A method and system for calculating coupling dynamics of a single-carrying-cable freight ropeway

Abstract

A method for calculating coupled dynamics of a single-load-carrying-cable freight ropeway includes setting calculation parameters based on the freight ropeway; calculating the resultant force acting on the load-carrying-cable / traction-cable node at the current time step according to the calculation parameters; increasing the time step according to the set time increment step based on the calculation parameters and the resultant force acting on the node of the load-carrying-cable / traction-cable at the current time step, solving the node motion equation, and calculating the resultant force acting on the load-carrying-cable / traction-cable node at each time step until the preset time period ends. The technical solution provided by the present invention solves the problems of inaccurate force calculation and low calculation efficiency of the load-carrying-cable and traction-cable, and can accurately and efficiently obtain the tension change results of the load-carrying-cable and traction-cable of the freight ropeway during operation, providing a more accurate calculation basis for the design and selection of the freight ropeway.

Description

Technical Field

[0001] The invention relates to a numerical calculation method in the structural design of a single-carrying-cable freight ropeway, and in particular to a coupling dynamic calculation method and system for a single-carrying-cable freight ropeway. Background Art

[0002] The transmission line freight cableway has the advantages of strong applicability and little influence from weather and external environment. It effectively solves the problem of mountain transportation of tower materials, conductors and other materials, while greatly reducing the cost of compensation and road construction. Therefore, it is widely used in the construction of complex terrain projects in mountainous areas.

[0003] Freight ropeway is a mechanized or semi-mechanized transport channel that mainly uses steel wire ropes for load-bearing and transmission. This mechanized transport channel mainly relies on various working structures formed by the related configuration of the working ropes of the ropeway to realize the processes of load-bearing, lifting, conveying and unloading.

[0004] The single-carrying-cable freight ropeway consists of a working rope, a bracket, a load (traveling trolley), a traction machine, etc. The traction rope is located below the carrying rope and is a closed rope. The working rope includes the carrying rope and the traction rope.

[0005] When the cableway is running, the traction machine drum arranged on the starting side rolls, pulling the traction rope to move the load. The traction rope starts from the traction machine, connects each load in series, and runs to the end of the cableway through the roller on the bracket.

[0006] Among the existing cable dynamic calculation methods, the finite element method has been used to analyze the movement of a single or multiple loads at a given speed. In most methods, the moving load is treated as a concentrated force, without considering the inertial effect of the load mass in motion, resulting in inaccurate calculations. In order to meet the calculation accuracy, the existing finite element analysis method needs to divide more units, resulting in low calculation efficiency. Summary of the invention

[0007] In order to solve the problems of inaccurate force calculation and low calculation efficiency of the load-bearing rope and the traction rope in the prior art, the present invention provides a method and system for calculating the coupled power of a single-load-bearing-rope freight ropeway, which can more accurately and efficiently obtain the tension change results of the load-bearing rope and the traction rope of the freight ropeway during operation, and provide a more accurate calculation basis for the design and selection of the freight ropeway.

[0008] The technical solution provided by the present invention is:

[0009] A method for calculating coupled dynamics of a single-carrying-cable freight ropeway, the improvement of which is that the method comprises:

[0010] Setting calculation parameters based on the freight ropeway;

[0011] Calculate the resultant force acting on the load-bearing cable / traction cable node in the current time step according to the calculation parameters;

[0012] Based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable in the current time step, the time step is increased according to the preset time increment step, and the resultant force acting on the nodes of the load-bearing cable / traction cable in each time step is calculated until the preset time period ends.

[0013] Preferably, based on the calculation parameters and the resultant force on the nodes of the load-bearing cable / traction cable at the current time step, the time step is increased according to a preset time increment step, and the resultant force on the nodes of the load-bearing cable / traction cable at each time step is calculated.

[0014] The central difference method is adopted to bring the calculation parameters and the resultant force acting on the nodes of the load-bearing cable in the current time step into the pre-set node motion equation, calculate the node position vector of the load-bearing cable in the next time step, and calculate the resultant force acting on the nodes of the load-bearing cable in the next time step according to the node position vector; increase the time step, and calculate the node position vector and the resultant force acting on the load-bearing cable in each time step in turn;

[0015] The central difference method is used to bring the calculation parameters and the resultant force acting on the nodes of the traction cable in the current time step into the node motion equation, calculate the node position vector of the traction cable in the next time step, and calculate the resultant force acting on the nodes of the traction cable in the next time step based on the node position vector; increase the time step, and calculate the node position vector and the resultant force acting on the traction cable in each time step in turn.

[0016] Preferably, the calculation parameters include: cableway span, cableway height difference;

[0017] Elastic modulus, cross-sectional area, unit properties and node mass of the load-bearing cable, initial position vector of the load-bearing cable node;

[0018] Elastic modulus, cross-sectional area, unit properties and node mass of the traction cable, and initial position vector of the traction cable node.

[0019] Preferably, the load-bearing cable node acts on the load-bearing cable node at the nth time step. n Calculate as follows:

[0020]

[0021] In the formula, External force acting on the node i of the load-bearing cable; The force of the load-bearing cable unit on the load-bearing cable node i;

[0022] Among them, the external force on the load-bearing cable node i is Calculate as follows:

[0023]

[0024] Where M Li : The mass of the load-bearing cable node i; G: Gravitational acceleration vector.

[0025] Preferably, the unit properties of the load-bearing cable unit include a conventional load-bearing cable unit and a sliding load-bearing cable unit;

[0026] The conventional load-bearing cable unit is a load-bearing cable unit in which there is no load or support contact point; the sliding load-bearing cable unit is a load-bearing cable unit in which there is a load or support contact point.

[0027] Preferably, when the unit property of the load-bearing cable unit is a conventional load-bearing cable unit, the force acting on the load-bearing cable node by the conventional load-bearing cable unit is Calculate as follows:

[0028]

[0029] Among them, e i : unit vector from cable node i to i+1; f i in : Internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1.

