面向安全吊装的大吨位起重机三维路径规划方法

发布时间：2018-03-29 06:26

本文选题：大吨位起重机　切入点：安全吊装　出处：《中南大学》2014年硕士论文

【摘要】：大吨位起重机被广泛应用于建筑、港口、石化工程等各个行业,是国民经济建设的重要装备。大吨位起重机吊装过程复杂,吊装失败事故大,吊装安全要求高。传统吊装方法过于依赖人工经验,导致吊装过程误差大、效率低,无法保证吊装安全。当前一些方法未结合大吨位起重机自身特点进行分析研究,不能满足实际吊装的安全需求。本文针对现有方法无法满足大吨位起重机安全吊装需求的实际问题,研究面向安全吊装的大吨位汽车起重机三维路径规划方法,有效保证吊装过程的安全性。主要工作如下：首先,论文在分析起重机的吊装过程的安全需求上,定义了安全吊装指标,提出了安全吊装目标,并依据实际需求与研究现状,归纳三维吊装路径规划问题。然后,综合考虑起重机状态与关键参数,构建起重机模型,并分析大吨位起重机站位的安全需求,研究起重机安全站位区域的构建策略。基于此,研究给定站位点的吊装区域建模方法,设计吊装场景的局部更新策略,保证吊装场景信息的快速更新,并在Matlab环境中实现典型吊装场景的环境建模。最后,针对已构建的环境模型,给出吊装路径的搜索策略,研究给定站位点的路径规划算法。在此基础上,给出吊装路径的优化策略,研究未知站位点的路径规划算法,同时在Matlab仿真平台中,通过分析多组实验结果,说明方法的正确性与有效性。
[Abstract]:Large-tonnage crane is widely used in construction, port, petrochemical engineering and other industries, it is an important equipment in national economic construction. The lifting process of large-tonnage crane is complicated, the failure of hoisting is great, and the safety requirements of hoisting are high. The traditional hoisting method relies too much on artificial experience, which results in large error and low efficiency in the hoisting process, which can not guarantee the safety of hoisting. Some current methods have not been analyzed and studied in combination with the characteristics of the large-tonnage crane itself. Aiming at the practical problem that the existing methods can not meet the requirement of safety hoisting of large tonnage crane, this paper studies the 3D path planning method for safety hoisting of large tonnage truck crane. Ensure the safety of hoisting process effectively. The main work is as follows:. First of all, the paper defines the safety hoisting index, puts forward the safety hoisting target, and induces the 3D hoisting path planning problem according to the actual demand and the present research situation, on the basis of analyzing the safety requirement of crane hoisting process. Considering the crane state and key parameters, the crane model is constructed, and the safety requirement of the large tonnage crane station is analyzed, and the construction strategy of the crane safe station area is studied. This paper studies the modeling method of hoisting area for a given site, designs the local updating strategy of hoisting scene, guarantees the quick updating of hoisting scene information, and realizes the environment modeling of typical hoisting scene in Matlab environment. Finally, According to the built environment model, the search strategy of hoisting path is given, and the path planning algorithm of given station is studied. On the basis of this, the optimization strategy of hoisting path is given, and the path planning algorithm of unknown station is studied. At the same time, the correctness and validity of the method are proved by analyzing the experimental results of many groups in the Matlab simulation platform.
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH21

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