CN103226740A - Load distribution optimization method of double-crane collaborative operation - Google Patents

Abstract

The invention discloses a load distribution optimization method of double-crane collaborative operation, which comprises the steps that three-dimensional scene modeling is performed; crane model selection is performed; crane configuration is performed; double-crane collaborative lifting movement is calculated; double-crane collaborative lifting parameters are calculated; load distribution is optimized; a lifting target point is reached; and lifting is completed. According to the method, a relation model of rated load lifting capacity is established by analyzing influencing factors influencing the rated load lifting capacity, a real-time load model of each crane in a collaborative operation process is studied by analyzing the collaborative operation process and combining the dynamic characteristics of the cranes, and the load distribution is optimized simultaneously, so that the safety of a lifting process is improved.

Description

A kind of pair of platform crane work compound load distribution optimization method

Technical field

The present invention relates to Crane Load allocation optimized field, particularly a kind of pair of platform crane work compound load distribution optimization method.

Background technology

Crane is as a kind of indispensable engineering machinery, vital role in the performance in the developments of the national economy such as petrochemical complex, power construction, water conservancy and hydropower, bridge construction.Along with China's rapid development of economy, China's all trades and professions are in the ascendant, especially aspect construction scales such as metallurgy, nuclear power, harbour are increasing, large-scale lifting is increasing, operating environment is complicated day by day, the separate unit crane does not often satisfy job requirements, and two-shipper or multimachine lifting are increasing.

At present, the two-shipper lifting often takes manually to work out the lifting operation scheme, relies on artificial experience to coordinate to finish lifting.And the two-shipper lifting lacks effectively, scientific guidance, only with artificial experience, has subjectivity and one-sidedness, can not ensure fully that the safety of lifting operation is carried out, and efficient is very low, has increased the cost of lifting.

Two-shipper lifting operation complexity, along with the variation in suspension centre speed and operation orientation, the load that acts on certain suspension centre may change, thus perils such as the arm that takes place to break because of load distribution is uneven.

In this case, be necessary to analyze the dynamic load that two-shipper is coordinated the lifting operation process on the one hand, prevent certain crane overload and have an accident, thereby propose rational double computer cooperation lifting operation load distribution strategy, science, effectively instruct actual lifting operation.Research and develop the collaborative hoisting simulation system of a cover based on virtual reality on the other hand, by the three-dimensional artificial of collaborative lifting operation process, the formulation of auxiliary lifting operation scheme also has significant meaning to reducing double computer cooperation lifting risk.

Summary of the invention

Technical matters to be solved by this invention is, at the prior art deficiency, a kind of pair of platform crane work compound load distribution optimization method is provided, calculate the distribution of load in two platform truck-mounted crane hoisting processes and carry out load distribution optimization, formulate the lifting operation scheme, instruct actual lifting, further reduce double computer cooperation lifting risk.

For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of pair of platform crane work compound load distribution optimization method, and this method is:

1) three-dimensional scenic modeling: multi-model crane data are provided, set up the heavy-duty machine model bank with the form of model data file;

2) crane type selecting: the user selects to meet the main crane and the auxilliary crane of lifting requirements from the crane model bank according to operating mode;

3) crane configuration: the magnification ratio, the counterweight that require two telescopic crane booms of configuration according to the lifting operation of load capacity, lifting altitude;

4) two platform cranes are worked in coordination with lifting action calculating: use the inverse kinematics principle, according to the desired motion of equipment, promptly two-shipper hoists, two-shipper overturns, the two-shipper rotation, determines the concerted action sequence of two cranes;

5) the collaborative lifting of two platform cranes calculation of parameter: according to Principles of Statics calculate that two cranes hoist at two-shipper, load when two-shipper upset, two-shipper rotation;

6) the collaborative lifting of two platform cranes load distribution computation optimization: carry out two platform Crane Load allocation optimized calculating according to the parameter information of two platform cranes and the weight of lifting object:

1. establish

For the objective function of double computer cooperation operating load allocation optimized, ask

Minimum value, that is:

Wherein, k1 and k2 are partition factor, and k1+k2=1, k1, k2 ∈ (0,1), f ₁(R ₁) and f ₂(R ₂) be respectively main and auxiliary crane rating with the lifting amplitude relation, obtain f (R according to the least square fitting principle ₁)=a ₀+ a ₁R ₁+ a ₂R ₁ ², f (R ₂)=b ₀+ b ₁R ₂+ b ₂R ₂ ², wherein, coefficient a ₀, a ₁, a ₂, b ₀, b ₁, b ₂Calculate according to the actual condition table;

2. according to the principle of power and equalising torque, try to achieve the tensile force f of main crane _ATensile force f with auxilliary crane _B:

Wherein, G is a lifting object weight, and h is the distances of two lifting eye of crane axis apart from the lifting object mass axis, and d is the axial line distance of main crane and two lifting points of auxilliary crane,

Be the angle of lifting object around the rotation of y axle;

3. each Crane Load should be less than rated load separately, i.e. following restriction relation of Man Zuing:

Wherein, wherein, R ₁And R ₂Be respectively main and auxiliary crane lifting amplitude, the coordinate of main rotating platform of crane is (x ₁, y ₁, z ₁), the coordinate of auxilliary rotating platform of crane is (x ₂, y ₂, z ₂), the coordinate of main crane hook M is (x _m, y _m, z _m), the coordinate of auxilliary crane hook N is (x _n, y _n, z _n), the lifting object barycentric coordinates are that (z), φ is the angle of lifting object around the rotation of z axle for x, y;

4. based on the genetic algorithm of biological evolution theory, constrained optimization aim is converted to multiobject optimization problem, promptly utilizes Model for Multi-Objective Optimization to try to achieve two platform Crane Load allocation optimized and separate, described Model for Multi-Objective Optimization is:

Wherein,

Be the objective function of structure,

7) set the lifting impact point, realize lifting simulated operation, judge whether lifting object reaches set lifting impact point by keyboard operation; If enter 8); If not, return 4);

8) finish hoisting process.

As preferred version, in the described step 1), the three-dimensional scenic modeling is divided into two kinds: 1) OpenGL provides five kinds of basic bodies of rectangular parallelepiped, cylinder, circular cone, annulus, ball of drafting; 2) model except that rectangular parallelepiped, cylinder, circular cone, annulus, five kinds of basic bodies of ball is by Pro/E analogue formation file.

