船用起重机吊重摇摆的动态分析
Payload pendulation dynamic analysis of ship-mounted crane

摘要： 基于船舶在海浪中的运动导致吊重的摆动问题,利用吊重系统的空间位置关系得到吊重的运动方程,采用拉格朗日方程建立船用起重机吊重系统的运动学模型,使用Matlab/Simulink软件对运动学模型进行仿真建模,根据船舶在规则波浪中的运动,详细分析不同的吊绳长度、激励频率、起落速度下吊重摆动情况,并进行比对。结果表明:吊重的摆角随绳长的增加呈现出先增加后减小的趋势;吊重的摆幅随着激励频率不断接近系统固有频率而增加;提高起升速度对吊重的摇摆有增强作用,提高下降速度对吊重的摆角有抑制作用。通过搭建试验平台进行试验,试验结果验证了仿真结果的准确性。
Abstract: The pendulation of payload was caused by the motion of ship which induced by wave. The motion equation was obtained by means of the relative position of the payload, The kinematics model of ship-mounted crane payload system was established using Lagrange equation, the dynamic was carried out in Matlab/Simulink simulation environment, the influence of rope length, excitation frequency and lifting speed on payload pendulation was analyzed in a comparative manner. The simulation results showed that the payload swing angle increased first and then decreased with the increasing of the rope length; meanwhile, the swing angle increased with the excitation frequency approaching the natural frequency of the system; finally, the swing angle tended to increase with the increasing of the lifting speed, however, the swing angle decreased with the increasing of the lowering speed. Experiment was carried out, and the accuracy of the simulation results was verified