运架梁起重船吊重摆动分析

以运架梁起重船为对象,对其作业过程中吊重的非线性动力学响应进行研究。基于吊摆系统的几何约束,构建了多点吊摆系统的双摆模型,运用带乘子的拉格朗日方程建立了吊摆系统的非线性动力学模型,对规则波条件下3000吨大型起重船吊重的动力学响应进行了仿真分析。比较了线性及非线性方程下吊重的运动规律以及船舶纵摇角对双摆系统摆角的影响,讨论了变绳长的方法对吊物系统的摆幅进行控制的理论模型。同时,对提出的理论模型仿真结果与Adams刚体动力学模型结果进行了比较分析。

Swing Analysis of Suspended Load System for Crane Ship of Transporting and Lifting Girders

The crane ship of transporting and lifting girders was focused.The nonlinear dynamic response of suspended load system during operation of the crane was analyzed.A double pendulum model for the multi-point suspended load system was constructed based on the geometric constraints.Nonlinear dynamic model of the suspended pendulum was established using the Lagrange multiplier equation.A simulation of dynamic response analysis was calculated based on 3000 tons crane under the condition of regular waves.In this work,trajectory of swing laws under linear and nonlinear equations,and the effect of the ship pitching angle to the swing angle of double-pendulum system were compared respectively.The swing controlling theoretical model was discussed using method of changing the rope length.At the same time,the simulation results of the mathematical theoretical model were compared with the Adams rigid body dynamics model.