計算機輔助起重機選型及吊裝過程規(guī)劃研究
發(fā)布時間：2018-11-07 15:08
【摘要】：自上世紀80年代以來,許多學(xué)者對計算機輔助吊裝方案設(shè)計(CALPAD)技術(shù)開展了廣泛的研究,取得了一定成果。然而,在現(xiàn)有的CALPAD研究中,起重機選型的被吊物與臂架間距計算復(fù)雜且大多未考慮接地比壓對選型的影響,針對桁架臂履帶起重機選型的研究也較少；吊裝動作規(guī)劃未考慮起重機的行走因素；雙機吊裝仿真研究較少,現(xiàn)有方法需要設(shè)置參數(shù)繁多且難以確定。因缺乏對工程因素的考慮,現(xiàn)有研究成果少有在實際吊裝工程應(yīng)用。因此,本文在移動式起重機智能選型、考慮行走因素的單機吊裝動作規(guī)劃、雙機吊裝仿真三方面展開研究,所形成的理論成果和軟件已成功應(yīng)用到多個中石化千噸級的實際吊裝項目中。本文主要研究工作如下： (1)提出了一種多重約束的移動式起重機人機交互優(yōu)選算法。首先構(gòu)建了多重約束的起重機選型數(shù)學(xué)模型,并設(shè)計了選型算法框架,然后以桁架臂履帶起重機為例給出了起重性能、被吊物與臂架間距、接地比壓等約束的計算方法。與現(xiàn)有選型算法相比,該算法將復(fù)雜三維空間距離計算問題轉(zhuǎn)化為二維幾何計算,降低了間距約束處理難度；考慮了接地比壓因素,提高了選型精度;由于無需建立起重機、被吊物三維模型,該算法更適合工程應(yīng)用,操作更加便捷。 (2)提出了基于先驗信息的路徑規(guī)劃算法RRT-Connect++。針對經(jīng)典的RRT-Connect算法所得路徑不優(yōu)的問題,利用先驗信息引導(dǎo)生成樹向高質(zhì)量區(qū)域生長,具體給出了基于回歸分析的可變多步擴展策略、基于采樣池和未探索區(qū)的隨機點選擇策略。仿真實驗結(jié)果表明,RRT-Connect++保持高效性的同時大幅提升路徑質(zhì)量,并且總體性能優(yōu)于現(xiàn)有基于RRT的其它算法。 (3)提出了一種考慮行走因素的單臺履帶起重機吊裝動作規(guī)劃算法。首先建立規(guī)劃問題的數(shù)學(xué)模型,給出了位形空間的定義、距離度量的方法、履帶起重機非完整運動學(xué)約束的表達,提出了基于RRT-Connect++的吊裝動作規(guī)劃算法。仿真結(jié)果表明該算法能在各種復(fù)雜環(huán)境中規(guī)劃出無超載、無碰撞可行動作序列。算法考慮了行走的非完整運動學(xué)約束,使所得動作序列可直接應(yīng)用。此外,其中的距離度量將長度量綱和角度量綱統(tǒng)一起來,避免了為每個分量設(shè)置權(quán)重系數(shù)。 (4)建立了典型協(xié)同吊裝工況的雙機系統(tǒng)模型并給出相應(yīng)的仿真流程。首先將兩臺起重機和被吊物看作一個完整的復(fù)雜系統(tǒng)(稱為雙機系統(tǒng)),從該系統(tǒng)視角研究雙機之間的協(xié)同,然后建立面向典型吊裝工況的雙機系統(tǒng)模型,最后給出基于空間幾何約束的雙機吊裝仿真流程。由于雙機的協(xié)同策略已嵌入基本動作,因此在典型雙機吊裝中該方法仿真更準確、操作更簡便。此外,雙機系統(tǒng)概念為雙機協(xié)同吊裝的其它研究提供了一個全新的思路。 (5)建立了雙機吊裝的正向運動學(xué)模型并給出了雙機吊裝仿真流程。首先建立雙機起升系統(tǒng)正向運動學(xué)模型,然后利用最小勢能原理將此正向運動學(xué)問題抽象為帶約束數(shù)學(xué)優(yōu)化問題,據(jù)此提出被吊物位姿及起升力求解算法,最后在此基礎(chǔ)上給出了基于正向運動學(xué)的雙機吊裝仿真流程。相比現(xiàn)有雙機吊裝仿真方法,該方法僅需被吊物重量、重心即可準確求得被吊物位姿及起升力,為雙機吊裝仿真提供有力的支撐,可容易地實現(xiàn)實時的雙機吊裝作業(yè)仿真,具有參數(shù)少、實時等特點。
[Abstract]:Since the 1980s, many scholars have carried out extensive research on the computer-aided lifting scheme design (CALPAD) technology, and made some achievements. However, in the existing CALPAD research, the calculation of the distance between the suspended object and the arm support of the crane is complicated and most of the influence of the ground specific pressure on the type selection is not taken into account, and the research on the selection of the crawler crane of the frame arm is also less; the lifting action plan does not take into account the walking factors of the crane; The double-machine hoisting simulation research is less, and the existing method needs to set various parameters and is difficult to determine. Due to the lack of consideration of the engineering factors, the existing research results are rare in the practical hoisting engineering application. Therefore, in the intelligent selection of mobile crane, the three aspects of single-machine lifting operation planning and double-machine lifting simulation of walking factors are studied, and the theoretical achievements and software have been successfully applied to the actual hoisting projects of several Sinopec thousand tons. The main work of this paper is as follows: (1) A multi-constrained mobile crane man-machine interaction is preferred In this paper, the model of the multi-constrained crane type selection is constructed, and the model selection algorithm framework is designed, and the calculation of the lifting performance, the distance between the suspended object and the arm support, the ground specific pressure and the like is given in the example of a rack-arm crawler crane. Compared with the existing type selection algorithm, the algorithm converts the complex three-dimensional space distance calculation problem into two-dimensional geometric calculation, reduces the difficulty of the space constraint processing, considers the ground specific pressure factor and improves the selection precision, the model is more suitable for engineering application, and the operation is more (2) The path planning algorithm RRT-Conn based on the prior information is proposed. ect ++. The problem that the path of the classical RRT-Connect algorithm is not excellent, the prior information is used to guide the spanning tree to grow to the high-quality