基于柔索并联的细长杆件吊装减摇系统动力学分析与试验研究

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (18) : 286-294.

论文

孙茂凱1，王生海1，韩广冬1，关婕2，陈海泉1，孙玉清1

作者信息 +

Dynamic analysis and experiment of the anti-swing system for slender payload lifting based on the cable parallel mechanism

SUN Maokai1, WANG Shenghai1, HAN Guangdong1, GUAN Jie2, CHEN Haiquan1, SUN Yuqing1

Author information +

文章历史 +

摘要

针对高海况下细长杆件类结构物吊装效率低、风险大、难以实现精确吊装的问题，本文提出了基于柔索并联的细长杆件吊装减摇系统，并将其简化为有基座激励的受约束二级摆，运用机器人学方法建立细长杆件吊装减摇系统的动力学模型，采用Matlab/Simulink对基于柔索并联的细长杆件吊装减摇系统摆动的低频振动特性进行仿真分析，同时在细长杆件吊装减摇试验台上进行试验验证，仿真和试验结果表明：基于柔索并联的细长杆件吊装减摇系统对一级摆有良好的摆动抑制效果，在设定工况下对二级摆也有一定的减摇效果。论文研究成果可为细长杆件这类双摆系统的吊装减摇控制提供依据，同时为细长杆件吊装减摇系统的进一步的工程应用提供理论基础。

Abstract

The slender payload lifting is inefficient and comes with high risk in rough sea condition, thus it is difficult to achieve precise assembly. To address this issue, an anti-swing system for slender payload lifting based on the cable parallel mechanism is proposed in this paper, and it is simplified as a constrained double-pendulum system with moving base excitations. Further, the system dynamic model is established by applying the methods in robotics, meanwhile, the low frequency vibration characteristics of it are simulated and analyzed by Matlab/Simulink, and the experiment verification is carried out on the anti-swing device for slender payload. The simulation and experiment result show that the anti-swing system has good vibration suppression effect on the first stage pendulum, and it has certain vibration suppression effect on the second stage pendulum as well under setting conditions. The research results of this paper can provide theoretical basis for the anti-swing control when lifting the double-pendulum system like slender payload, It provides a theoretical basis for the further engineering application of the anti-swing system for slender payload lifting.

导出引用

孙茂凱1，王生海1，韩广冬1，关婕2，陈海泉1，孙玉清1. 基于柔索并联的细长杆件吊装减摇系统动力学分析与试验研究[J]. 振动与冲击, 2023, 42(18): 286-294

SUN Maokai1, WANG Shenghai1, HAN Guangdong1, GUAN Jie2, CHEN Haiquan1, SUN Yuqing1. Dynamic analysis and experiment of the anti-swing system for slender payload lifting based on the cable parallel mechanism[J]. Journal of Vibration and Shock, 2023, 42(18): 286-294

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