ARMG吊具辅助钢丝绳牵引式主动防摇方法

Active anti-swing method of ARMG spreader with the traction of its auxiliary wire rope

摘要:

为提升自动化码头中自动化轨道式集装箱龙门起重机（ARMG）在无人驾驶起吊搬运工作中对吊重的防摇效果,提出一种采用吊具辅助钢丝绳作牵引的主动防摇方法,通过辅助钢丝绳对吊具施加牵引力抑制吊具的摆动,消耗其摆动动能,从而减小吊具偏摆幅值,将其摆动幅度控制在安全范围内,实现防摇目标.建立主动防摇系统动力学模型,利用功能等效原理将通过辅助钢丝绳施加的牵引力等效为系统中吊具的阻尼,通过求取满足防摇要求的阻尼获得实际所需的牵引力.对不同小车运行方案以及不同典型垂荡高度下的主动防摇过程进行仿真,获得吊具对应的摆动响应以及通过辅助钢丝绳施加的牵引力大小,仿真结果验证了提出防摇策略的有效性以及等效阻尼计算的正确性.以上海振华重工集团生产的某型ARMG为实验对象,在典型垂荡高度下进行试验,试验结果验证了提出的主动防摇方法的可行性及其在实际起吊工作中的实用性.

Abstract:

Aiming at improving the anti-swing effect of automated rail mounted container gantry crane(ARMG) during its unmanned hoisting and handling work at the automated terminal, an active anti-swing method using the spreader auxiliary wire rope as traction was proposed. By the auxiliary wire rope, the traction is used to restrain the swing of spreader and consume its swing kinetic energy, thus the swing amplitude of the spreader can be reduced to the safe ranges to realize the anti-swing target. Firstly, the dynamic model of the active anti-swing can be set up, then the traction force of auxiliary wire rope is equivalent to the damping of spreader, and the actual traction force can be calculated by obtaining the equivalent damping. Throughout the simulation of the active anti-swing process of different trolley travelling schemes and different typical heave height, the swing response of spreader and the size of traction force applied by the auxiliary wire ropes could be acquired and it verified the effectiveness of the anti-swing strategy and the correctness of the equivalent damping calculation. Finally, taking a certain ARMG produced by Shanghai Zhenhua Heavy Industries Company(ZPMC) as an experimental object, experimental verification was carried out at typical heave height, and the output moment of the auxiliary motor obtained by experiment verified the feasibility of the active anti-swing method and its practicability in the actual application.