| 船用起重机防摆动技术研究 |
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| 引用本文： | 李天鹰,高洁.船用起重机防摆动技术研究[J].南通航运职业技术学院学报,2012(4):60-63. |
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| 作者姓名： | 李天鹰 高洁 |
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| 作者单位： | 紫琅职业技术学院新能源工程系 |
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| 基金项目： | 紫琅职业技术学院课题“基于模糊自适应控制的船舶控制技术研究”(项目编号:2012005) |
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| 摘 要： | 文章针对船载特种起重机在不同级别海况下的防摆动问题,提出了利用D-H方法在动基座条件下建立模型,通过运动学方程的解和船载起重机的运动特点建立数学算法,计算起重机各个关节变量的变化,使起重机作业时起重机末端始终保持对参考坐标系的X轴和Y轴方向相对静止,最终达到起重机的抗摆要求。
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| 关 键 词： | 船用特种起重机 D-H方法 防摆摆 关节变量 |
A Study on Anti-sway Technology for Ship-borne Cranes |
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| LI Tian-ying,Gaojie.A Study on Anti-sway Technology for Ship-borne Cranes[J].Journal of Nantong Vocational & Technical Shipping College,2012(4):60-63. |
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| Authors: | LI Tian-ying Gaojie |
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| Institution: | (Dept.of New Energy Engineering,Zilang Vocational & Technical College,Nantong 226010,China) |
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| Abstract: | In view of anti-sway problems related to ship-borne cranes in different conditions,this article puts forward applying Denavit-Hartenberg method to the construction of the model with a moving base as well as establishing mathematical algorithm combining kinematics equations and the characteristics of the movement of ship-borne cranes so as to maintain the stillness of the crane-end relative to the X-axis and Y-axis of the reference frame,which is expected to meet anti-sway requirements. |
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| Keywords: | Ship-borne crane Denavit-Hartenberg method Anti-sway Joint variable |
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