多起重机协作吊装动态负载能力研究

Research on Dynamical Load Carrying Capacity for Cooperation of Multiple Cranes

多台起重机协作吊装作业可以完成单台起重机难以完成的大型起重吊装任务,在矿山、铁路、港口的吊装和运输任务中得到了越来越广泛的应用。协作吊装过程中钢丝绳应力的变化和多台起重机操作的不同步,容易造成起重机支腿损坏甚至车体倾覆,继而造成重大连锁事故。在多起重机协作吊装机构动力学的基础上,采用反馈线性化控制方法,并分析了协作吊装动态负载能力,为多起重机协作吊装方案的制订提供了理论依据。

Cooperation of Multiple cranes can handle complex tasks effectively that are more difficult or even impossible for a single mobile crane, which has been applied more and more in mine, railway, port, etc. However, the stress variation of ropes and the asynchronous operation of multiple cranes would cause outrigger broken and even turnover of cranes, which might cause massive chain accidents. In this article, the feedback linearization is adopted in the cooperation of multiple cranes based on the dynamics of the mechanism, and the dynamical load carrying capacity for cooperation of multiple cranes is analyzed which provides theoretical basis for establishing the hoisting scheme of cooperative multiple cranes.