吊头激励下的柔索摆系统建模与仿真
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摘要
根据起重船柔索摆系统的运动特性,将其运动分解成相互独立的吊物摆动分量和吊索波动分量;采用弦振动理论构建了混合初始边界条件下确保存在唯一性的吊索波动数学模型,并利用无条件稳定的隐式差分法解决了其数值解的稳定性问题;采用以球坐标为摆动角的吊物摆动数学模型和叠加原理得到了逼真的柔索摆运动形态.仿真结果表明,所提出的数学模型和算法能够求解出逼真的柔索摆实时运动形态.
According to the motion characteristics of flexible cable pendulum,the sling movement of crane vessel was decomposed into rope swing component and rope fluctuations component which are independent mutually.Using string vibration theory,this paper constructed a wire fluctuations mathematics model,which can ensure existence uniqueness under mixed initial boundary conditions.In addition,using unconditional stable hidden type difference method,it resolved the fluctuations equation numerical solutions stability.The life-like wire movement was obtained by applying a hanging property swing mathematics model in which ball coordinates represent swing angle and the principle of superposition.The simulation results show that the mathematical model and the algorithm proposed in this paper can effectively solve the realistic sling real-time motion.
According to the motion characteristics of flexible cable pendulum,the sling movement of crane vessel was decomposed into rope swing component and rope fluctuations component which are independent mutually.Using string vibration theory,this paper constructed a wire fluctuations mathematics model,which can ensure existence uniqueness under mixed initial boundary conditions.In addition,using unconditional stable hidden type difference method,it resolved the fluctuations equation numerical solutions stability.The life-like wire movement was obtained by applying a hanging property swing mathematics model in which ball coordinates represent swing angle and the principle of superposition.The simulation results show that the mathematical model and the algorithm proposed in this paper can effectively solve the realistic sling real-time motion.
引文
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[7]王立权,许元革,梁凌云,等.深水铺管起重船海上起重作业实时仿真[J].南京理工大学学报,2012,36(2):364-368.WANG Li-quan,XU Yuan-ge,LIANG Ling-yun,etal.real-time simulation of offshore lifting operationof deepwater pipelay crane vessel[J].Journal ofNanjing University of Science and Technology,2012,36(2):364-368.
[8]库尔森C A,杰费里A.波[M].杨善元,杨燕译.北京:地震出版社,1988.
[9]孙志忠.偏微分方程数值解法[M].北京:科学出版社,2005.
[10]顾海军.深水铺管起重船总体设计[J].船舶设计通讯,2009(S1):13-22.GU Hai-jun.General design of deepwater pipelaycrane vessel[J].Journal of Ship Design,2009(S1):13-22.
[2]Neupert J,Mahl T,Sawodny O,et al.A nonlinearcontrol strategy for boom cranes in radial direction[C]//Proceedings of the 2007American Control Con-ference.New York:IEEE,2007:25-30.
[3]Ju F,Choo Y S,Cui F S.Dynamic response of towercrane induced by the pendulum motion of the payload[J].International Journal of Solids and Structures,2006,43(2):376-389.
[4]任会礼,王学林,胡于进,等.起重船吊物系统动力响应仿真分析[J].系统仿真学报,2007,19(12):2665-2668.REN Hui-li,WANG Xue-lin,HU Yu-jin,et al.Dynamic response simulation of lifting load system ofship mounted cranes[J].Journal of System Simula-tion,2007,19(12):2665-2668.
[5]Todd M D,Vohra S T,Leban F.Dynamical meas-urements of ship crane load pendulation[C]//Oceans97 MTS/IEEE Conference Proceedings.Hali-fax,Canada:IEEE,1997:1230-1236.
[6]Yazid E,Parman S,Fuad K.Vibration analysis offlexible gantry crane system subjected swinging mo-tion of payload[J].Journal of Applied Sciences,2011,11(10):1707-1715.
[7]王立权,许元革,梁凌云,等.深水铺管起重船海上起重作业实时仿真[J].南京理工大学学报,2012,36(2):364-368.WANG Li-quan,XU Yuan-ge,LIANG Ling-yun,etal.real-time simulation of offshore lifting operationof deepwater pipelay crane vessel[J].Journal ofNanjing University of Science and Technology,2012,36(2):364-368.
[8]库尔森C A,杰费里A.波[M].杨善元,杨燕译.北京:地震出版社,1988.
[9]孙志忠.偏微分方程数值解法[M].北京:科学出版社,2005.
[10]顾海军.深水铺管起重船总体设计[J].船舶设计通讯,2009(S1):13-22.GU Hai-jun.General design of deepwater pipelaycrane vessel[J].Journal of Ship Design,2009(S1):13-22.
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