A NONLINEAR 8-DOF COUPLED CRANE-SHIP DYNAMIC MODEL
A NONLINEAR 8-DOF COUPLED CRANE-SHIP DYNAMIC MODEL
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DOI：
10.2514/6.2003-1855
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发表时间：
2003-04
期刊：
影响因子：
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通讯作者：
M. Idres;K. Youssef;D. Mook;A. Nayfeh
中科院分区：
文献类型：
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作者：
M. Idres;K. Youssef;D. Mook;A. Nayfeh
建立了起重机-船舶非线性动力学模型。八自由度动力学模型包括船体运动与非线性大角度载荷摆动。我们将船舶和起重机视为一个刚体，并将悬挂载荷的任意双角度摆动与船舶的纵荡、摇摆、垂荡、横摇、纵摇和偏航运动相耦合。考虑了基本的起重机操纵，如俯仰和回转角轨迹以及电缆卷绕和退绕。船舶运动方程与起重机方程同时积分。利用大幅度运动程序（LAMP）获得了船舶上的水动力和静水压力。研究了辅助起重机船（T-ACS）起吊30 t载荷时的起重机运动响应。仿真结果表明，耦合效应是单向的，货物的振荡依赖于船舶运动，而船舶运动不受负载振荡的影响。大振幅响应发生在大钩载荷的固有周期附近的波浪周期。为了研究实际海况对起重机载荷激励的影响，采用基于Brettschneider双参数谱公式的不规则海浪作用于船舶。在5级海况下产生的大幅度载荷摆动，使得起重机船在该海况下的操作具有危险性。研究了电缆的收卷和放卷。结果表明，滞后效应。负载摆动幅度取决于卷取或放卷速度。
A nonlinear crane-ship dynamic model was developed. The 8-DOF dynamic model incorporates hull motions coupled with nonlinear large-angle load swings. We treated the ship and crane as one rigid body and included arbitrary, bi-angular swings of the suspended load coupled with the surge, sway, heave, roll, pitch, and yaw motions of the ship. Basic crane maneuvers, such as luff and slew angle trajectories and cable reeling and unreeling, are taken into consideration. The ship equations of motion are integrated simultaneously with the crane equations. The hydrodynamic and hydrostatic forces on the ship are obtained using the Large Amplitude Motions Program (LAMP). The motion response of the crane of the Auxiliary Crane Ship (T-ACS) lifting a 30-ton load was investigated. Simulations show that the coupling effect is unilateral; the cargo oscillations are dependent on the ship motion, while the ship motions are not affected by load pendulations. Large-amplitude responses occur at wave periods near the natural period of the hook load. In order to investigate the influence of realistic sea states on the excitation of crane loads, we applied irregular sea waves to the vessel based on the Brettschneider two-parameter spectral formula. Large-Amplitude load swings developed at sea state 5, which makes the operation of the crane ship at this sea state dangerous. Reeling and unreeling of the cable are investigated. The results show a hysteretic effect. The load-swing amplitude depends on the reeling or unreeling speed.