region, and the variable multi-step expansion strategy based on the regression analysis is given, which is based on the random access of the sampling pool and the unexplored area. Point selection strategy. The simulation results show that RRT-Connect + + keeps high efficiency while greatly improving the path quality, and the overall performance is better than that of the existing RRT (3) A single-stage crawler crane considering walking factors is proposed. The mathematical model of the planning problem is first set up, the definition of the space, the method of distance measurement, the expression of the incomplete kinematic constraint of the crawler crane are given, and the RRT-Connect + + is put forward. The simulation results show that the algorithm can be used in a variety of complex environments without overloading. Collision feasible action sequence. The algorithm takes into account the non-complete kinematic constraint of walking and makes the obtained motion in addition, that distance measure unify the length dimension and the angle dimension, The weight coefficient of the component is set. (4) The model of the two-machine system with typical cooperative hoisting condition is established. In this paper, two cranes and a suspended object are considered as a complete complex system (called a double-machine system), the cooperation between the two machines is studied from the system perspective, and then a two-machine system model for typical hoisting conditions is established, and the space-based geometry is given. The two-machine hoisting simulation process of the constraint has been embedded in the basic operation because the cooperative strategy of the two-machine is embedded in the basic operation, so the method can be used in the typical double-machine hoisting The simulation is more accurate and the operation is more convenient. In addition, the two-machine system concept is the other research of the double-machine cooperative hoisting. A new idea is provided. (5) The forward kinematics of double-machine hoisting is established. In this paper, the forward kinematics model of the two-machine lifting system is established, and then the forward kinematics problem is abstracted as the constrained mathematical optimization problem by using the principle of minimum potential energy. The method for solving the position of the suspended object and the lifting force is given, and on the basis of this, the algorithm is given. Compared with the prior double-machine hoisting simulation method, the method only needs to be lifted by the weight and the center of gravity of the crane, can accurately obtain the lifted object position and the lifting force, provides a powerful support for the double-machine lifting simulation, can easily realize the real-time double-machine hoisting operation,
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TH21;TP391.7
本文編號：2316741
[Abstract]:Since the 1980s, many scholars have carried out extensive research on the computer-aided lifting scheme design (CALPAD) technology, and made some achievements. However, in the existing CALPAD research, the calculation of the distance between the suspended object and the arm support of the crane is complicated and most of the influence of the ground specific pressure on the type selection is not taken into account, and the research on the selection of the crawler crane of the frame arm is also less; the lifting action plan does not take into account the walking factors of the crane; The double-machine hoisting simulation research is less, and the existing method needs to set various parameters and is difficult to determine. Due to the lack of consideration of the engineering factors, the existing research results are rare in the practical hoisting engineering application. Therefore, in the intelligent selection of mobile crane, the three aspects of single-machine lifting operation planning and double-machine lifting simulation of walking factors are studied, and the theoretical achievements and software have been successfully applied to the actual hoisting projects of several