海上吊物六自由度系统动力学特性分析  

Dynamic Characteristic Analysis of Six-degree-of-freedom Marine Load-lifting System

作　　者：黄福祥[1] 马越 白旭[3] 袁利毫[2] 周桐 昝英飞 HUANG Fuxiang;MA Yue;BAI Xu;YUAN Lihao;ZHOU Tong;ZAN Yingfei(Offshore Oil Engineering Co.,Ltd.,Tianjin 300450,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Jiangsu Zhenjiang 212003,China)

机构地区：[1]海洋石油工程股份有限公司,天津300450 [2]哈尔滨工程大学船舶工程学院,哈尔滨150001 [3]江苏科技大学船舶与海洋工程学院,江苏镇江212003

出　　处：《船舶工程》2018年第12期77-83,共7页Ship Engineering

基　　金：国家重大科技专项经费资助(2016ZX05057020);工业和信息化部海洋工程装备科研项目:水下工程安全作业仿真测试装备研制及关键技术研究专项经费资助;国家自然科学基金项目(51879125;51809067)

摘　　要：以海上吊物系统为研究对象,考虑长方体吊物模型六自由度的运动和风载荷,建立广义坐标的第二类拉格朗日方程,并利用高阶的龙格-库塔方法求解该方程。根据牛顿第二定律,推导出吊绳动张力计算公式,对不同吊绳长度、不同起吊速度、不同激励频率时的吊绳摆角、吊物转动角度和动张力进行分析。结果表明:吊绳长度、起吊速度和激励频率的变化均对吊物的摆角和吊绳动张力产生很大影响;吊物的升降对吊绳摆动、吊物转动和吊绳中的动张力有抑制作用,且起升速度越大,对吊物系统的抑制效果越明显,可以通过控制起吊速度和时间来减小吊重的摆动;当激励频率接近于吊物系统特征频率时,会发生共振,因此起吊作业中需要选择合适的吊索长度来避开共振区。Taking the marine load-lifting system as the study object,considering six-degree-of-freedom motions and the wind load of the cuboid lifted-load model,the second kind of Lagrange equation which is based on generalized coordinates is established.The high-order Runge-Kutta method is used to solve the equation.Based on Newton's second law,the dynamic tension calculation formula of the lifting wire is deduced.The motion responses and dynamic tensions under different wire lengths,different lifting speeds and different excitation frequencies are analyzed.The results show that all those three factors have great effect on the pendulum angle of the lifted load and the dynamic tension of the lifting wire.The lifting of the load has an inhibiting effect on the swing of the wire,rotating of the load and dynamic tension of the lifting wire.The higher the lifting speed is,the greater the inhibition effect on the system will be.Therefore,the swing of the load can be reduced by controlling the lifting speed and lifting time.When the excitation frequency is close to the characteristic frequency of the lifting system,there will be a resonance phenomenon.That makes it necessary to choose the appropriate length of the lifting wire to avoid the resonance region in the lifting operation.

关 键 词：海上吊物 六自由度运动 运动响应 数值仿真 

分 类 号：U674.35[交通运输工程—船舶及航道工程]