[0030] Preferably, the conventional load-bearing cable unit internal force between the load-bearing cable nodes i to i+1 is calculated as follows:

[0031]

[0032] Among them, EA l : The product of the elastic modulus of the load-bearing cable and the cross-sectional area; The original length of the given load-bearing cable unit; l i : The length from node i to node i+1 at the current moment.

[0033] Preferably, when the unit property of the load-bearing cable unit is a sliding load-bearing cable unit, the force of the sliding load-bearing cable unit on the load-bearing cable node i is calculated as follows:

[0034]

[0035] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i; f i in ': Internal force of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1; e i1 : unit vector from the load-bearing cable node i to the adjacent first contact point B;

[0036] The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1 is calculated as follows:

[0037]

[0038] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1; e i2 : The unit vector from the load-bearing cable node i+1 to the adjacent first contact point B.

[0039] Preferably, the internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 is i in 'Includes: the internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 and the internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1.

[0040] Preferably, the internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 is calculated as follows:

[0041]

[0042] In the formula, f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1; B: The first contact point; l i,B : The length from node i to the first contact point; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable unit;

[0043] The internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1 is calculated as follows:

[0044]

[0045] In the formula, f i in ”: Internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1; B: first contact point; P: second contact point; l i,P : The length from node i to the second contact point; l P,B : The length from the second contact point P to the first contact point B; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable element.

[0046] Preferably, the resultant force of the traction cable nodes at the nth time step is calculated as follows:

[0047]

[0048] In the formula, External force on the traction cable node j; The force exerted by the traction cable unit on the traction cable node j.

[0049] Preferably, the external force on the traction cable node j is It includes the external forces on the traction cable nodes at non-load points and the external forces on the traction cable nodes where the loads are located.

[0050] Preferably, the external force on the traction cable node at the non-load point is calculated as follows:

[0051]

[0052] Where M Tj : The mass of the traction cable node j; G: Gravitational acceleration vector;

[0053] Preferably, the external force at the traction cable node where the load is located is calculated as follows:

[0054]

[0055] In the formula, The force of the load-bearing cable on the sth load node; The node j of the traction cable where the load is located s external forces; Load location traction cable node j s quality;

[0056] Preferably, the load-bearing cable unit is s The force The load cable unit with 1 contact point is subjected to the sth load P s The force The load cable unit with two contact points is subjected to the sth load P s The force

[0057] Preferably, the load-bearing cable unit with 1 contact point is s The force Calculate as follows:

[0058]

[0059] In the formula, e i1 :Load P s The unit vector from the contact point of the load-bearing cable unit to the adjacent load-bearing cable node or bracket contact point on one side; e i2 :Load Ps The unit vector from the contact point of the load-bearing cable unit to the contact point of the adjacent load-bearing cable node or bracket on the other side; f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1;

[0060] The load cable element with two contact points is subjected to the sth load P s The force Calculate as follows:

[0061]

[0062] f i in ”: Internal force of the sliding cable unit with two contact points between the cable nodes i to i+1.

[0063] Preferably, the unit properties of the traction cable unit include a conventional traction cable unit and a sliding traction cable unit;

[0064] The conventional traction cable unit is a traction cable unit in which there is no load or support contact point in the unit; the sliding traction cable unit is a traction cable unit in which there is a support contact point in the unit.

[0065] Preferably, when the traction cable unit is a conventional traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0066]

[0067] In the formula, e j : The unit vector from cable node j to j+1; Conventional traction cable unit internal forces between traction cable nodes j to j+1.

[0068] Preferably, the conventional traction cable unit internal force between the traction cable nodes j to j+1 is Calculate as follows:

[0069]

[0070] In the formula, The original length of the traction rope unit; l j : The length of the traction cable between the jth node and the j+1th node in the current time step; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

[0071] Preferably, when the traction cable unit is a sliding traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0072]

[0073] In the formula, e j : The unit vector from cable node j to j+1; Internal force of the sliding cable unit between cable nodes j to j+1.

[0074] Preferably, when the traction cable unit is a sliding traction cable unit, the internal force of the sliding traction cable unit between the traction cable nodes j to j+1 is Calculate as follows:

[0075]

[0076] In the formula, Internal force of the sliding cable unit with one contact point between cable nodes j and j+1; B': the third contact point; l j,B' : The length from the traction cable node to the third contact point; l B',j+1 : The length from the third contact point to the traction cable node j+1; Given the initial length of the traction cable unit; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

[0077] Preferably, the node motion equation is as follows:

[0078]

[0079] Where, m: the mass of the node; The acceleration of the node at the nth time step; F n : The resultant force acting on the node of the load-bearing cable or traction cable at the nth time step; f dmp : virtual damping force;

[0080] Wherein, the virtual damping force f dmp Calculate as follows:

[0081]

[0082] Where, ζ: damping factor; The velocity of the node at the nth time step.

[0083] Preferably, the acceleration of the nth time step node Calculate as follows:

[0084]

[0085] Where h is the time increment step; x n+1: The position vector of the node at the n+1th time step; x n : The position vector of the node at the nth time step; x n-1 : The position vector of the node at the n-1th time step;

[0086] The velocity of the node at the nth time step Calculate as follows:

[0087]

[0088] Preferably, the node position vector at the n+1th time step is calculated as follows:

[0089]

[0090] Where, c1: first damping correlation coefficient; c2: second damping correlation coefficient;

[0091] Among them, the first damping correlation coefficient c1 is calculated according to the following formula:

[0092]

[0093] The second damping correlation coefficient c2 is calculated as follows:

[0094]

[0095] Preferably, it comprises a parameter module, a first calculation module and a second calculation module;

[0096] Parameter module: used for setting calculation parameters based on the freight ropeway;

[0097] The first calculation module is used to calculate the resultant force acting on the load-bearing cable / traction cable node in the current time step according to the calculation parameters;

[0098] The second calculation module is used to increase the time step according to the preset time increment step based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable in the current time step, and calculate the resultant force acting on the nodes of the load-bearing cable / traction cable in each time step until the preset time period ends.

