Dynamic Modeling And Trajectory Planning Based On Shipborne Crane

According to the national defense study-in-advance project named "study on shipborne crane control and survey technology " , this paper makes a particular study on dynamics and Trajectory Planning of the shipborne crane.The carrier crane studied in this paper is a kind of missile loading equipment. It is a folding manipulator and can be folded in a cabin under board, when working, it is raised onto board and locked to work. Installing the structure characteristic of playing the machine according to the carrier-borne , the paper introduced the virtual 1 ink and used the the normal Lagrange method to built up the shipborne crane's moving base dynamic model. Also give out the general dynamic modeling method and steps. Based on the unsymmetrical hydraulic cylinder theory, the dynamic model of the hydraulic drive system including the hydraulic rams and motor. And then a full dynamic state space model of the moving base shipborne crane is deduced out. And the model ing method is proved by both free movement and fuzzy control dynamic simulations. The paper has carried on detailed calculate to the important parameter in the dynamics model and offer the certain reference for work in the future.The paper used the off-line control method named Trajectory Planning to control shi pborne crane. And used three methods to achieve the project. The first one is GQP. The second is B-spline. The last one is taked the overall optimum problems to part optimum problems. And also give out the planning curve under the some situation according to the parameter and movement of the shipborne crane...