起重机路径规划的摘要

摘 要工程实践中吊装方案设计仍然停留在传统模式，采用手工校核方式选择吊索具、通过查阅性能表选择起重机、利用AutoCAD等常规二维绘图软件设计吊装过程等。这种传统设计方法严重依赖设计者的经验，需要多次迭代，设计周期长，吊装前无法全面、直观地查看动态的吊装过程。在此背景下，计算机辅助吊装方案设计（CALPAD）技术应运而生。其中，起重机选型可快速选择合适的起重机，而路径规划及吊装仿真可直观、快捷地设计吊装过程并进行预演。然而，通过对比工程需求和现有研究发现：对应用广泛的桁架臂履带起重机选型较少；单机吊装路径规划未考虑起重机的行走；双机吊装仿真研究较少，现有方法待设置参数多且难以确定。由于大多现有研究缺乏对某些工程约束的考虑，致使其难以真正应用到实际吊装工程。为此，本文在多重约束下起重机智能选型、考虑行走的单机吊装路径规划、双机吊装仿真三方面开展研究并实现相应的软件，所形成的理论成果和软件已成功应用到实际吊装工程。本文主要研究工作如下：（1）给出了一种面向移动式起重机的多重约束起重机选型算法。首先构建了多重约束的起重机选型数学模型，基于此给出了选型算法的总体框架，然后以桁架臂履带起重机为例详细阐述了算法框架中起重性能、被吊物与臂架间距、接地比压约束处理的实现，最后通过实例验证了算法的可用性和有效性。与现有选型算法相比，技术上该算法将复杂三维空间距离计算问题转化为二维几何计算，降低了间距约束处理难度；该算法由于无需起重机、被吊物三维建模，在应用上更加便捷。（2）提出了基于先验信息的路径规划新算法RRT-Connect+。针对RRT-Connect所得路径不优的问题，利用先验信息引导生成树向高质量区域生长，具体给出了基于回归分析的可变多步扩展策略、基于采样池和未探索区的随机点选择策略。多个仿真实验的结果表明，RRT-Connect+大幅提升路径质量的同时还保持了原RRT-Connect的高效性，并且总体性能优于现有基于RRT的其它算法。此外，该算法保持了RRT处理微分约束的简便性，无需重新设计类似Steer操作的局部规划器，可应用于实时路径规划。（3）提出了一种考虑行走的单台履带起重机吊装路径规划算法。首先对规划问题进行数学建模，并设计了基于RRT-Connect+的吊装路径规划算法，给出了位形空间的定义、两位形间的距离度量、履带起重机非完整运动学约束的表达，最后通过三个仿真实验验证算法的有效性和性能，结果表明该算法能在各种复杂吊装环境中找到一条无超载、无碰撞可行路径。算法将履带起重机行走的非完整运动学约束融入算法中，使路径更自然、平滑。此外，其中的距离度量将长度量纲和角度量纲巧妙地统一起来，较好地表达吊装路径长度，并且赋予距离度量直观物理意义，避免了为每个分量设置权重系数。（4）提出了一种基于空间几何约束的双机协同吊装仿真方法。针对典型吊装工况的双机吊装仿真问题，研究了双机之间的协同，设计了双机协同吊装仿真模型，给出了双机系统基本动作的表达与设计。通过实例验证仿真方法的可用性和有效性，结果表明该方法可容易地模拟典型工况的双机吊装过程。由于双机的协同策略已嵌入基本动作的实现，因此，在典型双机吊装中该方法吊装过程仿真更准确、仿真操作更简便。此外，该方法将两台起重机和被吊物看成一个完整的复杂系统（称为双机系统），该概念为双机协同吊装的其它研究提供了一个全新的视角。（5）提出了一种基于正向运动学的双机吊装仿真通用方法。首先从静力学的角度探究双机吊装中起升系统部分的运动学规律，利用最小势能原理将起升系统部分的运动学抽象为带约束的数学优化问题，提出基于最小势能原理的起升绳偏摆角及起升力求解算法，通过与ADAMS仿真结果对比验证了求解算法的正确性。然后在此基础上设计了基于正向运动学的双机吊装仿真通用方法。最后通过实例验证方法的可用性和有效性，结果表明该方法是一种设计和预演双机吊装过程的有效手段。相比现有基于动力学的双机吊装仿真方法，该方法仅需被吊物的重心相对位置及重量即可准确求得吊装过程中被吊物位姿及起升力，为双机吊装仿真提供有力的支撑，可容易地嵌入吊装仿真软件中，实现实时的双机吊装作业仿真，具有参数少、实时等特点。关键词：吊装方案；起重机；起重机选型；吊装仿真；路径规划Engineering practice of hoisting scheme design still remain in the traditional mode, manual calibration rigging selection, through consulting performance table select crane, using AutoCAD and conventional two-dimensional mapping software design of hoisting process.The traditional design methods depend heavily on the experience of the designer, need many iterations, long design period, before lifting, is unable to visualize the dynamic hoisting process. Under this background, the computer aided design of hoisting scheme (CALPAD) technology emerge as the times require. Among them, the crane can quickly select suitable selection of crane, and the path planning and hoisting simulation can directly, quickly design process of hoisting and rehearsal. However, by comparing the engineering needs and existing research findings: on the application of a wide range of truss boom crawler crane selection less; single lifting path planning without considering the crane walking; double hoisting simulation study is less, the existing method for setting parameters are difficult to determine. Since most existing studies are lacking for some engineering constraints are considered, which is difficult to truly applied to actual hoisting engineering.Therefore, based on the multiple constraints crane intelligent selection, consider walking single lifting path planning, double hoisting simulation three aspects of the research and the realization of the corresponding software, by the formation of the theoretical results and the software has been successfully applied to the actual hoisting engineering. In this paper, the main research work is as follows:(1) presents a mobile crane crane selection algorithm with multiple constraints. First constructed a multiple constrained crane type mathematical model, based on the given selection algorithm framework, and then to the truss boom crawler crane as an example, describes the algorithm framework of lifting performance, the hanging object and arm frame spacing, ground pressure constraint processing is realized, finally the example proves that the method is available and the validity of the. With the existing selection algorithm, the algorithm will technically complex 3D spatial distance computation into two-dimensional geometric calculation, reduces the spacing constraint processing difficulty; the algorithm without crane, the hanging object modeling, in the application of more convenient.