基于柔索并联的细长杆件吊装减摇系统动力学分析与试验研究  

Dynamic analysis and experiment of the anti-swing system for slender payload lifting based on the cable parallel mechanism

作　　者：孙茂凱 王生海[1] 韩广冬 关婕 陈海泉[1] 孙玉清[1] SUN Maokai;WANG Shenghai;HAN Guangdong;GUAN Jie;CHEN Haiquan;SUN Yuqing(College of Marine Engineering,Dalian Maritime University,Dalian 116026,China;Dalian Shipbuilding Industry Co.,Ltd.,Dalian 116000,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连船舶重工集团有限公司,辽宁大连116000

出　　处：《振动与冲击》2023年第18期286-294,共9页Journal of Vibration and Shock

基　　金：国家自然科学基金(52101396);国家重点研发计划(2018YFC0309003)。

摘　　要：针对高海况下细长杆件类结构物吊装效率低、风险大、难以实现精确吊装的问题,提出了基于柔索并联的细长杆件吊装减摇系统,并将其简化为有基座激励的受约束二级摆,运用机器人学方法建立细长杆件吊装减摇系统的动力学模型,采用MATLAB/SIMULINK对基于柔索并联的细长杆件吊装减摇系统摆动的低频振动特性进行仿真分析,同时在细长杆件吊装减摇试验台上进行试验验证,仿真和试验结果表明:基于柔索并联的细长杆件吊装减摇系统对一级摆有良好的摆动抑制效果,在设定工况下对二级摆也有一定的减摇效果。研究成果可为细长杆件这类双摆系统的吊装减摇控制提供依据,同时为细长杆件吊装减摇系统的进一步的工程应用提供理论基础。It is inefficient to lift a slender payload and it may come with high risk in rough sea condition,thus it is difficult to achieve precise assembly.To address this issue,an anti-swing system for slender payload lifting based on the cable parallel mechanism was proposed.The system was simplified as a constrained double-pendulum system with moving base excitations.Further,the system dynamic model was established by applying the methods used in robotics,meanwhile,its low frequency vibration characteristics were simulated and analyzed by MATLAB/SIMULINK,and the experiment verification was carried out on a designed anti-swing device for slender payload lifting test.The simulation and experiment results show that the anti-swing system has good vibration suppression effect on the first stage pendulum,and it has certain vibration suppression effect on the second stage pendulum as well under setting conditions.The research results provide a theoretical basis for the anti-swing control when lifting the double-pendulum system like slender payload,and also provide a theoretical basis for the further engineering application of the anti-swing system for slender payload lifting.

关 键 词：细长杆件 吊装 双摆系统 柔索并联 低频振动 

分 类 号：U653.921[交通运输工程—港口、海岸及近海工程]