Kinematic analysis

초기위치

자동
수동
(너셀, 블레이드, 타워, 허브)
Kinematic analysis
&
Dynamics

Fast operation Safe operation

Kinematic analysis

Lower boom
manipulation

𝑵𝒐
Dynamics
Anti-swing?

𝒀𝒆𝒔
수동 자동

Kinematic analysis
Upper boom
manipulation

수동 (final operation)
-1-
 Y

B
𝑩′
𝜷𝟏 𝜽𝟐
𝑳𝟎
𝒓𝒂𝟐
𝜶𝟐 A

(𝒙𝟎 , 𝒚𝟎 )
𝑪′ 𝜷𝟐 𝜷𝟑

𝑨′

𝒓𝒂𝟏
𝜽𝟏 𝜶𝟏

O C X
𝑶𝑪
= 𝒙𝒇
𝟐

-2-
(Source: 파워엠엔씨 crane layout T-3) (Source: 파워엠엔씨 crane layout T-4)

-3-
 EHA (Electro-
Hydraulic actuator)

Boom
deflection
and
Hoisting rope
variation

(Source: 파워엠엔씨 crane layout T-4) Luffing Motion

Safety Distance
Allowance

설계 및 구조해석의 결과로부터 결정된 너셀, 블레이드, 타워, 허브 각 요소별

최적의 초기위치
-4-
 Y
Given x0 , y0 , 1,0 ,  2,0 x0 → x f
𝑭 A x0 = OA cos1,0
= OC cos(1,0 − 1 ) + CA cos 2,0
= OC cos(1,0 − 1 ) + CA cos( − 1 −  2 + 1,0 )
= OC cos(1,0 − 1 ) + CA cos( −  2 + 1 )
y0 = OA sin 1,0 − L0
𝑳𝟎
 x 
1 = cos −1    =  − 1 −  2 + 1
 OA  2

d = OC + OB − 2OCOB cos(1 − 1 )
2 2

𝑳𝒉 (𝜽𝟏 )
x = OA cos1
= OC cos(1 − 1 ) + CA cos 2
𝜽𝟐 (𝒙𝟎 , 𝒚𝟎 )
= OC cos(1 − 1 ) + CA cos( − 1 −  2 + 1 )
𝜶𝟐 C = OC cos(1 − 1 ) + CA cos( −  2 + 1 )
y = OA sin 1 − ( L0 + L)
𝜶𝟏 d L =
1
 Lh (1,0 ) − Lh (1 ) 
N
1
OE + OF − 2OEOF cos1
2 2

𝜽𝟏 𝜽𝟏 + 𝝃 =
𝜽𝟑 N

𝑬 O B -5- X
 검증: Crane layout T-3 도면기준 (20210901)

4가닥으로 가정

1) 설계데이터와 기구해석결과 일치확인.

x f = 5.711, y f = 0.15, L0 = 8.962 2) 크레인의 Luffing 움직임에 따른 Rope 길이변화 확인
1, f = 81.69,  2, f = 87.5, d f = 13.33 3) Rope 길이변화에 따른 인양물의 y방향 위치 변화 확인
(Luffing motion allowance 결정시 고려)
-6-
-6-
 Y

A
운동방정식 (Newton 방법)

x = Lb cos + l sin 
y = Lb sin  − l cos 
𝒎𝒃 𝒈 x = − Lb sin  + l cos 
𝝓
𝑭𝒍 y = Lb cos + l sin 
x = − Lb sin  − Lb 2 cos + l cos  − l 2 sin 
y = Lb cos − Lb 2 sin  + l sin  + l 2 cos 

 = LT Fb sin  = OC  Fb sin 
𝑭𝒃 sin 𝝐
 
 OC − OB cos( − 1 ) 
 = cos −1

 OC 2 + OB 2 − 2OCOB cos( −  ) 
C  1 
𝒎𝒈

𝜺 mx = − Fl sin 
𝜶𝟏 
my = Fl cos  − mg
 J  = L F sin  − m gL cos − L cos F cos  − L sin  F sin 
𝜽  b T b b c b l b l

O B X
-7-
 Y 운동방정식 (Lagrange 방법)
1 1
T = J b 2 + m  Lb 2 2 + l 2 2 − 2 Lbl sin( −  ) 
A 2 2
V = mb gLc sin  + mg ( Lb sin  − l cos  )
L = T −V
1 1
= J b 2 + m  Lb 2 2 + l 2 2 − 2 Lbl sin( −  ) 
2 2
𝒎𝒃 𝒈 −mb gLc sin  − mg ( Lb sin  − l cos  )
𝝓 d  L  L d  L  L
 − = Fb LT sin  − =0
dt     dt    

Results
( J b + mLb 2 ) + (mb Lc + mLb ) g cos

 − mLbl sin( −  ) + mLbl 2 cos( −  ) = Fb LT sin 
𝑭𝒃 sin 𝝐 

ml 2 − mL l sin( −  ) − mL l 2 cos( −  ) + mgl sin  = 0
 b b

C 𝒎𝒈 ∅≅0

( J b + mLb 2 ) + (mb Lc + mLb ) g cos − mLbl sin  = Fb LT sin 


 2  
ml  + mgl + mLbl ( cos ) − mLbl ( sin  ) = 0
𝜺 
𝜶𝟏

Newton 방법과 Lagrange 방법을 통해 얻어진 운동방정식의

𝜽 결과가 일치함을 확인.

O B -8- X
-9-
End of Document