大型履带起重机双卷扬系统动态特性与同步控制策略研究

发布时间：2018-05-13 06:16

本文选题：履带起重机 + 双卷扬系统　；参考：《中国矿业大学》2016年博士论文

【摘要】：随着履带起重机起吊吨位的不断增加,国内外广泛采用多卷扬驱动方式以提高起升能力、克服传统单卷扬系统驱动力矩较小的缺点。由于多套卷扬系统不可避免地存在参数差异,这就使得卷扬机构运行中往往出现不同步现象,致使吊钩倾斜进而影响吊装作业的安全性,而目前仍缺乏有效解决多卷扬同步控制问题的手段。因此,本文在徐工集团参与的国家863计划课题“千吨级超大履带起重机关键技术研究及应用”资助下,以大型履带起重机双卷扬系统为研究对象,深入开展双卷扬系统动态特性及同步控制策略的研究工作,以期形成高精度的双卷扬同步控制策略,为大型履带起重机安全运行提供重要理论支持和技术手段。首先,介绍了大型履带起重机双卷扬驱动系统的结构形式和基本原理,考虑液压系统非线性因素建立了其理论数学模型,进一步利用Simulink软件搭建了驱动系统仿真模型,通过仿真研究掌握了大型履带起重机驱动系统参数偏差对同步控制性能的影响规律。其次,在充分考虑起升过程中运动副约束条件前提下,基于拉格朗日原理建立了大型履带起重机双卷扬起升系统理论数学模型,进一步利用ADAMS软件构建了双卷扬起升系统仿真模型,通过仿真研究掌握了双卷扬系统运行不同步对起升系统动态特性的影响规律。再次,在分析传统基于编码脉冲的同步控制方法缺点的基础上,提出了一种利用吊钩倾角反馈信息的大型履带起重机双卷扬同步控制方法,进一步构建了基于吊钩倾角反馈的主从式和交叉耦合式双卷扬同步控制仿真模型,通过仿真研究验证了提出同步控制策略的有效性。最后,基于提出的新型同步控制策略研制了一套大型履带起重机双卷扬同步控制系统,利用该套系统开展了基于编码脉冲及吊钩倾角反馈的不同控制策略的对比试验,同时对无线通信中断、吊钩摇摆、倾角传感器反向安装等非定常工况下的同步控制策略进行试验研究,验证了提出同步控制策略的有效性。
[Abstract]:With the increasing of lifting tonnage of crawler crane, multi-winch drive is widely used in China and abroad to improve lifting capacity and overcome the shortcoming of small driving torque of traditional single winch system. Because of the inevitable difference of parameters in many sets of winch systems, the hoisting mechanism is often out of sync, which causes the hoisting hook to tilt and affect the safety of hoisting operation. At present, there is still a lack of effective means to solve the multiple hoisting synchronization control problem. Therefore, in the national 863 project of Xugong Group, "Research and Application of key Technology of 1000 ton Super crawler Crane", this paper takes the double hoisting system of large crawler crane as the research object. The research on dynamic characteristics and synchronization control strategy of double hoisting system is carried out in order to form a high precision synchronous control strategy and provide important theoretical support and technical means for the safe operation of large crawler crane. Firstly, the paper introduces the structure and basic principle of double winch drive system of large crawler crane, establishes its theoretical mathematical model considering the nonlinear factors of hydraulic system, and builds the simulation model of driving system by using Simulink software. The influence of parameter deviation of driving system of large crawler crane on synchronous control performance is studied by simulation. Secondly, based on Lagrangian principle, the theoretical mathematical model of double winch hoisting system of large crawler crane is established on the premise of fully considering the constraint condition of moving pair during hoisting. Furthermore, the simulation model of double roll hoisting system is constructed by using ADAMS software, and the influence of the running of double winch hoisting system on the dynamic characteristics of hoisting system is grasped by simulation research. Thirdly, on the basis of analyzing the shortcomings of the traditional synchronization control methods based on coded pulses, a new synchronous control method for large crawler cranes is proposed, which is based on the feedback information of hook inclination angle. Furthermore, the simulation model of master-slave and cross-coupling double hoisting synchronous control based on hook inclination feedback is constructed, and the effectiveness of the proposed synchronization control strategy is verified by simulation research. Finally, a new synchronous control system for large crawler crane is developed based on the proposed new synchronization control strategy, and a comparative test of different control strategies based on coded pulse and hook inclination feedback is carried out by using the system. At the same time, the synchronization control strategy under unsteady conditions, such as wireless communication interruption, hoist swing, reverse installation of inclination sensor and so on, is studied experimentally, which verifies the effectiveness of the proposed synchronization control strategy.
【学位授予单位】：中国矿业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH213.7

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