As preferred version, in the described step 4), the concerted action sequence computation process of two cranes is as follows:

1) state that hoists of two-shipper comprises and hoisting synchronously and asynchronous hoisting:

The state variation that hoists synchronously as shown in the formula:

$\left\{\begin{array}{c}{h}_i={h_i}^{\′}+\mathrm{\Δh}\\ h_0={h_0}^{\′}+\mathrm{\Δh}\end{array}\right.$

Asynchronous hoist state variation as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δ}{h}_1\\ {\mathrm{\β}}_0=\arccos \frac{{\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2}{d}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{d^2-{({\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2)}^2}+L_2\cos {\mathrm{\β}}_2^{\′}}{L_2}\\ h_2={h_1}^{\′}+{\mathrm{\Δh}}_2\end{array}\right.,$

Wherein, h _i, i=1,2, h ₁For lifting the main crane lifting rope length in back, h ₂For lifting the auxilliary crane lifting rope length in back, △ h ₁Be main crane hoisting high variable quantity, △ h ₂Be auxilliary crane hoisting high variable quantity, and △ h ₁△ h ₂, β ₀For lifting the angle of back lifting object around the axis on vertical lifting plane, d is the axial line distance of main crane and two lifting points of auxilliary crane, β ₂For lifting the elevation angle of the auxilliary crane in back, h _i', i=1,2, h ₁' for lifting preceding main crane lifting rope length, β ₂' for assisting the elevation angle of crane, L before the lifting ₂For lifting the auxilliary crane arm support length in back, △ h is the variable quantity of lifting object lifting height, h ₀For lifting the liftoff height of back lifting object, h ₀' for lifting the preceding liftoff height of lifting object;

2) state variation of two-shipper upset as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δh}\\ {\mathrm{\β}}_0=\mathrm{\β}\\ {\mathrm{\β}}_2=\arccos \frac{L_2\cos {\mathrm{\β}}_2^{\′}+d\cos \mathrm{\β}}{L_2}\\ h_2=h_2^{\′}-(L_2\sin {\mathrm{\β}}_2^{\′}-L_2\sin {\mathrm{\β}}_2)\end{array}\right.,$

Wherein, h ₂' being auxilliary crane lifting rope length before the lifting, △ h is the variable quantity of lifting object lifting height, β is the angle that lifting object with respect to the horizontal plane promotes;

3) state variation of two-shipper rotation as shown in the formula:

After the rotation alpha, the coordinate of auxilliary crane suspension centre is shown below:

$\left\{\begin{array}{c}\mathrm{\θ}=\arctan \frac{{X_{d2}}^{\′}-X_{d1}}{Z_{d2}^{\′}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\α}+\mathrm{\θ})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\α}+\mathrm{\θ})\end{array}\right.,$

Then at this moment shown in the following formula of state variation of dual systems:

$\left\{\begin{array}{c}{\mathrm{\α}}_0={{\mathrm{\α}}_0}^{\′}+\mathrm{\α}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L_2}\\ {\mathrm{\α}}_2={{\mathrm{\α}}_2}^{\′}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\′})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\′})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\′})}^2+{(Z_{c2}-{Z_{d2}}^{\′})}^2}}\\ h_2={h_2}^{\′}{L}_2*(\sin {\mathrm{\β}}_2-\sin {\mathrm{\β}}_2^{\′})\end{array}\right.,$

Wherein, θ is the angle of main crane suspension centre axis and X-axis, α ₀For lifting the angle of back lifting object around vertical direction, α ' ₀Be the angle of lifting object before lifting around vertical direction, α is the angle of lifting back lifting object around the suspension centre axis rotation of main crane, P (X _D1, Y _D1, Z _D1) position coordinates of the main crane suspension centre in expression lifting back, Q'(X _D2', Y _D2', Z _D2') the preceding coordinate of assisting the crane suspension centre of expression lifting, Q (X _D2, Y _D2, Z _D2) the back coordinate of assisting the crane suspension centre of expression lifting, O (X _C2, Y _C2, Z _C2) the back centre of gyration coordinate of assisting crane of expression lifting, α ₂For lifting the angle of revolution of the auxilliary crane in back, α ' ₂Angle of revolution for auxilliary crane before lifting.

As preferred version, in the described step 5), two cranes hoist at two-shipper, the load when two-shipper upset, two-shipper rotation is respectively:

The tensile force f of master's crane when 1) two-shipper hoists _ATensile force f with auxilliary crane _BBe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}+\frac{\mathrm{h\ΔH}}{d^2})G\\ F_B=\frac{G}{2}-\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}-\frac{\mathrm{h\ΔH}}{d^2})G\end{array}\right.,$

Wherein, G is a lifting object weight, and △ H is the difference in height because of the asynchronous suspension centre that causes of major-minor crane, and γ is hoist asynchronous lifting object that causes and lifting object mass axis drift angle, and h is the distances of two lifting eye of crane axis apart from the lifting object mass axis;

The tensile force f of master's crane when 2) two-shipper overturns _ATensile force f with auxilliary crane _BBe respectively:

Wherein

Be the angle of lifting object around the rotation of y axle;

The tensile force f of master's crane when 3) two-shipper rotates _ATensile force f with auxilliary crane _BBe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right..$

Compared with prior art, the beneficial effect that the present invention had is: the present invention formulates the lifting operation scheme by calculating the distribution of load in two platform truck-mounted crane hoisting processes, instructs actual lifting, has further reduced the double computer cooperation risk of hoisting.

Description of drawings

Fig. 1 is one embodiment of the invention method flow diagram;

Fig. 2 is one embodiment of the invention crane type selecting process flow diagram;

Fig. 3 is one embodiment of the invention crane configuration flow figure;

Fig. 4 is one embodiment of the invention two-shipper action calculation diagram that hoists synchronously;

Fig. 5 is the asynchronous action calculation diagram that hoists of one embodiment of the invention two-shipper;

Fig. 6 is one embodiment of the invention two-shipper rotary movement calculation diagram;

Fig. 7 is one embodiment of the invention two-shipper spinning movement calculation diagram;

Fig. 8 is one embodiment of the invention two-shipper asynchronous synoptic diagram that hoists;

Fig. 9 is the auxilliary crane unhook synoptic diagram of one embodiment of the invention two-shipper upset;

Figure 10 is one embodiment of the invention double computer cooperation lifting synoptic diagram.

