小车吊重系统摆振动力学模型及仿真

认识和掌握吊重摆振的动力学特性,是研究起重机防摇控制方案的前提条件.为了准确分析吊重摆振的动力学规律和影响因素,采用理论分析和动态仿真的方式对吊重摆振特性进行了研究.文中根据起重机小车-吊重系统的三维动力学模型建立了吊重摆振的二自由度摆角动力学模型,通过线性简化从模型中找出了影响摆角大小的主要因素--吊重绳长和运行加(减)速度,并以此动力学模型进行了起重机在多种工况下的动态仿真.通过仿真分析得到了小车加速度和吊重绳长对吊重摆振角度、频率和摆角速度的影响规律.

A Dynamic Model of Load Sway for Trolley Load System and Its Simulation

The dynamic characteristic of load sway is the precondition for studying the anti-swing control plan for gantry crane.In order to analyze the dynamic character and the influence factor of load sway,theoretical analysis and dynamic simulation method are used to study the load swing characteristic.A 2-degree of freedom angel's dynamic model is developed in this paper for load sway according to trolley-load system's three dimensional dynamic model.The model is linear simplified and shows that the rope-length and trolley acceleration are the primary factiors affecting the swing angel's value of load.Different working states of crane are simulated with this dynamic model.Simulation results show the influences of trolley acceleration and rope length on the swing angle,frequency and angle speed.