考虑吊钩组升降的伸缩臂起重机动力学模型研究

建立了一种模拟伸缩臂起重机转台回转,吊臂变幅、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函数描述伸缩臂起重机的运动,使用拉格朗日方法列出吊钩组的动力学方程,并用时变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.通过算例验证了伸缩臂起重机动力学模型的正确性.该模型可以为伸缩臂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.

Study of dynamic model of telescopic crane with a lifting and pulling load movement

Kinematic and dynamic models are established, which can be used to simulate telescopic crane turntable slewing, boom luffing and telescoping, hook lifting and pulling. The joint motion of telescopic crane can be described by smooth continuous sine cosine function, and the dynamic equations of hook assembly are derived by Lagrange method. The lifting and pulling length of hook wirerope is described by a time-variant algebraic constraint equation. The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method. The correctness of the telescopic crane dynamic model is verified through an example. This model can provide information for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality.