KR101875870B1 - Wire-weaving setting method of rope balanced type horizontal inlet crane - Google Patents

Abstract

The present invention relates to a method for setting wire-reeving of a rope balanced level luffing crane, which comprises the steps of calculating the length of a boom; calculating an angle of the boom; and optimizing a level luffing deviation. Therefore, the total weight of a crane is remarkably reduced.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire-weaving setting method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire laying method for a rope flat type horizontal pull-in cranes, and more particularly, to a wire rope setting method for a rope flat type horizontal pull cranes, And a living setting method.

Many large and small shipyards use level rope crane (Level Luffing Crane, LLC) to move and assemble hull blocks, parts and materials.

However, the technology related to the design and manufacture of industrial crane including LLC has been secured by large domestic companies in the past. However, as the technology abandonment has been abandoned due to price competitiveness, the production base has been transferred to overseas in China I abandoned it.

We will formulate an algorithm for analyzing the location of LLC's optimal wire living system and develop computer software to contribute to the competitiveness of companies in this field.

A rope flat or dual link LLC, including a Goliath crane from a large shipyard, a container crane (RMQC) (Rail mounted grantry crane) called RMQC (Rail mounted quay crane) A variety of cranes have been used as essential equipment in the industrial field, ranging from gantry crane, factory ceiling crane, and construction site tower crane.

Many large cranes in large shipyards are known to have exceeded the design life or have reached the design life of more than 35 years after they are manufactured. Therefore, by evaluating the remaining lifetime by precise safety diagnosis and extending the life by structural reinforcement Or to decide to dispose of it.

In addition to the above cranes, there are various types of cranes such as BTC (bridge type crane) for steel plate transportation, CSU (Continuous ship unloader) for ship bulk unloading, Grab type ship unloader (GTSU), and coal reclaimer.

Korea's crane manufacturing industry, which was owned by large shipyards, has lost its price competitiveness in terms of profitability more than a decade ago, and it has abandoned its business. Most of manufacturing and production bases have been transferred to overseas such as China. At that time, the large shipyards had significant design and manufacturing core technologies.

However, the Korean crane industry quickly became a standard specification before these core technologies were transferred to and succeeded in our SMEs and some degree of international competitiveness was achieved.

Currently, SMEs involved in the crane industry have difficulties in securing research and development personnel related to technology development besides the above-mentioned transfer of technology, so they have difficulties in developing core technology of design.

Due to the recession of the world economy and the decline in oil prices, the global Big Three shipyards of Korea have been facing the greatest crisis ever since its founding, causing huge losses of over 6 trillion won last year on newbuilding and offshore plant construction.

Governments, municipalities and related industries are making a multifaceted effort to overcome the crisis of these shipyards, which have numerous employment capabilities. Adjustment of workforce, adjustment of equipment according to type of work and work, and reorganization of the organization.

Here, attention is focused on the crane-related SMEs in the mid-1970s when the shipyard was established, and the cranes around the dry dock and the yard have already passed the design life or have almost reached the end of their design life.

Therefore, SMEs in this field are expecting new demand in the crane industry by estimating the remaining life of crane equipment due to precise safety diagnosis, extending the service life by repair, and installing new equipment at the time of disposal.

As a conventional patented technology, Patent Registration No. 10-1114030 has a machine room, a boom having one end rotatably mounted on one side of the machine room, a boom support frame for supporting the boom, And a portal frame for supporting the boom support frame and the machine room. The jib hoisting machine according to claim 1, wherein the boom support frame comprises a main frame, A second hoisting stiffening sheave provided on the boom support frame; a second hoisting stiffening sheave provided on the other end of the boom; a second hoisting stiffening sheave provided on the second hoisting stiffening sheave; And a main wire wound around the main hook, wherein when the boom rotates about one end and the main hook ascends or descends Characterized in that the main hoisting means moves the main hook in a horizontal direction while keeping the height of the main hook constant by lowering or raising the main hook by a distance between the first main hoisting sole and the second main hoisting sole, The crane is open.

