Simulation Of Double Crane Combined Hoisting Of Heavy Crane Ship

In recent years,with the rapid development of the marine transportation industry,the lifting scheme design of the heavy cargo has gradually become a hot research direction.The existing research of computer-aided hoisting scheme design mostly exists in the single crane hoisting,and the application in the double crane hoisting system is very few.And the problem of low efficiency of lifting scheme planning is gradually prominent.In this paper,the lifting path planning based on RRT algorithm is studied,and the lifting path is smoothed.It improves the safety and efficiency of the scheme,so as to design a safe,collision free and constraint satisfied lifting path in the designated lifting environment.Firstly,this paper analyzes the model and hoisting situation of the hoisting equipment of the offshore ship,enumerates the advantages and disadvantages of the existing scheme,establishes the research objectives and organizes the article structure according to the idea of improving the simulation accuracy.A kind ofThen,using Lagrange algorithm,the mathematical model of single crane is established,and its motion characteristics are analyzed under different motion conditions,which lays a foundation for the establishment of double crane model.Then,the paper studies the hoisting system of Double Cranes,establishes the simplified rigid body model and coordinate transformation matrix,determines the cost calculation function,and constructs the mathematical model of the path planning of the hoisting system of Double Cranes.According to the actual hoisting situation,the constraints are put forward to improve the simulation accuracy.Finally,the RRT algorithm is used to obtain the safe lifting path of the dual crane lifting system.The action safety degree and node enhancement are considered,the action sequence is smoothed,the generation of redundant nodes is avoided,and the efficiency of path search is improved.Thus,a safe and collision free high-quality action sequence from the initial state to the in place state is planned.Through the simulation analysis of lifting case,the validity of the algorithm is verified.