Double mobile crane cooperative hoisting simulation method based on kinematics and dynamics

Abstract

The invention belongs to the technical fields of hoisting techniques and three-dimensional simulation, and discloses a double mobile crane cooperative hoisting simulation model based on kinematics and dynamics. A double-crane system is divided into three parts, wherein hoisted objects and slings of the two cranes are one part which is called double-crane hoisting subsystem, one of the two cranes is one part which is called main crane subsystem, and the other crane is one part which is called assisting crane subsystem. The hoisting subsystem of two cranes adopts dynamics modeling, and the main crane subsystem and the assisting crane subsystem adopt kinematics modeling. The double mobile crane cooperative hoisting simulation method based on the kinematics and the dynamics has the advantages that hoisting processes of the swing effect, collision detection and the like of the two cranes can be factually simulated, hidden dangers can be found before hoisting in reality through simulation, and safety and efficiency of hoisting can be improved finally. In addition, kinematic models simplify the modeling of motion of the two cranes, parameters which need to be set are less, achievement is easier, and control is easier at the same time.

Description

technical field [0001] The invention belongs to the technical field of hoisting technology and three-dimensional simulation, and relates to a collaborative hoisting simulation method for two cranes to jointly hoist an object, in particular to a kinematics and dynamics-based collaborative hoisting simulation method for dual mobile cranes. Background technique [0002] In large-scale hoisting projects, super-heavy and long-span objects are becoming more and more common. Often, due to insufficient lifting capacity of the crane, too large span of the object, and the need to rotate or flip the equipment during hoisting, it is difficult for a single crane Complete the hoisting task. In most cases, two cranes (one main crane, one auxiliary crane) have to cooperate with each other to complete the lifting task better. However, compared with single crane hoisting, the danger of coordinated hoisting by two cranes is greatly increased. A slight improper cooperation will lead to disast...

AI Technical Summary

Problems solved by technology

The method based on the physics engine can better simulate effects such as the deflection of the lifting rope, but it also has some limitations: there are many physical parameters to be set, that is, it is necessary to set accurate physical properties for each rigid body and each hinge, such as Weight, center of gravity, moment of inertia, stiffness, error reduction coefficient, damping coefficient, etc., and these accurate parameters are usually difficult to determine in actual hoisting projects; and if these physical properties are not set properly, it is difficult to achieve the desired simulation effect

It can be seen that the simulation method of dual-machine hoisting based on the physical engine has a too complicated model and poor practicability

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