基于永磁调速技术的起重机工作机构动力学分析

发布时间：2018-05-05 03:19

本文选题：起重机械 + 低速大扭矩　；参考：《太原科技大学》2017年硕士论文

【摘要】：随着科技的进步,节能减排、绿色制造等概念的提出,工业上对起重运输重型设备提出了更高的设计要求,低速大扭矩直驱传动技术逐渐应用到起重机的工作机构上。相比经典的三相异步电动机——减速器结构的驱动装置,调速永磁同步电动机驱动系统结构简单,不需要复杂的中间减速传动环节且转矩恒定、输出力矩大,其特点符合起重机械场合的特殊要求。本论文基于永磁直驱技术对起重机工作机构进行了动力学动载特性分析,为直驱式起重机动载系数的确定提供了理论依据,课题具有一定的工程应用意义。本课题以通用桥式起重机为研究对象,将其驱动系统改换为新型低速大扭矩调速永磁同步电动机,结合起重机实际使用工况建立了起重机工作机构多自由度力学模型并据此列出了动力学运动微分方程。针对起重机的各种工况,分析了不同工况下起升机构的系统初始条件。通过查阅相关文献并使用现代数学计算方法,对起重机模型中所涉及的等效质量、等效刚度及等效阻尼等各项主要参数进行了详细的推导分析。利用MATLAB软件对调速永磁电动机进行仿真计算,得到了永磁电机的输出转矩图。最后,运用MATLAB中的Simulink软件建立了起升机构仿真模型,对不同工况的动载特性进行了仿真分析,并借助VC++6.0编写了计算机辅助软件“起重机动载系数分析系统”。仿真分析结果表明,主梁刚度等级对直驱式起重机起升动载系数(?)2的影响有限,其主要受起升速度v与滑轮组倍率α的影响;当起升速度达到20m/min时,(?)2与v的关系接近于(?)2=1+v;滑轮组倍率每提升一个等级,起升动载系数增长约10%;突然的机械硬制动会产生大于其他工况下的动载荷,因此实际生产中要避免这种突发工况,制动时应采取电制动与机械制动的组合形式达到软制动效果。
[Abstract]:With the development of science and technology, the concept of energy saving and emission reduction, green manufacturing and so on, the industry puts forward higher design requirements for heavy lifting equipment, and the technology of low-speed and high-torque direct drive drive is gradually applied to the working mechanism of crane. Compared with the classical drive device of three-phase asynchronous motor with reducer structure, the drive system of the speed regulating permanent magnet synchronous motor is simple in structure, does not need complicated intermediate deceleration drive link, and the torque is constant, and the output torque is large. Its characteristics meet the special requirements of lifting machinery. In this paper, the dynamic load characteristics of crane working mechanism are analyzed based on permanent magnet direct drive technology, which provides a theoretical basis for the determination of dynamic load coefficient of direct-drive crane, and the subject has a certain engineering application significance. In this paper, the general bridge crane is taken as the research object, and its drive system is changed into a new type of low speed and large torque speed regulating permanent magnet synchronous motor. According to the actual operation condition of crane, the mechanical model of multi-degree of freedom of crane working mechanism is established, and the differential equation of dynamic motion is listed accordingly. The system initial conditions of hoisting mechanism under different working conditions are analyzed. By consulting relevant documents and using modern mathematical calculation method, the main parameters of the crane model, such as equivalent mass, equivalent stiffness and equivalent damping, are derived and analyzed in detail. The output torque diagram of the speed regulating permanent magnet motor is obtained by using MATLAB software. Finally, the simulation model of hoisting mechanism is established by using Simulink software in MATLAB, and the dynamic load characteristics of different working conditions are simulated and analyzed, and the computer aided software "crane dynamic load coefficient analysis system" is compiled with the help of VC 6.0. The simulation results show that the stiffness grade of the main beam has a limited effect on the lifting load coefficient of the direct-drive crane, which is mainly affected by the lifting speed v and the pulley set ratio 伪. When the hoisting speed reaches 20m/min, the relation between V and V is close to 2v; the lifting load coefficient increases by about 10 when the pulley ratio is raised by one grade; and the sudden mechanical hard braking will produce more dynamic loads than those under other working conditions. Therefore, in order to avoid this kind of sudden working condition in actual production, the combination of electric braking and mechanical braking should be adopted to achieve soft braking effect.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH21

【参考文献】