多台起重机协同吊装技术及仿真系统的研究

发布时间：2018-02-23 02:52

本文关键词： 起重机协同吊装仿真系统 Bullet　出处：《大连理工大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着起重机吊装产业的高速发展,大型吊装项目越来越多,超重型、大跨度的吊装设备也越来越常见,吊装产业正逐步从单台起重机向两台和多台起重机协同吊装的方向发展。在此趋势下,现场中起升量符合要求的单个起重机越来越不容易得到,或者满足起升量要求的单台起重机的运输和使用成本较高,因而选择现场中易得的总起升量满足要求的两台或多台起重机协同吊装成为了更优的选择。但是与单台起重机吊装相比,多台起重机协同吊装的危险性大大增加。由于其中任一台起重机的起升量均不能单独吊起重物,因而在双机协同吊装的过程中由于载荷分配不合理、协同策略不当往往会导致灾难性的后果。本文对两台和多台起重机协同吊装模式进行了深入的归类、分析和研究,并通过仿真系统得到了实现。研究开发了多台起重机协同吊装的大型结构仿真系统,阐述了各模块之间的关系,并对起重机选型进行了更进一步的研究。首先,在对两台起重机协同吊装研究的基础之上,给出双机协同的定义,分析了其本质,提出了双机吊装的21种完备模式。并对双机吊装的典型动作进行了描述和计算,利用状态空间(Configuration Space)求得了双机系统的动作序列,并通过实际的案例进行了吊装仿真。其次,对多台起重机协同吊装进行了深入研究。针对多机吊装的特殊性,讨论了多机的协同策略,给出了多台起重机在特定情况下的平移、起升、翻转和旋转的计算方法。另外,在多机仿真中,对Bullet物理引擎的碰撞过滤进行了研究,将场景中的起重机、环境、设备等编制了不同的分组,解决了多机吊装仿真系统中的碰撞检测问题。最后,合作开发了多台起重机协同吊装系统。分析了起重机选型、吊索具选择及校核、起重机建模、设备和环境建模、吊装仿真、方案输出以及数据库管理之间的关系,并对起重机选型进行了深入的分析,解决了多台起重机的选型问题。该系统可用于辅助吊装方案制作人员进行了前期的方案制定、数据校核、方案预演等,并可实时地获取吊装数据,分析其安全性并最终输出安全、高效的吊装方案。
[Abstract]:With the rapid development of crane hoisting industry, there are more and more large-scale hoisting projects. The lifting equipment of super heavy and long span is also more and more common. The hoisting industry is gradually developing from a single crane to two or more cranes. Under this trend, it is increasingly difficult to obtain a single crane with a lifting capacity that meets the requirements in the field. Or the cost of transportation and use of a single crane that meets the requirements of lifting capacity is higher, Therefore, it is a better choice to select two or more cranes which meet the requirements of the total hoisting capacity easily available in the field. However, compared with the single crane hoisting, the hoisting of two or more cranes is a better choice. The risk of cooperative hoisting of multiple cranes is greatly increased. Because the lifting capacity of any one of the cranes cannot be lifted alone, the load distribution is not reasonable in the process of the cooperative hoisting of two cranes. Improper coordination strategies often lead to disastrous consequences. In this paper, the cooperative hoisting modes of two or more cranes are classified, analyzed and studied, and realized by simulation system. A large scale structure simulation system for collaborative hoisting of multiple cranes is developed. The relationship between each module is expounded, and the selection of crane is further studied. First of all, on the basis of the research on the cooperative hoisting of two cranes, this paper gives the definition of the double crane cooperation, analyzes its essence, puts forward 21 complete modes of the double crane hoisting, and describes and calculates the typical action of the double crane hoisting. The action sequence of the dual computer system is obtained by using the state space configuration space, and the hoisting simulation is carried out through a practical case. According to the particularity of multi-crane hoisting, the cooperative strategy of multi-machine is discussed, and the calculation method of translation, hoisting, flipping and rotation of multiple cranes is given. In addition, in the multi-computer simulation, the collision filtering of the Bullet physical engine is studied. The crane, environment and equipment in the scene are grouped into different groups to solve the collision detection problem in the multi-machine hoisting simulation system. Finally, the cooperative hoisting system of several cranes is developed, and the relationships among crane selection, slings selection and checking, crane modeling, equipment and environment modeling, hoisting simulation, scheme output and database management are analyzed. The system can be used to assist the hoisting project makers to make a preliminary plan, data check, program preview, etc., the system can be used to assist the design of the hoisting scheme, the data checking, the scheme preview, and so on, and the selection of the crane is analyzed in depth, which solves the problem of the selection of the cranes. The data of hoisting can be obtained in real time, and its security can be analyzed and a safe and efficient hoisting scheme can be output.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP391.9;TH21

【引证文献】