. And then the process that the semitrailer traction point A linearly drives from the third quadrant to the fourth quadrant of the coordinate system to do circular motion and finally linearly drives out can be simplified in the standard coordinate system.
In the stage that the traction point A enters the circular motion of the curve, the relative motion relation between the traction point A and the central point B of the rear axle of the semitrailer meets the formulas (1), (2), (3), (4), (5), (6), (7) and (8). The relative motion relation between the traction point A and the central point B of the rear axle of the semitrailer in the straight driving stage after the traction point A drives out of the curve satisfies the formula (5), the formula (7), the formula (8), the formula (9) and the formula (10).
For the curve working point of the drawing, the initial coordinate of the traction pin is input when the traction point A enters the circular motion stage of the curve
Is (R)1And 0) is (22.85, 0), the initial beta is 0 degrees, the initial alpha is 90 degrees, the initial iteration step length delta beta is given (trial calculation adopts 1 degree), the iterative calculation is carried out, and the traction point is calculated by the formulas (1) and (2)
From the rear wheelbase l and into the initial alpha0The middle point of the rear axle of the trailer can be calculated by the formulas (7) and (5)
Then, α is calculated from equation (8)1Then entering the next iteration step to calculate sequentially
And obtaining the motion trail coordinate of the middle point of the rear axle of the trailer in the coordinate system.
In the straight line driving stage after the traction point A drives out of the curve, the track of the traction point A at the exit of the curve is converted from a circular curve to the intersection point at the straight line as an initial coordinate
The initial coordinates of the work point of the drawing are (11.4339, 19.7835), the slope of the linear motion of the traction point A is a constant k, the work point k of the drawing is-0.5774, the traction step length delta x of the straight line segment is set, the motion of the traction point A satisfies the expressions (9) and (10), the relative relation between the midpoint B of the rear shaft and the midpoint A under the traction of the point A still satisfies the expressions (5), (7) and (8), the iteration step length delta x is given, (the initial trial step length can be set to be 0.5m), and the track coordinate of the point B under the linear traction of the point A can be obtained
5. FIG. 5 shows the calculation steps for repeatedly trial calculating the fourth traction point A to enter the curve circular motion stage, where the iteration step length is set to be Δ β equal to 1 °, 0.5 °, and 0.25 °, and then the calculated coordinates of the point B are calculated
And inputting the CAD in batches to obtain the multi-line section trajectory of the point B, and when the distance between the multi-line sections of the trajectories of the adjacent iteration step lengths B is less than 0.1m, determining that the calculation precision meets the requirement. Fig. 5 shows the maximum distance between the trajectory line (10) when the iteration step Δ β is equal to 0.5 ° and the trajectory line generated when the iteration step Δ β is 1 ° is 0.076m, which meets the accuracy requirement.
6. FIG. 6 shows the calculation steps for repeatedly trial calculating the 4 th traction point A to exit the curve and enter the linear motion stage, the iteration step length Deltax is set to be equal to 1m, 0.5m and 0.25m in sequence, and then the calculated coordinates of the point B
And inputting the CAD in batches to obtain the multi-line section trajectory of the point B, and when the distance between the multi-line sections of the trajectories of the adjacent iteration step lengths B is less than 0.1m, determining that the calculation precision meets the requirement. Fig. 5 shows that the maximum distance between the trajectory (11) generated when the iteration step Δ x is equal to 0.25m and the trajectory generated when the iteration step Δ x is equal to 0.5m is 0.082m, which meets the accuracy requirement.
7. FIG. 7 is a schematic diagram of the inner side outer contour line of a curve in the turning process of a large transport semitrailer, because the relative position of any point on the semitrailer and a point B is unchanged, the trajectory line of any point on the semitrailer can be obtained through deviation, the outer contour of a large tower drum of the semitrailer is used as a control factor for the work point, the trajectory line generated in the above steps 5 and 6 is deviated, and the inner side outer contour line (12) of the large transport semitrailer can be generated. And judging that the curve work point does not meet the requirement of large piece transportation trafficability by the contour line positioned outside the inner side line of the road, and widening the curve work point.
8. FIG. 8 is a schematic diagram of a net widening area of a curve working point of the large transport semi-trailer, and an area where an inner side outer contour line of the large transport semi-trailer exceeds an inner side road side line (13) of the curve working point in a steering process is the net widening area (14).
