海洋工程船克令吊装卸仿真系统的运动模型

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (9): 2090-2095.

海洋工程船克令吊装卸仿真系统的运动模型

神和龙, 尹勇, 王秀杰

大连海事大学航海动态仿真和控制交通行业重点实验室,大连116026

收稿日期:2016-05-02 修回日期:2016-07-11 出版日期:2016-09-08 发布日期:2020-08-14
作者简介:神和龙(1984-),男,山东,博士,讲师,研究方向为虚拟现实、航海动态仿真技术。
基金资助:
863课题(2015AA016404),海洋公益性行业科研专项(201505017-4),中央高校基本科研业务费(3132016310)

Modelling of Boom Crane Loading System of Marine Engineering Ship

Shen Helong, Yin Yong, Wang Xiujie

Key Lab. of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, China

Received:2016-05-02 Revised:2016-07-11 Online:2016-09-08 Published:2020-08-14

摘要/Abstract

摘要： 海洋资源的开发对海洋工程设备有着高度的依赖性,其中海洋工程船应用领域广泛,船舶上常用的设备克令吊对货物的移动起到至关重要的作用。选取海洋工程船上最为常见的挺杆式克令吊为研究对象,根据其运动规律,利用拉格朗日方程建立克令吊系统的运动模型,并采用四阶龙格库塔方法对模型进行求解,分析了克令吊在不同作业形式下的动力学特性,并对模型进行了验证。

关键词: 克令吊装卸仿真系统, 挺杆式克令吊运动模型, 拉格朗日运动方程, 动力学特性

Abstract: Development of ocean resources has a high degree dependence on marine engineering equipment. Among them, marine engineering ship has been widely used in many areas. Cranes on ship play an important role on transferring cargoes. The boom crane which is the most common crane on marine engineering ship was chosen as researching object. According to its real motion law, the crane system’s motion model was built with Lagrange equation which was solved with Fourth-order Runge-Kutta. The dynamics characteristics of the crane in different forms of work were analyzed.

Key words: boom crane loading simulator system, boom crane motion model, lagrange equation, dynamics characteristic

中图分类号:

TP391.9

神和龙, 尹勇, 王秀杰. 海洋工程船克令吊装卸仿真系统的运动模型[J]. 系统仿真学报, 2016, 28(9): 2090-2095.

Shen Helong, Yin Yong, Wang Xiujie. Modelling of Boom Crane Loading System of Marine Engineering Ship[J]. Journal of System Simulation, 2016, 28(9): 2090-2095.

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