双吊具欠驱动桥吊的建模与仿真

Modeling and Simulation of Underactuated Double-Container Overhead Crane

较之于传统的单吊具桥吊,双起升双吊具桥吊是一种新型高效集装箱装卸机械,但其本质上是一类复杂的欠驱动非线性系统,其建模和控制方法存在较大难度。利用拉格朗日分析方法和仿真手段对双起升双吊具桥吊的动力学特性进行了研究,分析了吊绳长度和负载变化对桥吊动态特性的影响,以及作业环境中的摩擦力和空气阻力对模型特性的影响;建立了双起升双吊具桥吊的动力学模型,并进行了简化。最后,仿真研究为验证双起升双吊具桥吊的动力学模型的正确性提供了依据。

Compared with a traditional single -container overhead crane, the double -container overhead crane is a new efficient container stevedoring machinery, and it is actually a complicated under actuated nonlinear system. In this brief, both the kinematic and dynamic characteristics concerning the double - container crane were investiga- ted, and then an accurate dynamic model of the double - container overhead crane was established by utilizing Lagrange＇s equation. Not only were the variation of the rope and payloads, but also the mechanical frictions and air - resistance in the environment were considered in the model. Furthermore, a simplified double - container model was given based on the accurate double container overhead crane dynamic model. Simulation results show the validity of the established double - container overhead crane model.