多起重机协同作业联接装置性能分析、动态监控与实验研究

In order to realize efficient and fast connection and enhancing reliability of multiple cooperative cranes, the connecting device for multiple cooperative cranes is proposed. The connecting device and cable-driven parallel manipulator for multiple cooperative cranes compose the macro-micro motion adjusting system. This research proposal is mainly concerned with configuration design, performance evaluation, dynamic monitoring and experimental research of the connecting device for multiple cooperative cranes. The multi-domain coupling dynamic model of connecting device are established and the key performance indicators of the mechanism including stiffness characteristic, workspace and sensitivity are analyzed; The cooperative control method of the macro-micro motion adjusting system is designed on the basis of load distribution, error compensation and vibration restraint of the connecting device; Reliability design of the connecting device for multiple cooperative cranes is conducted on the basis of reliability modeling and failure mechanism analysis. Failure database is established for reliability monitoring and prediction; Integrated experimental research is performed in order to verify the feasibility and effectiveness of research on connecting device and cooperative control strategy. This research is carried out to provide the theoretical and technical basis for development and application of the connecting device for multiple cooperative cranes and promote comprehensive performance of the whole hoisting manipulator for multiple cooperative cranes.

为实现多起重机协同作业的高效快速联接，提高协同作业装备的可靠性，设计多起重机协同作业联接装置，与多起重机协作绳驱动并联机构构成两级宏微运动调整系统。本项目以起重吊装设备制造业为工程背景，开展多起重机协同作业联接装置的性能分析、动态监控与实验研究。建立多起重机协同作业联接装置的多域耦合动力学模型，进行装置机构的刚度特性，工作空间以及灵敏度等关键性能指标分析；开展多起重机协同作业联接装置的动态误差补偿、振动抑制以及载荷分配研究，设计两级宏微运动调整系统的协调控制方法；在可靠性建模和失效机理研究的基础上进行多起重机协同作业联接装置的可靠性设计，建立故障数据库，实现联接装置的动态可靠性分析与预估。通过综合实验研究，验证联接装置动态性能分析、可靠性分析以及宏微运动调整系统协调控制策略的合理性和有效性，为多起重机协同作业联接装置的开发、应用以及多起重机协同作业装备的综合性能提升提供理论依据和技术支撑。

多起重机协同作业相对于单机作业具有更好的稳定性和适应性，在建筑、能源、物流、救援等领域的应用越来越广泛，尤其是大型重型负载的移动作业。为实现多起重机协同作业的快速联接，同时提高多起重机协同作业的安全性，开展多起重机协同作业联接装置构型设计、性能分析、动态监控与实验研究。建立多起重机协同作业联接装置的多域耦合动力学模型，进行装置机构的刚度特性，工作空间以及灵敏度等关键性能指标分析；建立了多台移动吊装机器人联合吊装与移动吊装机器人悬架动力学模型，考虑吊物载荷波动，建立了移动吊装机器人侧翻预测模型，根据吊物载荷波动，及时调整移动吊装机器人侧倾角安全值；提出改进的蚁群算法增强解的全局性，避免陷入局部最优、死锁，改善了避障路径的质量。设计了基于模糊PID控制的半主动悬架力矩控制器。通过综合系统实验研究，验证多起重机协同作业联接装置动态性能分析、协调控制策略合理性和有效性，为多起重机协同作业装备的开发、应用与多起重机协同作业综合性能提升提供理论依据和技术支撑。