[0099] Compared with the prior art, the present invention has the following beneficial effects:

[0100] The technical solution provided by the present invention adopts a coupled dynamic calculation method to analyze the stress conditions of the load-bearing rope and the traction rope of the single-load-bearing-rope freight ropeway during the working process, which conforms to the actual operating conditions of the single-load-bearing-rope freight ropeway, and can more accurately and efficiently obtain the tension change results of the load-bearing rope and the traction rope of the freight ropeway during the working process, providing a more accurate calculation basis for the design and selection of the freight ropeway.

[0101] The technical solution provided by the present invention establishes a coupling relationship between the load-bearing cable and the traction cable through the load, calculates the impact dynamic response of the continuous operation process of the load and the impact dynamic response generated by the support, thereby obtaining accurate calculation results of the tension of the load-bearing cable and the traction cable.

[0102] The technical solution provided by the present invention regards the load and the support node as the contact point that slides in the load-bearing cable and the traction cable unit, realizes the contact slip calculation of the load-bearing cable and the traction cable of the single-load-bearing cable freight ropeway, and improves the efficiency of the dynamic analysis calculation of the freight ropeway.

[0103] The technical solution provided by the present invention can freely set the nodes of the load-bearing cables and the traction cables according to the calculation requirements, and can obtain good calculation accuracy with fewer nodes, thereby greatly improving the analysis and calculation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] Figure 1 It is a schematic diagram of the coupling dynamic calculation method of the single-carrying-cable freight ropeway of the present invention;

[0105] Figure 2 It is a schematic diagram of the structural composition of a single-carrying-cable freight ropeway;

[0106] Figure 3 It is a schematic diagram of a two-stage freight ropeway;

[0107] Figure 4 It is a schematic diagram of the types of load-bearing cable and traction cable units;

[0108] Figure 5 This is the force intention of the conventional load-bearing cable unit of the present invention on the load-bearing cable node;

[0109] Figure 6 It is a schematic diagram of the unit internal force of the sliding load-bearing cable unit on the load-bearing cable node when there is one contact point in the present invention;

[0110] Figure 7 It is a schematic diagram of the unit internal force of the sliding load-bearing cable unit on the load-bearing cable node when there are two contact points in the present invention;

[0111] Figure 8 It is a schematic diagram of the load acting on the load by the load-bearing cable unit of the present invention;

[0112] Fig. 9 It is a schematic diagram of a closed-loop traction rope of the present invention;

[0113] Fig.10 It is a schematic diagram of the property transformation of the sliding load-bearing cable unit of the present invention;

[0114] Fig.11 This is the coupled dynamic analysis process of the single-carrying-cable freight ropeway of the present invention;

[0115] Fig.12It is a schematic diagram of the coupled dynamic analysis system of the single-carrying-cable freight ropeway of the present invention. DETAILED DESCRIPTION

[0116] In order to better understand the present invention, the content of the present invention is further described below in conjunction with the accompanying drawings and examples.

[0117] Embodiment 1:

[0118] A method for calculating the coupled dynamics of a single-carrying-cable freight ropeway, such as Figure 1 As shown, including:

[0119] Step 1: setting calculation parameters based on the freight ropeway;

[0120] Step 2: Calculate the resultant force acting on the load-bearing cable / traction cable node at the current time step according to the calculation parameters;

[0121] Step 3: Based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable at the current time step, increase the time step according to the preset time increment step, and calculate the resultant force acting on the nodes of the load-bearing cable / traction cable at each time step until the preset time period ends.

[0122] Step 1: setting calculation parameters based on the freight ropeway;

[0123] like Figure 2 and Figure 3 As shown, Figure 3 Take the two-stage freight ropeway as an example. The span of the first stage is L1, the height difference is H1, and the span of the second stage is L2, the height difference is H2. The load-bearing cable is divided into v units, with a total of v+1 nodes. The mass of each node is M Li (i=1,…,v+1), node position vector x Li (i=1,2,…,v+1).

[0124] Traction cable and load. The closed traction cable is divided into p units, with a total of p nodes. The mass of each node is M Tj (j=1,…,p), node position vector x Tj (j=1,2,…,p). There are g loads (traveling trolleys) in total, which are fixedly connected to the traction rope and are located at the jth s nodes (s=1,…,g).

[0125] There are a total of u support nodes, and the position vector is x Dk (k=1,2,…,u), where x D1 、x Du is the position vector of the starting end A and the end end C of the cableway support.

[0126] The mass of the space nodes of the load-bearing cables and the traction cables can be evenly distributed according to the initial length of the divided elements.

[0127] Unit mass of the load-bearing cable q L , the initial length of the i-th load-bearing cable unit is l r0 i , then the quality of node i is:

[0128]

[0129] The quality of the first and last nodes is defined as follows:

[0130]

[0131] The unit mass of the traction cable is q T , the initial length of the jth unit is Then the quality of node j is:

[0132]

[0133] Since the traction cable is a closed cable with cyclic motion, the mass of all nodes of the traction cable is the same, without distinguishing between the beginning and the end.

[0134] In addition, since the load is set to be attached to the node of the traction cable, the corresponding node mass should be the sum of the node unit mass and the load mass:

[0135]

[0136] Where M Ps : The mass of the sth load.

[0137] During the movement, relative slip will occur between the contact point and the load-bearing cable, causing the sliding unit to change. Therefore, the unit properties are calculated and the stress comparison method is used to judge the unit contact state.

[0138] like Fig.10 As shown, when the distance between node i and the first contact point B is less than ξ (a given small quantity), the first contact point B is in contact with the load-bearing cable unit i-1 or unit i, and therefore the internal forces of each unit under the contact between the first contact point B and the load-bearing cable unit i-1 and the load-bearing cable unit i are calculated respectively.

[0139] The contact point tends to slide toward the unit with smaller internal force, that is, the first contact point B contacts the unit with smaller internal force, which is a sliding load-bearing cable unit.

[0140] Step 2: Calculate the resultant force acting on the load-bearing cable / traction cable node at the current time step according to the calculation parameters.