Embodiment

As shown in Figure 1, one embodiment of the invention method step is as follows:

Step 1: three-dimensional scenic modeling;

Step 2: crane type selecting;

Step 3: crane configuration;

Step 4: the collaborative lifting action of two platform cranes is calculated;

Step 5: the collaborative lifting of two platform cranes calculation of parameter;

Step 6: the collaborative lifting of two platform cranes load distribution optimization;

Step 7: reach the lifting impact point;

Step 8: lifting finishes.

In step 1, the three-dimensional scenic modeling can be divided into two parts: 1) OpenGL provides the basic body of drafting; 2) pattern of intricate external shape needs to import by third party software analogue formation file.

First comprises rectangular parallelepiped, cylinder, circular cone, annulus, five kinds of basic bodies of ball, and we only need provide relevant parameters input interface and interactive means, and analogue system just can be called this model and build scene.

Second portion is mainly by d solid modeling, and popular d solid modeling software mainly contains Pro/E, 3D Studio MAX, Open Inventor or the like at present.Pro/E software is widely used in the drafting of three-dimensional scenic, and the three-dimensional feeling of immersion of institute's model of painting is strong, and model is true to nature, and supports several data forms such as .igs .asm, is easy to exploitation.Native system is by the Pro/E modeling, and by Data Format Transform instrument extraction model data, the graphic plotting function that utilizes OpenGL to provide in three-dimensional scenic reads the importing that model data realizes complex scene.

The crane model belongs to such complex model, is the crucial model of analogue system.In order to guarantee that analogue system draws function and can redraw three-dimensional model preferably, native system has extracted the complete model data of crane, comprises that crane plane numeral index, summit, normal, material and material quote five kinds of information.Each plane numeral index data is made up of 9 integers, 3 of fronts are three summit numberings that constitute this plane, middle 3 is the normal numbering on each summit, and 3 of back are texture coordinate, just can realize the drafting of crane model by traversal plane numeral index.Vertex data is the three-dimensional coordinate of each point under the local coordinate system of model object.The method line coordinates of each point of normal data recording, normal coordinate have characterized the amount of summit reception light.Material quality data has characterized the material feature on plane, comprises diffused light parameter, reflected light parameter or the like.

This collaborative simulation system provides multi-model crane data, sets up heavy-duty machine model bank (second portion) with the form of model data file.Allow the user to upgrade simultaneously and safeguard the crane model bank with the form of the file of standard.After lifting emulation began, system read machine type data and calls OpenGL API instrument drafting crane model according to the crane type that the user chooses, and carries out the crane modeling.

In step 2, the crane type selecting is the important composition link of whole lifting flow process, particularly double computer cooperation lifting.Main and auxiliary crane can be selected suitable combination according to existing crane type, can more effective, more safely finish the lifting task.The crane type selecting algorithm that the present invention proposes mainly comprise user's input information module, checking check calculate, output as a result, as shown in Figure 2.

The lifting key point information of user's input comprises the key point in lifting start point information, lifting endpoint information and the hoisting process.Lifting object information comprises weight, size of lifting object etc.The lifting pattern that plan is taked is the lifting pattern that the user takes in conjunction with operating environment assessment back plan according to the lifting operation target.User input be crane type selecting process the constraint condition that should observe.

It is the core of this algorithm that module is checked in checking, determines the suitable type selecting of major-minor crane according to the information of user's input.The amplitude that hoists and highly to check mainly be that information according to user's input is estimated maximum hoisting height and lifting amplitude, and then judge whether the crane arm support length and the elevation angle are satisfied the lifting scene and lifted mission requirements.Lifting capacity is checked the lifting pattern of mainly taking according to user's plan, information in conjunction with the lifting object key point, whether the elevating capacity by these key points of lifting model validation under the correspondence satisfies lifting requirements, general provision can not crane elevating capacity must comprise rigging, suspension hook, pulley blocks or the like (will leave the load surplus, be traditionally arranged to be 1.25 times) greater than total hanging device and lifting annex.The general type selecting of determining main crane earlier satisfies all cranes of checking checking computations fully and is only and meets lifting requirements in conjunction with further checking the type that auxilliary crane is determined in checking computations, having only according to the type of main crane then.

Through obtaining suitable main and auxiliary crane combination after the type selecting and being fit to the operating mode scope that user's lifting is provided with environment.

In step 3, the user import selected crane type, and analogue system is written into the operating mode table data of this type automatically according to lifting requirements.Write down a large amount of historical floor data of this crane in the operating mode table, the performance of reaction crane.In order to realize the parameter configuration of crane, on the one hand, the user can require parameters such as configuration crane arm support, supporting leg span, counterweight according to lifting operations such as load capacity, lifting altitudes; On the other hand, therefore the crane rated load should not allow crane to be configured according to other operating modes of operating mode off-balancesheet by obtaining in the operating mode table when considering lifting emulation.

Analogue system is by scanning crane operating mode table, according to the configurable crane parameter of existing crane parameter Dynamic Selection.Crane configuration flow figure as shown in Figure 3.

At first, scan the crane operating mode of this type, define a kind of data structure and preserve complete crane operating mode according to the scene type operating mode table that is written into.Every operating mode should comprise flexible ratio, multiplying power, counterweight and the supporting leg span that saves telescopic arm.The user at first disposes the jib operating mode, has disposed the jib parameter one by one, according to the jib parameter that has been provided with, upgrades next and saves configurable jib operating mode, and preserve the jib operating mode collection that configures.According to this operating mode collection, dispose parameters such as crane counterweight, multiplying power one by one, finally finish the configuration of all parameters.Because the relevance of every data, when the user will revise existing crane configuration parameter, should be with the parameter zero setting again that has been provided with, and parameter reconfiguration returns and revises the crane configuration.

In step 4, when double computer cooperation lifting simulated actions is calculated, use the inverse kinematics principle, determine the concerted action sequence of two cranes according to the desired motion (work in coordination with and hoist, overturn, turn round) of equipment.

