浮吊船-吊物耦合矢量建模

Coupling Vector Modeling of Floating Crane and Suspended Load

以海上风力发电机安装为研究背景,基于矢量动力学理论,建立了9自由度的浮吊船-吊物耦合的非线性动力学模型。模型将船体简化为刚体,以其在风浪流等载荷激励下的6自由度运动为基础,引入浮吊船和吊物的耦合作用,且吊物的耦合作用通过其对船体施加的力和力矩体现。模型同时考虑了风机吊物摆动过程中吊索的弹性变形因素以及吊索的升降作业操作等因素。该模型采用了向量和矩阵记法,具有很强的适用性和通用性。最后在同等设定条件下与以往的研究模型进行了比较,比较结果验证了该模型的有效性。

A 9-DOF nonlinear dynamics model was set up in the background of offshore turbine installation.The dynamics model incorporated ship motions coupled with nonlinear large payload swings.The ship and crane were treated as one rigid body and the model included arbitrary,bi-angular swings of the suspended load coupled with the 6-DOF of the ship,in addition to 3-DOF of the load in-plane and out-of-plane sway angles and elastic stretch of the hoisting cable.The model was described by matrix and vector,which is very general and applicable.The validity of the model was verified by comparion with existing models.