DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES

ZHAO XiangTang; ZHAO ZhiGang; SU Cheng; WEI QiZhe; ZHENG XiaoYan

doi:10.16579/j.issn.1001.9669.2022.03.018

您当前的位置：

首页 >

文章列表页 >

DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES

更新时间：2022-09-22

- DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES
- Journal of Mechanical Strength Vol. 44, Issue 3, Pages: 635-640(2022)
- 作者机构：
  
  1. 兰州交通大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2022.03.018
  CLC：
扫描看全文
ZHAO XiangTang, ZHAO ZhiGang, SU Cheng, et al. DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES. [J]. 44(3):635-640(2022)
DOI：

ZHAO XiangTang, ZHAO ZhiGang, SU Cheng, et al. DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES. [J]. 44(3):635-640(2022) DOI： 10.16579/j.issn.1001.9669.2022.03.018.

摘要

介绍了一种用于海上吊运的柔索式多机器人协调并联系统。由于浮动基座受到的合力大小和方向不断变化，极易使吊机倾覆。首先将系统分为浮式机器人和吊物系统两部分，利用流体力学理论和球摆模型分析了两者的动力学特性。然后根据系统流固耦合的特点，分析得到了在波浪作用下求解该系统响应的具体步骤。最后结合实例，在波浪工况下对不同数量的吊机的动力响应进行了对比仿真，获得了浮基的位移、吊物的摆动以及柔索张力等结果，所得结论为该系统的优化和控制打好基础。

Abstract

This paper introduces a multi-robot coordinated parallel system for sea towing. Due to the force and direction of the floating-base are constantly changing, it is easy to overturn the crane. Firstly, the system is divided into two parts: floating robot and suspended system, and the dynamic model of the two are analyzed by using hydrodynamic theory and ball-pendulum model. Then according to the characteristics of fluid-solid coupling, the concrete steps of solving the system response to waves are analyzed. Finally, the displacement of floating-base, swing of suspended object and tension of rope are obtained by comparing and simulating the system under wave condition. The conclusion is a good basis for the optimization and control of the system.

关键词

吊运系统流体力学动力学建模流固耦合动力响应

Keywords

Towing systemHydrodynamicDynamic modelFluid-structure interactionDynamic response

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

SIMULATION AND ANALYSIS OF TIPOVER STABILITY OF WHEELED MOBILE MULTI-ROBOT COORDINATED TOWING SYSTEM

COMPARATIVE DYNAMIC RESPONSEANALYSIS OF OFFSHORE WIND TURBINES FENDER IN SHIP COLLISION

RESEARCH ON DYNAMIC RESPONSE WITH CRASHWORTHY DEVICES OF OFFSHORE WIND TURBINE FUNDATION TO SHIP IMPACT

RESEARCH ON THE ANTI-IMPACT CHARACTERISTIC AT DIFFERENT LOCATION BETWEEN THE MOVING SHIP AND MONOPILE OFFSHORE WIND TURBINES

ANTI-SEISMIC STUDY OF WIND TURBINE STRUCTURE BASED ON TMD

Related Author

No data

Related Institution

School of Mechatronic Engineering,Lanzhou Jiaotong University

Shanghai Key Laboratory of Multiphase Flow and Heat Transfer in Power Engineering

Yatu New Energy Technology Co.,Ltd.

School of Energy and Power Engineering,University of Shanghai for Science and Technology

School of Energy and Power Engineering, University of Shanghai for Science and Technology

⁰