钢丝绳在塔式起重机仿真系统中的柔性建模  

Flexible modeling of wire rope in the tower crane simulation system

作　　者：吕玉兰[1] 米成宏 朱斌 王欣[1] 王殿龙[1] 

机构地区：[1]大连理工大学机械工程学院,辽宁大连116023 [2]徐工集团徐州建机工程机械有限公司,江苏徐州221007

出　　处：《建筑机械》2015年第8期77-81,8,共5页Construction Machinery

基　　金：大连市科学计划项目(2013A16GX111);中央高校基本科研业务专项(DUT14ZD221)

摘　　要：针对钢丝绳柔性仿真在塔式起重机仿真系统中难以实现的问题,提出了一种基于悬链线理论的钢丝绳柔性仿真算法。重点研究了起升钢丝绳的悬链线方程表达与求解,虚拟环境下柔性钢丝绳分段平滑的建模方法。提取悬链线方程的关键点,在Virtools中采用离散点控制算法,对仿真系统中钢丝绳的牵引与平移运动进行仿真实现。仿真算例结果表明,在仿真系统中考虑钢丝绳柔性很有必要,其增强了操作的沉浸感,提高了塔式起重机仿真系统的真实性。A wire rope flexible simulation algorithm was developed based on catenary theory to express the flexible wire rope in the tower crane simulation system. Expression and solving the catenary equation of hoisting rope was the key problem. Piece-wise smooth modeling methods of flexible wire rope in virtual environment was studied. With discrete points control algorithm in virtools, the key points in catenary equation were extracted to simulate the traction and translational motion of the wire rope in the simulation system. Simulation case shows the necessary of considering the flexible wire rope in the simulation system, in which the immersion is enhanced and the reasonability is improved.

关 键 词：钢丝绳 柔性仿真 悬链线理论 离散点控制 

分 类 号：TH213.3[机械工程—机械制造及自动化]