[0141] Specifically, the load-bearing cable node acts on the load-bearing cable node at the nth time step. n Calculate as follows:

[0142]

[0143] In the formula, External force acting on the node i of the load-bearing cable; is the force exerted by the load-bearing cable unit on the load-bearing cable node i;

[0144] Among them, the external force on the load-bearing cable node i is Calculate as follows:

[0145]

[0146] Where M Li : The mass of the load-bearing cable node i; G: Gravitational acceleration vector;

[0147] Specifically, Figure 4 As shown in the figure, according to whether there are loads or support contact slip nodes in the load-bearing cable unit, it is divided into conventional load-bearing cable units and sliding load-bearing cable units. Conventional load-bearing cable units refer to load-bearing cable nodes in which there are no loads or support contact slips; sliding load-bearing cable units refer to nodes in which there are loads or support contact slips. The traction cable unit is the same as the load-bearing cable unit, and is also divided into conventional traction cable units and sliding load-bearing cable units.

[0148] The force of the load-bearing cable unit on the load-bearing cable node i It includes the force on the load-bearing cable node when the load-bearing cable unit is a conventional load-bearing cable unit and the force on the load-bearing cable node when the load-bearing cable unit is a sliding load-bearing cable unit.

[0149] Specifically, Figure 5 As shown, when the load-bearing cable unit is a conventional load-bearing cable unit, the force acting on the load-bearing cable node is Calculate as follows:

[0150]

[0151] Among them, e i : direction vector from cable node i to i+1; f i in : Internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1.

[0152] If f i in <0, then let f i in =0.

[0153] Specifically, when the load-bearing cable unit is a sliding load-bearing cable unit, the force acting on the load-bearing cable node i is calculated according to the following formula:

[0154]

[0155] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i; f i in ': Internal force of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1; e i1 : unit vector from the load-bearing cable node i to the adjacent first contact point B;

[0156] Among them, e i1 =(x B -x i ) / |x B -x i |, where x i : position vector of node i on the load-bearing cable; x B : Position vector of the first contact point B on the load-bearing cable;

[0157] The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1 is calculated as follows:

[0158]

[0159] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1; e i2 : The unit direction vector from the load-bearing cable node i+1 to the adjacent first contact point B;

[0160] Among them, e i2 =(x B -x i+1 ) / |x B -x i+1 |, where x i+1 : The position vector of node i+1 on the load-bearing cable.

[0161] Specifically, the conventional load-bearing cable unit internal force f between the load-bearing cable nodes i to i+1 is i in Calculate as follows:

[0162]

[0163] Among them, EA l : The product of the elastic modulus of the load-bearing cable and the cross-sectional area; The original length of the given unit; l i : The length from node i to i+1 at the current time step.

[0164] Specifically, the internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 is i in 'Including: such as Figure 6 As shown, there is a contact point between the cable nodes i and i+1. The internal force f of the sliding cable unit is i in ';like Figure 7 As shown, there are two contact points between the cable nodes i and i+1. The internal force f of the sliding cable unit is i in ”.

[0165] For the sliding unit, the internal forces of each cable segment of the sliding unit are equal when the friction of the contact point is not considered. The pure deformation of the sliding unit is the sum of the axial deformation displacement values ​​of each segment of the unit, that is, the length change of the sliding unit.

[0166] When there is only one contact point in the sliding load-bearing cable unit, the internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 is i in 'Calculate according to the following formula:

[0167]

[0168] Where, B: first contact point; l i,B : The length from node i to the first contact point B; l B,i+1 : The length from the first contact point B to the node i+1;

[0169] Among them, l i,B =|x i -x B |, l B,i+1 =|x i+1 -x B |,x i : position vector of node i; x i+1 : The position vector of node i+1; x B : The position vector of the first contact point B.

[0170] If f i in '<0, then let f i in '=0.

[0171] When there are two contact points in the sliding load-bearing cable unit, the internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 is i in ” Calculate according to the following formula:

[0172]

[0173] In the formula, li,P : The length from node i to the second contact point P; l P,B : The length from the second contact point P to the first contact point B; l B,i+1 : The length from the first contact point B to the node i+1;

[0174] Among them, l i,P =|x i -x P |, l P,B =|x P -x B |, l B,i+1 =|x i+1 -x B |, where x P : The position vector of the second contact point P.

[0175] If f i in ”<0, then let f i in ”=0.

[0176] Specifically, the resultant force of the traction cable nodes at the nth time step is calculated as follows:

[0177]

[0178] In the formula, External force on the traction cable node j; The force exerted by the traction cable unit on the traction cable node j.

[0179] Among them, the external force on the traction cable node j is Calculate separately according to the dragline nodes at non-load points and the dragline nodes at load points:

[0180] The external force on the traction cable node at the non-load point is calculated as follows:

[0181]

[0182] Where M Tj : The mass of the traction cable node j; G: The gravity acceleration vector of the load-bearing cable node;

[0183] The external force at the traction cable node where the load is located is calculated as follows:

[0184]

[0185] In the formula, The force of the load-bearing cable on the sth load node; External forces at the dragline nodes where the loads are located; The mass of the traction cable node j where the load is located;

[0186] Among them, Figure 8 As shown, the load cable unit is subjected to the sth load P s The force The load cable unit with 1 contact point is subjected to the sth load P s The force The load cable unit with two contact points is subjected to the sth load P s The force

[0187] Specifically, the load cable unit with one contact point is subjected to the sth load P s The force Calculate as follows:

[0188]

[0189] In the formula, e i1 :Load P s The unit vector from the contact point of the load-bearing cable unit to the adjacent load-bearing cable node or bracket contact point on one side; e i2 :Load P s The unit vector from the contact point of the load-bearing cable unit to the contact point of the adjacent load-bearing cable node or bracket on the other side; f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1;

[0190] The load cable element with two contact points is subjected to the sth load P s The force Calculate as follows:

[0191]

[0192] f i in ”: Internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1;

[0193] where e i1 =(x P -x i ) / |x P -x i |, e i2 =(x i+1 -x P ) / |x P -x i+1 |.

[0194] Specifically, the traction cable unit includes a conventional traction cable unit and a sliding traction cable unit; the conventional traction cable unit is a traction cable unit without a load or a bracket contact point in the unit; the sliding traction cable unit is a traction cable unit with a bracket contact point in the unit.