In order to describe the action sequence of collaborative hoisting process crane, hanging device better, define a tuple P (X _Ci, Y _Ci, Z _Ci, α _i, β _i, h _i, L _i, X ₀, Y ₀, Z ₀, α ₀, β ₀, h ₀) (i=1,2) represent the cooperative system state of hoisting process, wherein, (X _Ci, Y _Ci, Z _Ci) expression main and auxiliary crane centre of gyration coordinate.(α _i, β _i, L _i, h _i) expression main and auxiliary crane state, α _iFor lifting the angle of revolution of back crane, β _iFor lifting the elevation angle of back crane, L _iFor lifting back crane arm support length, h _iFor lifting the main crane lifting rope length in back.i=1,2。(X ₀, Y ₀, Z ₀) expression lifting object barycentric coordinates.(α ₀, β ₀, h ₀) for lifting the state of back lifting object, wherein α ₀For lifting the angle of back lifting object around vertical direction, β ₀For lifting the angle of back lifting object around the axis on vertical lifting plane, h ₀For lifting the liftoff height of back lifting object.

At the collaborative lifting pattern of difference,, and remove to drive main and auxiliary crane and hanging device according to these variable quantities according to the variation of each quantity of state of desired motion component analysis cooperative system of equipment.Suppose Q'(X _Ci', Y _Ci', Z _Ci', α _i', β _i', h _i', L' _i, X ₀', Y ₀', Z ₀', α ₀', β ₀', h ₀') state of system before (i=1,2) expression lifting, Q (X _Ci, Y _Ci, Z _Ci, α _i, β _i, h _i, L _i, X ₀, Y ₀, Z ₀, α ₀, β ₀, h ₀) state of (i=1,2) expression lifting back system.

1) two-shipper hoists

When hoisting synchronously, the variable quantity of lifting object lifting height is assumed to be △ h, and then the lifting rope variable quantity of main and auxiliary crane also is △ h, and the active variable that lifts the process that hoists also is △ h, and other variable remains unchanged, as shown in Figure 4.

Then this moment dual systems state variation as shown in Equation (1).

$\left\{\begin{array}{c}{h}_i={h_i}^{\′}+\mathrm{\Δh}\\ h_0={h_0}^{\′}+\mathrm{\Δh}\end{array}\right.---\left(1\right)$

During asynchronous hoisting, suppose that main crane hoisting high variable quantity is △ h ₁, auxilliary crane hoisting high variable quantity is △ h ₂, suppose △ h ₁△ h ₂This moment, auxilliary crane often will carry out the luffing action in order to guarantee that main and auxiliary lifting rope is to be in vertical state all the time.Because the axial line distance of the main crane of hypothesis and two suspension centres of auxilliary crane is d, as shown in Figure 5.

Then this moment dual systems state variation as shown in Equation (2).

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δ}{h}_1\\ {\mathrm{\β}}_0=\arccos \frac{{\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2}{d}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{d^2-{({\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2)}^2}+L_2\cos {\mathrm{\β}}_2^{\′}}{L_2}\\ h_2={h_1}^{\′}+{\mathrm{\Δh}}_2\end{array}\right.---\left(2\right)$

2) two-shipper upset

During the two-shipper upset, main crane is received rop exercise and is done, cooperate the close of auxilliary crane to main crane, make hanging device produce rollover effect, the variable quantity of lifting object lifting height and lifting object are assumed to be △ h respectively, β along the angle that surface level promotes at this moment, the axial line distance of establishing main and auxiliary crane two suspension centres simultaneously is d, and the state of main crane is (α ₁, β ₁, L ₁, h ₁), as shown in Figure 6.

Then this moment dual systems state variation as shown in Equation (3):

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δh}\\ {\mathrm{\β}}_0=\mathrm{\β}\\ {\mathrm{\β}}_2=\arccos \frac{L_2\cos {\mathrm{\β}}_2^{\′}+d\cos \mathrm{\β}}{L_2}\\ h_2=h_2^{\′}-(L_2\sin {\mathrm{\β}}_2^{\′}-L_2\sin {\mathrm{\β}}_2)\end{array}\right.---\left(3\right)$

3) two-shipper rotation

Analogue system, two-shipper rotation are angles of suspension centre axis rotation that the hypothesis hanging device is walked around main crane, to lift the angle of back lifting object around the suspension centre axis rotation of main crane, are assumed to be α, as shown in Figure 7.

Introduce some P (X _D1, Y _D1, Z _D1) position coordinates of the main crane suspension centre in expression lifting back, Q'(X _D2', Y _D2', Z _D2'), Q (X _D2, Y _D2, Z _D2) coordinate of auxilliary crane suspension centre before and after the expression lifting respectively, the axial line distance of supposing main and auxiliary crane two suspension centres simultaneously is d, the angle of supposing main crane suspension centre axis and X-axis is θ, hoist by collaborative earlier, after hanging device promoted a segment distance, this moment can according to original state and lifting calculate the coordinate of P, Q' apart from variograph, then auxilliary crane is by rotation, luffing and the whole rotary course of lancet operation realization.

After the rotation alpha, the coordinate of auxilliary crane suspension centre as the formula (4).

$\left\{\begin{array}{c}\mathrm{\θ}=\arctan \frac{{X_{d2}}^{\′}-X_{d1}}{Z_{d2}^{\′}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\α}+\mathrm{\θ})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\α}+\mathrm{\θ})\end{array}\right.---\left(4\right)$

Then this moment dual systems state variation as shown in Equation (5).

$\left\{\begin{array}{c}{\mathrm{\α}}_0={{\mathrm{\α}}_0}^{\′}+\mathrm{\α}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L_2}\\ {\mathrm{\α}}_2={{\mathrm{\α}}_2}^{\′}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\′})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\′})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\′})}^2+{(Z_{c2}-{Z_{d2}}^{\′})}^2}}\\ h_2={h_2}^{\′}{L}_2*(\sin {\mathrm{\β}}_2-\sin {\mathrm{\β}}_2^{\′})\end{array}\right.---\left(5\right)$

In step 5, the parameter of the collaborative lifting of two platform cranes is calculated.Use when two platform cranes are collaborative to lift, the gravity of hanging device is born by two cranes.Collaborative hoisting process, main and auxiliary crane and hanging device orientation constantly change, and the load that main and auxiliary crane is born also constantly changes.Consider that hoisting process speed is comparatively slow, the load when calculating lifting load is often taked Principles of Statics calculation stability position on the engineering multiply by a dynamic load factor k again ₁(generally getting 1.1-1.2).

