三自由度绳驱动波浪补偿装置的动力学建模与振动特性分析  

Dynamic modelling and vibration characteristics analysis of a 3-DOF rope-driven wave compensation device

作　　者：李建 王生海[1,2] 赵世龙 王建立 韩广冬[1,2] 孙玉清 LI Jian;WANG Shenghai;ZHAO Shilong;WANG Jianli;HAN Guangdong;SUN Yuqing(Marine Engineering College,Dalian Maritime University,Dalian 116026,China;Ministry of Science and Technology for International Research Center of Subsea Engineering Technology and Equipment,Dalian Maritime University,Dalian 116026,China;College of Shipping,Bohai University,Jinzhou 121007,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连海事大学科学技术部海底工程技术与装备国际联合研究中心,辽宁大连116026 [3]渤海大学航运学院,辽宁锦州121007

出　　处：《振动与冲击》2024年第18期220-231,共12页Journal of Vibration and Shock

基　　金：国家重点研发计划项目(2022YFB4300802);国家自然科学基金项目(52101396);中央高校基本科研业务费专项基金项目(3132023630)。

摘　　要：受波浪运动的影响,在使用起重机进行海上补给作业的过程中,吊具容易产生不良运动,严重影响了补给作业的效率和安全性。为实现船用起重机在横摇、纵摇和升沉方向上的波浪补偿功能,提出了一种三自由度绳驱动波浪补偿装置;首先,考虑到不均匀装载工况,基于Newton-Euler法建立了补偿装置的动力学模型,并通过Adams虚拟样机仿真验证了数学模型的正确性;其次,对不均匀装载工况下的绳索张力分布情况进行分析,得到了吊具重心位置的危险分布区域;再次,采用特征值法求解补偿装置的一阶固有频率,得到了载荷质量、绳索刚度以及吊具位姿对补偿装置一阶固有频率的影响规律;最后,在理论分析的基础上,通过试验验证了补偿方案的可行性,并证明了数学模型的正确性。Due to the influence of wave motion,in the process of using the crane to carry out the replenishment operation at sea,the spreader is prone to undesirable movement,which seriously affects the efficiency and safety of the replenishment operation.A three-degree-of-freedom rope-driven wave compensation device was proposed to realize the wave compensation function of ship-mounted cranes in roll,pitch,and heave directions.Firstly,considering the uneven loading conditions,the dynamic model of the compensation device was established based on the Newton-Euler method.Furthermore,the feasibility of the compensation scheme and the correctness of the dynamic model were verified by the Adams virtual prototype.Secondly,the rope tension distribution under uneven loading conditions was analyzed,and the dangerous distribution area of the barycenter position of the spreader was obtained.Again,the first-order natural frequency of the compensation device was solved by the eigenvalue method.The influences of load weight,rope stiffness and spreader attitude on the first-order natural frequency of the compensation device were investigated.Finally,on the basis of the theoretical analysis,the feasibility of the compensation scheme was verified by experiments,and the correctness of the mathematical model was proved.

关 键 词：波浪补偿 船用起重机 绳驱动 动力学分析 振动特性 

分 类 号：TH213.1[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]