桥式抓斗卸船机中防摇控制系统的设计与实现

发布时间：2018-01-19 02:19

本文关键词： 桥式抓斗卸船机防摇控制系统加减速法 PLC编程　出处：《浙江工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：桥式抓斗卸船机是港口散料装卸作业的重要设备。为了减轻工人操作强度,增加设备运行的可靠性及安全性,提高生产效率,新方法、新技术的应用与改进迫在眉睫。本文主要研究桥式抓斗卸船机在半自动、全自动运行中的防摇控制,通过防摇控制系统精确的编程控制,缩短止摆时间,从而减少单个工作循环时间,提高了桥式抓斗卸船机的可靠性、安全性及工作效率。通过分析卸船机抓斗和小车的运行规律,将抓斗和小车运行过程中的六个阶段作为主要研究对象,并根据理论及操作经验建立数学模型。运用最优控制理论,计算得出卸船机小车到达运行目标位置的最优时间控制方法。利用加减速法对各个阶段进行控制,通过控制使其得到合适的一次加速度,并且使启动阶段小车的水平输出加速度和抓斗的垂直起升加速度之间得到一定程度的相互匹配,在二次加速过程中,根据计算得到二次加速的控制方法对起升防摇阶段及卸料防摇阶段进行控制。同时,通过具体项目实施,根据功能要求对变频器、PLC、编码器进行选型,对防摇控制系统进行了硬件组态和软件设计,将计算机数学模型转化成为程序语言,开发出了桥式抓斗卸船机自动(半自动)控制系统。所设计的抓斗卸船机自动(半自动)防摇控制系统运用于连云港的桥式抓斗卸船机(ZQX1850t/h)上。经过实践考核验证,满足预期目标。它不仅能够消除摆动,增加系统的可靠性和安全性,而且缩减了循环时间,提高了劳动生产效率,使卸船机在一个循环过程内的运行得到了优化。
[Abstract]:Bridge grab ship unloader is an important equipment for bulk loading and unloading in port. In order to reduce the operation intensity of workers, increase the reliability and safety of the equipment, and improve the production efficiency, a new method is proposed. The application and improvement of new technology is urgent. In this paper, the anti-rolling control of bridge grab ship unloader in semi-automatic and fully automatic operation is mainly studied. Through the precise programming control of anti-rolling control system, the anti-swing time is shortened and the single working cycle time is reduced. The reliability, safety and working efficiency of bridge grab ship unloader are improved. By analyzing the running law of grab and cart of ship unloader, the six stages in the operation of grab and car are taken as the main research object, and the mathematical model is established according to the theory and operation experience, and the optimal control theory is applied. The optimal time control method for the ship unloader car to reach the moving target position is obtained. The acceleration and deceleration method is used to control each stage, and the appropriate first acceleration is obtained through the control. And the horizontal output acceleration and the vertical lifting acceleration of the grab can be matched to a certain extent in the second acceleration process. According to the calculation of the secondary acceleration control method to control the hoisting and anti-rolling stage and unloading stage. At the same time, through the implementation of specific projects, according to the functional requirements of frequency converter PLC, encoder type selection. The hardware configuration and software design of the anti-rolling control system are carried out. The computer mathematical model is transformed into a program language and the automatic (semi-automatic) control system of the bridge grab ship unloader is developed. The designed automatic (semi-automatic) anti-rolling control system of grab ship unloader is applied to bridge grab ship unloader ZQX1850t / h in Lianyungang. It can not only eliminate the swing, increase the reliability and safety of the system, but also reduce the cycle time and improve the productivity of labor. The operation of the ship unloader in a cycle is optimized.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U653.928.1;TP273

【参考文献】