船舶起重机的机电液一体化联合仿真

为了研究船舶起重机的消摆操纵控制策略，需建立起重机的虚拟样机．采用Pro／E三维设计软件建立起重机的几何模型，将其导入ADAMS软件中，定义构件的材料及相对运动关系，并采用由轴套力连接小圆柱体的方法，建立钢丝绳模型；在AMESim软件平台上建立起重机回转、起升和变幅操纵机构的液压系统模型；最后在AMESim Advanced高级建模与仿真平台上建立集机械、液压与控制系统的一体化仿真模型．利用静态理论计算对所建模型进行验证，结果表明：所建模型的静态和动态仿真结果能准确代表实际起重机结构和操纵系统，该模型可以用来开展下一步的消摆控制研究．

Hydro- mechatronic Co-Simulation of the Ship Hydraulic Crane

Abstract ： In order to study the anti - sway control strategies of the crane on board ship, the virtual prototype of the crane needs to be built. The 3D design software Pro/E was used to build the geometric model of the crane. The model was imported to the ADAMS software and the material and relative motion of the parts were defined. The cable model was built by a serials of the cylinders connected by bushings. The model of the slewing, luffing and lifting hydraulic systems of the crane were built up using AMESim software. Finally the mechanical, hydraulic, electric control models were integrated on AMESim Advanced software platform. The static theories on mechanical and fluid were used to verify the virtual prototype of the crane. The results showed that the static and dynamic simulations of this model could represent precisely the structure and operating system of the real crane. Therefore this model can be used to study the anti - sway control of the crane in the next stage.