船用起重机吊索张力建模与计算机数值仿真  

Modeling and Simulation of Tension on Ship Crane Sling

作　　者：郑民民 张秀凤[1] 王任大[1] ZHENG Minmin;ZHANG Xiufeng;WANG Renda(Lab of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, China)

机构地区：[1]大连海事大学航海动态仿真和控制交通行业重点实验室,辽宁大连116026

出　　处：《中国航海》2020年第4期94-98,共5页Navigation of China

基　　金：总装备部预研项目(41407010301);中央高校基本科研业务费专项资金资助项目(3132019306)。

摘　　要：为得到船用起重机在升降作业过程中的吊索张力变化规律,提升作业的安全性和效率,利用计算机数值仿真,对起重机在升降作业过程的非线性动力学响应进行研究,建立船用起重机操纵激励型动力学模型。该模型将空气摩擦力作为外力干扰,较为符合工程实际。试验结果表明:起重机提升作业对吊索摆幅有放大作用,下降作业对吊索摆幅有抑制作用;单指令操作时,俯仰运动所受张力更大;下降作业的载荷轨迹半径小于提升作业的载荷轨迹半径;回转运动和俯仰运动能减小起重机提升过程中的张力;在下降作业过程中,吊索速度降低会引发张力值突变;吊索张力值的空间分布与吊索长度成反比。In order to ensure safety and efficiency in the lifting operation of marine crane,the computer numerical simulation is carried out to study the non-linear dynamic response during the crane lifting operation,and a dynamic model of the operation incentive of marine crane is established.The air friction is treated as external force interference in the model,which is reasonable to reflect the engineering practice.The study shows that the lifting operation of the crane amplifies the swing of the sling,and the lowering operation damps it;The tension during pitching is greater for single-command operation;The radius of the load trajectory for lowering operation is smaller than that for lifting operation;Slewing and pitching movements can reduce the tension during the lifting process;The decrease of the sling speed during lowering operation will cause a sudden change of the tension;The spatial distribution of the sling tension value is inversely proportional to sling length.

关 键 词：起重机作业 多自由度耦合模型 动力学模型 吊索张力分析 非保守型拉格朗日方程 

分 类 号：U667.5[交通运输工程—船舶及航道工程] TP391.9[交通运输工程—船舶与海洋工程]