一种新型船用起重机综合补偿系统原理及运动学模型

王生海a,陈海泉*a,孙玉清a,杜佳璐b,乔卫亮a

doi:10.16411/j.cnki.issn1006-7736.2015.01.008

大连海事大学学报 >

2015 , Vol. 41 >Issue 1: 37 - 41

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2015.01.008

船舶与海洋工程

一种新型船用起重机综合补偿系统原理及运动学模型

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（大连海事大学 a. 轮机工程学院；b. 信息科学技术学院，辽宁大连 116026）

王生海（1988-），男，博士生.

收稿日期: 2014-06-16

修回日期: 2014-07-17

网络出版日期: 2014-08-15

基金资助

辽宁省教育厅科学技术研究项目（L2012170）.

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The principle and kinetic model of a new offshore crane comprehensive compensation system

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(a. Marine Engineering College；b. Information Science and Technology College, Dalian Maritime University, Dalian 116026, China)

Received date: 2014-06-16

Revised date: 2014-07-17

Online published: 2014-08-15

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摘要

针对深水吊装作业摆动抑制和升沉补偿问题，提出一种新型船用起重机综合补偿系统.在船用起重机底座加装防摇平台，使船用起重机保持平稳.船舶升沉运动则由液压绞车补偿，从而降低综合补偿的能耗.介绍综合补偿系统的组成和原理，并进行系统的运动学建模，求得在船舶横摇角、纵摇角、升沉条件下各个转动关节的关节角及对应液压缸的长度.

关键词： 船用起重机; 综合补偿; 系统原理; 运动学模型

本文引用格式

王生海^a,陈海泉^*a,孙玉清^a,杜佳璐^b,乔卫亮^a . 一种新型船用起重机综合补偿系统原理及运动学模型[J]. 大连海事大学学报, 2015 , 41(1) : 37 -41 . DOI: 10.16411/j.cnki.issn1006-7736.2015.01.008

Abstract

For swing suppression and heave compensation problem of deepwater hoisting, a new offshore crane comprehensive compensation system was proposed. An antiswing platform was installed under the pedestal of offshore crane so as to keep the offshore crane stable. Meanwhile the hydraulic winch was employed to compensate ship heave motion. The composition and principle of the proposed comprehensive compensation system were described and the kinetic model was built, and each rotational joint angle and its corresponding hydraulic cylinder length for the ship rolling angle, pitching angle and heave motion were solved.

Key words： offshore crane; comprehensive compensation; system principle; kinetic model

参考文献

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