船用起重机四索吊装系统动力学分析与控制策略研究  

Dynamic modelling and control strategy for the four anti-swing cables system of an offshore crane

作　　者：黄哲 任昭鹏 赵庭祺 王生海[1,2] 陈海泉 孙玉清[1,2] HUANG Zhe;REN Zhaopeng;ZHAO Tingqi;WANG Shenghai;CHEN Haiquan;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]海底工程技术与装备国际联合研究中心国家级国际科技合作基地,辽宁大连116026

出　　处：《振动与冲击》2024年第22期162-173,共12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(2022YFB4300802)。

摘　　要：由于恶劣的海浪、洋流、海风等所产生的不同扰动且持续的影响,船用起重机难以实现精准快速吊装作业。因此,该研究提出了船用起重机四索吊装系统(four anti-swing cable system,FASCS),设计了张力控制方法通过设置四根柔性减摇索的张力约束条件来抑制吊重摆动。同时,为了实现减摇索间的协同运动,设计了改进趋近律的自适应滑模控制器(adaptive synovial controller with improved reaching law,ASC-IRL)控制减摇索绳长和绳速变化,防止发生过载甚至断裂。利用MATLAB/Simulink软件对控制效果进行仿真分析。结果表明,有张力控制时吊重摆角抑制效果平均达80.1%,吊重摆动区域面积减少约61.0%。此外,减摇索绳长误差和绳速误差均在8 s内趋近于0,ASC-IRL控制下减摇索最大误差相比于模糊比例-积分-微分减小75.0%以上,减摇索抖振现象相比于传统的滑模控制明显削弱,验证了ASC-IRL控制减摇索协同运动的强鲁棒性,研究结果对进一步探究FASCS的吊重减摇机理和减摇索协同控制具有重要意义。Due to the continuous influences of waves,currents,and winds,achieving accurate and fast lifting is difficult because of the large payload swing during the lifting operation.Therefore,the four anti-swing cables system(FASCS) of an offshore crane was proposed and a tension control method to suppress the swing of the payload was designed by setting the tension constraints on the four flexible anti-swing cables.Concurrently,in order to achieve the coordinated motion between anti-swing cables,an adaptive synovial controller with improved reaching law(ASC-IRL) was designed to control the changes of the length and speed of the anti-swing cables,which was used to prevent the occurrence of snap.The control effect was simulated and analyzed with MATLAB/Simulink.The analysis shows that the swing angle suppression effect reaches 80.1% on average,and the projected area of the payload trajectory is reduced by 61.0%.In addition,the errors of both the length and speed between cables can approach 0 within 8 s.The maximum error between the anti-swing cables under ASC-IRL control is reduced by more than 75.0% compared with the fuzzy proportional integral derivative control,and the chattering phenomenon is also reduced,which verifies the strong robustness of the cooperative motion of the anti-swing cables under ASC-IRL control.The research results are of great significance to further explore the anti-swing mechanism of the FASCS and the cooperative control of the anti-swing cables.

关 键 词：船用起重机 四索吊装系统(FASCS) 减摇 协同运动 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]