(1) two-shipper hoists

After main and auxiliary crane and hanging device are in place, on equipment, install and fix main and auxiliary hanger, and connect main and auxiliary crane hoisting pulley blocks and hanger by rope.Hanger has determined the load of two cranes of original state to the distance of equipment mass axis.The present invention supposes that main and auxiliary hanger equates to the distance of central apparatus mass axis, and the load of main and auxiliary crane is half of hanging device when promptly initial.Collaborative hoisting when beginning by the receipts rope of pulley blocks, realized hoisting of lifting object.After each pulley blocks respectively shrank certain-length, hanging device was in equilibrium state, and only was subjected to gravity and rope pulling force, according to the statics balance principle, obtained the load of two platform cranes this moment by the balance of power and moment.

When the length that hoists when two pulley blockss was consistent, because equipment is constant with the rope relative position, so the load of main and auxiliary crane do not change, and promptly the load of main and auxiliary crane is half of hanging device.

When the length that hoists when two pulley blockss was inconsistent, equipment had produced certain angle, as shown in Figure 8.

If the pulling force of major-minor crane is F _A, F _B, the weight of lifting object is G, and two lifting eye of crane axis are h apart from the distance of lifting object mass axis, and the distance of the axis of two suspension centres of main and auxiliary crane is d, the flip angle β of main crane.

Then have according to Principles of Statics

$\left\{\begin{array}{c}{F}_A+F_B=G\\ F_A(\frac{d}{2}-\mathrm{\ΔL})\cos \mathrm{\γ}=F_B(\frac{d}{2}+\mathrm{\ΔL})\cos \mathrm{\γ}\end{array}\right.---\left(6\right)$

Because

$\left\{\begin{array}{c}h=\frac{d}{2}\mathrm{ctg\θ}\\ \mathrm{\ΔL}=h\tan \mathrm{\γ}\end{array}\right.---\left(7\right)$

Bring formula (7) into (6), and consider that γ is generally less, get

Then

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}+\frac{\mathrm{h\ΔH}}{d^2})G\\ F_B=\frac{G}{2}-\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}-\frac{\mathrm{h\ΔH}}{d^2})G\end{array}\right.---\left(8\right)$

γ is hoist asynchronous lifting object that causes and lifting object mass axis drift angle.

(2) two-shipper upset

Double computer cooperation upset operation can be divided into two stages, when just beginning, main crane carries out the lancet operation, all the time be in vertical direction in order to ensure main and auxiliary rope, auxilliary crane carries out luffing and lancet operation, when hanging device is turned to certain angle from horizontality gradually, assists crane and breaks off relations, with the hanging device hoisted in position, main crane will bear the weight of entire equipment separately to main crane this moment by other operations.

Begin turning the stage, the load analysis of crane and two-shipper hoist similar when asynchronous, and the pulling force of establishing major-minor crane is respectively F _A, F _B, the weight of lifting object is G, and two lifting eye of crane axis are h apart from the distance of lifting object mass axis, and main and auxiliary two lifting points are d in the distance of axis, and the lifting object flip angle is λ, then

When lifting object around the y axle anglec of rotation

Near θ (all longer for the upset hoisted object, general θ is greater than 85 degree), auxilliary crane begins to break off relations, as shown in Figure 9.This moment, hanging device only was subjected to two power effects: the tensile force f of lifting object weight G and main crane _AEquipment can be considered the physics single pendulum around main suspension centre swing, tries to achieve easily according to energy conservation, and after the unhook, the pulling force of master's crane rope was when equipment swung to minimum point

(3) two-shipper rotation

Suppose that main and auxiliary suspension centre equates to the distance of central apparatus mass axis, promptly the load of main and auxiliary crane is half of hanging device during incipient stability.Hanging device through worked in coordination be raised to certain altitude after the time, at this moment, auxilliary crane rotation is realized the effect of hanging device around main crane master suspension centre rotation, auxilliary crane is equipped with luffing and rises hook and operates simultaneously, and hanging device is remained on the surface level.If after having rotated α,, obtain the load of two platform cranes this moment by the balance of power and moment according to the statics balance principle.Two pulling force sums are gravity; The object balance, two ropes all are vertical moment equal and opposite in directions to the hoisting object center of gravity, because of the operating distance of power is equal, so two power are equal, are half of hanging device weight.The pulling force of major-minor crane is respectively F _A, F _B, promptly

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right.---\left(11\right)$

In step 6, the prioritization scheme of taking is to guarantee to determine the load distribution of two cranes under two all non-overloading situations of crane, makes this moment total system be in optimum condition, promptly

Wherein k1 and k2 are partition factor, and k1+k2=1, k1, k2 ∈ (0,1).The user can determine according to the elevating capacity of main and auxiliary crane in conjunction with the lifting scene.Main and auxiliary crane rating is respectively f with the relation of lifting amplitude ₁(R ₁) and f ₂(R ₂).

Objective function for double computer cooperation operating load allocation optimized.

The distribution of considering floor data in the operating mode table is than comparatively dense, and the match mode that the present invention is based on least square method obtains the relational model of rated load weight and lifting amplitude, and rated load weight obtains under the realization continuous duty.

Get a pair of discrete operating mode sequence (R _i, f _i) (i=1,2), wherein R _iExpression lifting amplitude, f _iThe expression rated load weight.Seek an empirical curve

$f_m\left(R_i\right)=a_0+a_1{R}_i+a_2{R}_i^2+\·\·\·a_m{R}_i^m=\underset{k=0}{\overset{m}{\mathrm{\Σ}}}{a}_k{R}_i^k---\left(13\right)$

M(m=1 wherein, 2 ... ...) be the match number of times.

At optimization problem of the present invention, take conic fitting promptly

$f_m\left(R_i\right)=a_0+a_1{R}_i+a_2{R}_i^2,$

Obtain thereby derive $f_1\left(R_1\right)=a_0+a_1{R}_1+a_2{R}_1^2,$ $f_2\left(R_2\right)=b_0+b_1{R}_2+b_2{R}_2^2,$ Wherein, coefficient a ₀, a ₁, a ₂, b ₀, b ₁, b ₂Calculate according to the actual condition table.

Consider main crane one side than the high situation of auxilliary crane one side, the real-time load that obtains each crane according to power and equalising torque analysis is shown below.

Simultaneously, each Crane Load of this moment should satisfy the rated load less than separately, i.e. the constraint that should satisfy is shown below.

Be the angle of lifting object around the rotation of y axle.Double computer cooperation lifting synoptic diagram such as accompanying drawing 10.

