回转式起重机载荷摆动模型及误差的分析.pdfVIP

系 统 仿 真 学 报 Vol. 16 No. 7 • 1398 • JOURNAL OF SYSTEM SIMULATION July 2004 回转式起重机载荷摆动模型及误差分析 董明晓，郑康平，姜 虹，龚堰珏，王小椿 （西安交通大学机械工程学院，西安710049 ） 摘 要：本文针对回转式起重机载荷运动及摆动的特点，建立了极坐标系和非惯性笛卡儿坐标系， 根据拉格朗日方程建立起重机在同时进行变幅、回转和起升运动的工况下载荷摆动的非线性模型 和线性化模型，对于模型线性化过程中存在的误差进行了定量分析，揭示了动力学参数对载荷摆 动频率、最大摆角和摆动中心线倾斜量的影响规律，从而更精确描述系统的动力学特性，为实现 起重机消摆控制提供了理论依据。 关键词：回转式起重机；载荷摆动；拉格朗日方程；误差分析 文章编号：1004-731X (2004) 07-1398-03 中图分类号： TP301.6 文献标识码：A Payload Oscillation Modeling and Error Analysis for Rotary Crane DONG Ming-xiao ，ZHENG Kang-ping ，JIANG Hong ，GONG Yan-jue, WANG Xiao-chun (School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China) Abstract ：According to the characteristics of payload oscillation on a rotary crane, a polar coordinates system and a non-inertial Cartesian coordinates system were set up. The linear and non-linear models of payload oscillation under the operating conditions of simultaneously traveling, slewing and hoisting or lowering were built based on the general form of Lagrange’s equation . The errors resulting from the linearization process were analyzed quantitatively. The influence rules of dynamic parameters on the oscillation frequency, maximum amplitude and the tilted offset of the oscillation central axis were presented. Therefore the dynamic performance of the system can be described more accurately so as to provide the theoretical basis for the anti-swing control of the rotary crane. Keywords ： rotary crane; payload oscillation; Lagrange’s equation; error analysis 1