计算机辅助起重机选型及吊装过程规划研究

发布时间：2018-11-07 15:08

【摘要】：自上世纪80年代以来,许多学者对计算机辅助吊装方案设计(CALPAD)技术开展了广泛的研究,取得了一定成果。然而,在现有的CALPAD研究中,起重机选型的被吊物与臂架间距计算复杂且大多未考虑接地比压对选型的影响,针对桁架臂履带起重机选型的研究也较少；吊装动作规划未考虑起重机的行走因素；双机吊装仿真研究较少,现有方法需要设置参数繁多且难以确定。因缺乏对工程因素的考虑,现有研究成果少有在实际吊装工程应用。因此,本文在移动式起重机智能选型、考虑行走因素的单机吊装动作规划、双机吊装仿真三方面展开研究,所形成的理论成果和软件已成功应用到多个中石化千吨级的实际吊装项目中。本文主要研究工作如下： (1)提出了一种多重约束的移动式起重机人机交互优选算法。首先构建了多重约束的起重机选型数学模型,并设计了选型算法框架,然后以桁架臂履带起重机为例给出了起重性能、被吊物与臂架间距、接地比压等约束的计算方法。与现有选型算法相比,该算法将复杂三维空间距离计算问题转化为二维几何计算,降低了间距约束处理难度；考虑了接地比压因素,提高了选型精度;由于无需建立起重机、被吊物三维模型,该算法更适合工程应用,操作更加便捷。 (2)提出了基于先验信息的路径规划算法RRT-Connect++。针对经典的RRT-Connect算法所得路径不优的问题,利用先验信息引导生成树向高质量区域生长,具体给出了基于回归分析的可变多步扩展策略、基于采样池和未探索区的随机点选择策略。仿真实验结果表明,RRT-Connect++保持高效性的同时大幅提升路径质量,并且总体性能优于现有基于RRT的其它算法。 (3)提出了一种考虑行走因素的单台履带起重机吊装动作规划算法。首先建立规划问题的数学模型,给出了位形空间的定义、距离度量的方法、履带起重机非完整运动学约束的表达,提出了基于RRT-Connect++的吊装动作规划算法。仿真结果表明该算法能在各种复杂环境中规划出无超载、无碰撞可行动作序列。算法考虑了行走的非完整运动学约束,使所得动作序列可直接应用。此外,其中的距离度量将长度量纲和角度量纲统一起来,避免了为每个分量设置权重系数。 (4)建立了典型协同吊装工况的双机系统模型并给出相应的仿真流程。首先将两台起重机和被吊物看作一个完整的复杂系统(称为双机系统),从该系统视角研究双机之间的协同,然后建立面向典型吊装工况的双机系统模型,最后给出基于空间几何约束的双机吊装仿真流程。由于双机的协同策略已嵌入基本动作,因此在典型双机吊装中该方法仿真更准确、操作更简便。此外,双机系统概念为双机协同吊装的其它研究提供了一个全新的思路。 (5)建立了双机吊装的正向运动学模型并给出了双机吊装仿真流程。首先建立双机起升系统正向运动学模型,然后利用最小势能原理将此正向运动学问题抽象为带约束数学优化问题,据此提出被吊物位姿及起升力求解算法,最后在此基础上给出了基于正向运动学的双机吊装仿真流程。相比现有双机吊装仿真方法,该方法仅需被吊物重量、重心即可准确求得被吊物位姿及起升力,为双机吊装仿真提供有力的支撑,可容易地实现实时的双机吊装作业仿真,具有参数少、实时等特点。
[Abstract]:Since the 1980s, many scholars have carried out extensive research on the computer-aided lifting scheme design (CALPAD) technology, and made some achievements. However, in the existing CALPAD research, the calculation of the distance between the suspended object and the arm support of the crane is complicated and most of the influence of the ground specific pressure on the type selection is not taken into account, and the research on the selection of the crawler crane of the frame arm is also less; the lifting action plan does not take into account the walking factors of the crane; The double-machine hoisting simulation research is less, and the existing method needs to set various parameters and is difficult to determine. Due to the lack of consideration of the engineering factors, the existing research results are rare in the practical hoisting engineering application. Therefore, in the intelligent selection of mobile crane, the three aspects of single-machine lifting operation planning and double-machine lifting simulation of walking factors are studied, and the theoretical achievements and software have been successfully applied to the actual hoisting projects of several Sinopec thousand tons. The main work of this paper is as follows: (1) A multi-constrained mobile crane man-machine interaction is preferred In this paper, the model of the multi-constrained crane type selection is constructed, and the model selection algorithm framework is designed, and the calculation of the lifting performance, the distance between the suspended object and the arm support, the ground specific pressure and the like is given in the example of a rack-arm crawler crane. Compared with the existing type selection algorithm, the algorithm converts the complex three-dimensional space distance calculation problem into two-dimensional geometric calculation, reduces the difficulty of the space constraint processing, considers the ground specific pressure factor and improves the selection precision, the model is more suitable for engineering application, and the operation is more (2) The path planning algorithm RRT-Conn based on the prior information is proposed. ect ++. The problem that the path of the classical RRT-Connect algorithm is not excellent, the prior information is used to guide the spanning tree to grow to the high-quality region, and the variable multi-step expansion strategy based on the regression analysis is given, which is based on the random access of the sampling pool and the unexplored area. Point selection strategy. The simulation results show that RRT-Connect + + keeps high efficiency while greatly improving the path quality, and the overall performance is better than that of the existing RRT (3) A single-stage crawler crane considering walking factors is proposed. The mathematical model of the planning problem is first set up, the definition of the space, the method of distance measurement, the expression of the incomplete kinematic constraint of the crawler crane are given, and the RRT-Connect + + is put forward. The simulation results show that the algorithm can be used in a variety of complex environments without overloading. Collision feasible action sequence. The algorithm takes into account the non-complete kinematic constraint of walking and makes the obtained motion in addition, that distance measure unify the length dimension and the angle dimension, The weight coefficient of the component is set. (4) The model of the two-machine system with typical cooperative hoisting condition is established. In this paper, two cranes and a suspended object are considered as a complete complex system (called a double-machine system), the cooperation between the two machines is studied from the system perspective, and then a two-machine system model for typical hoisting conditions is established, and the space-based geometry is given. The two-machine hoisting simulation process of the constraint has been embedded in the basic operation because the cooperative strategy of the two-machine is embedded in the basic operation, so the method can be used in the typical double-machine hoisting The simulation is more accurate and the operation is more convenient. In addition, the two-machine system concept is the other research of the double-machine cooperative hoisting. A new idea is provided. (5) The forward kinematics of double-machine hoisting is established. In this paper, the forward kinematics model of the two-machine lifting system is established, and then the forward kinematics problem is abstracted as the constrained mathematical optimization problem by using the principle of minimum potential energy. The method for solving the position of the suspended object and the lifting force is given, and on the basis of this, the algorithm is given. Compared with the prior double-machine hoisting simulation method, the method only needs to be lifted by the weight and the center of gravity of the crane, can accurately obtain the lifted object position and the lifting force, provides a powerful support for the double-machine lifting simulation, can easily realize the real-time double-machine hoisting operation,
【学位授予单位】：大连理工大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH21;TP391.7

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