摘要
为了研究塔式起重机载荷摆动特性 ,寻找抑制载荷摆动的控制方法 ,本文基于非惯性参考系中质点相对运动动力学基本方程 ,建立塔式起重机同时进行变幅、回转、起升运动的情况下载荷摆动动力学模型 ,定量地分析载荷摆动的平衡状态 ,推导出线性化模型 ,对载荷摆动特性进行了计算机仿真。研究表明 :由于惯性力或离心力的作用 ,载荷摆动中心线发生倾斜 ,当载荷在倾斜的重力场内做空间摆运动 ,其摆动模型就是线性化模型 。
In order to investigate the payload oscillation behavior of a tower crane and to suppress the oscillation, the load dynamical model was set up based on the basic dynamical equation of a point mass relative motion in a non-inertial reference frame. The model takes into account simultaneous moving, slewing and hoisting or lowering. The relative equilibrium state was found. The linearized model around the stable equilibrium state was derived. The dynamical behavior of load oscillation was simulated. Study results show that the pendulum central axis deflects and behaves like a spherical pendulum in a tilted gravitational field as a result of the inertial forces or acentrifugal force.The oscillation model in the modified gravitational field is the linearized model .The deflection amplitude of the pendulum central axis is equal to the value of equilibrium state.
出处
《机械科学与技术》
CSCD
北大核心
2004年第8期976-978,981,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
塔式起重机
载荷摆动
非惯性参考系
动态特性
Tower crane
Payload oscillation
Non-inertial reference frame
Dynamical behavior
