集装箱起重机液压油缸式减摇系统的动力学分析

Dynamic Analysis for the Structure of the Container Crane Hydraulic Anti-Sway System

集装箱起重机采用液压油缸式减摇系统,衰减集装箱的摇摆,将集装箱准确快速地码放。液压油缸式减摇系统由减摇卷筒、减摇钢丝绳、液压油缸、液压泵站和滑轮组等组成,通过2个不同压力的液压回路进行控制,从而吸收吊重摆动的能量。对液压油缸式减摇系统在工程实用范围内进行简化,选取小车的水平位移和集装箱在竖直平面内的摆角为广义坐标,利用拉格朗日方程建立减摇系统动力学方程。在集装箱吊重摆角较小时对该方程进行线性化处理;在起重机小车制动时得出吊重的摆角方程,分析吊重的减摇效果。研究表明:影响吊重减摇效果的因素有减摇绳的斜拉角度大小、起升绳的有效长度、吊重的有效质量和液压减摇系统结构参数等。仿真结果表明:液压减摇系统结构参数对摆幅衰减所需的时间影响较大,是影响减摇效果的主要因素和关键参数。

The container crane may damp the container swing with hydraulic anti-sway system. The container may be accurately located and promptly placed. The hydraulic anti-sway system consists of anti-sway drums, anti-sway steel cable, hydraulic rams, hydraulic pump station and pulley block. The system can be controlled by two different pressure hydraulic circuits and absorb load swing energy. The hydraulic antisway system was simplified within the applied engineering. The dynamic equations of the hydraulic antisway system were constructed with the Lagrange＇s equations when the generalized coordinates of the trolley ＇s horizontal displacement and container swing angle in the vertical plane were selected. The dynamic equations were simplified when the container load swing angle was smaller. The load swing angle equation was derived when the crane trolley was under braking, and the load anti-sway effect was analyzed. Researches show that the angle of anti-sway rope, effective length of the rope using to hoist, effective load mass and correlative parameters of the hydraulic system, etc. can affect the anti-sway effect. The dynamic simulation research results show that the parameter that is dependent on the hydraulic system structure is the main factor and key parameter affecting the anti-sway effect, i. e. the hydraulic anti-sway system structure parameter can more easily affect the time of damping the load swing amplitude.