动臂塔式起重机水平变幅控制仿真研究

发布时间：2018-01-15 21:38

本文关键词：动臂塔式起重机水平变幅控制仿真研究　出处：《大连理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：近年来随着高层、超高层建筑的逐渐增多,动臂塔式起重机以其独特的优势得到越来越广泛的应用。臂架的水平变幅在港口机械上应用较普遍,但在动臂塔式起重机上几乎还没有得到应用。然而水平变幅功能可以实现动臂塔式起重机在变幅过程中吊重的水平移动,能提高施工作业的效率,提高操作的方便性和灵活性。本文以大连理工大学与徐州重型机械有限公司合作开发的1600t·m动臂塔式起重机为工程实例,对动臂塔式起重机的水平变幅控制进行了深入研究,本文的主要工作如下： (1)分析了动臂塔式起重机的结构组成及特点,针对该型号动臂塔式起重机,对其变幅及起升机构的液压系统及电气系统进行了设计,并对该动臂塔式起重机进行了关键元件选型。 (2)运用传递函数的方法建立了变幅及起升液压系统的数学模型,并对系统的稳定性及其动态响应进行了分析。 (3)分析了PID控制系统的原理,设计了动臂塔式起重机水平变幅系统的模糊自整定PID控制器,运用MATLAB中的模糊逻辑工具箱(Fuzzy Logic Toolbox)将其实现。 (4)研究了该动臂塔式起重机水平变幅的原理,推导了相关的数学关系式,在此基础上用Simulink建立了变幅及起升系统的整体模型,并验证了模型的正确性；建立了无控制算法及加入常规PID和模糊自整定PID控制器的水平变幅系统的Simulink仿真模型,对仿真结果进行了对比分析。结果表明,模糊自整定PID对于动臂塔式起重机的水平变幅具有更好的控制效果。本文设计了动臂塔式起重机水平变幅控制的模糊自整定PID控制器,并通过建立系统的模型对系统进行了仿真分析,验证了模糊自整定PID控制器应用在动臂塔式起重机水平变幅控制上具有更优良的控制效果,为工程实际应用提供了理论支持和指导方向。
[Abstract]:In recent years, with the increasing of high-rise and super-high-rise buildings, the jib tower crane has been more and more widely used for its unique advantages. The horizontal amplitude of boom is widely used in port machinery. But it has hardly been applied in the jib tower crane. However, the horizontal amplitude function can realize the horizontal movement of the lifting load in the process of the jib crane, and can improve the efficiency of the construction work. Improve ease of operation and flexibility. Taking 1600t 路m cantilever tower crane developed by Dalian University of Technology and Xuzhou heavy Machinery Co., Ltd as an engineering example, this paper makes a deep research on horizontal amplitude change control of movable jib crane. The main work of this paper is as follows: 1) the structure composition and characteristics of the jib tower crane are analyzed, and the hydraulic and electrical systems of its amplitude variation and hoisting mechanism are designed for this type of crane. The key components of the crane are selected. 2) the mathematical model of the hydraulic system of amplitude change and hoisting is established by using the method of transfer function, and the stability and dynamic response of the system are analyzed. The principle of PID control system is analyzed, and the fuzzy self-tuning PID controller of horizontal amplitude change system of movable jib tower crane is designed. The fuzzy logic toolbox of MATLAB is used to realize it. In this paper, the principle of horizontal amplitude change of the jib tower crane is studied, and the related mathematical relations are derived. On this basis, the integral model of the amplitude variation and hoisting system is established with Simulink. The correctness of the model is verified. The Simulink simulation model of horizontal amplitude varying system with conventional PID and fuzzy self-tuning PID controller is established, and the simulation results are compared and analyzed. Fuzzy self-tuning PID has better control effect on horizontal amplitude change of jib tower crane. In this paper, a fuzzy self-tuning PID controller for horizontal amplitude change control of a cantilever tower crane is designed, and the simulation analysis of the system is carried out by establishing the model of the system. It is verified that the fuzzy self-tuning PID controller has better control effect on the horizontal amplitude change control of the jib tower crane and provides theoretical support and guidance for practical application.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.3

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