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Double-crane system dynamic modeling algorithm and nonsingular interval parameter design method

A modeling method and crane technology, applied in calculation, electrical digital data processing, special data processing applications, etc., can solve problems such as difficult to design and difficult to establish non-singular interval parameters for dynamic models

Pending Publication Date: 2018-02-09
HEFEI UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide a dynamic modeling algorithm and a non-singular interval parameter design method for a dual-crane system to solve the difficulty in establishing a dynamic model under deterministic parameters in the variable-amplitude motion of the dual-crane system in the prior art and the non-singularity. Difficult Design of Singular Interval Parameters

Method used

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  • Double-crane system dynamic modeling algorithm and nonsingular interval parameter design method
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  • Double-crane system dynamic modeling algorithm and nonsingular interval parameter design method

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[0265] see image 3 , the dynamic modeling algorithm of the double-crane system under the luffing motion is carried out as follows:

[0266] (1.1), establish the geometric model and set the coordinate system, and give the position vector of each point.

[0267] Boom A in the i-th truck crane system i B i Articulation point A with the turntable of the i-th truck crane system i The position vector in the base coordinate system {B} is:

[0268]

[0269] Boom A in the i-th truck crane system i B i and rope B in the system of the i-th truck crane i C i hinge point B i The position vector in the base coordinate system {B} is:

[0270]

[0271] Sling B i C i with load C 1 C 2 hinge point C i The position vector in the moving coordinate system {P} is:

[0272]

[0273] load C 1 C 2center of gravity O p The position vector in the base coordinate system {B} is:

[0274]

[0275] Among them, D and d are the crane distance A 1 A 2 and load C 1 C 2 length...

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Abstract

The invention discloses a double-crane system dynamic modeling algorithm and a nonsingular interval parameter design method. The dynamic modeling algorithm comprises the main steps that 1, a constraint equation of a system is established; 2, a variable-argument response equation and a kinematic Jacobian matrix are established according to the constraint equation; 3, a deviation angular velocity matrix and a deviation velocity matrix of crane jibs are obtained according to the kinematic Jacobian matrix and velocity vectors of all points; 4, inertia force and inertia moments of the crane jibs and loads are obtained according to acceleration vectors of hinged points; and 5, a dynamic model of the system is established according to the virtual work principle in combination with the equation. The nonsingular interval parameter design method comprises the steps that 1, the uncertainty of structural parameters is described according to an interval model; and 2, a nonsingular interval parameter model is established based on the dynamic model of the system and the interval model. Through the double-crane system dynamic modeling algorithm and the nonsingular interval parameter design method,analysis of a double-crane system dynamic response can be realized, and a foundation is laid for prediction of a response domain under interval parameters.

Description

technical field [0001] The invention relates to the technical field of reliability, in particular to a dynamic modeling algorithm of a double-crane system and a non-singular interval parameter design method. Background technique [0002] The double truck crane system refers to the system in which two truck cranes work together to lift the same heavy object. Due to the branch of two truck cranes, the mechanical structure of the system is more complicated than that of the traditional single truck crane system, which makes the dynamic relationship between the input end and the output end of the system more complicated during the luffing motion process. . However, the dynamics problem of the double truck crane system is the key to solve the motion control of the double truck crane system. Because a single truck crane contains different mechanical structures such as turntable, boom, luffing cylinder and load, the derivation of the dynamic model of the double truck crane system ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/17
Inventor 訾斌周斌钱森王道明
Owner HEFEI UNIV OF TECH
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