In addition, the Registration Practical Utility Model Registration No. 20-0338992 includes a work room having a certain height, a step formed so that the worker can move, and a work room provided with a control device for the worker to work on, A frame member having a circular portion which is inwardly curved; A boom member pivoted about a hinge shaft coupled to the frame member and having a truss structure for supporting a load, the boom member having a first hook capable of hanging an object; A cable member fixed at one end to a fixed point spaced apart from the hinge axis and having a second end coupled to an end of the boom member to fix the boom member at a position where the boom member is rotated; A turning member which is provided below the frame member and turns the frame member by 360 degrees; And a weight provided on the frame member and having a weight corresponding to a load applied to the first ring so as to structurally stabilize the frame member so as to lift the object of a high load even on the deck of the ship And the frame member is rotatable by 360 degrees.

However, SMEs with international competitiveness, which have the core technologies required for design and manufacturing, are hardly fostered in order to meet such expected demand, and the need for support in terms of manpower and technology is urgently required.

Accordingly, the present invention has been made to overcome the above-mentioned problems, and it is an object of the present invention to formulate an algorithm so that the deviation of the horizontal input trajectory of the load, which is a key element of the basic design of the rope flat type LLC, And to reduce the weight of the crane and minimize the total weight of the crane.

)과 최대 작업 반경 시의 붐(boom)각도(

)에 의하여 붐 길이 (

)를 계산하는 단계;In order to develop a program for optimizing the horizontal pull-in deviation of a horizontal pull-in cranes,

) And the boom angle at the maximum working radius (

) To the boom length (

);

에 의하여 최소 작업 반경 시의 붐의 각도

를 계산하는 단계;With a predefined minimum working radius

The angle of the boom at the minimum working radius

;

It is determined by the location of the B point of the rope reeving at the end of the mast. However, since this point is not known, it is possible to arbitrarily designate this point B and create a function representing the difference between the total rope length at the maximum working radius and the total rope length at the minimum working radius, And a step of obtaining the position coordinates of the point B by a linear interpolation method so as to optimize a horizontal pull-in deviation of the rope flat type horizontal pull-in cranes.

The present invention is applied to an actual crane quickly and usefully by a numerical analysis algorithm that satisfies the condition of restricting the horizontal pull-in deviation of the load within a certain size, which is a key point of the basic design of the rope flat type LLC,

 Since the reliability of the basic design and the minimization of the design review time can be expected, active coping with the bidding can be expected, and the deviation of the horizontal inclination of the load is found to be much smaller than the condition of the technical specification of the orderer, And also contributes to a reduction in the total weight of the crane.

Figure 1 shows a horizontal entrainment locus < RTI ID = 0.0 >
Figure 2 shows a rope flat model LLC model
FIG. 3 is a cross-
4 shows the principle of linear interpolation
5 shows the principle of dichotomy
6 shows the principle of the Newton-Raphson method
Figure 7 shows the results of calculation of the horizontal entrainment locus of the LLC
8 is a graph showing the hoisting load versus working radius
Fig. 9 shows the calculation result of K small business

)과 최대 작업 반경 시의 붐(boom)각도(

)에 의하여 붐 길이 (

)를 계산하는 단계;The present invention relates to a wire laying method of a rope flat type horizontal pulling cranes, in which a program for optimizing a horizontal pulling-in deviation of a horizontal pulling cranes is developed,

) And the boom angle at the maximum working radius (

) To the boom length (

);

에 의하여 최소 작업 반경 시의 붐의 각도

를 계산하는 단계;With a predefined minimum working radius

The angle of the boom at the minimum working radius

;

It is determined by the location of the B point of the rope reeving at the end of the mast. However, since this point is not known, it is possible to arbitrarily designate this point B and create a function representing the difference between the total rope length at the maximum working radius and the total rope length at the minimum working radius, And a step of obtaining the position coordinates of the point B by a linear interpolation method so as to optimize a horizontal pull-in deviation of the rope flat type horizontal pull-in cranes.

