船用起重机三索限位式防摇摆装置设计

doi:10.6040/j.issn.1672-3961.0.2019.004

摘要/Abstract

摘要：

针对如何减小吊重的摇摆问题,设计一种基于三索限位的机械式防摇摆装置。利用3根防摇索牵引吊钩,限制吊重的空间位置,实现防止吊重摇摆的目的。建立起重机的运动学模型,分析工作过程中3根防摇索的长度变化。建立吊重系统的动力学模型,分析防摇摆过程中3根防摇索的张力设定与防摇摆效果的关系。搭建船用起重机防摇摆装置试验平台进行验证,证明了所提出的防摇摆控制方案的正确性,所设计的防摇摆装置在实际应用中具有良好的防摇摆效果,整体防摇摆效果可以达到61%以上。

关键词: 船用起重机, 防摇摆装置, 三索限位, 机械防摇摆, 动力学建模

Abstract:

To reduce the payload pendulation of shipboard cranes, a mechanical anti-swing device based on triple-cables limiting-location was proposed. Three cables were used to pull the hook, which limited the spatial position of the payload to prevent the payload pendulation. According to the established kinematic model of the shipboard crane, the effect of length on the anti-swing was analyzed. The dynamic model of the payload system was established, and the effect of tension value on the anti-swing was analyzed. The models were verified by physical experiment based on a self-built test platform. The experimental results proved that the proposed mechanical anti-swing device based on triple-cables limiting-location had good anti-swing effect in practical applications. The overall anti-swing effect could reach more than 61%.

Key words: shipboard crane, anti-swing device, triple-cables limiting-location, mechanical anti-sway, dynamic modeling

中图分类号:

U664.4+3

任昭鹏, 奚瑞, 王生海, 张志江, 陈海泉. 船用起重机三索限位式防摇摆装置设计[J]. 山东大学学报 (工学版), 2020, 50(3): 125-132.

Zhaopeng REN, Rui XI, Shenghai WANG, Zhijiang ZHANG, Haiquan CHEN. Design of triple-cables limiting-location anti-swing device for shipboard crane[J]. Journal of Shandong University(Engineering Science), 2020, 50(3): 125-132.

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试验组别	船舶横摇角度/(°)	船舶纵摇角度/(°)	无防摇摆装置吊重最大摆角/(°)	有防摇摆装置吊重最大摆角/(°)	防摇摆效果/%
1	7	0	16.2(面外)	0.3(面外)	98.1
2	0	7	13.3(面内)	2.6(面内)	81.5
3	7	7	16.6(面外)	2.9(面外)	82.5
4	7	7	16.7(面内)	5.6(面内)	66.5
5	9	0	19.0(面外)	1.4(面外)	92.6
6	0	9	16.7(面内)	6.5(面内)	61.1

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