Research Of Multi-body System Dynamics Modeling On Mounted Concrete Pump And Software Implementation

Abstract:With the progress of the Truck Mounted Concrete Pump on boom’s large-scale, high efficiency, intelligence and well mobility that it had widely used in many construction projects. The boom of Truck Mounted Concrete Pump had complex structure and poor working environment, so that it had catch the eyes of many engineers and scientists. For this means, the dynamics characteristic of the boom was so meaningful on the design, intelligence and reliably of the boom that had act as an important research direction.This thesis aims to promote the computational efficiency of multi-body dynamics model on Truck Mounted Concrete Pump’s boom. Firstly, the theoretical foundation and application methods of discrete time transfer matrix method was introduced. Then writer focus on the derived of the variable step numerical differentiation with high order precisions and different linearization methods of the velocity and acceleration. With a model example to verified the feasibility of the variable step computational of this dynamics method. Therefore, a range selection of the integration parameters and step size are given by comparing many experiments.Secondly, with the analysis on the structure of boom system and load characteristic that the boom system could be divided into several kinds of sub-structures which can be connection together series. Then the focus can be fixed on the sub-structures mainly on loads, boundary conditions, and the transfer matrix of each sub-structure. Only with the deep study on sub-structures can the boom system’s overall transfer matrix, boundary conditions be assembled stylized, also along with the numerical computational.Based on the theoretical method above, mutlibody system dynamics software was written for the boom of TMCP, of which Matlab act as a platform. This software had the functions of modeling, loading, counting and the viewing, output of the results.At last a multi-body dynamics model was built to judge the accuracy of this software by comparing the boom’s kinematics and kinetic characteristic with a13-meter boom test rig. Then an experiment was designed with the driving functions were the same in experiment and modeling to test the software. What’s more a model was also established in ADAMS to found the two results fit better and this software had a quite high efficiency. After all the error analysis was needed at the end to find the reasons.