Wherein, major-minor crane lifting amplitude is respectively R in the formula ₁And R ₂, the coordinate of main crane is (x ₁, y ₁, z ₁), the coordinate of auxilliary crane is (x ₂, y ₂, z ₂).The coordinate of main crane hook M is (x _m, y _m, z _m), the coordinate of auxilliary crane hook N is (x _n, y _n, z _n).The lifting object barycentric coordinates be (x, y, z).

At a quasi-nonlinear constrained optimization problem of last two formulas, the present invention takes the genetic algorithm based on biological evolution theory, by the constraint condition of problem is joined in the target, promptly constrained optimization aim is converted to multiobject optimization problem

Wherein,

The objective function of double computer cooperation operating load allocation optimized,

Be the objective function of structure,

Guaranteed F for minimizing of two objective functions in back _A≤ f ₁(R ₁) and F _B≤ f ₂(R ₂) two constraint conditions, therefore satisfy the optimization solution of the very former nonlinear programming problem of optimization solution of above-mentioned Model for Multi-Objective Optimization.

By parameter designing such as rational searching method and fitness, obtain the optimization solution of problem.Concrete solution procedure is as follows:

(1) each parameter value of setting genetic algorithm.Set population scale N, hereditary maximum evolutionary generation T time, the crossover probability Pc of algorithm, variation probability P m of algorithm or the like that calculates.

(2) coding.Algorithm intends taking binary coding.Consider the physical construction accuracy limitations of hoisting process, set algorithm φ,

The value precision be 0.1 the degree.According to the span in the instantiation to φ,

Encode respectively.

(3) select.Algorithm takes the preferential thought of feasible solution to select and definite population individuality of future generation.The number M of feasible solution has surpassed population size N in filial generation individuality and parent individuality, and considers

Be non-negative, choose the fitness operator and be

Calculate individual fitness respectively, and by little to sorting greatly, choose N individuality as population individuality of future generation with rule of three.The number M of feasible solution is less than population size N in the individual and parent when filial generation, and then M feasible solution individuality be all as population individuality of future generation, chooses the fitness operator and is

Calculate individual fitness respectively, and little of sorting greatly, choose N-M individuality as population individuality of future generation with rule of three.

(4) intersect.In conjunction with the complicacy and the speed of convergence of optimization problem itself, set the crossover probability Pc of this algorithm.The individual x of picked at random N*Pc parent intersects with the xt* that preferably separates of present problem respectively from the population of this moment, has two-dimentional variable at optimization problem, and algorithm is intended taking every dimension variable is intersected, and the type of intersection is the single-point intersection.

(5) variation.Separate for fear of optimization problem too fast precocity that falls in kind of group hunting, in conjunction with the variation probability P m of the algorithm of problem setting own, each individuality of population makes a variation with the probability of Pm.

(6) end condition, when t equals maximum evolutionary generation N or evolve continuously n generation, population is not improved, and then stops to evolve.Each preserves best individuality this moment when evolving, and when evolving, the individuality of generation is more excellent next time, then replaces, otherwise continues to keep.And the like, when evolution is finished, the result that output is optimized.

In two crane work compound processes, each crane load changes along with the variation in suspension centre speed and operation orientation, and certain crane load may increase suddenly, and security incidents such as disconnected arm take place when load surpasses rated load weight under operating mode this moment easily.Therefore, the essence of load distribution be exactly in the requirement hoisting process each crane be within the safe lifting scope, promptly specified crane is greater than separately real-time load, and is in and lifts load factor preferably.At first, set up the relational model of rated load weight by the influence factor of analyzing influence rated load weight; Secondly by analyzing the work compound process,, study each crane real-time load model of work compound process, the security that improves hoisting process in conjunction with the crane dynamics.

The concrete application

1) lifting task is introduced

The lifting case is that common petrochemical complex tank body is installed.This tank body is installed case and is required red tank body to lift white tank body back, and vertically upset, makes red tank body upright.Known is 25 meters by the cage body length, and radius is 2 meters, weighs 25 tons.

2) lifting simulation process

The user lifts scene according to reality, and the detail parameters of input lifting object comprises lifting object title, color attribute, size and weight attribute, geometric center coordinate attributes.User's lifting environment of 10 with reference to the accompanying drawings is provided with other object informations in the scene.The concrete parameter of object is as shown in table 1 in the scene.

Table 1 object scene information

According to the crane type storehouse that the lifting object information of having imported and system provide, the user further imports the lifting operation pattern that lifting parameter information and plan are taked.The crane type selecting is taken all factors into consideration above lifting constraint, lifts preceding rough check in conjunction with the operating mode query function, finishes the type selecting of crane.The type that two same models are chosen in this emulation lifts test, on lifting amplitude, hoisting height and lifting performance, all can meet the demands.The main crane coordinate that is provided with in the scene is (3000000), and the supporting leg of main crane is for stretching entirely, and five joint telescopic arm magnification ratios of crane are 46%, and counterweight is 56 tons, and the lifting multiplying power is made as 2.Auxilliary crane coordinate is (30.0,0.0,0.0), and the supporting leg of auxilliary crane is for stretching entirely, and five joint telescopic arm magnification ratios of crane are 46%, and counterweight is 100 tons, and the lifting multiplying power is made as 2.The user can revise the crane configuration according to actual lifting operation environment, builds scene.

The user lifts analogue simulation according to the lifting scene of putting up.

When finishing scene and beginning, the coordinate that main and auxiliary crane two hangers are set is (10.4,5,0), (10.4,5,0), and the main and auxiliary crane of simulation process do not stretch the hook operation, and brachium keeps 40.4 meters.In the process that hoists, work in coordination with and hoisted 5 meters; Auxilliary then crane is around main crane suspension centre axis rotation 37 degree; Follow main crane around auxilliary crane suspension centre axis rotation 37 degree, this moment, hanging device was parallel with X-axis; Through the hanging device switching process; The situations of lifting object upset 45 degree then; Auxilliary crane breaks off relations.Be at last by main crane action, hanging device is stable to stand upright on (12,12.5 ,-12), and lifting is finished.The key parameter of the main crane of simulation process is as shown in table 2, and the key parameter such as the table 3 of auxilliary crane show.

Table 2 hoisting process master crane state parameter

Table 3 hoisting process is assisted the crane state parameter

After the lifting analog simulation finished, the user can export Hoisting Program, comprises project profile editor and scheme information.Hoisting Program has been preserved relevant informations such as commencement date, unit in charge of construction, personnel's configuration, lifting scene parameter and hoisting process crane erect-position figure, hoisting process pattern, the process key parameter of hoisting engineering automatically.The user can utilize the sectional drawing function of system manually to add the hoisting process pattern according to actual needs simultaneously, improves Hoisting Program, and finally is used to instruct actual lifting operation.

