TC5613A塔机回转变频调速系统控制技术研究

发布时间：2018-05-21 04:12

本文选题：塔机 + 矢量控制　；参考：《湘潭大学》2016年硕士论文

【摘要】：塔式起重机简称塔机,它是现代建筑施工中重要的一种起重机械。它具有如下工作特点:断续工作、频繁启、制动;在作业过程中存在明显的振动和冲击;起升高度和回转幅度均较大等。随着工程建设发展的需要,对塔机的回转平稳性、工作效率和安全性能等有了更高的要求。而采用传统的控制策略在工程作业过程中获得理想性能指标有一定困难。本课题基于某大型国有企业《中小吨位塔式起重机变幅与回转变频控制技术研究》项目子课题。为满足实际生产对塔式起重机工作机构的性能要求,针对塔机出现的回转稳定性问题,本文对TC5613A型塔式起重机回转变频调速系统控制技术进行如下研究:(1)运用异步电机矢量控制的关系式建立TC5613A回转驱动模型,并采用基于MRAS的速度辨识模块,对塔机回转驱动进行基于无速度传感器矢量控制系统的仿真,并对其仿真结果进行了分析。(2)针对基于MRAS的无速度传感器矢量控制系统仿真结果中出现的超调量大,响应时间较慢,动静态性能较差等问题,在速度辨识模块和转速调节模块中引入模糊PID控制,建立基于MRFAS的无速度传感器矢量控制系统仿真模型,对比分析以上两种控制系统得到的仿真结果可知,模糊PID控制方法具有超调量小、动态响应较快及稳态误差小等优点,是一种有效提高塔式起重机回转机构变频调速性能的方式。(3)用建立的仿真模型参数及结果作为依据,进行了TC5613A塔机回转变频调速系统控制的实验研究。首先将基于MRAS和MRFAS速度辨识模块的无速度传感器矢量控制方案应用于塔机回转机构驱动系统中,从实际效果中对比验证了仿真结果的可靠性。通过对塔机回转机构反复实验及对对比机型的测试研究后,开发出适合塔机柔性臂架回转的加减速控制曲线,即基于变频器的大惯量柔性臂架回转控制技术,以及针对原回转控制系统的控制和处理的效率并不是很高的问题,采用改进后的回转控制系统,即基于变频器的回转电涡流控制技术。最后对TC5613A型塔机进行回转机构的总体性实验,采用塔机柔性臂架回转控制技术,对比基于MRAS和MRFAS两种无速度传感器矢量控制方案,得出采用模糊PID控制能很好的改善变频调速控制系统性能的结论。本论文主要针对塔机回转过程中出现的稳定性问题,首先建立塔机回转控制模型,对其进行仿真分析,然后通过引入模糊控制,对比分析两者控制效果得出基于MRFAS无速度传感器矢量控制系统的动态性能良好,最后在TC5613A塔机回转过程中得到验证。
[Abstract]:Tower crane is an important crane in modern construction. It has the following working characteristics: intermittent operation, frequent opening and braking, obvious vibration and shock in the course of operation, high lifting height and large range of rotation, etc. With the development of engineering construction, there are higher requirements for the smooth rotation, working efficiency and safety performance of tower crane. However, it is difficult to obtain ideal performance index by traditional control strategy. This paper is based on a large state-owned enterprise (Research on variable amplitude and variable Frequency Control Technology of medium and small tonnage Tower Crane). In order to meet the performance requirements of tower crane working mechanism in actual production, aiming at the problem of rotary stability of tower crane, In this paper, the control technology of TC5613A tower crane rotary variable frequency speed control system is studied as follows: 1) using the relation of asynchronous motor vector control to establish the TC5613A rotary drive model, and adopting the speed identification module based on MRAS. Based on the simulation of speed sensorless vector control system for tower crane rotary drive, the simulation results are analyzed. (2) aiming at the large overshoot in the simulation results of speed sensorless vector control system based on MRAS, Since the response time is slow and the dynamic and static performance is poor, fuzzy PID control is introduced into the speed identification module and speed regulation module, and the simulation model of speed sensorless vector control system based on MRFAS is established. By comparing the simulation results of the two control systems, it can be seen that the fuzzy PID control method has the advantages of small overshoot, fast dynamic response and small steady-state error, etc. It is an effective way to improve the performance of variable frequency speed regulation of rotary mechanism of tower crane. Based on the parameters and results of the established simulation model, an experimental study on the control of TC5613A tower crane rotary variable frequency speed regulation system is carried out. Firstly, the speed sensorless vector control scheme based on MRAS and MRFAS speed identification module is applied to the drive system of the rotary mechanism of the tower crane. The reliability of the simulation results is verified by comparing the actual results. After repeated experiments on the rotating mechanism of the tower crane and the test of the contrast type, the acceleration and deceleration control curve suitable for the rotation of the flexible boom of the tower crane is developed, that is, the rotary control technology of the large inertia flexible boom based on frequency converter, which is suitable for the rotation of the flexible boom of the tower crane. Aiming at the problem that the control and processing efficiency of the original rotary control system is not very high, the improved rotary control system, that is, the rotary eddy current control technology based on frequency converter, is adopted. Finally, the overall experiment of TC5613A tower crane is carried out, and the flexible boom rotation control technology of tower crane is adopted to compare the speed sensorless vector control schemes based on MRAS and MRFAS. It is concluded that fuzzy PID control can improve the performance of variable frequency speed control system. In this paper, aiming at the stability problem of tower crane in the process of rotation, firstly, the model of tower crane rotation control is established, and the simulation analysis is carried out, and then fuzzy control is introduced. The results show that the dynamic performance of the speed sensorless vector control system based on MRFAS is good, and it is verified in the process of TC5613A tower crane rotation.
【学位授予单位】：湘潭大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH213.3

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