【摘要】：由于大型工程的發(fā)展促進吊裝行業(yè)走向復(fù)雜化、集成化,兩臺起重機協(xié)同吊裝(雙機吊裝系統(tǒng))趨向普遍化,同時多臺起重機協(xié)同吊裝(多機吊裝系統(tǒng))逐步常見,這也使得保證吊裝安全性成為首要問題。吊裝方案的制作是保證吊裝安全的重要保障,而合理高效的起重機吊裝動作規(guī)劃對吊裝方案的制作有著重要指導(dǎo)作用和現(xiàn)實意義。目前,對雙機吊裝系統(tǒng)動作規(guī)劃的研究,存在規(guī)劃效率較低、動作序列不優(yōu)、建模誤差較大等問題,而對多機吊裝系統(tǒng)動作規(guī)劃研究較少。因此,本文針對雙機吊裝系統(tǒng)中封閉鏈約束及非完整運動學(xué)約束,提出基于被吊物及起重機下車驅(qū)動的系統(tǒng)建模方法,采用改進的RRT-Connect++動作規(guī)劃算法,通過三個涉及起重機行走、轉(zhuǎn)彎、變幅、起升等動作的案例來驗證該求解思路的可行性和規(guī)劃的高效性。對于多機吊裝系統(tǒng),采用相同的建模思路和規(guī)劃算法,通過對四臺起重機協(xié)同吊裝管架被吊物的案例進一步驗證該求解思路對多機吊裝系統(tǒng)的適用性及規(guī)劃的高效性。 文中首先通過分析雙機吊裝動作規(guī)劃的重要性,和對雙機吊裝建模及其動作規(guī)劃的研究現(xiàn)狀總結(jié),確定雙機吊裝動作規(guī)劃的難點在于系統(tǒng)的封閉鏈約束及非完整運動學(xué)約束問題,并論述本課題研究意義。 其次,對于系統(tǒng)的封閉鏈約束,結(jié)合目前研究現(xiàn)狀,提出基于被吊物及起重機下車驅(qū)動的建模方法,同時給出逆向方程求解過程；對于系統(tǒng)非完整運動學(xué)約束,根據(jù)履帶與輪式移動小車相似性建立起重機下車模型,進而得到求解方程。 接著,根據(jù)雙機吊裝系統(tǒng)建模定義動作規(guī)劃的位姿空間、動作輸入、位姿轉(zhuǎn)換矩陣、距離計算等,同時論述RRT-Connect++算法流程及對其改進,并通過對雙機翻轉(zhuǎn)被吊物、雙機行走越障平移被吊物、雙機轉(zhuǎn)彎避障平移被吊物三個案例動作規(guī)劃,驗證本文求解思路可行性、規(guī)劃高效性。 最后,根據(jù)對雙機吊裝系統(tǒng)動作規(guī)劃的研究,嘗試研究多機吊裝系統(tǒng)動作規(guī)劃。文中具體分析四臺起重機協(xié)同吊裝管架被吊物的建模,包括該系統(tǒng)中多重約束的處理、管架模型位姿定義、吊點計算等。在定義系統(tǒng)位姿空間及動作輸入后,通過對四臺起重機起升、行走平移、翻轉(zhuǎn)管架案例的動作規(guī)劃,說明本文求解思路對多機吊裝系統(tǒng)具有適用性,同樣在動作規(guī)劃中具有較高效率并能規(guī)劃較優(yōu)的動作序列。
[Abstract]:Because of the development of large-scale engineering, the hoisting industry is becoming more and more complicated and integrated, so the cooperative hoisting system of two cranes (double crane hoisting system) tends to be generalized, while the cooperative hoisting system of multiple cranes (multi-machine hoisting system) is becoming more and more common. This also makes the safety of hoisting become the top issue. The production of hoisting scheme is an important guarantee to ensure the safety of hoisting, and reasonable and efficient crane hoisting action planning has an important guiding role and practical significance in the production of hoisting scheme. At present, there are some problems in the research of action planning of double hoisting system, such as low planning efficiency, poor action sequence and large modeling error, but less research on action planning of multi-machine hoisting system. Therefore, aiming at the closed chain constraint and nonholonomic kinematics constraint in the double crane hoisting system, this paper presents a system modeling method based on the lifting object and the crane driver, and adopts the improved RRT-Connect motion planning algorithm. The feasibility of the solution and the efficiency of the planning are verified by three cases involving crane walking, turning, amplitude changing, lifting and so on. For the multi-crane hoisting system, the same modeling idea and planning algorithm are adopted, and the applicability of the solution to the multi-machine hoisting system and the high efficiency of the planning are further verified by a case study of four cranes. In this paper, firstly, the importance of hoisting action planning is analyzed, and the present situation of modeling and action planning of hoisting is summarized. It is determined that the difficulty of hoisting action planning lies in the closed chain constraint and nonholonomic kinematics constraint of the system, and the significance of this research is discussed. Secondly, for the closed chain constraints of the system, combined with the current research situation, a modeling method based on the lifting object and the crane driver is proposed, and the inverse equation solution process is given, and for the system non-holonomic kinematics constraints, According to the similarity between crawler and wheeled mobile trolley, the model of crane getting off is established, and the solving equation is obtained. Then, according to the modeling of dual-machine hoisting system, the position and pose space, motion input, position and attitude conversion matrix, distance calculation and so on are defined. At the same time, the flow of RRT-Connect algorithm and its improvement are discussed, and the lifting object is overturned by two machines. It is proved that the method is feasible and efficient to solve the problem. Finally, according to the research of action planning of double-machine hoisting system, the action planning of multi-machine hoisting system is studied. This paper analyzes the modeling of the hoisting object of the four cranes, including the treatment of multiple constraints in the system, the definition of the position and orientation of the pipe frame model, the calculation of the lifting point, etc. After defining the position and pose space of the system and the action input, through the action planning of four cranes, such as lifting, walking translation and turning over the pipe frame, it is shown that the solution of this paper is applicable to the multi-machine hoisting system. It also has higher efficiency and better action sequence in action planning.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TH21

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本文編號：2228384