受波浪运动的影响，在使用起重机进行海上补给作业的过程中，吊具容易产生不良运动，严重影响了补给作业的效率和安全性。为实现船用起重机在横摇、纵摇和升沉方向上的波浪补偿功能，提出了一种三自由度绳驱动波浪补偿装置；首先，考虑到不均匀装载工况，基于Newton-Euler法建立了补偿装置的动力学模型，并通过Adams虚拟样机仿真验证了数学模型的正确性；其次，对不均匀装载工况下的绳索张力分布情况进行分析，得到了吊具重心位置的危险分布区域；再次，采用特征值法求解补偿装置的一阶固有频率，得到了载荷重量、绳索刚度以及吊具位姿对补偿装置一阶固有频率的影响规律；最后，在理论分析的基础上，通过试验验证了补偿方案的可行性，并证明了数学模型的正确性。
Abstract
Due to the influence of wave motion, in the process of using the crane to carry out the replenishment operation at sea, the spreader is prone to undesirable movement, which seriously affects the efficiency and safety of the replenishment operation. A three-degree-of-freedom rope-driven wave compensation device is proposed to realize the wave compensation function of ship-mounted cranes in roll, pitch, and heave directions. Firstly, considering the uneven loading conditions, the dynamic model of the compensation device is established based on the Newton-Euler method. Furthermore, the feasibility of the compensation scheme and the correctness of the dynamic model are verified by the Adams virtual prototype. Secondly, the rope tension distribution under uneven loading conditions is analyzed, and the dangerous distribution area of the barycenter position of the spreader is obtained. Again, the first-order natural frequency of the compensation device is solved by the eigenvalue method. The influence of load weight, rope stiffness and spreader attitude on the first-order natural frequency of the compensation device is obtained. Finally, based on theoretical analysis, the feasibility of the compensation scheme is verified by experiments, and the correctness of the mathematical model is proved.
关键词
波浪补偿 /
船用起重机 /
绳驱动 /
动力学分析 /
振动特性
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Key words
wave compensation /
ship-mounted crane /
rope-driven /
dynamic analysis /
vibration characteristics
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