多柔索驱动细长杆件减摇系统动力学分析与实验

doi:10.3901/JME.2024.23.177

机械工程学报 ›› 2024, Vol. 60 ›› Issue (23): 177-188.doi: 10.3901/JME.2024.23.177

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多柔索驱动细长杆件减摇系统动力学分析与实验

孙茂凱^1,2, 王生海^1,2, 韩广冬^1,2, 方楠^1,2, 陈海泉^1,2, 孙玉清^1,2

1. 大连海事大学轮机工程学院大连 116026;
2. 海底工程技术与装备国际联合研究中心国家级国际科技合作基地大连 116026

收稿日期:2023-12-26 修回日期:2024-07-18 出版日期:2024-12-05 发布日期:2025-01-23
作者简介:孙茂凱，男，1995年出生，博士研究生。主要研究方向为船用起重机吊装减摇。E-mail：smk@dlmu.edu.cn;王生海(通信作者)，男，1988年出生，副教授，硕士研究生导师。主要研究方向为起重机减摇技术、绳索驱动机器人技术研究。E-mail：shenghai_wang@dlmu.edu.cn
基金资助:
国家自然科学基金(52101396)和国家重点研发计划(2018YFC0309003)资助项目。

Dynamic Analysis and Experiment of Anti-swing System of Slender Payload Driven by Multiple Anti-swing Taglines

SUN Maokai^1,2, WANG Shenghai^1,2, HAN Guangdong^1,2, FANG Nan^1,2, CHEN Haiquan^1,2, SUN Yuqing^1,2

1. College of Marine Engineering, Dalian Maritime University, Dalian 116026;
2. National Center for International Research of Subsea Engineering Technology and Equipment, Dalian 116026

Received:2023-12-26 Revised:2024-07-18 Online:2024-12-05 Published:2025-01-23

摘要/Abstract

摘要： 细长杆件类结构物在吊装转运过程中呈现出典型的双摆特性，为解决高海况下细长杆件类结构物吊装过程中的摆动问题，提出了多柔索驱动的细长杆件减摇系统，并运用机器人学和牛顿欧拉方法建立细长杆件减摇系统的动力学模型，并进行动力学分析，研究了阻尼系数、吊钩与细长杆件质量和长度比以及船舶运动激励对细长杆件减摇系统的影响。根据多柔索驱动细长杆件减摇系统的原理搭建了缩比实验样机。硬件实验结果表明细长杆件减摇系统的仿真曲线与实验结果相吻合，验证了细长杆件减摇系统动力学模型的准确性，研究成果可为细长杆件这类双摆系统的多柔索减摇控制器设计提供依据，同时为细长杆件减摇系统的进一步的工程应用提供理论基础。

关键词: 船用起重机, 细长杆件, 双摆, 减摇

Abstract: In the process of lifting and swing reduction, the slender payload presents typical double-pendulum characteristics. In order to solve the difficult problem of swing reduction of slender payload under rough sea conditions, a multi-flexible cable-driven anti-swing system for slender payload is proposed. A dynamic model of the double-pendulum system of slender payload is established by using the robotics and Newton method. The influence of damping coefficient, variable mass and length ratio of hook and slender payload and ship-motion excitation on the anti-swing system is studied. According to the principle of the anti-swing system of slender payload driven by multiple anti-swing taglines, the experimental scale prototype is built. The experimental results show that the simulation curve of the double-pendulum of the slender payload is consistent with the experimental results, which verifies the accuracy of the dynamic model of the double-pendulum system of the slender payload. The research results can provide a basis for the design of the a multi-flexible cable-driven anti-swing system for slender payload, and provide a theoretical basis for the further engineering application.

Key words: offshore crane, slender payload, double-pendulum, anti-swing

中图分类号:

U653

孙茂凱, 王生海, 韩广冬, 方楠, 陈海泉, 孙玉清. 多柔索驱动细长杆件减摇系统动力学分析与实验[J]. 机械工程学报, 2024, 60(23): 177-188.

SUN Maokai, WANG Shenghai, HAN Guangdong, FANG Nan, CHEN Haiquan, SUN Yuqing. Dynamic Analysis and Experiment of Anti-swing System of Slender Payload Driven by Multiple Anti-swing Taglines[J]. Journal of Mechanical Engineering, 2024, 60(23): 177-188.

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多柔索驱动细长杆件减摇系统动力学分析与实验

Dynamic Analysis and Experiment of Anti-swing System of Slender Payload Driven by Multiple Anti-swing Taglines

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