이고, 우측 메인쉬브 B에서 쉬브에 접촉한 호의 로프 길이는

이고, 메인쉬브 B상부 접촉점에서 붐 끝단 왼쪽 메인쉬브C의 상부 접촉점까지 로프 길이는

이고, 메인쉬브 C에서 상부에서 하부 접촉점까지 접촉한 호의 로프 길이는

이며,The rope length is one strand from the drum A to the contact point of the main sheave B on the mast,

, And the rope length of the arc in contact with the sheave in the right main sheave B is

And the rope length from the upper contact point of the main sheave B to the upper contact point of the boom end left main sheave C

, And the rope length of the arc in contact with the main sheave C from the upper to the lower contact point is

Lt;

이고, 왼쪽 메인 쉬브 B에서 접촉한 호의 로프 길이는

이고, 왼쪽 메인쉬브 B의 상부 접촉점에서 붐 끝단의 오른쪽 메인쉬브 C의 상부 접촉점까지 로프 길이는

이고, 오른쪽 메인쉬브 C에서 접촉한 호의 로프 길이는

이고,From the lower contact point of the main sheave C on the left of the boom end to the lower contact point of the main sheave B on the upper left mast,

And the rope length of the arc touching on the left main sheave B is

And the rope length from the upper contact point of the left main sheave B to the upper contact point of the right main sheave C of the boom end

And the rope length of the arc touching on the right main sheave C is

ego,

인 것을 특징으로 한다.The rope length from the contact point of the main sheave C on the right end of the boom to the hook D is one strand

.

Further, the total length of the wire rope is obtained by the following formula (3-1)

(3-1)

(3-1)

When the boom moves from the maximum working radius to the minimum working radius, there is no change in the straight line distance from the drum A to the main sheave B on the upper part of the mast, and the straight line from the main sheave B to the boom end main sheave C and the main sheave C to the hook D The distance is different. And the length of the rope contacting each sheave also changes,

이 최소 작업 반경 시의 길이

에 비해 짧으나, 등가로프가닥으로 연결되어 있는 마스트 상부 메인쉬브 B에서 붐 끝단 메인쉬브 C 구간의 길이는 최소 작업 반경 시가 최대 작업 반경 시 보다 더 짧아지며,For the length from the main sheave C to the hook D of the boom end, which is one of the straight line distances that varies with the movement of the boom from the maximum radius to the minimum radius, the length at the maximum working radius

Length at this minimum working radius

, The length of the section of the main sheave C in the upper end main sheave B of the mast connected to the equivalent rope strand is shorter than that of the minimum working radius in the boom end main sheave C,

In the geometric coordinates of the rope connection formed at the maximum working radius and the minimum working radius, the length difference between the main sheave C and the hook D section in one strand and the difference between the main sheave B of the mast of the rope strand and the main sheave C section of the boom And a rope equilibrium system having an optimum horizontal pull-in deviation can be obtained by finding the main sheave position B on the mast having the same length difference.

은 최대 작업 반경에서 다음 순서로 계산하는 것으로,Further, the total hoisting rope length at the maximum working radius

Is calculated in the following order from the maximum work radius,

)를 계산하고,Contact coordinates between Drum A and the right main sheave B of the mast and the straight line distance of the tangent (

),

, …)를 계산하고,The contact coordinates between the main sheave B of the right side of the mast and the left main sheave C of the boom end, between the left main sheave C and the left main sheave B of the mast, and between the main sheave B of the mast and the right main sheave C of the boom, Linear distance between

, ... ),

, …)를 계산하고,The length of the arc of the rope wound on each main sheave

, ... ),

)를 계산하고,The straight line length of the rope (i.e., the distance between the contact point of the main sheave C and the hook D)

),

The total rope length of the rope living room is calculated by the above formula (3-1)

도 최소 작업 반경에서 상기와 마찬가지로 계산하되, Total length of hoisting rope at minimum working radius

Lt; RTI ID = 0.0 > minimum < / RTI > radius,

Indicated by the rope length difference at the maximum and minimum working radius

를 하기 식(3-2)으로 만든다.function

(3-2).

(3-2)

(3-2)

을 지정하여 최적의 B점의 좌표를 찾는 것을 특징으로 한다.The area of point B on the mast with the above function as 0

The coordinates of the optimum point B are searched for.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

 It specifies the submission of the technical data to ensure that the deviation of the level luffing during operation is within the 1.5% range of the maximum working radius. For this crane, it should be within 97.5cm (65m x 0.015 = 0.975m).

In the present invention, in the actual application of the developed basic design program, the variation range of the level luffing of the load should be within 1.5% of the maximum working radius.

