虚拟海浪环境下船舶起重机吊钩消摆控制研究

发布时间：2018-04-25 16:30

本文选题：船舶运动模拟平台 + 船舶液压起重机　；参考：《集美大学》2016年硕士论文

【摘要】：近年来,船舶起重机在海上运输和经济建设中发挥越来越重要的作用,但在不稳定海面或复杂的环境下工作时常常引起吊钩大幅摆动。这不但给起重机工作带来安全隐患,还影响其工作效率。随着海运货物种类的增加和人们对安全性要求的提高,起重机吊钩摆动控制系统的研究也越来越受到重视。基于上述背景,以实验室2吨3米液压起重机的操作控制为研究对象,对船舶起重机在虚拟海浪环境下进行仿真,研究吊钩摆动的消摆控制系统。首先,设计了由液压系统驱动的六自由度平台来模拟海洋中船舶甲板的运动;在UG三维软件环境中对六自由度平台进行零件设计,模型装配,导入ADAMS软件进行运动学仿真,采用AMESim软件建立平台液压驱动系统模型与ADAMS平台模型进行联合仿真,其中利用闭环PID对油缸运动控制;其次,将甲板运动模拟平台与2吨3米液压起重机模型合成,建立完整的船舶运动下船舶起重机模型实现在虚拟海浪环境下起重机的操纵控制联合仿真;第三,对吊钩坐标进行转换来实现在甲板运动情况下吊钩的面内、面外角的测量,然后对吊钩在甲板静止和甲板运动时的摆动情况进行仿真从而比较吊钩面内、面外角变化;最后,采用拉格朗日方程建立船舶起重机吊钩摆动的动力学方程,在动力学方程基础上采用延迟反馈控制器分别在甲板静止、横摇、纵摇、垂荡等情况下,对吊钩进行消摆控制研究。研究结果表明:设计的六自由度平台能够很好的模拟船舶的横摇、纵摇、垂荡等运动;在没有虚拟船舶运动的情况下,延迟反馈控制器对吊钩消摆作用明显,而在具有虚拟船舶运动的情况下,如在模拟横摇、纵摇和垂荡时延迟反馈控制器对吊钩的摆动也能起到一定的抑制作用。本文所做工作为进一步深入研究船舶起重机的吊钩消摆控制奠定了一定的理论基础。
[Abstract]:In recent years, ship crane plays a more and more important role in marine transportation and economic construction, but it often causes the hooks to swing sharply in unstable sea or complex environment. This not only brings safety hidden trouble to crane work, but also affects its working efficiency. With the increase of the types of marine cargo and the improvement of safety requirements, more and more attention has been paid to the control system of crane hooks swing. Based on the above background, taking the operation control of the 2 t 3 m hydraulic crane in laboratory as the research object, the simulation of the ship crane in the virtual wave environment is carried out, and the anti-swing control system of the hoist swing is studied. First of all, a six-degree-of-freedom platform driven by hydraulic system is designed to simulate the motion of ship deck in the ocean, and the six-degree-of-freedom platform is designed and assembled in UG 3D software environment, and the kinematics simulation is carried out with ADAMS software. The hydraulic driving system model of the platform and the ADAMS platform model are established by AMESim software, in which the closed loop PID is used to control the cylinder motion. Secondly, the deck motion simulation platform is combined with the 2 ton 3 meter hydraulic crane model. A complete ship crane model under ship motion is established to realize the joint simulation of crane operation and control under the virtual wave environment. Thirdly, the coordinate of the hoist is transformed to realize the measurement of the angle between the inside and the outside of the hook in the case of deck motion. Then the swing of the hooks in the static deck and the motion of the deck is simulated to compare the changes of the outside angles in the face of the hooks. Finally, the Lagrangian equation is used to establish the dynamic equation of the swing of the hooks of the ship cranes. On the basis of the dynamic equation, the hooks are controlled by delay feedback controller under the condition of static deck, rolling, pitching and swaying respectively. The results show that the designed 6-DOF platform can simulate the rolling, pitching and swaying motions of the ship, and the delay feedback controller has obvious effect on the hooks in the absence of virtual ship motion. In the case of virtual ship motion, such as simulating rolling, pitching and swaying, the delay feedback controller can also restrain the swing of the hook. The work in this paper lays a theoretical foundation for further research on hooks and swinging control of ship cranes.
【学位授予单位】：集美大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.43

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