本文關(guān)鍵詞： 起重機(jī) 協(xié)同吊裝 仿真系統(tǒng) Bullet　出處：《大連理工大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著起重機(jī)吊裝產(chǎn)業(yè)的高速發(fā)展,大型吊裝項(xiàng)目越來越多,超重型、大跨度的吊裝設(shè)備也越來越常見,吊裝產(chǎn)業(yè)正逐步從單臺(tái)起重機(jī)向兩臺(tái)和多臺(tái)起重機(jī)協(xié)同吊裝的方向發(fā)展。在此趨勢(shì)下,現(xiàn)場(chǎng)中起升量符合要求的單個(gè)起重機(jī)越來越不容易得到,或者滿足起升量要求的單臺(tái)起重機(jī)的運(yùn)輸和使用成本較高,因而選擇現(xiàn)場(chǎng)中易得的總起升量滿足要求的兩臺(tái)或多臺(tái)起重機(jī)協(xié)同吊裝成為了更優(yōu)的選擇。但是與單臺(tái)起重機(jī)吊裝相比,多臺(tái)起重機(jī)協(xié)同吊裝的危險(xiǎn)性大大增加。由于其中任一臺(tái)起重機(jī)的起升量均不能單獨(dú)吊起重物,因而在雙機(jī)協(xié)同吊裝的過程中由于載荷分配不合理、協(xié)同策略不當(dāng)往往會(huì)導(dǎo)致災(zāi)難性的后果。 本文對(duì)兩臺(tái)和多臺(tái)起重機(jī)協(xié)同吊裝模式進(jìn)行了深入的歸類、分析和研究,并通過仿真系統(tǒng)得到了實(shí)現(xiàn)。研究開發(fā)了多臺(tái)起重機(jī)協(xié)同吊裝的大型結(jié)構(gòu)仿真系統(tǒng),闡述了各模塊之間的關(guān)系,并對(duì)起重機(jī)選型進(jìn)行了更進(jìn)一步的研究。 首先,在對(duì)兩臺(tái)起重機(jī)協(xié)同吊裝研究的基礎(chǔ)之上,給出雙機(jī)協(xié)同的定義,分析了其本質(zhì),提出了雙機(jī)吊裝的21種完備模式。并對(duì)雙機(jī)吊裝的典型動(dòng)作進(jìn)行了描述和計(jì)算,利用狀態(tài)空間(Configuration Space)求得了雙機(jī)系統(tǒng)的動(dòng)作序列,并通過實(shí)際的案例進(jìn)行了吊裝仿真。 其次,對(duì)多臺(tái)起重機(jī)協(xié)同吊裝進(jìn)行了深入研究。針對(duì)多機(jī)吊裝的特殊性,討論了多機(jī)的協(xié)同策略,給出了多臺(tái)起重機(jī)在特定情況下的平移、起升、翻轉(zhuǎn)和旋轉(zhuǎn)的計(jì)算方法。 另外,在多機(jī)仿真中,對(duì)Bullet物理引擎的碰撞過濾進(jìn)行了研究,將場(chǎng)景中的起重機(jī)、環(huán)境、設(shè)備等編制了不同的分組,解決了多機(jī)吊裝仿真系統(tǒng)中的碰撞檢測(cè)問題。 最后,合作開發(fā)了多臺(tái)起重機(jī)協(xié)同吊裝系統(tǒng)。分析了起重機(jī)選型、吊索具選擇及校核、起重機(jī)建模、設(shè)備和環(huán)境建模、吊裝仿真、方案輸出以及數(shù)據(jù)庫管理之間的關(guān)系,并對(duì)起重機(jī)選型進(jìn)行了深入的分析,解決了多臺(tái)起重機(jī)的選型問題。該系統(tǒng)可用于輔助吊裝方案制作人員進(jìn)行了前期的方案制定、數(shù)據(jù)校核、方案預(yù)演等,并可實(shí)時(shí)地獲取吊裝數(shù)據(jù),分析其安全性并最終輸出安全、高效的吊裝方案。
[Abstract]:With the rapid development of crane hoisting industry, there are more and more large-scale hoisting projects. The lifting equipment of super heavy and long span is also more and more common. The hoisting industry is gradually developing from a single crane to two or more cranes. Under this trend, it is increasingly difficult to obtain a single crane with a lifting capacity that meets the requirements in the field. Or the cost of transportation and use of a single crane that meets the requirements of lifting capacity is higher, Therefore, it is a better choice to select two or more cranes which meet the requirements of the total hoisting capacity easily available in the field. However, compared with the single crane hoisting, the hoisting of two or more cranes is a better choice. The risk of cooperative hoisting of multiple cranes is greatly increased. Because the lifting capacity of any one of the cranes cannot be lifted alone, the load distribution is not reasonable in the process of the cooperative hoisting of two cranes. Improper coordination strategies often lead to disastrous consequences. In this paper, the cooperative hoisting modes of two or more cranes are classified, analyzed and studied, and realized by simulation system. A large scale structure simulation system for collaborative hoisting of multiple cranes is developed. The relationship between each module is expounded, and the selection of crane is further studied. First of all, on the basis of the research on the cooperative hoisting of two cranes, this paper gives the definition of the double crane cooperation, analyzes its essence, puts forward 21 complete modes of the double crane hoisting, and describes and calculates the typical action of the double crane hoisting. The action sequence of the dual computer system is obtained by using the state space configuration space, and the hoisting simulation is carried out through a practical case. According to the particularity of multi-crane hoisting, the cooperative strategy of multi-machine is discussed, and the calculation method of translation, hoisting, flipping and rotation of multiple cranes is given. In addition, in the multi-computer simulation, the collision filtering of the Bullet physical engine is studied. The crane, environment and equipment in the scene are grouped into different groups to solve the collision detection problem in the multi-machine hoisting simulation system. Finally, the cooperative hoisting system of several cranes is developed, and the relationships among crane selection, slings selection and checking, crane modeling, equipment and environment modeling, hoisting simulation, scheme output and database management are analyzed. The system can be used to assist the hoisting project makers to make a preliminary plan, data check, program preview, etc., the system can be used to assist the design of the hoisting scheme, the data checking, the scheme preview, and so on, and the selection of the crane is analyzed in depth, which solves the problem of the selection of the cranes. The data of hoisting can be obtained in real time, and its security can be analyzed and a safe and efficient hoisting scheme can be output.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TP391.9;TH21

【引證文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 林遠(yuǎn)山;計(jì)算機(jī)輔助起重機(jī)選型及吊裝過程規(guī)劃研究[D];大連理工大學(xué);2013年

相關(guān)碩士學(xué)位論文 前1條

1 盛放;履帶式起重機(jī)分段路徑規(guī)劃算法的設(shè)計(jì)與實(shí)現(xiàn)[D];大連理工大學(xué);2012年

，

本文編號(hào)：1525947