Fig. 1 is a view showing a deviation of a horizontal entry path of a load during working of a rope flat type LLC. Fig. While moving from the maximum working radius to the minimum working radius, the load does not move horizontally as shown in Fig. 1, but shows considerable deviations.

If the horizontal trajectory of the loose flat type LLC of FIG. 1 can reduce the deviation, it is possible to reduce the capacities of the related mechanical devices such as the motor, the reducer, the brake, the coupling and the like, have.

)과 최대 작업 반경 시의 붐(boom)각도(

)에 의하여 붐 길이(

)를 계산한다. Fig. 2 shows a schematic diagram of a numerical analysis model for developing an optimum design program for optimizing the horizontal pull-in deviation of rope flat type LLC. The model of Fig. 2 is used to develop a program to optimize the horizontal pull-in deviation of horizontal take-up cranes. Predefined maximum working radius (

) And the boom angle at the maximum working radius (

) To the boom length (

).

에 의하여 최소 작업 반경 시의 붐의 각도

를 계산한다.With a predefined minimum working radius

The angle of the boom at the minimum working radius

.

The optimization of the horizontal pull-in deviation of the rope flat horizontal pull cranes is determined by the location of the B point of the rope reeving at the mast end in FIG. However, since this point is not known, it is possible to arbitrarily designate this point B and create a function which shows the difference between the total rope length at the maximum working radius and the total rope length at the minimum working radius, The positional coordinates of point B are obtained by linear interpolation.

Fig. 3 shows the wire rope living system at points A, B, C and D in Fig. 2 in more detail.

이고, 우측 메인쉬브 B에서 쉬브에 접촉한 호의 로프 길이는

다. 메인쉬브 B상부 접촉점에서 붐 끝단 왼쪽 메인쉬브C 의 상부 접촉점까지 로프 길이는

이고, 메인쉬브 C에서 상부에서 하부 접촉점까지 접촉한 호의 로프 길이는

이다.3, the rope length from the drum A to the contact point of the main sheave B in the mast is one strand,

, And the rope length of the arc in contact with the sheave in the right main sheave B is

All. Main sheave B Upper contact to boom end Up to the upper contact point of main sheave C Rope length

, And the rope length of the arc in contact with the main sheave C from the upper to the lower contact point is

to be.

이고, 왼쪽 메인 쉬브 B에서 접촉한 호의 로프 길이는

이다. 왼쪽 메인쉬브 B의 상부 접촉점에서 붐 끝단의 오른쪽 메인쉬브 C의 상부 접촉점까지 로프 길이는

이고, 오른쪽 메인쉬브 C에서 접촉한 호의 로프 길이는

이다.The rope length from the lower contact point of the left main sheave C of the boom end to the lower contact point of the main sheave B of the upper left mast

And the rope length of the arc touching on the left main sheave B is

to be. The rope length from the upper contact point of the left main sheave B to the upper contact point of the right main sheave C of the boom end

And the rope length of the arc touching on the right main sheave C is

to be.

이다.Finally, the rope length from the contact point of the right main sheave C at the boom end to the hook D is one strand

to be.

The total length of the wire rope living system wire rope of Fig. 3 is determined by the following equation.

(3-1)

(3-1)

When the boom moves from the maximum working radius to the minimum working radius, there is no change in the straight line distance from the drum A to the main sheave B on the upper part of the mast, and the straight line from the main sheave B to the boom end main sheave C and the main sheave C to the hook D The distance is different. And the length of the rope touching each sheave also changes. Where n is the total number of tangential line lengths and tangential arc ratios between the sheaves determined by the number of sheaves in the hoisting rope living system.

이 최소 작업 반경 시의 길이

에 비해 짧으나, 도 3에서와 같이 3가닥으로 연결되어 있는 마스트 상부 메인쉬브 B에서 붐 끝단 메인쉬브 C 구간의 길이는 최소 작업 반경 시가 최대 작업 반경 시 보다 더 짧아진다.In the case of the length from the main sheave C to the hook D of the boom end made up of one of the linear distances which varies with the movement of the boom from the maximum radius to the minimum radius,

Length at this minimum working radius

But the length of the section of the main sheave C in the uppermost main sheave B of the mast connected with three strands as shown in FIG. 3 is shorter than that of the minimum working radius in the case of the maximum working radius.

