多级缸起竖系统运动过程的建模与仿真

讨论了含多级油缸起竖液压系统的特点，运用多体系统动力学理论分析了起竖系统的多刚体模型，采用“分离-碰撞”两状态模型和非线性弹簧-阻尼力函数对活塞杆间的碰撞过程进行等效，建立了考虑碰撞的起竖多刚体系统动力学模型，对多级油缸的运动过程进行了仿真。仿真结果表明多级缸活塞杆运动过程中的碰撞是影响大型装置起竖过程平稳性的主要因素，模型和仿真结果可用于快速起竖系统的设计。

Dynamic Modelling and Simulation of Erecting Systemwith Multi-stage Cylinder

The characteristics of hydraulic-driven erecting system with multi-stage cylinder are discussed and the modern theories of multi-body system dynamicswere used to analyze the multi-rigid-body models of the system. The impact process between piston-rods of hydraulic cylinder was divided into two stages, the separation stage and the contact stage. A nonlinear force function was used to describe the contact stage, which was treated as a spring damper system. Then the multi-rigid-body system dynamic models with impact were build and dynamic simulation of the erecting system with multi-stage cylinder is accomplished. Simulation results show that the impact between piston-rods of multi-stage cylinder is the main reason that results in instability of the large equipment erecting movement. The models and the simulation results can be employed in designing quick erecting system.