基于多柔索减摇定姿系统的海上细长杆件吊装过程动力学分析与试验

doi:10.3901/JME.2025.24.351

机械工程学报 ›› 2025, Vol. 61 ›› Issue (24): 351-362.doi: 10.3901/JME.2025.24.351

• 交叉与前沿 • 上一篇

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基于多柔索减摇定姿系统的海上细长杆件吊装过程动力学分析与试验

孙茂凱^1,2, 靳国良^1,2, 王生海^1,2, 韩广冬^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大连 116026

收稿日期:2025-01-05 修回日期:2025-07-20 发布日期:2026-01-26
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，博士，副教授。主要研究方向为起重机减摇技术、绳索驱动机器人技术。E-mail：shenghai_wang@dlmu.edu.cn
基金资助:
国家自然科学基金(52471373，52101396);中央高校基本科研业务费专项资金(3132023510，3132025215，3132025229)资助项目。

Dynamic Analysis and Experiments on the Offshore Lifting Process of Slender-beam Payload based on the MTAPS

SUN Maokai^1,2, JIN Guoliang^1,2, WANG Shenghai^1,2, HAN Guangdong^1,2, CHEN Haiquan^1,2, SUN Yuqing^1,2

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

Received:2025-01-05 Revised:2025-07-20 Published:2026-01-26

摘要/Abstract

摘要： 为解决海上细长杆件单点起吊、回转定位过程中细长杆件摆动导致的作业效率低等问题，提出一种新型多柔索减摇定姿系统(Multi-tagline anti-sway and positioning system, MTAPS)，并将海上细长杆件吊装过程分为单点起吊、回转定位阶段。运用经典牛顿力学和多体动力学分别搭建两个阶段的动力学模型，并用Matlab/Simulink进行动力学仿真分析，通过仿真和试验证明了多柔索减摇定姿系统可以有效消除细长杆件单点起吊产生的初始摆角，在回转工况可以大幅减小吊重质心与起重机吊臂头相对运动，在定位作业时多柔索减摇定姿系统对细长杆件双摆系统的平均减摇比达88%以上。多柔索减摇定姿系统可实现海上细长杆件的快速转运和精确定位，同时提出的多柔索减摇系统的动力学建模方法也可为多柔索吊装等工程问题提供借鉴。

关键词: 船用起重机, 细长杆件, 双摆, 减摇

Abstract: Offshore single-point hoisting, luffing, and positioning processes for slender-beam payload(SBP) frequently encounter low operational efficiency due to payload sway. To mitigate this problem, a novel multi-tagline anti-sway and positioning system (MTAPS) is proposed. The offshore lifting procedure for the SBP is divided into two stages: single-point hoisting, and luffing and positioning. Dynamic models for these stages are established based on classical Newtonian mechanics and multi-body dynamics. Subsequently, dynamic simulations are performed in Matlab/Simulink for detailed analysis. Both simulations and experiments confirm that the MTAPS effectively eliminates the initial sway angle generated during the single-point hoisting stage of the SBP. Under luffing conditions, relative motion between the payload’s center of gravity and the crane boom head is significantly reduced. During the positioning stage, an average sway reduction ratio exceeding 88% is achieved for the SBP double-pendulum system. Rapid transfer and precise positioning of the offshore SBP become possible through the utilization of this system. Moreover, the proposed dynamic modeling method offers valuable insights for solving engineering challenges in multi-tagline lifting and related applications.

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

中图分类号:

U653

孙茂凱, 靳国良, 王生海, 韩广冬, 陈海泉, 孙玉清. 基于多柔索减摇定姿系统的海上细长杆件吊装过程动力学分析与试验[J]. 机械工程学报, 2025, 61(24): 351-362.

SUN Maokai, JIN Guoliang, WANG Shenghai, HAN Guangdong, CHEN Haiquan, SUN Yuqing. Dynamic Analysis and Experiments on the Offshore Lifting Process of Slender-beam Payload based on the MTAPS[J]. Journal of Mechanical Engineering, 2025, 61(24): 351-362.

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基于多柔索减摇定姿系统的海上细长杆件吊装过程动力学分析与试验

Dynamic Analysis and Experiments on the Offshore Lifting Process of Slender-beam Payload based on the MTAPS

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