Research On Construction And Motion Control Of Model Board Trolley For Pipe Racks

With urbanization in our country,in order to use urban underground space resource properly,the government urged to put the different kinds of urban pipe-network together and become the underground pipeline colligate allure in city.In this paper,one kind of template trolley which is developed from steel mould board lining rig for tunnels and use for build the pipe gallery is studied.It ask this machine not only can move properly in the narrow pipe rack,but also have enough mechanical strengt and perfect synchronous control system which use to replace the human to construct the pipe rack.Specific contents are as follows:(1)This paper shows not only the main research content and the design direction of the model board trolley for pipe racks but also ensure the construction sequence of this machine after studying the relative references which mainly describe the concrete pouring technique for pipe rack and its shape of the end surface(2)According to the construction drawing for the end surface of the pipe rack,this paper determines the shape of the link mechanism of the model in the model board trolley and bulids the mathematic models of its movement.It uses the Adams to optimize the structural of the model and takes advantage of the Solidworks Motion to have final result of the movment about the model in trolley.(3)This paper shows the mechanical structure of the model board trolley and uses Ansys to simulate the stress and the strain of the mechanical structure when it is used to concrete pouring of the pipe racks.According to the result,this paper shows the improvement of the structure to make sure the design of the trolley have enough strength to work.(4)This paper not only describes how to design and pick component for the hydraulic system in trolley,but also establish the mathematic model of the asymmetric actuator’s proportional directional controlling circuit and use Matlab to simulate hydraulic synchronized control system which base on this mathematic model and use to control the side model in the model board trolley.According to the result,it shows the dynamic performance and the synchronization error of the control system which helps to improve the original control algorithm.(5)This paper shows the experiment to test the model board trolley which was machininged by the factory.The mainly exam was tested whether the movement of the side model of the trolley was satisfied with the design requirement and whether the result from the upper monitor software WINCC which monitor the synchronization error of the synchronous control system in trolley was in allowable range.From the experiment,it shows the movement of the side model in the model board trolley was satisfied with the design requirement and had the same result compare with simulation.Also the stress and strain of the mechanical structure which its strength and stiffness all satisified with the requirement was in allowable range.The synchronization error from the synchronous control system which controls the movement of the lateral forms was in allowable range.