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| 考虑吊钩组升降的汽车起重机动力学模型研究 |
| Dynamic Model Studies of Telescopic Crane with a Lifting and Pulling Load Movement |
| 投稿时间：2016-09-06 修订日期：2016-11-13 |
| DOI： |
| 中文关键词: 起重机运动学模型 起重机力学模型 吊钩组升降动力学 |
| 英文关键词: telescopic crane dynamic model lifting and pulling load model rope length time-variant constraint equation constraint stabilization method |
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| 中文摘要: |
| 建立了一种模拟起重机转台回转、臂架变幅、伸缩、吊钩升降的运动学、动力学模型。利用光滑连续的正余弦分段函数描述起重机的运动，使用拉格朗日方法列起重机吊钩组的动力学方程，并用时变代数约束方程描述吊钩钢丝绳的升降长度，最终组成微分代数方程，使用约束稳定化方法进行求解。通过算例验证了吊钩组升降动力学模型的正确性。该模型可以为起重机的复合动作控制研究及虚拟吊装方案设计提供参考。 |
| 英文摘要: |
| This paper presents a kinematic and dynamic model which can be used to simulate telescopic crane slewing, luffing, telescoping, lifting and pulling load movements. The crane joint motion can be described as smooth continuous sine cosine function. The crane dynamic equations are derived by Lagrange method. The lifting rope length from boom tip to hooks described as a time-variant constraint equation. The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method. The validity and correctness of the telescopic crane model is verified through an example. We prospect the model can be used for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality. |
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