(2) Based on a priori information about the new path planning algorithm for RRT-Connect+. The path for RRT-Connect and problem, the use of prior information to guide the generation tree to high quality regional growth, concrete is presented based on the regression analysis of variable multi step expansion strategy, based on the sampling pool and unexplored area of the random selection strategy. A number of simulation results show that, RRT-Connect+ significantly enhance the quality of route while maintaining the original RRT-Connect efficiency, and overall performance is better than other algorithms based on RRT.In addition, this algorithm keeps the RRT differential constraints is simple, no need to design similar to the Steer operation for local programming, can be applied to real-time path planning.(3) This paper presents a method for considering walking single crawler crane hoisting path planning algorithm. The planning problem in mathematical modeling, and design based on the RRT-Connect+ lifting path planning algorithm, gives the configuration space is defined, two form distance metric, crawler crane nonholonomic kinematic constraint expression, through three finally simulation results verify the effectiveness of the algorithm and performance, the results show that the algorithm can a variety of complex lifting environment to find a feasible path without overload, without collision.Algorithm crawler crane walking nonholonomic kinematic constraints into the algorithm, so that a more natural, smooth path. In addition, the distance measure the length dimension and angle dimension ingenious united, better expression of hoisting the length of the path, and give the distance metric intuitive physical significance, avoid for each component set weight coefficient.(4) Proposed one kind based on the space geometry constraint dual cooperative lifting simulation method. Aiming at the typical hoisting condition double hoisting simulation problems, study the dual synergy between, designed dual cooperative lifting simulation model, given the dual system of basic action expression and design. Through the example to validate the simulation method is feasible and effective, the results show that the method can be easily simulated typical operating conditions of double hoisting process.Due to dual coordination strategy has embedded basic action is achieved, thus, in a typical double hoisting method of the hoisting process simulation simulation more accurate, more simple operation. In addition, the two crane and the lifted object as a whole complex system (known as the dual system), the concept of dual cooperative lifting other research provides a new angle of view.(5) Proposed one kind based on the forward kinematics of double hoisting simulation method. First from the static point of view to explore dual lifting hoisting system part of the kinematic law, using the principle of minimum potential energy will rise system part of the kinematic abstract as a constrained mathematical optimization problems, is proposed based on the principle of minimum potential energy of the hoisting rope swinging angle and lifting algorithm, through the ADAMS simulation results validated the solution the correctness of the algorit