波浪条件下船用起重机吊物系统动力学建模与分析  

Dynamic Modeling and Analysis of Payload System of the Marine Crane Under Wave Condition

作　　者：汤如 曹亮 于泳生 陈梓洋 TANG Ru;CAO Liang;YU Yongsheng;CHEN Ziyang(No.713 Research Institute of China Shipbuilding Corporation Limited,Zhengzhou 450015;Military Representative Office of the Navy in Zhengzhou,Zhengzhou 450015;Dalian Shipbuilding Industry Co.,Ltd.,Dalian 116005;Henan University of Science and Technology,Luoyang 471003)

机构地区：[1]中国船舶集团有限公司第七一三研究所,郑州450015 [2]海军驻郑军代室,郑州450015 [3]大连船舶重工集团有限公司,大连116005 [4]河南科技大学,洛阳471003

出　　处：《舰船电子工程》2025年第2期104-107,160,共5页Ship Electronic Engineering

摘　　要：针对波浪条件下船用起重机吊物大幅度摇摆问题。建立了随机海浪模型,根据机器人学方法以及牛顿欧拉方法建立了船用起重机吊物系统的动力学模型,在简谐波浪以及随机波浪下分别对船用起重机吊物系统进行仿真分析,仿真分析得到简谐波浪、随机波浪、吊索长度对吊物摆角及平面运动轨迹的影响规律,论文的研究成果可为波浪条件下船用起重机安全作业提供一定的理论依据。This paper aims at the problem of the large swing of marine cranes under wave conditions.The random wave model is established,and the dynamics model of marine crane payload system is built according to the method of robotics and the Newton-Euler method.The simulation analysis of marine crane system is carried out under the simple harmonic wave and random wave respectively,the influence law of simple harmonic wave,random wave,hoisting cable length on the swing angle and the plane trajectory of the payload is obtained.The research results of this paper can provide a specific theoretical basis for the safe operation of marine cranes under wave conditions.

关 键 词：船用起重机 吊物系统 机器人学 仿真分析 

分 类 号：U664.7[交通运输工程—船舶及航道工程]