9. FIG. 9 is a design drawing of a curve working point widening plane of the large-piece transportation semitrailer. And on the basis of the step 7, considering that 0.5-2.0 m is reserved on the inner side as a surplus safety width, and taking the area where the outer contour line on the inner side of the large transport semi-trailer deviates (15) and the deviation track line exceeds the inner edge line (13) of the road as a design widening area (16). As can be seen from the figure, the widening zone is a widening zone which is smoothly gradually changed, under the condition of reserving 1.0m as a margin width, the maximum radial widening width of the widening zone is designed to be 4.5m, and the maximum widening width is close to the outlet side.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (1)
1. A method for widening, reforming and designing a curve of an approach road of a wind power plant in a mountainous area is characterized by comprising the following steps of: comprises the following steps of (a) carrying out,
a. measuring a curve work point topographic map of a wind power plant approach road as a research object;
b. based on an actually measured curve working point plane diagram, a rectangular coordinate system is established by taking the steering circle center of a curve as the origin of coordinates O, the approach direction (1) of a large transport vehicle as the positive direction of a Y axis and the straight round point (2) on the X axis as the principle;
c. determining the width b (3) of a straight line road according to an actually measured curve working point plane graph, and actually measuring the outer radius R of the curveOuter cover(4) Width of curve b1(5) And a curve steering angle parameter alpha0(6) A circular straight point (7);
d. determining the control width B of the semitrailer according to the size of a large fan1Rear axle base L, towing radius R of towing points of towing vehicles1(ii) a Assuming that the outline of the large part is coincident with the outer edge line of the road, determining the traction radius of the traction point of the tractor as follows: r1＝ROuter cover-B1/2；
e. Establishing a function iterative relationship of the motion trail of the semitrailer in a plane coordinate system;
the step e comprises the following specific steps: e1 semi-trailer linearly drives into the fourth quadrant from the third quadrant of the coordinate system to do circular motion, the coordinate of the articulated traction point A of the tractor is as follows when the tractor enters the fourth quadrant to do circular motion at any moment i
The coordinate of the point B of the central point of the rear axle of the semitrailer is
The included angle between the rigid rod AB at the moment i and the X axis is alphaiThe traction point a point is then represented in the coordinate XOY by the following equation:
xAi＝-R1 cos(βi) (1)
yAi＝-R1 sin(βi) (2)
xBi＝xAi-cos(αi)l (3)
yBi＝yAi-sin(αi)l (4)
taking a tiny delta beta angle of the traction point rotating around the circle center as the moment i +1, and according to the principle of the turning process of the semitrailer, the coordinate of the traction point A at the moment i +1 is (x)Ai+1,yAi+1) And the coordinate of the central point B of the rear axle of the semitrailer is recorded as (x)Bi+1,yBi+1) There are the following relationships:
yBi+1＝(xBi+1-xAi)tan(αi)+yAi (5)
(xAi+1-xBi+1)2+(yAi+1-yBi+1)2＝l2 (6)
according to the motion rule of the point B, a boundary condition | xAi|＜|xBi+1|＜|xBi| or | xBi|＜|xBi+1|＜|xAi|
Deducing according to the two formulas and boundary conditions:
x is to beBi+1Substitution of formula (5) to yBi+1；
Next step size
According to the relation between the two step lengths, giving an initial beta value, and actually measuring the outer radius R according to the approach road curveOuter coverAnd semi-trailer control width B1Obtaining the traction radius R of the traction point1Given continuous step length delta beta, sequentially iterating to obtain the track coordinate of the central point B of the last row of rear axles of the semitrailer after the tractor enters the circular curve;
R1the traction radius of a traction point of the tractor;
beta is an included angle between a connecting line of the traction point and the circle center and the x axis;
alpha is the included angle between the simplified rigid rod AB of the semitrailer and the x axis;
l is the distance from the traction point of the semitrailer to the midpoint of the last row of rear wheels;
k is the slope of the straight line section of the entrance curve exit in an XOY coordinate system;
inputting initial coordinates of traction point
Is (R)10), the initial beta is 0 degrees, the initial alpha is 90 degrees, given the initial iteration step length delta beta, the iterative calculation is carried out, and the traction point is calculated by the formulas (1) and (2)
The distance l from the traction point of the semitrailer to the middle point of the last row of rear wheels and the distance l substituted into the initial alpha0Calculating the midpoint of the rear axle of the trailer according to the formulas (7) and (5)
Then, α is calculated from equation (8)1Then entering the next iteration step to calculate sequentially
Obtaining the motion trail coordinate of the center point of the rear axle of the semitrailer in a coordinate system;
e2 straight driving phase after traction point a exits the curve: after the tractor drives out of the circular curve, the intersection point of the traction point A track at the exit of the curve converted from the circular curve to the straight line is taken as an initial coordinate
The slope of the linear motion of the traction point A is a constant k, the traction step length delta x of the linear segment is set, and the motion of the traction point A meets the following relation:
xAi+1＝xAi+Δx (9)
yAi+1＝yAi+kΔx (10)
the relative relation between the central point B of the rear axle and the central point A under the traction of the point A still meets the following formula (5), formula (7) and formula (8), the iteration step length delta x is given, and the track coordinate of the point B under the linear traction of the point A is obtained
f. Reducing iterative step length trial calculation, setting the step length as half of the previous trial calculation step length, repeating the calculation result of the step e, continuously introducing the calculated B point coordinates into a CAD to generate a B point track multi-line segment, and when the maximum distance between the multi-line segments generated by each two times of calculation is less than 0.1m, considering that the result of the previous iterative step length calculation meets the engineering precision requirement;
g. f, obtaining the track of any point on the semitrailer by the B point track multi-line segment generated in the step f through a CAD (computer-aided design) offset command, judging the trafficability of the semitrailer through the plane boundary of the semitrailer outer contour track line and the approach path, and judging the semitrailer to be trafficable if the semitrailer outer contour track line is located within the inner side line of the curve; if the outer contour trajectory of the semitrailer is positioned outside the inner side line of the curve, judging that the trafficability of the semitrailer does not meet the requirement, and widening the inner side of the curve;
h. and g, judging the curve with the trafficability not meeting the requirement, increasing the width of 0.5-2.0 m in the widened clear region of the curve to carry out modification design, and then repeating the step g to carry out trafficability judgment until the trafficability requirement is met.
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