[0195] Specifically, when the traction cable unit is a conventional traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0196]

[0197] In the formula, e j is the direction vector from the traction cable node i to i+1; Conventional traction cable unit internal forces between traction cable nodes j to j+1.

[0198] Specifically, when the traction cable unit is a conventional traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0199]

[0200] In the formula, e j : The unit vector from cable node j to j+1; Conventional traction cable unit internal forces between traction cable nodes j to j+1.

[0201] Specifically, the conventional traction cable unit internal force between the traction cable nodes j to j+1 is Calculate as follows:

[0202]

[0203] In the formula, The original length of the traction rope unit; l j : The length of the traction cable between the jth node and the j+1th node in the current time step; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

[0204] Specifically, when the traction cable unit is a sliding traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0205]

[0206] In the formula, e j : The unit vector from cable node j to j+1; Internal force of the sliding cable unit between cable nodes j to j+1.

[0207] Specifically, when the traction cable unit is a sliding traction cable unit, the internal force of the sliding traction cable unit between the traction cable nodes j to j+1 is Calculate as follows:

[0208]

[0209] In the formula, Internal force of the sliding cable unit with one contact point between cable nodes j and j+1; B': the third contact point; l j,B' : The length from the traction cable node to the third contact point; l B',j+1 : The length from the third contact point to the traction cable node j+1; Given the initial length of the traction cable unit; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction rope. The cyclic motion of the traction rope is as follows: Fig. 9 As shown. The closed traction cable is divided into p units with a total of p nodes.

[0210] At the initial time t0, node 1 of the traction cable coincides with the starting point A, such as Fig. 9 As shown in (a).

[0211] At the next moment t1, after the closed cable circulates, the positions of each point are as follows Fig. 9 As shown in (b). When the traction cable node j moves to the starting point A, as shown in Fig. 9 In (c), the numbers are adjusted, and j→1, 1→2, 2→3, …, j-1→j are recorded, and the next cycle can be carried out.

[0212] The change in the distance between A and j is used as the movement mark of the traction rope.

[0213] Step 3: Based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable at the current time step, increase the time step according to the preset time increment step, and calculate the resultant force acting on the nodes of the load-bearing cable / traction cable at each time step until the preset time period ends.

[0214] Specifically, the central difference method is used to bring the calculation parameters and the resultant force on the node of the load-bearing cable in the current time step into the pre-set node motion equation, calculate the node position vector of the load-bearing cable in the next time step, and calculate the resultant force on the node of the load-bearing cable in the next time step according to the node position vector; increase the time step, and calculate the node position vector and the resultant force on the load-bearing cable in each time step in turn;

[0215] The central difference method is used to bring the calculation parameters and the resultant force acting on the nodes of the traction cable in the current time step into the node motion equation, calculate the node position vector of the traction cable in the next time step, and calculate the resultant force acting on the nodes of the traction cable in the next time step based on the node position vector; increase the time step, and calculate the node position vector and the resultant force acting on the traction cable in each time step in turn.

[0216] According to Newton's second law, motion equations are established for the working cables (load-bearing cables, traction cables), brackets, and loads (traveling trolleys) involved in the cableway working cable coupling analysis.

[0217] According to Newton's second law, when the damping force is not considered, the motion equation of the load-bearing cable node is:

[0218]

[0219] Similarly, the motion equations of the traction cable and the load node are:

[0220]

[0221] In the formula, F Li are the acceleration and the resultant force of the load-bearing cable node i respectively; F Tj are the acceleration and the resultant force of the traction cable node j respectively.

[0222] The bracket is always at rest during the analysis, so its motion equation is:

[0223]

[0224] In the formula, is the bracket node acceleration.

[0225] Introduce energy dissipation mechanism into the motion equation and increase virtual damping force f dmp , so that the structure can reach static equilibrium, the node motion equation is as follows:

[0226]

[0227] Where, m: the mass of the node; The acceleration of the node at the nth time step; F n : The resultant force acting on the node of the load-bearing cable or traction cable at the nth time step; f dmp : virtual damping force;

[0228] Wherein, the virtual damping force f dmp Calculate as follows:

[0229]

[0230] Where, ζ: damping factor.

[0231] Specifically, the acceleration of the node at the nth time step is Calculate as follows:

[0232]

[0233] Where h is the time increment step; x n+1 : The position vector of the node at the n+1th time step; x n : The position vector of the node at the nth time step; x n-1 : The position vector of the node at the n-1th time step;

[0234] The velocity of the node at the nth time step Calculate as follows:

[0235]

[0236] Specifically, the time increment step is determined according to the parameters of the load-bearing cable and the traction cable, and is calculated as follows:

[0237]

[0238] Where h is the time increment step.

[0239] Specifically, the node position vector at the n+1th time step is calculated as follows:

[0240]

[0241] Where, c1: first damping correlation coefficient; c2: second damping correlation coefficient;

[0242] Among them, the first damping correlation coefficient c1 is calculated according to the following formula:

[0243]

[0244] The second damping correlation coefficient c2 is calculated as follows:

[0245]

[0246] When n=0,

[0247]

[0248] In the formula, x -1 : The displacement vector of the non-existent step -1 required for the starting calculation.

[0249] During the operation of a single-load-carrying freight ropeway, it is necessary to determine whether there are support nodes and load nodes in the load-carrying and traction cable units, and to perform traction cable cycle operations, and record the unit number, node number, unit properties and other information of the load-carrying and traction cables, and update them in real time according to the movement. That is, during the operation of the ropeway, the sliding units in the load-carrying and traction cables need to be determined at each time step, and the unit property information needs to be updated. The detailed process of coupled dynamic calculation of a single-load-carrying freight ropeway is as follows: Fig.11 shown.

