绳驱动限位式吊重稳定装置动力学及试验研究

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振动与冲击 ›› 2025, Vol. 44 ›› Issue (5) : 26-37.

振动与机械科学

绳驱动限位式吊重稳定装置动力学及试验研究

任昭鹏1，黄哲1，魏一1，王生海*1,2，孙玉清1,2，陈海泉1,2

作者信息 +

Dynamic modelling and test study on cable driven limiting-position lifting load stabilizer

REN Zhaopeng1, HUANG Zhe1, WEI Yi1, WANG Shenghai*1,2, SUN Yuqing1,2, CHEN Haiquan1,2

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文章历史 +

摘要

针对吊装设备在海洋环境下受到无规则的外力影响而导致不能安全高效的完成吊装作业的问题，首先建立了船用起重机在随机海浪激励下的动力学模型并进行仿真分析；然后设计了一种并联绳索驱动式吊重限位机构（parallel cable-driven -payload-limiting-position mechanism，PCD-PLM），提出了一种自适应张力稳定控制方法（parallel cable-driven-adaptive anti-swing tension，PCD-AAT）实现对吊重的稳定控制，当吊装设备受到外部激励影响时吊重可以保持相对静止的状态，解决吊装设备在高海况下作业时吊重的摇摆问题，确保船用起重机安全高效的完成吊装任务。最后搭建船用起重机稳定吊装试验台验证PCD-PLM和PCD-AAT的有效性和实用性。仿真和实验结果显示吊重的摇摆幅度分别减小了92.34%和82.33%以上，摇摆空间的稳定控制效果超过了90%，且PCD-AAT具有很好的动态跟踪性能和鲁棒性。

Abstract

Considering the problem that the offshore-cranes cannot finish the hoisting assignment under the complex marine environment. Firstly, the dynamic model of the offshore-cranes under the stochastic ocean waves excitation was established and analyzed. Then the parallel cable-driven payload limiting-position mechanism (PCD-PLM) was designed and the adaptive anti-swing tension control method (PCD-AAT) was proposed to realize the stable control of payload. The payload remains stable state, even if the offshore-crane is affected by external excitation. The swing problem of payload is solved when the offshore-crane working under the heavy ocean conditions. Ensure that the hoisting assignment can be finished safely and efficiently. Finally, the offshore-crane anti-swing experiment platform was built to verify the effectiveness and practicability of the PCD-PLM and PCD-AAT. The simulation and experimental results show that the swing-angle of the payload reduced 99% and 80%, the stability control effects exceed 99% and 80%. The PCD-AAT show excellent dynamic tracking performance and robustness.

导出引用

任昭鹏1, 黄哲1, 魏一1, 王生海1, 2, 孙玉清1, 2, 陈海泉1, 2. 绳驱动限位式吊重稳定装置动力学及试验研究[J]. 振动与冲击, 2025, 44(5): 26-37

REN Zhaopeng1, HUANG Zhe1, WEI Yi1, WANG Shenghai1, 2, SUN Yuqing1, 2, CHEN Haiquan1, 2. Dynamic modelling and test study on cable driven limiting-position lifting load stabilizer[J]. Journal of Vibration and Shock, 2025, 44(5): 26-37

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