 In Fig. 2 and Fig. 3, in the geometrical coordinates of the rope connection formed at the maximum working radius and the minimum working radius, the difference in length between the main sheave C and the hook D section in one strand and the difference between the main sheave B and the boom And the main sheave position B on the mast where the length difference of the main sheave C section of the rope equilibrium system is equal is obtained, a rope equilibration system having the optimal horizontal pulling deviation can be obtained.

은 도 2의 최대 작업 반경에서 도 3을 활용하여 다음 순서로 계산한다.Total length of hoisting ropes at maximum working radius

Is calculated in the following order using Fig. 3 at the maximum working radius of Fig.

)를 계산 ②마스트의 오른쪽 메인쉬브 B와 붐 끝단의 왼쪽 메인쉬브 C간, 왼쪽 메인쉬브 C와 마스트의 왼쪽 메인쉬브 B간 그리고 마스트의 왼쪽 메인쉬브 B와 붐의 오른쪽 메인쉬브 C간 접점좌표를 구하고 각각 접선간의 직선거리(

, …)를 계산 ③각 메인쉬브에 감긴 로프의 원호의 길이(

, …)를 계산 ④메인쉬브 C의 접점 좌표와 후크 D의 좌표에 의하여 간의 로프의 직선 길이(

)를 계산 ⑤식(3-1)에 의하여 로프 리빙의 총 로프 길이 계산최소 작업 반경 시의 권상로프 총 길이 계산

도 도 2의 최소 작업 반경에서 상기와 마찬가지로 계산한다.① The contact point coordinates of the drum A and the right main sheave B of the mast and the straight line distance of the tangent line (

) ② Calculate the difference between the main sheave B on the right side of the mast and the main sheave C on the left side of the boom end, between the left main sheave C and the main sheave B on the left side of the mast, and between the main sheave B and the main sheave C on the right side of the mast. And the straight line distance between tangents

, ... ) ③ Length of the arc of the rope wound on each main sheave (

, ... ) ④ Linear length of the rope by the coordinates of the contact point of the main sheave C and the coordinates of the hook D

) ⑤ Calculate total rope length of rope living by equation (3-1) Calculate total length of hoisting rope at minimum working radius

Is calculated in the same manner as described above in the minimum working radius of FIG.

를 만든다.A function representing the rope length difference at the maximum and minimum working radius

.

(3-2)

(3-2)

을 지정하여 최적의 B점의 좌표를 찾는다.The area of the point B on the mast of Fig. 2 where the above function is 0

To find the coordinates of the optimum B point.

It is generally known that the desired value can not be obtained even though trial and error processes are performed for a considerable time by using arbitrary values according to experience.

가 0를 만족하는 로프 리빙의 B점을 찾는 데에 수치해석법을 사용해서 단시간에 간단히 찾는 것으로 한다.Therefore,

Is to find B point of the rope living satisfying 0 by using the numerical analysis method in a short time.

And the numerical analysis method to be applied to find the coordinates of point B which is a key element of the present invention. We will use linear interpolation (also called linear interpolation), which is one of the improved numerical methods, rather than dichotomy, and this method will be described below.

Figure 4 is the principle of linear interpolation

와

는 서로 부호가 다르다. 그리고

는 구간

에서 선형이라고 가정한다. 도 4에서와 같이

라 하고 두 삼각형

및

에서 4,

Wow

Are different from each other in sign. And

Section

. 4,

And two triangles

And

in

(3-3)

(3-3)

을 구하면, here

, ≪ / RTI &

(3-4)

(3-4)

과

을 이용하여 구간

사이

를 다음과 같이 Two points

and

,

between

As follows

(3-5)

(3-5)

로 근사하면,

의 영점 즉,

를 만족시킨다.

In this case,

, That is,

.

은

의 근에 대한 근사치에 해당하는 것으로 함수

가 구간

에서 선형에 가까우면 가까울수록

의 근에 대한 근사치로서 만족스럽다. this

silver

And the function f

A section

The closer to linear in

As an approximation to the root of.

보다 나은 근사 해는 선형보간법의 원리를 계속 적용한다.

에 의해서

을 계산하고,Calculated from equation (3-4)

A better approximation still applies the principle of linear interpolation.