Above-mentioned emulation case shows that this hoisting simulation system not only can support double computer cooperation lifting, and system from scene modeling to hoisting process emulation again the operating process to scheme output conform to the lifting operation of reality.Native system provides multiple model data, and the truck-mounted crane data that the user can import other lift emulation.In the above-mentioned lifting case, use the high accurate calculagraph test to carry out operation response speed in program, the result shows that the average response time of each action is about 596ms, can satisfy the needs of three-dimensional real-time emulation system.In addition, native system also provides multiple subsidiary function and mutual design.Simulation process can switch different visual angles to be observed simulation process, makes comprehensive, the observation lifting simulation process with multi-angle of user.Analogue system also provides the sectional drawing function, and the user can lift needs according to reality and obtain the simulation process pattern.Analogue system also provides automatic hold function, to complicated, builds the long scene of required time, and system preserved automatically every one minute.

For illustrative step 6) solution procedure of optimization problem, the present invention supposes a certain lifting example scenario, gets two in the truck-mounted crane of certain model in the lifting, and the jib operating mode that erects heavy-duty machine according to the operating mode table is combined as (46%, 46%, 46%, 46%, 46%), counterweight is 100 tons, multiplying power is 8, and the supporting leg state is for stretching entirely, and all the other parameters are as shown in table 4.

The a certain lifting scene of table 4 optimization problem instance parameter

Use above-mentioned approximating method, obtain the rated load weight relation as the formula (19).

$\left\{\begin{array}{c}{f}_1\left(R_1\right)=98.0122-3.2412R_1+{{0.0175R}_1}^2\\ f_2\left(R_2\right)=98.0122-3.2412R_2+{{0.0174R}_2}^2\end{array}\right.---\left(19\right)$

Get k in the optimization aim function ₁And k ₂Be 0.5, adopt above-mentioned genetic algorithm, according to φ,

Span, respectively take 11 to carry out binary coding, set population scale N=40, maximum evolutionary generation T=200, crossover probability P _c=0.9, the variation probability P _m=0.1, realize programming at matlab, the optimum solution that algorithm obtains is φ ^*=0.1524 (being 8.73 degree),

This moment, the rated load weight of main crane was 39.1366 tons, and actual lifting capacity is 30 tons, and load factor is 0.7665, and the rated load weight of auxilliary crane is 58.0566 tons, and actual lifting capacity is 30 tons, and load factor is 0.5167, and minimum optimization target values is 0.6416.

Claims (4)

1. two platform crane work compound load distribution optimization method is characterized in that this method is:

1) three-dimensional scenic modeling: multi-model crane data are provided, set up the heavy-duty machine model bank with the form of model data file;

2) crane type selecting: the user selects to meet the main crane and the auxilliary crane of lifting requirements from the crane model bank according to operating mode;

3) crane configuration: the magnification ratio, the counterweight that require two telescopic crane booms of configuration according to the lifting operation of load capacity, lifting altitude;

4) two platform cranes are worked in coordination with lifting action calculating: use the inverse kinematics principle, according to the desired motion of equipment, promptly two-shipper hoists, two-shipper overturns, the two-shipper rotation, determines the concerted action sequence of two cranes;

5) the collaborative lifting of two platform cranes calculation of parameter: according to Principles of Statics calculate that two cranes hoist at two-shipper, load when two-shipper upset, two-shipper rotation;

6) the collaborative lifting of two platform cranes load distribution computation optimization: carry out two platform Crane Load allocation optimized calculating according to the parameter information of two platform cranes and the weight of lifting object:

1. establish

For the objective function of double computer cooperation operating load allocation optimized, ask

Minimum value, that is:

Wherein, k1 and k2 are partition factor, and k1+k2=1, k1, k2 ∈ (0,1), f ₁(R ₁) and f ₂(R ₂) be respectively main and auxiliary crane rating with the lifting amplitude relation, obtain according to the least square fitting principle $f_1\left(R_1\right)=a_0+a_1{R}_1+a_2{R}_1^2,$ $f_2\left(R_2\right)=b_0+b_1{R}_2+b_2{R}_2^2,$ Wherein, coefficient a ₀, a ₁, a ₂, b ₀, b ₁, b ₂Calculate according to the actual condition table;

2. according to the principle of power and equalising torque, try to achieve the tensile force f of main crane _ATensile force f with auxilliary crane _B:

Wherein, G is a lifting object weight, and h is the distances of two lifting eye of crane axis apart from the lifting object mass axis, and d is the axial line distance of main crane and two lifting points of auxilliary crane,

Be the angle of lifting object around the rotation of y axle;

3. each Crane Load should be less than rated load separately, i.e. following restriction relation of Man Zuing:

Wherein, R ₁And R ₂Be respectively main and auxiliary crane lifting amplitude, the coordinate of main rotating platform of crane is (x ₁, y ₁, z ₁), the coordinate of auxilliary rotating platform of crane is (x ₂, y ₂, z ₂), the coordinate of main crane hook M is (x _m, y _m, z _m), the coordinate of auxilliary crane hook N is (x _n, y _n, z _n), the lifting object barycentric coordinates are that (z), φ is the angle of lifting object around the rotation of z axle for x, y;

4. based on the genetic algorithm of biological evolution theory, constrained optimization aim is converted to multiobject optimization problem, promptly utilizes Model for Multi-Objective Optimization to try to achieve two platform Crane Load allocation optimized and separate, described Model for Multi-Objective Optimization is:

Wherein,

Be the objective function of structure,

7) set the lifting impact point, realize lifting simulated operation, judge whether lifting object reaches set lifting impact point by keyboard operation; If enter 8); If not, return 4);

8) finish hoisting process.

2. according to claim 1 pair of platform crane work compound load distribution optimization method, it is characterized in that, in the described step 1), the three-dimensional scenic modeling is divided into two kinds: 1) OpenGL provides five kinds of basic bodies of rectangular parallelepiped, cylinder, circular cone, annulus, ball of drafting; 2) model except that rectangular parallelepiped, cylinder, circular cone, annulus, five kinds of basic bodies of ball is by Pro/E analogue formation file.

