大型重载起重吊装空间协作柔索并联构型装备机构的动态性能分析与协调控制技术研究

项目名称： 大型重载起重吊装空间协作柔索并联构型装备机构的动态性能分析与协调控制技术研究

项目编号： No.51275515

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 訾斌

作者单位： 中国矿业大学

项目金额： 80万元

中文摘要： 本项目以大型重载起重吊装空间协作柔索并联构型装备机构为研究对象，综合运用机电液光一体化技术、多学科联合仿真方法与实验研究手段，深入开展协作柔索并联构型装备机构的动态性能分析与协调控制技术研究。通过大型重载起重吊装协作柔索并联构型装备机构的动态承载能力、条件数、刚度特性与灵敏度分析，揭示整体协作装备机构动态性能变化规律；针对大型重载起重吊装协作柔索并联构型装备在复杂环境下的协同作业行为，建立装备机构协作完成强适应性和高精度作业过程的避障规划策略与协调力和运动控制方法；应用机电液等各学科间相互作用协同效应机理，建立起重吊装协作柔索并联构型装备机构的多目标集成优化设计模型，发展空间协作柔索并联构型装备机构集成设计理论与方法；通过大型重载起重吊装协作柔索并联构型装备机构的动态稳定性能监控技术研究、综合实验与性能分析评估，为整体空间协作柔索并联构型装备机构的综合动态性能预测、提升和有效控制奠定基础。

中文关键词： 多起重机；柔索并联机构；多目标集成优化设计；动态性能分析；协调控制

英文摘要： This project is mainly concerned with dynamic performance analysis and coordinated control technology of large heavy-duty spacial cooperative cable parallel equipment for mobile cranes based on integrated mechanical and electro-hydraulic optical technology, multidisciplinary co-simulation method and experimental research. Dynamic performance variation of the large heavy-duty spacial cooperative cable parallel equipment for mobile cranes is revealed from dynamic load-carrying capacity, condition number, stiffness characteristics and sensitivity analysis of the cable parallel equipment for mobile cranes. Considering collaboration behavior of the large heavy-duty spacial cooperative cable parallel equipment for mobile cranes in a complex environment, obstacle avoidance planning strategy and coordinated force and motion control method are developed to achieve a high-performance output motion for the large heavy-duty spacial cooperative cable parallel equipment for mobile cranes with strong adaptability and high accuracy. Multiobjective integrated optimization design model of the large heavy-duty spacial cooperative cable parallel equipment for mobile cranes is established by using synergistic effect principle of the interaction between the various disciplines, and integrated design theory and methods for the cable

英文关键词： multiple cranes；cable parallel manipulator；multiobjective integrated optimization design；dynamic performance analysis；coordinated control