基于运动补偿的起重船吊装过程抑摆控制  

Swing Reduction Control of Crane Ship Hoisting Procedure Based on Motion Compensation

作　　者：常宗瑜[1,2] 张博文 张益鹏 王海波 李金宜 倪平虎 Chang Zongyu;Zhang Bowen;Zhang Yipeng;Wang Haibo;Li Jinyi;Ni Pinghu(College of Engineering,Ocean University of China,Qingdao 266100,China;Key Laboratory of Ocean Engineering of Shandong Province,Qingdao 266100,China;China Communications Construction Company Limited,Second Harbor Engineering Company Limited,Wuhan 430000,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100 [2]山东省海洋工程重点实验室,山东青岛266100 [3]中国交通建设股份有限公司交第二航务工程局有限公司,湖北武汉430000

出　　处：《中国海洋大学学报（自然科学版）》2023年第10期45-54,共10页Periodical of Ocean University of China

基　　金：国家自然科学基金项目(52088102)资助。

摘　　要：为了解决起重船海上作业受风、浪和流等环境载荷作用导致吊物大幅度摆动问题,本文综合考虑波浪力、系泊力和风载荷等对起重船运动影响,提出基于运动补偿的起重船吊装过程抑摆控制方法。通过建立起重船-吊物系统动力学模型和机械系统动力学自动分析(ADAMS)软件的二次开发,实现对起重船-吊物系统耦合运动的时域模拟,研究不同海况下有无补偿装置的吊物运动响应。计算结果表明:起重船-吊物系统具有复杂运动特性,导致不同海况下吊物呈现多种空间运动轨迹;5级海况下补偿装置可以使吊物摆动幅值降低65%;4级海况下补偿装置可以使吊物摆动幅值降低55%。To reduce the large swing of lifting objects caused by environmental loads such as wind,wave,and current during offshore operations of crane ships,considering the impacts of wave force,mooring force,and wind load on the motion of a crane ship,a swing suppression control system for the lifting objects of a crane ship based on motion compensation was presented in this paper.The time domain simulation of the coupled motion of the crane ship-hoisting system was carried out by establishing the crane ship-hoisting system dynamics model and the secondary development of the multibody dynamics software ADAMS,the crane motion response with or without compensation devices under different sea conditions was then obtained.The analytical findings demonstrate that the crane ship crane system shows complicated features during movement,and the crane′s motion trajectories under different sea conditions are similarly diversified.The compensation mechanism can lower the swing amplitude of the hanged object by 65%in level 5 sea conditions and 55%in level 4 sea conditions.

关 键 词：起重船-吊物耦合系统 摆动抑制 运动补偿 运动响应 时域模拟 

分 类 号：TH113.2[机械工程—机械设计及理论]