船用起重机四旋翼减摇吊钩动力学特性  

Dynamic Characteristic of Anti-swing Hook on Quad-rotor of Marine Crane

作　　者：方楠 黄哲 赵庭祺 王生海[1,2] 陈海泉 韩广冬[1,2] 孙玉清 FANG Nan;HUANG Zhe;ZHAO Tingqi;WANG Shenghai;CHEN Haiquan;HAN Guangdong;SUN Yuqing(College of Marine Engineering,Dalian Maritime University,Dalian 116026,China;National Center for International Research of Subsea Engineering Technology and Equipment,Dalian 116026,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]科技部海底工程国际联合研究中心,辽宁大连116026

出　　处：《广东海洋大学学报》2024年第4期129-138,共10页Journal of Guangdong Ocean University

基　　金：国家重点研发计划(2022YFB4300802);国家自然科学基金(52101396)。

摘　　要：【目的】设计一种船用起重机减摇装置并探究其防摆机理,以期解决当前船用起重机吊装过程的摇摆问题。【方法】设计一种船用起重机四旋翼减摇吊钩装置,建立船舶-起重机-四旋翼减摇吊钩的动力学模型,并考虑风载荷的影响。设计自适应模糊比例-积分-微分(PID)控制策略应用于四旋翼减摇吊钩控制器,根据摆角偏差量控制相应电机转动产生抑制吊重摆动的推力,实现摆角在线实时控制。通过动力学仿真分析和实验验证,探究其减摇特性和运动规律。【结果】在船舶激励下吊重面内和面外摆角分别减少约66.8%和69.7%,吊重摆动投影在x和y轴最大偏移量平均降低62.5%。自适应模糊PID控制策略下的四旋翼减摇吊钩较PID控制响应速度提高25.0%,稳态性能提升13.0%。通过实验与仿真对比分析,吊重摆角曲线趋势基本吻合,在16 s时吊重趋近于稳定,验证了四旋翼减摇吊钩动力学模型的准确性。【结论】四旋翼减摇吊钩能有效抑制吊重摆动,可为船用起重机轻载吊装防摆研究提供新的可行性减摇方案。【Objective】 Design an anti-swing device for marine cranes and explore its anti-swing mechanism to solve the swing problem during the lifting process of marine cranes.【Method】Innovative design of anti-swing hook of quad-rotor of marine crane,a dynamic model of the anti-swing hook of quad-rotor was established,and allowed for the influence of wind load.The adaptive fuzzy PID(proportional integral derivative)control strategy was applied to the anti-swing quad-rotor hook controller.According to the swing angle deviation,the corresponding motor rotation was controlled to generate thrust to reduce the payload swing,and the swing angle was controlled online and in real time.Finally,the anti-swing characteristics and motion laws were explored through dynamic simulation analysis and experimental verification.【Result】When the ship is excited,the in-plane and out-plane swing angles of the payload are reduced by 66.8% and 69.7%,respectively.The weight swing projection decreases by an average of 62.5% at the maximum offset in the x and y axes.The response speed of the anti-swing hook under the adaptive fuzzy PID control strategy is increased by 25.0%compared to PID control,and the steady-state performance is improved by 13.0%.Through comparative analysis of experiments and simulations,the trend of the hanging load swing angle curve is basically consistent,and the hanging load tends to be stabilized after 16 seconds.The accuracy of the dynamic model of anti-swing quad-rotor hook was verified.【Conclusion】The anti-swing quad-rotor hook can effectively suppress the swing of the payload,providing a new feasible anti-swing scheme for the light load anti-swing marine cranes.

关 键 词：船用起重机 四旋翼减摇吊钩 自适应模糊PID 动力学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]