By

Lt; / RTI >

(3-6)

(3-6)

으로 놓고 식(3-４)과 같은 선형보간식으로If Equation (3-6) is satisfied,

And the linear interpolation formula (3-4)

(3-7)

(3-7)

의 근에 가까운 근사 해를 얻을 수 있다. If you repeat this calculation

Approximate solution to the approximate root of.

값이 고정되어 있기때문에

가 오른 쪽에서부터

의 실 근에 접근한다.4,

Because the value is fixed

From the right

Approaching the actual root of.

Order of calculation of numerical solution by linear interpolation

(1) input data; Initial interval variable

Allowable Accuracy of Numerical Calculation

Maximum number of iterations

function

이 되는 구간

을 설정한다.(2)

Section

.

이라 둔다.(3)

.

를 계산한다.(4) By Equation (3-4)

.

이면 (11)로 간다.(5)

And goes to the back surface 11.

이면 (8)로 간다.(6)

Go to back (8).

라 놓고 (9)로 간다.(7)

And go to (9).

(8)

(9)

이면 (4)로 간다.(10)

Go to back (4).

(11) Output after calculation

This method is also called linear interpolation or false position.

값은 도 2의 B점의 영역

와

가 주어지면,

를 고정하고

에서

까지의 범위내에서 값을 조금씩 증분시키면서 해를 찾는다. 다음은

를 증분시키고 고정하여,

에서

의 범위의 값을

로 변화시켜 해를 찾는다. 이 과정을 계속하여 최종적으로는

값을 고정시키고,

값을 변화시켜 해를 구한 다음 주어진 제한 조건에 가장 만족하는 해를 출력하게 한다. Upright

The value is the area of point B in Fig. 2

Wow

Lt; / RTI >

And

in

To find the solution by gradually incrementing the value. next

Lt; RTI ID = 0.0 >

in

The value of the range

To find the solution. Continuing with this process,

Fix the value,

Change the value to obtain the solution, and then output the solution that best satisfies the given constraint.

The language of the computer program is Fortran.

In the basic design program of the present invention, an algorithm is formulated that satisfies the condition of the technical specification that limits the deviation of the horizontal entry locus within a certain range while the load moves from the maximum operation radius to the minimum operation radius.

The linear interpolation method, which is the numerical analysis method used as the core of this algorithm, is formulated by comparing it with the dichotomy method and the Newton-Raphson method.

 Through the results obtained with this basic design program, it can be confirmed that the horizontal trajectory of the load during operation is within the given limit range. In addition, simplicity and reliability of the analysis algorithm and quickness of calculation time can be confirmed.

The bisection method is solved by a numerical method using a computer, such as the linear interpolation method described above, and equations including three-dimensional higher order equations or transcendental functions. It is relatively easy to understand the concept so it can easily be applied to other problems.

Figure 5 is a principle of dichotomy.

에서 연속인 함수

가 5,

Continuous functions in

end

(3-8)

(3-8)

가 되는 점

가 구간

사이에 존재한다. 이분법은 구간

를 반분해가면서

가 되는 점

를 찾아내는 방식이다. Lt; / RTI >

Point that becomes

A section

Lt; / RTI > The dichotomy

Half-decomposed

Point that becomes

.

라 하면

와

의 중점은first

If you say

Wow

The emphasis of

(3-9)

(3-9)

이면,

은

과 같은 부호이거나,

과 같은 부호를 갖게 된다. 도 5에서 와 같이

이

과 같은 부호라면, And if

If so,

silver

Lt; / RTI >

And so on. 5,

this

If it is the same code as

(3-10)

(3-10)

는 구간

사이에 있게 된다.Respectively,

Section

Lt; / RTI >

이라 하고 그 중점this time

And its emphasis

(3-11)

(3-11)

를 계산해서

와

의 부호를 비교하면,in

To calculate

Wow

When the signs of "

(3-12)

(3-12)

는 구간

의 구간에 있게 된다. Therefore,

Section

. ≪ / RTI >

에 더욱 접근하고 결국 실근

를 얻게 된다. 그러나 실제 컴퓨터상의 계산에서는 다음 조건을 만족하면 계산을 중단한다. If you continue this process,

And finally,

. However, calculations on a real computer will stop the calculation if the following conditions are met.