[0250] Embodiment 2:

[0251] Based on the same inventive concept, the present invention also provides a coupled dynamic analysis system for a single-carrying-cable freight ropeway, such as Fig.12 Shown, including

[0252] A parameter module, a first calculation module, and a second calculation module;

[0253] Parameter module: used for setting calculation parameters based on the freight ropeway;

[0254] The first calculation module is used to determine the unit properties according to the calculation parameters and the position vectors of the load-bearing cables and traction cables at the current moment, and calculate the resultant forces acting on the nodes of the load-bearing cables and traction cables at the current time step;

[0255] The second calculation module: the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable in the current time step are brought into the pre-established node motion equation, and the node position vector of the load-bearing cable / traction cable in the next time step is calculated according to the set time increment step; the above steps are executed repeatedly until the pre-set calculation time is reached to complete the calculation.

[0256] Specifically, in the parameter module, the calculation parameters include: cableway span, cableway height difference;

[0257] The properties of the load-bearing cable unit and the mass of the node, the initial position vector of the load-bearing cable node;

[0258] Drag cable unit properties and node mass, drag cable node initial position vector;

[0259] Initial deflection angle of the load.

[0260] Specifically, in the first calculation module, the resultant force F acting on the load-bearing cable node at the nth time step is n Calculate as follows:

[0261]

[0262] In the formula, External force acting on the node i of the load-bearing cable; The force of the load-bearing cable unit on the load-bearing cable node i;

[0263] Among them, the external force on the load-bearing cable node i is Calculate as follows:

[0264]

[0265] Where M Li : The mass of the load-bearing cable node i; G: Gravitational acceleration vector.

[0266] Specifically, the unit properties of the load-bearing cable unit include a conventional load-bearing cable unit and a sliding load-bearing cable unit;

[0267] The conventional load-bearing cable unit is a load-bearing cable unit in which there is no load or support contact point; the sliding load-bearing cable unit is a load-bearing cable unit in which there is a load or support contact point.

[0268] Specifically, when the unit property of the load-bearing cable unit is a conventional load-bearing cable unit, the force of the conventional load-bearing cable unit on the load-bearing cable node is Calculate as follows:

[0269]

[0270] Among them, e i : unit vector from cable node i to i+1; f i in : Internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1.

[0271] Specifically, the internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1 is calculated as follows:

[0272]

[0273] Among them, EA l : The product of the elastic modulus of the load-bearing cable and the cross-sectional area; The original length of the given load-bearing cable unit; l i : The length from node i to node i+1 at the current moment.

[0274] Specifically, when the unit property of the load-bearing cable unit is a sliding load-bearing cable unit, the force of the sliding load-bearing cable unit on the load-bearing cable node i is calculated as follows:

[0275]

[0276] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i; Internal force of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1; e i1 : unit vector from the load-bearing cable node i to the adjacent first contact point B;

[0277] The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1 is calculated as follows:

[0278]

[0279] In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1; e i2 : The unit direction vector from the load-bearing cable node i+1 to the adjacent first contact point B.

[0280] Specifically, the internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 is i in 'Includes: the internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 and the internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1.

[0281] Specifically, the internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 is calculated as follows:

[0282]

[0283] In the formula, f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1; B: The first contact point; l i,B : The length from node i to the first contact point; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable unit;

[0284] The internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1 is calculated as follows:

[0285]

[0286] In the formula, f i in ”: Internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1; B: first contact point; P: second contact point; l i,P : The length from node i to the second contact point; l P,B : The length from the second contact point to the first contact point B; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable element.

[0287] Specifically, the resultant force of the traction cable nodes at the nth time step is calculated as follows:

[0288]

[0289] In the formula, External force on the traction cable node j; The force exerted by the traction cable unit on the traction cable node j.

[0290] Specifically, the external force on the traction cable node j is It includes the external forces on the traction cable nodes at non-load points and the external forces on the traction cable nodes where the loads are located.

[0291] Specifically, the external force on the traction cable node at the non-load point is calculated as follows:

[0292]

[0293] Where M Tj : The mass of the traction cable node j; G: Gravitational acceleration vector;

[0294] Specifically, the external force at the traction cable node where the load is located is calculated as follows:

[0295]

[0296] In the formula, The force of the load-bearing cable on the sth load node; External forces at the dragline nodes where the loads are located; The mass of the traction cable node j where the load is located;

[0297] Specifically, the load cable unit is subjected to the sth load P s The force The load cable unit with 1 contact point is subjected to the sth load P s The force The load cable unit with two contact points is subjected to the sth load P s The force

[0298] Specifically, the load cable unit with one contact point is subjected to the sth load P s The force Calculate as follows:

[0299]

[0300] In the formula, e i1 :Load Ps The unit vector from the contact point of the load-bearing cable unit to the adjacent load-bearing cable node or bracket contact point on one side; e i2 :Load P s The unit vector from the contact point of the load-bearing cable unit to the contact point of the adjacent load-bearing cable node or bracket on the other side; f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1;

[0301] The load cable element with two contact points is subjected to the sth load P s The force Calculate as follows:

[0302]

[0303] f i in ”: Internal force of the sliding cable unit with two contact points between the cable nodes i to i+1.

[0304] Specifically, the unit properties of the traction cable unit include a conventional traction cable unit and a sliding traction cable unit;

[0305] The conventional traction cable unit is a traction cable unit in which there is no load or support contact point in the unit; the sliding traction cable unit is a traction cable unit in which there is a support contact point in the unit.

[0306] Specifically, when the traction cable unit is a conventional traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0307]

[0308] In the formula, e j : The unit vector from cable node j to j+1; Conventional traction cable unit internal forces between traction cable nodes j to j+1.

[0309] Specifically, the conventional traction cable unit internal force between the traction cable nodes j to j+1 is Calculate as follows:

[0310]

[0311] In the formula, The original length of the traction rope unit; l j : The length of the traction cable between the jth node and the j+1th node in the current time step; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

[0312] Specifically, when the traction cable unit is a sliding traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows:

[0313]

[0314] In the formula, e j : The unit vector from cable node j to j+1; Internal force of the sliding cable unit between cable nodes j to j+1.

