海上起重船动态特性仿真分析与实验研究

Experimental and Simulation Studies on Dynamic Characters of Ship-mounted Cranes

将起重船臂架和吊索作为弹性体,基于柔性多体动力学建立了刚柔耦合锚泊起重船虚拟样机模型。通过DC增益方法选取合适的臂架模态,并详细分析了模态截断的准确性。就设计参数对吊重摆动轨迹的影响进行了分析,发现臂架柔性会导致船舶振动和吊索力变化加剧;且吊重的面内、外摆角之间存在相互耦合作用。研制了船舶运动模拟实验平台,进行了吊重振动试验,对理论计算结果进行了验证。

The boom and rope was taken as flexible bodies,virtual prototype model of the mooring crane-ship was established based on flexible multi-body theory.DC gains of the individual modes of vibration were used as the criterion of modal truncation,and then a small state space model was defined.The reduced model can accurately describe the pertinent dynamics of original system.The dynamic responses of the crane-ship affected by those key parameters of the system were analyzed,the results demonstrate that the vibration of the ship and the load of the rope are affected by the flexible of the boom,and the in-plane angle have coupling with the out-of-plane angle.An experimental setup was built.The dynamic test of the load system was carried out.The comparison between test and simulation shows that the dynamics model is correct and feasible.