(3-13)

(3-13)

은 수치계산 허용정밀도를 나타낸다.here

Represents the numerical calculation tolerance.

However, this method is not only slow in the convergence speed but also has the defect of repeating the calculation even if it is close to the correct solution in the intermediate step.

의 근을 구하는데 효율적이며 많이 이용되는 방법 중 하나이다. Taylor의 급수전개에 의한 방법으로 설명한다.The Newton-Raphson method

Is one of the most efficient and widely used methods to obtain the root of the muscle. This is explained by Taylor's series expansion method.

6 is a principle of the Newton-Raphson method.

에서

는 구간

에서 두 번 미분 가능하며 점

는

의 근

에 가까운 점이라 가정하자.

를 중심으로

를 2항 Taylor급수로 전개하면, equation

in

Section

It is possible to differentiate twice in

The

Near

.

Centered on

To the Taylor series of the second term,

(3-14)

(3-14)

를 만족하는

를 구하면,here

Satisfy

Is obtained,

(3-15)

(3-15)

가

에 가까운 점이라 가정했으므로 마지막 항은 무시되고,

end

, The last term is ignored,

(3-16)

(3-16)

finally,

(3-17)

(3-17)

보다는

의 근

에 가까운 근사치가 된다.(3-17) is obtained, and the right side of equation

Rather than

Near

. ≪ / RTI >

의 근

에 더욱 접근해가는 근사해를 얻을 수 있다.If we use the following equation to repeat this equation,

Near

It is possible to obtain an approximate solution to the problem.

(3-18)

(3-18)

에서 곡선

의 접선의 기울기를

,

축과의 교점을

이라고 하면, 6

Curve in

The slope of the tangent of

,

The intersection with axis

Quot;

(3-19)

(3-19)

In this case,

(3-20)

(3-20)

인 경우에 해당한다. 이번에는 도 6에서와 같이 점

에서

의 접선을 그어 교점

를 구한다. 이 때

는 식(3-18)에서

에 해당한다. 즉 식(3-18)의 반복공식은 기하학적으로는 이들 교점들을 순차적으로 나타낸다. 최종적으로는

에 가장 가까운

를 찾게된다.This is shown in Equation (3-18)

. As shown in Fig. 6,

in

The tangent line of intersection

. At this time

(3-18)

. That is, the iteration formula of (3-18) geometrically represents these intersections sequentially. Eventually

Closest to

.

가 존재할 경우 해가 수렴하지 않을 수 있는 단점이 있다. This Newton-Raphson method converges very quickly depending on the initial value,

There is a disadvantage that the solution may not converge.

The advantages and disadvantages of these three numerical methods are explained by way of example.

Optimal deviations of the incoming trajectory of the dual link type LLC are obtained using the illustrative fitness method and the virtual location method.

As shown in FIG. 7, the horizontal pulling deviation is 0 m at the maximum working radius of 110 m, the deviation is increased to 0.7092 m at the working radius of 103.2 m, and the deviation is maximum at the working radius of 89.6 m to 1.1418 m. It can be confirmed that it satisfies the deviation deviation restriction condition [maximum work radius x 1.5% (110mx0.015 = 1.65m)] in the technical specification. In the case of the working radius of 76m, the horizontal pull-in deviation is reduced to 0.9205m and the deviation is again 0m at the minimum working radius of 42m. That is, the usefulness and promptness of the numerical analysis algorithm for finding the coordinates of point B in FIG. 2, which is a key point of the present invention, can be confirmed at the same time.

7 shows the calculation result of the horizontal entrainment locus of the LLC.

8 is a hoisting load graph for the working radius.

FIG. 8 shows a main hoisting load diagram for the working radius in FIG. 7; FIG.

9 is a calculation result of the contrast technique.

According to Fig. 9, the horizontal pulling deviation is 0 m at the maximum working radius of 110 m, the deviation is increased to 1.799 m at the working radius of 100 m, and the deviation becomes maximum at 2.325 m at the working radius of 89 m. It can be seen that the deviation from the working radius of 70m to 1.797m is small, and the deviation is 0.406m at the minimum working radius of 42m, which is not 0m.