3. according to claim 1 pair of platform crane work compound load distribution optimization method is characterized in that, in the described step 4), the concerted action sequence computation process of two cranes is as follows:

1) state that hoists of two-shipper comprises and hoisting synchronously and asynchronous hoisting:

The state variation that hoists synchronously as shown in the formula:

$\left\{\begin{array}{c}{h}_i={h_i}^{\′}+\mathrm{\Δh}\\ h_0={h_0}^{\′}+\mathrm{\Δh}\end{array}\right.$

Asynchronous hoist state variation as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δ}{h}_1\\ {\mathrm{\β}}_0=\arccos \frac{{\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2}{d}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{d^2-{({\mathrm{\Δh}}_1-{\mathrm{\Δh}}_2)}^2}+L_2\cos {\mathrm{\β}}_2^{\′}}{L_2}\\ h_2={h_1}^{\′}+{\mathrm{\Δh}}_2\end{array}\right.,$

Wherein, h _i, i=1,2, h ₁For lifting the main crane lifting rope length in back, h ₂For lifting the auxilliary crane lifting rope length in back, △ h ₁Be main crane hoisting high variable quantity, △ h ₂Be auxilliary crane hoisting high variable quantity, and △ h ₁△ h ₂, β ₀For lifting the angle of back lifting object around the axis on vertical lifting plane, d is the axial line distance of main crane and two lifting points of auxilliary crane, β ₂For lifting the elevation angle of the auxilliary crane in back, h _i', i=1,2, h ₁' for lifting preceding main crane lifting rope length, β ₂' for assisting the elevation angle of crane, L before the lifting ₂For lifting the auxilliary crane arm support length in back, △ h is the variable quantity of lifting object lifting height, h ₀For lifting the liftoff height of back lifting object, h ₀' for lifting the preceding liftoff height of lifting object;

2) state variation of two-shipper upset as shown in the formula:

$\left\{\begin{array}{c}{h}_1={h_1}^{\′}+\mathrm{\Δh}\\ {\mathrm{\β}}_0=\mathrm{\β}\\ {\mathrm{\β}}_2=\arccos \frac{L_2\cos {\mathrm{\β}}_2^{\′}+d\cos \mathrm{\β}}{L_2}\\ h_2=h_2^{\′}-(L_2\sin {\mathrm{\β}}_2^{\′}-L_2\sin {\mathrm{\β}}_2)\end{array}\right.,$

Wherein, h ₂' being auxilliary crane lifting rope length before the lifting, △ h is the variable quantity of lifting object lifting height, β is the flip angle of main crane;

3) state variation of two-shipper rotation as shown in the formula:

After the rotation alpha, the coordinate of auxilliary crane suspension centre is shown below:

$\left\{\begin{array}{c}\mathrm{\θ}=\arctan \frac{{X_{d2}}^{\′}-X_{d1}}{Z_{d2}^{\′}-Z_{d1}}\\ X_{d2}=X_{d1}+d*\cos (\mathrm{\α}+\mathrm{\θ})\\ Z_{d2}=Z_{d1}+d*\sin (\mathrm{\α}+\mathrm{\θ})\end{array}\right.,$

Then at this moment shown in the following formula of state variation of dual systems:

$\left\{\begin{array}{c}{\mathrm{\α}}_0={{\mathrm{\α}}_0}^{\′}+\mathrm{\α}\\ {\mathrm{\β}}_2=\arccos \frac{\sqrt{{(X_{d2}-X_{c2})}^2+{(Z_{d2}-Z_{c2})}^2}}{L_2}\\ {\mathrm{\α}}_2={{\mathrm{\α}}_2}^{\′}+\frac{(X_{c2}-X_{d2})*(X_{c2}-{X_{d2}}^{\′})+(Z_{c2}-Z_{d2})*(Z_{c2}-{Z_{d2}}^{\′})}{\sqrt{{(X_{c2}-X_{d2})}^2+{(Z_{c2}-Z_{d2})}^2}*\sqrt{{(X_{c2}-{X_{d2}}^{\′})}^2+{(Z_{c2}-{Z_{d2}}^{\′})}^2}}\\ h_2={h_2}^{\′}{L}_2*(\sin {\mathrm{\β}}_2-\sin {\mathrm{\β}}_2^{\′})\end{array}\right.$ Wherein, θ is the angle of main crane suspension centre axis and X-axis, α ₀For lifting the angle of back lifting object around vertical direction, α ' ₀Be the angle of lifting object before lifting around vertical direction, α is the angle of lifting back lifting object around the suspension centre axis rotation of main crane, P (X _D1, Y _D1, Z _D1) position coordinates of the main crane suspension centre in expression lifting back, Q'(X _D2', Y _D2', Z _D2') the preceding coordinate of assisting the crane suspension centre of expression lifting, Q (X _D2, Y _D2, Z _D2) the back coordinate of assisting the crane suspension centre of expression lifting, O (X _C2, Y _C2, Z _C2) the back centre of gyration coordinate of assisting crane of expression lifting, α ₂For lifting the angle of revolution of the auxilliary crane in back, α ' ₂Angle of revolution for auxilliary crane before lifting.

4. according to claim 1 pair of platform crane work compound load distribution optimization method is characterized in that, in the described step 5), two cranes hoist at two-shipper, the load when two-shipper upset, two-shipper rotation is respectively:

The tensile force f of master's crane when 1) two-shipper hoists _ATensile force f with auxilliary crane _BBe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}+\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}+\frac{\mathrm{h\ΔH}}{d^2})G\\ F_B=\frac{G}{2}-\frac{\mathrm{hG}}{d}\tan \mathrm{\γ}=(\frac{1}{2}-\frac{\mathrm{h\ΔH}}{d^2})G\end{array}\right.,$

Wherein, G is a lifting object weight, and △ H is the difference in height because of the asynchronous suspension centre that causes of major-minor crane, and γ hoists the asynchronous lifting object that causes with respect to lifting object mass axis drift angle, and h is the distances of two lifting eye of crane axis apart from the lifting object mass axis;

The tensile force f of master's crane when 2) two-shipper overturns _ATensile force f with auxilliary crane _BBe respectively:

Wherein

Be the angle of lifting object around the rotation of y axle;

The tensile force f of master's crane when 3) two-shipper rotates _ATensile force f with auxilliary crane _BBe respectively:

$\left\{\begin{array}{c}{F}_A=\frac{G}{2}\\ F_B=\frac{G}{2}\end{array}\right..$

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