欠驱动的倒三角铁路集装箱门式起重机吊具动力学建模与分析  

Dynamics Modeling and Analysis on Under-Actuated and Inverted Triangle-Shaped Spreader of Rail Mounted Container Gantry Crane

作　　者：刘华森[1] 程文明[1] 易嘉伟[1] 

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《中国铁道科学》2015年第2期103-110,共8页China Railway Science

基　　金：四川省应用基础研究计划项目(2013JY0136);四川省科技厅资助项目(2011GZ0212);西南交通大学轨道交通行业拔尖创新人才培育项目(西交校研[2012]19号)

摘　　要：针对铁路集装箱门式起重机吊具与起重机小车构成的强耦合、欠驱动系统,为研究集装箱吊具系统的动力学特性和影响因素,根据倒三角集装箱吊具的物理结构特点,建立集装箱吊具交替摆动的二自由度椭圆摆动力学模型;并应用第二类拉格朗日理论得到集装箱吊具摆动动力学方程;再根据集装箱吊具在大车运行方向和小车运行方向的不同运动条件,分别递推出求解吊具残余摆动的微分方程。仿真结果表明：当小车与集装箱吊具耦合摆动时,小车的制动力能够减小集装箱吊具残余摆动的最大摆幅和摆动时间;由于小车的耦合运动也会损耗集装箱吊具摆动的能量,因而当集装箱吊具在小车方向上运动时残余摆动的最大摆幅平均减少约11.7%;合理地控制起重机起升钢丝绳的长度和小车的运行速度,能够有效地将集装箱吊具残余摆动时间控制在5~10s内。The spreader of rail-mounted container gantry crane together with crane trolley formed a strong coupling and under-actuated system.According to the physical structure characteristics of the inverted triangle-shaped container spreader,a two-degree of freedom mechanical model for the alternating elliptic oscillation of container spreader was established to study the dynamic characteristics and influencing factors of container spreader system.With the second Lagrange theorem,the dynamic equation for the oscillation of container spreader was obtained.The differential equations for the residual oscillation of container spreader were successively derived in the running directions either of the crane or the trolley respectively.Simulation results indicate that,if the coupling oscillation occurs between the trolley and container spreader,the brake force of the trolley can shorten the maximum swing amplitude and time of the residual oscillation for container spreader.The coupled motion of the trolley also dissipates some oscillation energy of container spreader.As a result,the maximum swing amplitude of the residual oscillation for the container spreader in the running direction of the trolley is reduced by 11.7%in average.The residual oscillation time of the container spreader can be effectively kept in 5~10sby reasonably controlling the length of hoisting wire rope and the operating speed of the trolley.

关 键 词：集装箱门式起重机 欠驱动系统 倒三角集装箱吊具 柔性防摇 残余摆动 

分 类 号：U294.274[交通运输工程—交通运输规划与管理] TH213.5[交通运输工程—道路与铁道工程]