浮动基多机协调吊运系统的动力学建模与仿真

Dynamic modeling and simulation of a floating multi-robot coordinated towing system

针对目前海上使用的起重机在承载能力和作业空间上存在不足的问题,本文提出一种浮动基多机协调吊运系统来填补海上吊运的需求。根据吊运任务建立了系统的空间构型,并利用D-H坐标变换法建立了系统的运动学方程。根据刚体动力学和流体动力学理论建立了吊物系统和浮基的动力学模型。利用系统的运动学方程,分析了系统的正逆动力学问题,并且进行了时域仿真。结果表明:以负载运动和浮基运动分别为系统的初始激励,负载会对浮基运动造成很大的影响,同时浮基运动也会消耗负载的动能,两者均会影响到海上吊运作业的安全。因此,在动力学分析后,需要对负载的防摆控制和浮基的稳定性进行研究。

At present,cranes used at sea are insufficient in terms of their carrying capacity and working space.Therefore,a floating multirobot coordinated towing system is proposed in this study to make up for the demand for offshore towing.First,we set up the spatial configuration of the system according to the towing task,after which we established the kinematics equations of the system using the D-H coordinate transformation method.Then,we built the dynamics model of the towing system and floating foundation based on the theories of rigid dynamics and hydrodynamics.Using the kinematics equation of the system,we analyzed the positive and inverse dynamics of the system,after which we performed the time-domain simulation of the system.The results indicate that the load will have a great impact on the floating foundation motion with the initial excitation of load motion and floating foundation motion and that the floating foundation motion will also consume the kinetic energy of the load.Both results can affect the safety of offshore towing operations.Therefore,the antiswing control of the load and the stability of the floating foundation must be studied after dynamics analysis.