多台履带起重机协同吊装的动作规划研究

发布时间：2018-05-15 23:16

本文选题：多机吊装系统 + 多耦合封闭链结构　；参考：《大连理工大学》2016年硕士论文

【摘要】：我国经济的腾飞带来了基础建设行业的发展,海洋工程、电力建设、市政建设等行业催生了巨大的吊装需求,使得吊装朝着模块化、大型化发展,因此为了满足具体要求,多台起重机协同吊装成为了不可或缺的发展趋势。因为多机吊装事故的危害性,保证吊装安全是最重要的问题,因此详细、安全的吊装方案的设计是必不可少的。目前,传统吊装方案制定中存在安全分析不足、计算极其复杂等问题,比较依赖工程师的实际经验,同时现在对于多台起重机吊装的研究比较少,因此对于多台起重机吊装的动作规划展开研究,得到相应数学模型,可以提高吊装方案设计的安全性和效率,具有重要的意义。本文首先针对履带起重机的结构进行分析,得到单台起重机的机构模型。再从单、双机吊装系统的机构模型进行扩展得到多台起重机吊装系统的机构模型,从模型中分析其多耦合封闭链结构、下车行走非完整性约束等吊装特性,并对模型进行简化处理。其次,在此基础上给出多机吊装系统动作规划的数学模型定义,首先针对多耦合封闭链约束问题,采用RLG策略,采用以被吊物及下车位姿为主动变量的建模方法,并给出相应的被动变量求解方程,然后对于起重机行走为非完整性约束的特点给出下车模型,并得到状态转移方程及动作输入合集,最后对于动作规划模型给出符合吊装要求的约束条件等,得到较为完整的动作规划数学模型。接下来,针对多机吊装中吊装力求解为超静定求解这一问题,通过分析,在形变基础上,给出基于钢丝绳为柔性体、被吊物及其余起重机结构为刚体的吊装力求解方法,并用ANSYS进行分析,验证其正确性和适用性。最后,采用RRT-Connect-斗算法,分别对四台起重机和六台起重机的吊装案例进行规划仿真来验证此思路可行、其规划结果较好。并用MATLAB设计一款载荷历程分析软件,来得到规划路径中吊装载荷历程曲线,为吊装方案制定提供了良好的计算依据。
[Abstract]:The rapid development of our country's economy has brought about the development of the infrastructure construction industry, such as ocean engineering, electric power construction, municipal construction and other industries, which have given birth to huge demand for hoisting, which makes the hoisting move towards modularization and large-scale development, so in order to meet the specific requirements, Cooperative hoisting of multiple cranes has become an indispensable development trend. Because of the harmfulness of multi-machine hoisting accident, it is the most important problem to ensure the safety of hoisting, so the detailed and safe design of hoisting scheme is essential. At present, the traditional hoisting scheme has some problems, such as insufficient safety analysis and extremely complicated calculation, which depends on the practical experience of engineers. At the same time, there is less research on hoisting of many cranes. Therefore, it is of great significance to study the action planning of crane hoisting and get the corresponding mathematical model, which can improve the safety and efficiency of hoisting scheme design. In this paper, the structure of crawler crane is analyzed firstly, and the mechanism model of single crane is obtained. From the mechanism model of single and double crane hoisting system, the mechanism model of multi-crane hoisting system is obtained. From the model, the multi-coupling closed chain structure, the disintegrality constraint and so on are analyzed. The model is simplified. Secondly, the mathematical model definition of action planning of multi-machine hoisting system is given. Firstly, aiming at the multi-coupling closed chain constraint problem, RLG strategy is adopted, and the active variable is the suspended object and the position of the lower vehicle. The corresponding passive variable solution equation is given, and then the model of getting off the vehicle is given, and the state transfer equation and the action input set are obtained. Finally, a complete mathematical model of action planning is obtained by giving the constraint conditions that meet the requirements of hoisting. Then, in order to solve the problem of statically indeterminate in multi-machine hoisting, through analysis, on the basis of deformation, the method of hoisting which is based on wire rope as flexible body, hoisting object and other crane structure as rigid body is given. The correctness and applicability of the method are verified by ANSYS analysis. Finally, the RRT-Connect- bucket algorithm is used to simulate the hoisting cases of four cranes and six cranes, respectively, to verify the feasibility of this idea, and the planning results are good. A load history analysis software is designed with MATLAB to get the load history curve in the planning path, which provides a good calculation basis for the hoisting scheme formulation.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH213.7

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