船载起重机防摆装置及其动态特性的仿真与实验研究  

Anti-swing device of ship-borne crane and its dynamic characteristics simulation and experimental study

作　　者：王丙昱 靳国良 王生海[1] 孙茂凱 韩广冬 陈海泉[1] WANG Bingyu;JIN Guoliang;WANG Shenghai;SUN Maokai;HAN Guangdong;CHEN Haiquan(College of Marine Engineering,Dalian Maritime University,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

出　　处：《机电工程》2024年第12期2163-2173,2194,共12页Journal of Mechanical & Electrical Engineering

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

摘　　要：针对船载起重机吊重系统的摆动问题,建立了船载起重机防摆装置的数学模型,采用Simulink-AMESim联合仿真方法,对防摆过程中的船载起重机吊重系统的动态特性进行了研究。首先,建立了防摆装置传递函数、吊重系统动力学的数学模型,分析了液压系统工况与吊重系统动力学响应之间的动态耦合关系,提出了防摆装置液压马达的控制策略;然后,采用MATLAB/Simulink和AMESim软件,对防摆装置的动态特性进行了联合仿真分析,研究了船舶运动激励条件下船载起重机的吊重摆动特性、防摆绳索张力输出特性和液压马达压力变化特性;最后,利用液压驱动防摆装置实验平台,进行了硬件实验,并对比分析了实验与仿真结果,对防摆装置数学模型的正确性以及联合仿真结果的有效性进行了验证。研究结果表明:利用液压驱动防摆装置可将起重机吊重摆动角度限制在3°以内,摆动幅度抑制效果达到77.6%,验证了该液压驱动防摆方案和液压马达控制策略的有效性,也验证了上述数学模型和仿真分析的正确性。该研究成果可以为液压驱动防摆装置的控制器设计提供依据,同时为液压驱动防摆装置的进一步实船应用提供理论和实验基础。Aiming at the swing problem of the hoisting system of ship-borne crane,the mathematical model of the anti-swing device of ship-borne crane was established,and the dynamic characteristics of the hoisting system of ship-borne crane in the anti-swing process were studied by using Simulink-AMESim joint simulation method.Firstly,mathematical models of the anti-swing device transfer function and the payload system dynamics were established.The dynamic coupling relationship between working conditions of the hydraulic system and the dynamic response of the payload system was analyzed.The control strategy of the hydraulic motors of the anti-swing device was proposed.Then,a co-simulation scheme was designed using MATLAB/Simulink and AMESim to reflect the dynamic characteristics of the hydraulic anti-swing device.The swing characteristics of the payload,the tension output characteristics of the anti-swing ropes and the pressure characteristics of the hydraulic motors under the excitation of the ship motion were studied.Finally,using the experimental platform of hydraulic anti-swing device,the hardware experiment was carried out,and the experimental and simulation results were compared and analyzed,which verified the correctness of the mathematical model of anti-swing device and the effectiveness of the joint simulation results.The research results show that the hydraulic driven anti-swing device can limit the swing angle of the payload to less than 3°,and the swing amplitude suppression effect of the payload reaches 77.6%.The effectiveness of the hydraulic driven scheme and hydraulic motor control strategy of the ropes traction anti-swing device are verified,and the accuracy of the mathematical model and simulation analysis is verified.The research results can provide a basis for the controller design of the hydraulic driven ropes anti-swing device.And the research results can provide a theoretical and experimental basis for the further engineering application of the hydraulic driven anti-swing device.

关 键 词：起重机械 吊重系统摆动 液压驱动防摆装置 动态特性 Simulink-AMESim联合仿真 吊重摆动角度 

分 类 号：TH218[机械工程—机械制造及自动化] U664.4[交通运输工程—船舶及航道工程]