双吊具欠驱动桥吊的建模与仿真  

Modeling and Simulation of Underactuated Double-Container Overhead Crane

作　　者：李云林[1] 徐为民[1] 褚建新[1] 周贤文[1] 

机构地区：[1]上海海事大学航运技术与控制工程交通行业重点实验室,上海201306

出　　处：《计算机仿真》2012年第8期377-382,共6页Computer Simulation

基　　金：国家"863"计划重点项目2009AA043000);上海市科委创新计划项目(10110502600);上海海事大学校基金项目(20100083);上海市重点学科(S30602)

摘　　要：较之于传统的单吊具桥吊,双起升双吊具桥吊是一种新型高效集装箱装卸机械,但其本质上是一类复杂的欠驱动非线性系统,其建模和控制方法存在较大难度。利用拉格朗日分析方法和仿真手段对双起升双吊具桥吊的动力学特性进行了研究,分析了吊绳长度和负载变化对桥吊动态特性的影响,以及作业环境中的摩擦力和空气阻力对模型特性的影响;建立了双起升双吊具桥吊的动力学模型,并进行了简化。最后,仿真研究为验证双起升双吊具桥吊的动力学模型的正确性提供了依据。Compared with a traditional single -container overhead crane, the double -container overhead crane is a new efficient container stevedoring machinery, and it is actually a complicated under actuated nonlinear system. In this brief, both the kinematic and dynamic characteristics concerning the double - container crane were investiga- ted, and then an accurate dynamic model of the double - container overhead crane was established by utilizing Lagrange＇s equation. Not only were the variation of the rope and payloads, but also the mechanical frictions and air - resistance in the environment were considered in the model. Furthermore, a simplified double - container model was given based on the accurate double container overhead crane dynamic model. Simulation results show the validity of the established double - container overhead crane model.

关 键 词：双起升双吊具 桥吊 欠驱动系统 动力学建模 数值仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]