本文選題：大噸位起重機(jī)　切入點(diǎn)：安全吊裝　出處：《中南大學(xué)》2014年碩士論文

【摘要】：大噸位起重機(jī)被廣泛應(yīng)用于建筑、港口、石化工程等各個(gè)行業(yè),是國(guó)民經(jīng)濟(jì)建設(shè)的重要裝備。大噸位起重機(jī)吊裝過(guò)程復(fù)雜,吊裝失敗事故大,吊裝安全要求高。 傳統(tǒng)吊裝方法過(guò)于依賴(lài)人工經(jīng)驗(yàn),導(dǎo)致吊裝過(guò)程誤差大、效率低,無(wú)法保證吊裝安全。當(dāng)前一些方法未結(jié)合大噸位起重機(jī)自身特點(diǎn)進(jìn)行分析研究,不能滿(mǎn)足實(shí)際吊裝的安全需求。本文針對(duì)現(xiàn)有方法無(wú)法滿(mǎn)足大噸位起重機(jī)安全吊裝需求的實(shí)際問(wèn)題,研究面向安全吊裝的大噸位汽車(chē)起重機(jī)三維路徑規(guī)劃方法,有效保證吊裝過(guò)程的安全性。主要工作如下： 首先,論文在分析起重機(jī)的吊裝過(guò)程的安全需求上,定義了安全吊裝指標(biāo),提出了安全吊裝目標(biāo),并依據(jù)實(shí)際需求與研究現(xiàn)狀,歸納三維吊裝路徑規(guī)劃問(wèn)題。然后,綜合考慮起重機(jī)狀態(tài)與關(guān)鍵參數(shù),構(gòu)建起重機(jī)模型,并分析大噸位起重機(jī)站位的安全需求,研究起重機(jī)安全站位區(qū)域的構(gòu)建策略。基于此,研究給定站位點(diǎn)的吊裝區(qū)域建模方法,設(shè)計(jì)吊裝場(chǎng)景的局部更新策略,保證吊裝場(chǎng)景信息的快速更新,并在Matlab環(huán)境中實(shí)現(xiàn)典型吊裝場(chǎng)景的環(huán)境建模。最后,針對(duì)已構(gòu)建的環(huán)境模型,給出吊裝路徑的搜索策略,研究給定站位點(diǎn)的路徑規(guī)劃算法。在此基礎(chǔ)上,給出吊裝路徑的優(yōu)化策略,研究未知站位點(diǎn)的路徑規(guī)劃算法,同時(shí)在Matlab仿真平臺(tái)中,通過(guò)分析多組實(shí)驗(yàn)結(jié)果,說(shuō)明方法的正確性與有效性。
[Abstract]:Large-tonnage crane is widely used in construction, port, petrochemical engineering and other industries, it is an important equipment in national economic construction. The lifting process of large-tonnage crane is complicated, the failure of hoisting is great, and the safety requirements of hoisting are high. The traditional hoisting method relies too much on artificial experience, which results in large error and low efficiency in the hoisting process, which can not guarantee the safety of hoisting. Some current methods have not been analyzed and studied in combination with the characteristics of the large-tonnage crane itself. Aiming at the practical problem that the existing methods can not meet the requirement of safety hoisting of large tonnage crane, this paper studies the 3D path planning method for safety hoisting of large tonnage truck crane. Ensure the safety of hoisting process effectively. The main work is as follows:. First of all, the paper defines the safety hoisting index, puts forward the safety hoisting target, and induces the 3D hoisting path planning problem according to the actual demand and the present research situation, on the basis of analyzing the safety requirement of crane hoisting process. Considering the crane state and key parameters, the crane model is constructed, and the safety requirement of the large tonnage crane station is analyzed, and the construction strategy of the crane safe station area is studied. This paper studies the modeling method of hoisting area for a given site, designs the local updating strategy of hoisting scene, guarantees the quick updating of hoisting scene information, and realizes the environment modeling of typical hoisting scene in Matlab environment. Finally, According to the built environment model, the search strategy of hoisting path is given, and the path planning algorithm of given station is studied. On the basis of this, the optimization strategy of hoisting path is given, and the path planning algorithm of unknown station is studied. At the same time, the correctness and validity of the method are proved by analyzing the experimental results of many groups in the Matlab simulation platform.
【學(xué)位授予單位】：中南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TH21

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