Sinopec thousand tons. The main work of this paper is as follows: (1) A multi-constrained mobile crane man-machine interaction is preferred In this paper, the model of the multi-constrained crane type selection is constructed, and the model selection algorithm framework is designed, and the calculation of the lifting performance, the distance between the suspended object and the arm support, the ground specific pressure and the like is given in the example of a rack-arm crawler crane. Compared with the existing type selection algorithm, the algorithm converts the complex three-dimensional space distance calculation problem into two-dimensional geometric calculation, reduces the difficulty of the space constraint processing, considers the ground specific pressure factor and improves the selection precision, the model is more suitable for engineering application, and the operation is more (2) The path planning algorithm RRT-Conn based on the prior information is proposed. ect ++. The problem that the path of the classical RRT-Connect algorithm is not excellent, the prior information is used to guide the spanning tree to grow to the high-quality region, and the variable multi-step expansion strategy based on the regression analysis is given, which is based on the random access of the sampling pool and the unexplored area. Point selection strategy. The simulation results show that RRT-Connect + + keeps high efficiency while greatly improving the path quality, and the overall performance is better than that of the existing RRT (3) A single-stage crawler crane considering walking factors is proposed. The mathematical model of the planning problem is first set up, the definition of the space, the method of distance measurement, the expression of the incomplete kinematic constraint of the crawler crane are given, and the RRT-Connect + + is put forward. The simulation results show that the algorithm can be used in a variety of complex environments without overloading. Collision feasible action sequence. The algorithm takes into account the non-complete kinematic constraint of walking and makes the obtained motion in addition, that distance measure unify the length dimension and the angle dimension, The weight coefficient of the component is set. (4) The model of the two-machine system with typical cooperative hoisting condition is established. In this paper, two cranes and a suspended object are considered as a complete complex system (called a double-machine system), the cooperation between the two machines is studied from the system perspective, and then a two-machine system model for typical hoisting conditions is established, and the space-based geometry is given. The two-machine hoisting simulation process of the constraint has been embedded in the basic operation because the cooperative strategy of the two-machine is embedded in the basic operation, so the method can be used in the typical double-machine hoisting The simulation is more accurate and the operation is more convenient. In addition, the two-machine system concept is the other research of the double-machine cooperative hoisting. A new idea is provided. (5) The forward kinematics of double-machine hoisting is established. In this paper, the forward kinematics model of the two-machine lifting system is established, and then the forward kinematics problem is abstracted as the constrained mathematical optimization problem by using the principle of minimum potential energy. The method for solving the position of the suspended object and the lifting force is given, and on the basis of this, the algorithm is given. Compared with the prior double-machine hoisting simulation method, the method only needs to be lifted by the weight and the center of gravity of the crane, can accurately obtain the lifted object position and the lifting force, provides a powerful support for the double-machine lifting simulation, can easily realize the real-time double-machine hoisting operation,
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TH21;TP391.7
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