舰载垂直装填机械动力学建模与仿真研究

Dynamic Modeling and Simulation Analysis of Ship-borne Vertical Loader Machine

将舰载垂直装填机械看作机器人开链机械手系统,采用虚拟杆件原理,将载舰和吊臂末端与吊缆的连接处看作装填机的两个机械臂,利用机器人动力学建模原理,并在海上风浪条件下,建立了舰载垂直装填机械的动力学模型。然后对该模型进行了相应的优化,为使之更加直接和有效地描述吊重的摇摆状况。最后,利用Matlab仿真软件,对该模型在多种海况下吊重的摇摆进行了动态仿真分析,结果表明,对于较高海情条件下的装填作业,必须有防摇控制措施,以确保舰载武器装填的安全性和快速性。

The ship-borne vertical loader machine was looked as an open loop manipulator,and reference of the concept of the virtual link,thinks of the warship and the joint of the end of the crane boom and the hang lope as two arms of the loader.Then based on the principle of robotic dynamics,a dynamic model of the ship-borne vertical loader machine was built in the condition of ocean wind and wave.In order to make it more directly and effectively describing the swing of the load,the model was optimized in some way.At last,Matlab was used to simulate and analyze the dynamic process of the swing of the load under more than one oceanic condition.The results indicates that,to make sure the load process of weapon security and rapidity,anti-swing control methods are required in high oceanic conditions.