起重机安全监控与防摇控制研究

发布时间：2018-01-15 05:35

本文关键词：起重机安全监控与防摇控制研究　出处：《南京邮电大学》2012年硕士论文　论文类型：学位论文

【摘要】：起重机在运行过程中当平移机构采用可变速驱动时，吊重会在运输过程中产生摆动现象，极大的影响了起重机的安全性以及工作效率；以三相交流电为电源的起重机，在相序错误、过压等情况下会导致设备运转错误、过热等现象，对起重机设备安全以及操作员的人身安全都有极大的影响。基于以上两点，对起重机进行防摇控制，以期让吊重的摆动尽可能快的消减，以及对起重机三相电相序是否正确、是否缺相、是否超重等进行监测，以保障起重机的安全性和工作效率。利用拉格朗日方程针对起重机原型建立起重机吊重系统动力学方程，通过对其进行必要的简化后得到吊重摆角模型,在对该模型的分析后可以得知，大、小车运行的加（减）速度和吊重的绳长是影响吊重摆动的主要因素。由小车吊重开环系统极点在复平面上的分布可以知道，其开环系统本身的稳定性较差，可以加入状态反馈增益调节器将系统极点配置在期望位置，从而构造闭环控制系统使系统达到稳定。考虑到实际操作中利用传感器测量小车吊重摆角有相当的技术难度和成本要求，故而采集小车位置信息设置全维状态观测器对相关变量进行估算，即重构状态变量空间，并将估算出来的相关信息提供给防摇控制系统，经过仿真分析得出在小车在预定的调节时间内吊重的摆角能迅速衰减为零，，且系统具有较好的阻尼特性和动态响应。起重机安全监控器采用了飞思卡尔MC9S12DG128单片机作为处理器，设计了CAN通信、数据采集、状态检测等硬件电路和接口电路，并设计了系统软件，使其可以在起重机运行前检测电源相序是否正确、是否存在缺相等安全隐患，在运行时保证起重机的低速启动、低速停止、数据存储、数据通信和显示等功能，以保证起重机运行过程中的安全可靠。
[Abstract]:In the process of crane running, when the translational mechanism adopts variable speed drive, the crane will swing in the process of transportation, which greatly affects the safety and efficiency of the crane. The crane with three-phase AC power supply will cause equipment operation error and overheating in the case of phase sequence error, overvoltage and so on. It has great influence on the safety of crane equipment and the personal safety of operators. Based on the above two points, the anti-rolling control of the crane is carried out in order to reduce the swing of the crane as quickly as possible. And whether the three-phase electric phase sequence of crane is correct, whether lack of phase, whether overweight and so on, so as to ensure the safety and efficiency of crane. By using Lagrange equation, the dynamic equation of crane lifting system is established for the crane prototype. Through the necessary simplification of the model, the hoisting angle model is obtained. After analyzing the model, we can know that it is large. The increase (subtraction) speed and the rope length of the crane are the main factors affecting the swing of the crane. From the distribution of the poles in the complex plane, it can be seen that the stability of the open-loop system is poor. State feedback gain regulators can be added to position the system poles in the desired position. Therefore, the closed-loop control system is constructed to make the system stable. It is very difficult and cost to measure the swing angle of the crane by using the sensor in the practical operation. So the vehicle position information is collected and the full-dimension state observer is set up to estimate the related variables, that is, to reconstruct the state variable space, and to provide the estimated information to the anti-rolling control system. Through simulation analysis, it is concluded that the swing angle of the lifting weight can be rapidly attenuated to zero within a predetermined adjustment time, and the system has better damping characteristics and dynamic response. The crane safety monitor adopts Freescale MC9S12DG128 single chip computer as the processor, and designs the hardware circuit and interface circuit of CAN communication, data acquisition, state detection and so on. The system software is designed so that it can detect whether the power supply is correct or not before the crane runs, whether there are the same security risks, and ensure the low speed start, the low speed stop and the data storage during the operation. Data communication and display functions to ensure the safety and reliability of crane operation.
【学位授予单位】：南京邮电大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21

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