为深入研究混凝土湿喷机小臂变幅过程中机液耦合特性，需建立准确的机液联合仿真模型。首先，根据混凝土湿喷机臂架小臂变幅机构组成和液压传动原理，建立小臂俯仰过程的运动学和动力学模型，并基于NX和AMESim分别建立三维机械结构和液压系统仿真分析模型； 然后，利用NX的运动分析模块Simcenter 3D建立机液耦合接口，搭建小臂变幅系统机液耦合仿真模型，仿真分析小臂上仰过程中的系统工作压力、流量和变幅角度等工作性能参数变化规律，并进一步计算基于Matlab的小臂变幅运动学、动力学仿真分析结果； 最后，对比分析基于NX和AMESim的联合仿真结果、基于Matlab的数值模拟结果和小臂变幅试验测试结果。结果表明： 1）传统数学建模方法不能反映小臂变幅时的系统动力学响应特性； 2）机液联合仿真模型可以更准确地模拟湿喷机小臂变幅动作过程，且能全面观察变幅系统内部状态变量的工作特性； 3）变幅油缸无杆腔压力试验结果与仿真结果吻合较好，验证了所建模型的准确性。
In this study, an accurate mechanicalhydraulic
cosimulation model is established to conduct a thorough investigation on the
mechanicalhydraulic coupling characteristics of a
concrete wet spraying machine during boom luffing. First, the kinematic and
dynamic models of the boom pitching process are established based on the
composition of the boom luffing mechanism and the hydraulic transmission
principle of the concrete wet spraying machine boom. Furthermore, threedimensional mechanical structure and hydraulic system simulation
analysis models are established using NX and AMESim, respectively. Second, the
NX′s motion analysis module, Simcenter 3D, is used to
establish the mechanicalhydraulic coupling interface.
Subsequently, the mechanicalhydraulic coupling
simulation model of the boom luffing system is established to simulate and
analyze the changes in system pressure, flow, luffing angle, and other working
performance parameters when the boom is tilted up. The kinematics and dynamics
simulation analysis results are further calculated using MATLAB. Finally, the
results based on the NX and AMESim cosimulation, the numerical simulation
results based on MATLAB, and the boom luffing test data are compared and
analyzed. The results reveal the following: (1) Traditional mathematical
modeling method cannot reflect the dynamic response characteristics of the
system when the boom starts and brakes. (2) Mechanicalhydraulic
cosimulation model can more accurately simulate the luffing action process of
the boom of the wet spraying machine, and can comprehensively observe the
working characteristics of the internal state variables of the luffing system.
(3) Pressure test and simulation data of the luffing cylinder rodless chamber
concur with each other, thus validating the accuracy of the model.