[0315] Specifically, when the traction cable unit is a sliding traction cable unit, the internal force of the sliding traction cable unit between the traction cable nodes j to j+1 is Calculate as follows:

[0316]

[0317] In the formula, Internal force of the sliding cable unit with one contact point between cable nodes j and j+1; B': the third contact point; l j,B' : The length from the traction cable node to the third contact point; l B',j+1 : The length from the third contact point to the traction cable node j+1; Given the initial length of the traction cable unit; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

[0318] Specifically, in the second calculation module, the node motion equation is as follows:

[0319]

[0320] Where, m: the mass of the node; The acceleration of the node at the nth time step; F n : The resultant force acting on the node of the load-bearing cable or traction cable at the nth time step; f dmp : virtual damping force;

[0321] Wherein, the virtual damping force f dmp Calculate as follows:

[0322]

[0323] Where, ζ: damping factor.

[0324] Specifically, the acceleration of the node at the nth time step is Calculate as follows:

[0325]

[0326] Where h is the time increment step; x n+1 : The position vector of the node at the n+1th time step; x n : The position vector of the node at the nth time step; x n-1 : The position vector of the node at the n-1th time step;

[0327] The velocity of the node at the nth time step Calculate as follows:

[0328]

[0329] Specifically, the node position vector at the n+1th time step is calculated as follows:

[0330]

[0331] Where, c1: first damping correlation coefficient; c2: second damping correlation coefficient;

[0332] Among them, the first damping correlation coefficient c1 is calculated according to the following formula:

[0333]

[0334] The second damping correlation coefficient c2 is calculated as follows:

[0335]

[0336] The above facts indicate that the technical solution provided by the present invention can realize the overall analysis of the carrying cable and the traction cable of a single-carrying-cable freight ropeway. The cyclic motion of the traction cable drives the load to run on the carrying cable. The carrying cable and the traction cable establish a coupling relationship through the load, which conforms to the actual operating conditions of the freight ropeway. The impact dynamic response generated by the continuous operation process of the load and the support can be calculated, providing an accurate and reasonable theoretical basis and calculation method for the coupled dynamic analysis of the working cable of the freight ropeway.

[0337] The technical solution provided by the present invention realizes the traveling motion of the traction rope by shortening the length between the end node of the traction rope and the starting fixed point under the premise that the initial length of the traction rope remains unchanged, thereby realizing the cyclic motion analysis and calculation efficiency of the traction rope.

[0338] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0339] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0340] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0341] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0342] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0343] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for calculating the coupled dynamics of a single-carrying-cable freight ropeway, characterized in that: The method comprises: Setting calculation parameters based on the freight ropeway; Calculate the resultant force acting on the load-bearing cable / traction cable node in the current time step according to the calculation parameters; Based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable in the current time step, the time step is increased according to the set time increment step, the node motion equation is solved, and the resultant force acting on the nodes of the load-bearing cable / traction cable in each time step is calculated until the preset time period ends; The method of increasing the time step according to the set time increment step based on the calculation parameters and the resultant force acting on the node of the load-bearing cable / traction cable in the current time step, solving the node motion equation, and calculating the resultant force acting on the node of the load-bearing cable / traction cable in each time step includes: Using the central difference method, the node position vector and the resultant force of the load-bearing cable are introduced into the node motion equation at the current time step, the node position vector of the load-bearing cable at the next time step is calculated, and the resultant force of the load-bearing cable node is calculated according to the node position vector; increasing the time step, and calculating the node position vector and the resultant force of the load-bearing cable at each time step in turn; The central difference method is used to bring the node position vector and the resultant force of the traction cable into the node motion equation at the current time step, calculate the node position vector of the traction cable at the next time step, and calculate the resultant force of the traction cable node based on the node position vector; increase the time step, and calculate the node position vector and the resultant force of the traction cable at each time step in turn.

2. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 1, characterized in that: The calculation parameters include: cableway span and cableway height difference; Elastic modulus, cross-sectional area, unit properties and node mass of the load-bearing cable, initial position vector of the load-bearing cable node; Elastic modulus, cross-sectional area, unit properties and node mass of the traction cable, and initial position vector of the traction cable node.

3. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 2, characterized in that: The load-bearing cable node acts on the load-bearing cable node at the nth time step. n Calculate as follows: In the formula, External force acting on the node i of the load-bearing cable; The force of the load-bearing cable unit on the load-bearing cable node i; Among them, the external force on the load-bearing cable node i is Calculate as follows: Where M Li : The mass of the load-bearing cable node i; G: Gravitational acceleration vector.

4. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 3, characterized in that: The unit properties of the load-bearing cable unit include conventional load-bearing cable units and sliding load-bearing cable units; The conventional load-bearing cable unit is a load-bearing cable unit in which there is no load or support contact point; the sliding load-bearing cable unit is a load-bearing cable unit in which there is a load or support contact point.

5. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 4, characterized in that: When the unit property of the load-bearing cable unit is a conventional load-bearing cable unit, the force exerted by the conventional load-bearing cable unit on the load-bearing cable node is Calculate as follows: Among them, e i : unit vector of the cable node from i to i+1; f i in : Internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1.

6. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 5, characterized in that: The internal force of the conventional load-bearing cable unit between the load-bearing cable nodes i to i+1 is calculated as follows: Among them, EA l : The product of the elastic modulus of the load-bearing cable and the cross-sectional area; The original length of the given load-bearing cable unit; l i : The length from node i to node i+1 at the current moment.

7. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 4, characterized in that: When the unit property of the load-bearing cable unit is a sliding load-bearing cable unit, the force of the sliding load-bearing cable unit on the load-bearing cable node i is calculated as follows: In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i; f i in ': Internal force of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1; e i1 : unit vector from the load-bearing cable node i to the adjacent first contact point B; The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1 is calculated as follows: In the formula, The force exerted by the sliding load-bearing cable unit on the load-bearing cable node i+1; e i2 : The unit direction vector from the load-bearing cable node i+1 to the adjacent first contact point B.

8. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 7, characterized in that: The internal force f of the sliding load-bearing cable unit between the load-bearing cable nodes i to i+1 i in 'Includes: the internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 and the internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1.

9. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 8, characterized in that: The internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1 is calculated as follows: In the formula, EA l : product of elastic modulus and cross-sectional area of ​​load-bearing cable; f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1; B: first contact point; l i,B : The length from node i to the first contact point; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable unit; The internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1 is calculated as follows: In the formula, f i in ”: Internal force of the sliding load-bearing cable unit with two contact points between the load-bearing cable nodes i to i+1; B: first contact point; P: second contact point; l i,P : The length from node i to the second contact point; l P,B : The length from the second contact point to the first contact point B; l B,i+1 : The length from the first contact point to node i+1; The original length of the given load-bearing cable element.

10. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 1, characterized in that: The resultant force of the traction cable nodes at the nth time step is calculated as follows: In the formula, External force on the traction cable node j; The force exerted by the traction cable unit on the traction cable node j.

11. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 10, characterized in that: External force on traction cable node j It includes the external forces on the traction cable nodes at non-load points and the external forces on the traction cable nodes where the loads are located.

12. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 11, characterized in that: The external force on the traction cable node at the non-load point is calculated as follows: Where M Tj : The mass of the traction cable node j; G: gravitational acceleration vector.

13. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 11, characterized in that: The external force at the traction cable node where the load is located is calculated as follows: In the formula, The force of the load-bearing cable on the sth load node; The node j of the traction cable where the load is located s external forces; Load location traction cable node j s quality.

14. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 13, characterized in that: The load cable unit is subjected to the sth load P s The force The load cable unit with 1 contact point is subjected to the sth load P s The force The load cable unit with two contact points is subjected to the sth load P s The force 15. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 14, characterized in that: The load cable unit with one contact point is subjected to the sth load P s The force Calculate as follows: In the formula, e i1 :Load P s The unit vector from the contact point of the load-bearing cable unit to the adjacent load-bearing cable node or bracket contact point on one side; e i2 :Load P s The unit vector from the contact point of the load-bearing cable unit to the contact point of the adjacent load-bearing cable node or bracket on the other side; f i in ': Internal force of the sliding load-bearing cable unit with one contact point between the load-bearing cable nodes i to i+1; The force acting on the sth load by a load-bearing cable unit with two contact points is calculated as follows: f i in ”: Internal force of the sliding cable unit with two contact points between the cable nodes i to i+1.

16. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 10, characterized in that: The unit properties of the traction rope unit include a conventional traction rope unit and a sliding traction rope unit; The conventional traction cable unit is a traction cable unit in which there is no load or support contact point in the unit; the slip traction cable unit is a traction cable unit in which there is a support contact point in the unit.

17. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 16, characterized in that: When the traction cable unit is a conventional traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows: In the formula, e j : The unit vector from cable node j to j+1; Conventional traction cable unit internal forces between traction cable nodes j to j+1.

18. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 17, characterized in that: The conventional traction cable unit internal force between traction cable nodes j to j+1 Calculate as follows: In the formula, The original length of the traction rope unit; l j : The length of the traction cable between the jth node and the j+1th node in the current time step; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

19. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 16, wherein: When the traction cable unit is a sliding traction cable unit, the force of the traction cable unit on the traction cable node j is The calculation method is as follows: In the formula, e j : The unit vector from cable node j to j+1; Internal force of the sliding cable unit between cable nodes j to j+1.

20. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 19, characterized in that: When the traction cable unit is a sliding traction cable unit, the internal force of the sliding traction cable unit between the traction cable nodes j to j+1 Calculate as follows: In the formula, Internal force of the sliding traction cable unit with one contact point between traction cable nodes j to j+1; B': the third contact point; l j,B' : The length of the traction cable from node j to the third contact point; l B',j+1 : The length from the third contact point to the traction cable node j+1; Given the initial length of the traction cable unit; EA t : The product of the elastic modulus and the cross-sectional area of ​​the traction cable.

21. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 1, characterized in that: The node motion equation is as follows: Where, m: the mass of the node; The acceleration of the node at the nth time step; F n : The resultant force acting on the node of the load-bearing cable or traction cable at the nth time step; f dmp : virtual damping force; Wherein, the virtual damping force f dmp Calculate as follows: Where, ζ: damping factor; The velocity of the node at the nth time step.

22. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 21, characterized in that: The acceleration of the node at the nth time step Calculate as follows: Where h is the time increment step; x is n+1 : The position vector of the node at the n+1th time step; x n : The position vector of the node at the nth time step; x n-1 : The position vector of the node at the n-1th time step; The velocity of the node at the nth time step Calculate as follows:

23. The method for calculating coupled dynamics of a single-carrying-cable freight ropeway according to claim 22, characterized in that: The node position vector at the n+1th time step is calculated as follows: Where, c1: first damping correlation coefficient; c2: second damping correlation coefficient; Among them, the first damping correlation coefficient c1 is calculated according to the following formula: The second damping correlation coefficient c2 is calculated as follows:

24. A coupled power calculation system for a single-carrying-cable freight ropeway, characterized in that: It includes a parameter module, a first calculation module and a second calculation module; Parameter module: used for setting calculation parameters based on the freight ropeway; The first calculation module is used to calculate the resultant force acting on the load-bearing cable / traction cable node in the current time step according to the calculation parameters; The second calculation module is used to increase the time step according to the set time increment step based on the calculation parameters and the resultant force acting on the nodes of the load-bearing cable / traction cable in the current time step, solve the node motion equation, and calculate the resultant force acting on the nodes of the load-bearing cable / traction cable in each time step until the preset time period ends; The second calculation module is specifically used for: Using the central difference method, the node position vector and the resultant force of the load-bearing cable are introduced into the node motion equation at the current time step, the node position vector of the load-bearing cable at the next time step is calculated, and the resultant force of the load-bearing cable node is calculated according to the node position vector; increasing the time step, and calculating the node position vector and the resultant force of the load-bearing cable at each time step in turn; The central difference method is used to bring the node position vector and the resultant force of the traction cable into the node motion equation at the current time step, calculate the node position vector of the traction cable at the next time step, and calculate the resultant force of the traction cable node based on the node position vector; increase the time step, and calculate the node position vector and the resultant force of the traction cable at each time step in turn.

Images