The reason for this result is that when calculating the total length of the wire rope, the rope length between the sheave of the sheave at point B and the sheave at point C in FIG. 3 is the distance between the contact points of the sheaves at the maximum working radius and minimum working radius But it is assumed to be taken as an unchanging distance between the centers of each sheave.

Another, more difficult and obvious reason is that it is very difficult to find the optimal position of point B even if the calculation is performed for a very long time, because finding the solution by using the experimented value of experience in finding point B.

Claims (4)

To develop a program to optimize the horizontal pull-in deviation of the horizontal pull-in cranes, a predefined maximum working radius (

) And the boom angle at the maximum working radius (

) To the boom length (

);
With a predefined minimum working radius

The angle of the boom at the minimum working radius

;
Since it is determined by the position of the B point of the rope reeving at the end of the mast, but since this point is unknown, the B point is arbitrarily designated at first and the total rope length at the maximum working radius and the entire rope at the minimum working radius And a step of calculating the position coordinates of the point B at which the entire hoisting rope length is equal at the time of two working radii by a linear interpolation method to optimize the horizontal pulling deviation of the rope equilateral horizontal pulling cranes, CLAIMS What is claimed is: 1. A method for establishing a wire living setting of a horizontal draw cranes,
The rope length is one strand from the drum A to the contact point of the main sheave B in the mast,

, And the rope length of the arc in contact with the sheave in the right main sheave B is

And the rope length from the upper contact point of the main sheave B to the upper contact point of the boom end left main sheave C

, And the rope length of the arc in contact with the main sheave C from the upper to the lower contact point is

However,
From the lower contact point of the main sheave C on the left of the boom end to the lower contact point of the main sheave B on the upper left mast,

And the rope length of the arc touching on the left main sheave B is

And the rope length from the upper contact point of the left main sheave B to the upper contact point of the right main sheave C of the boom end

And the rope length of the arc touching on the right main sheave C is

ego,
The length of the rope from the tangent point of the main sheave C on the right end of the boom to the hook D is one strand

A method of setting a wire living of a rope flat type horizontal draw cranes
delete The method according to claim 1,
The total length of the rope is obtained by the following formula (3-1)

(3-1)
{n is the total number of tangential line lengths and tangential arc ratios between sheaves determined by the number of sheaves in the hoisting rope living system}
When the boom moves from the maximum working radius to the minimum working radius, there is no change in the straight line distance from the drum A to the main sheave B on the upper part of the mast, and the straight line from the main sheave B to the boom end main sheave C and the main sheave C to the hook D The distance is different. And the length of the rope contacting each sheave also changes,
For the length from the main sheave C to the hook D of the boom end in one strand of the linear distance that the boom changes with movement from the maximum radius to the minimum radius,

Length at this minimum working radius

, The length of the section of the main sheave C in the upper end main sheave B of the mast connected to the equivalent rope strand is shorter than that of the minimum working radius in the boom end main sheave C,
In the geometric coordinates of the rope connection formed at the maximum working radius and the minimum working radius, the length difference between the main sheave C and the hook D section in one strand and the main sheave B and main sheave C section in the three strands of the mast And a rope equilibrium system having an optimal horizontal pull-in deviation can be obtained by finding the main sheave position B on the mast where the cars are coincident.
4. The method according to claim 3, wherein the total hoisting rope length at the maximum working radius

Is calculated in the following order from the maximum work radius,
Contact coordinates between Drum A and the right main sheave B of the mast and the straight line distance of the tangent (

),
The contact coordinates between the main sheave B of the right side of the mast and the left main sheave C of the boom end, between the left main sheave C and the left main sheave B of the mast, and between the main sheave B of the mast and the right main sheave C of the boom, Linear distance between

, ... ),
The length of the arc of the rope wound on each main sheave

, ... ),
The straight line length of the rope (i.e., the distance between the contact point of the main sheave C and the hook D)

),
The total rope length of the rope living room is calculated by the above formula (3-1)
Total length of hoisting rope at minimum working radius

Is calculated in the minimum working radius as well as in the maximum working radius,
Indicated by the rope length difference at the maximum and minimum working radius
function

(3-2), and the equation

(3-2)
The area of point B on the mast with the above function as 0

And the coordinates of the optimum point B are found to find the optimum coordinates of the point B.

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