摘要
针对传统龙门吊起吊作业中管道转向依赖人工操作、自动化程度低及摆动控制不足的问题,提出一种基于多圈全角度自旋转的龙门吊起吊系统与实时动态防摆协同控制方法。通过集成齿轮传动自旋转驱动系统与四自由度防摆转单元,实现管道连续360°以上精准旋转及动态防摆控制。自旋转系统采用空心轴设计与模块化平衡梁,降低结构重量并适配多规格管道;防摆系统通过力矩电机实时调控钢丝绳恒张力,结合有限元仿真优化关键构件,有效抑制龙门吊加减速过程中的惯性摆动。实际应用结果表明,系统摆动幅度降低85%,旋转定位误差小于1°,且在企业实际工况中稳定运行1年,累计完成起吊作业8000余次,故障率为0。该研究提升了作业效率与安全性,为重型管道智能化吊装提供了较可靠的解决方案。
To address the issues of manual dependency,low automation,and insufficient swing control in traditional gantry crane lifting operations,a real-time dynamic anti-swing collaborative control method for a gantry crane lifting system based on multi-turn full-angle self-rotation was proposed.The solution integrated a gear-driven self-rotation system and a four-degree-of-freedom anti-swing unit to achieve continuous 360°or more precise rotation and dynamic swing suppression.The self-rotation system employed a hollow shaft design and modular balance beam,reducing structural weight and adapting to pipelines of varying specifications.The anti-swing system utilized torque motors to regulate wire rope tension in real time and optimizes key components through finite element simulation,effectively suppressing inertial oscillations during crane acceleration and rotation.The results of practical application showed that the swing amplitude of the system was reduced by 85%,the rotational positioning error was less than 1°,and it had been operating stably for one year under the actual working conditions of the enterprise.More than 8000 hoisting operations had been cumulatively completed,and the failure rate was zero.This research provides a highly reliable solution for intelligent heavy pipeline hoisting,significantly enhancing operational efficiency and safety.
作者
王顺利
米红林
赵亮
章雨晴
汤烨
WANG Shunli;MI Honglin;ZHAO Liang;ZHANG Yuqing;TANG Ye(Shanghai Technical institute of Electronics&information,Shanghai 201411,China)
出处
《农业装备与车辆工程》
2025年第6期114-118,共5页
Agricultural Equipment & Vehicle Engineering
基金
教育部职业院校信息化教学指导委员会2022年度职业院校数字化转型行动研究课题“学校数字化教学资源与环境的建设、共享与应用研究”(KT22431)。
关键词
龙门吊
多圈全角度自旋转
动态防摆
协同控制
有限元分析
gantry crane
multi-turn full-angle self-rotation
dynamic anti-swing
collaborative control
finite element analysis
