Turning And Clamping Mechanism Virtual Prototype Of Tippler Simulation And Verification

Tippler is a kind of large mechanical equipment specially used for unloading loose materials of railway carriage.It is widely used in metallurgy,coal,thermal power,ports and other heavy industrial fields because of its high efficiency,continuous and high degree of automation.The tippler is mainly composed of rotary mechanism and clamping mechanism,and there are problems such as large vibration of rotary,low precision of rotary and insufficient clamping force of hydraulic system during operation.In view of the above problems,this thesis intends to design the control system of the rotary mechanism and the hydraulic system of the clamping mechanism of the tippler by using the virtual prototype technology of the mechatronic-hydraulic integration.Because the stress of the clamping mechanism of the tippler is complicated and difficult to be calculated,this thesis first builds the virtual prototype of the rotary mechanism of the tippler,obtains the stress of the clamping mechanism through simulation,and then designs the hydraulic system of the clamping mechanism.The main research work of the thesis is as follows:Firstly,the composition and working principle of the tippler are analyzed.According to the actual demand of the rotary mechanism of the tippler,the electro-hydraulic servo system is selected and the composition and working principle of the system are analyzed,which can provide technical support for building the mechatronic-hydraulic co-simulation model of the tippler rotary mechanism later.The hydraulic system and its hydraulic principle of the tippler rotary mechanism are analyzed,and the main parameters in the circuit are calculated to provide theoretical support for the subsequent hydraulic system modeling.The mathematical modeling of the tippler is established to provide the basis for the establishment of the control model of rotary mechanism of the tippler.Secondly,the dynamics model of the tippler is established and the load is calculated.In this thesis,the three-dimensional model of the mechanical system of the tippler is also established,and the dynamic model of the tippler is established by using this model.The hydraulic system model of the tippler rotary mechanism is established,and the data is exchanged with the tippler mechanical system through the external interface,and the mechanical-hydraulic joint simulation model of the tippler rotary mechanism is established,which lays the foundation for the control system design.Then,a PID controller is designed to control the mechanical-hydraulic joint simulation model of the rotary mechanism of the tippler,but it is found that the controller can not meet the performance requirements in accuracy and stability through simulation analysis.Then,ant colony algorithm is introduced into PID control strategy to design ant colony PID controller.By analyzing and comparing the simulation results obtained from the virtual prototype of the tippler slewing mechanism,it can be known that the control performance of ant colony PID has been greatly improved.Finally,the force of the clamping mechanism is obtained after the rotary mechanism of the tippler drives the tippler to turn over.That is,the hydraulic system of the tippler clamping mechanism is designed according to the force situation of the clamping mechanism in virtual prototype of the rotary mechanism,which includes the hydraulic principle design of the hydraulic system of the tippler clamping mechanism,system parameters calculation,and the selection of hydraulic components.The mathematical model of the force on the railway carriage of the tippler and the AMESim model of the hydraulic system of the clamping mechanism are established.Through the simulation results,the feasibility of the hydraulic system design scheme of this paper is verified.Through the above work,the control system design of rotary mechanism and the hydraulic system design of the clamping mechanism of the tippler are completed.The simulation and verification results of the virtual prototype show that the rotary stability and rotary accuracy of the tippler have been improved,and the clamp force of the hydraulic system of the clamping mechanism can meet the working requirements in the whole working process.