Dynamic Modeling and Simulation of Polar Crane System for Automatically Lifting-and-Landing of Steam Generator
Aiming at the problem of poor model accuracy caused by strong coupling,nonlinearity,and underactuated of the polar crane evaporator system,considering the high cost,high risk,and unsafe issues of physical verification caused by special operating envi-ronments,a multi-body dynamics simulation model based on mechanism modeling and its control strategy were proposed.Combining the influence of non-fixed rope length,fixed load position,and friction force in the actual situation on the dynamic motion characteristics of the polar crane system,the nonlinear coupling relationship between the steel wire rope swing angle,the evaporator flipping angle,and the system motion state variables were focused on.The Lagrangian method was used to construct the mechanism numerical model of the en-tire system.Based on an accurate numerical model,a dynamic simulation model that mapped to the real system was built on the Sim-scape Multibody simulation platform.Finally,a PID controller was designed in MATLAB/Simulink,and joint simulation was performed after establishing the data interface with Simscape.The results show that all state variables of the system can stably track the ideal refer-ence trajectory value and meet the constraints of actual working conditions,which further verifies the accuracy and effectiveness of the dynamic model of the polar crane system established for automatic flipping of the evaporator,laying a foundation for subsequent motion control verification and algorithm optimization of the polar crane system.
万方数据
维普
