运梁车自动驾驶车身姿态控制与安全性分析  

Body attitude control and safety analysis in automatic driving of beam carrier

作　　者：沈薛凯 邱勇 Shen Xuekai;Qiu Yong

机构地区：[1]中铁工程机械研究设计院有限公司,武汉430070

出　　处：《起重运输机械》2024年第23期75-80,共6页Hoisting and Conveying Machinery

摘　　要：分体式运梁车自重轻、效率高、安全可靠,已逐渐取代一体式运梁车成为新的高铁建设施工装备,但其分体式的形式需要多机、多岗位协调作业,对作业人员的数量和专业性有了更高的要求。文中根据分体式运梁车的双车协同运输作业模式,分析其在运输箱梁过程中的运动姿态模型,据此提出了一种分体式运梁车自动驾驶系统中的姿态控制策略,并分析了该姿态控制策略使用在运梁车自动驾驶系统中的安全性。Due to light weight,high efficiency,safety and reliability,the split beam carrier has gradually replaced the integrated beam carrier as a new high-speed rail construction equipment.However,its split structure requires multi-machine and multi-post coordinated operation,which has higher requirements for the number and professionalism of operators.In this paper,according to the two-vehicle cooperative transportation mode of the split beam carrier,the motion attitude model of the split beam carrier in the process of transporting box girders is analyzed,and accordingly,an attitude control strategy in the automatic driving system of the split beam carrier is proposed,and relevant safety issues about the attitude control strategy in the automatic driving system of the beam carrier are discussed.

关 键 词：分体式运梁车 运动模型 自动驾驶 控制策略 车身姿态 

分 类 号：U445.32[建筑科学—桥梁与隧道工程]