混合动力起重机节能系统关键技术研究

发布时间：2018-03-01 00:38

本文关键词： 混合动力起重机节能共轴双枢变矩电机超级电容非线性动态补偿励磁控制　出处：《武汉理工大学》2013年博士论文　论文类型：学位论文

【摘要】：起重机械是具有典型位能性负载特征的工程机械,当工作负载下降时会释放大量的势能,内燃机驱动的起重机怠速运转时也存在无功状态的能量损耗。实践表明,起重机在工作过程中的能量利用率不足40%,60%以上的能量耗废在工作过程的无功功率状态。如何将大量的耗废能量进行回收再利用是起重机械领域节能减排研究的热点问题。目前工程中推出的起重机动力系统节能方案主要集中于通过驱动电机在位能负载拖动下产生再生能量并将该能量回收储存和再利用。实践证明,该类节能方案的能量转换、储存和控制系统复杂,可靠性低、经济性差,未在技术上取得根本性突破。本文以港口轮胎起重机为对象,提出了基于共轴双枢变矩电机的混合动力节能驱动系统方案,分析了起重机位能性负载工作机构的能量流向及转换,研究了混合动力节能动力系统的构架,建立了相应的系统控制数学模型,运用系统仿真、模型实验和实物试验,验证了混合动力节能系统的节能效率和运行可靠性。论文所做的主要研究工作及创新点如下： 1、建立了轮胎式起重机起升机构、变幅机构工作过程动力系统运动和力学模型,分析了负载上升、下降过程中的能量传递、消耗和转换特性,提出了采用直流同轴双枢变矩电机的驱动和势能转换再生能量回收方案,并研究了回收势能和怠速剩余电能的储存及再利用方法和途径,完成了混合动力节能系统的构建。 2、建立了柴油发动机、他励直流发电机、单串励直流电动机、共轴双枢变矩直流电动机动力系统功能模块的性能模型,研究了共轴双枢变矩电机的调速控制和超级电容器模组的充放电动态控制特性,运用MATLAB/SIMULINK软件对系统能量回馈和释放及控制环节进行仿真,验证了混合动力节能方案的可行性。 3、研究了混合动力起重机节能动力系统控制策略。针对超级电容的充放电特性,提出了势能回收恒功率充电、怠速能回收恒流充电、电能释放恒压放电的控制策略；针对共轴双枢变矩电机工作特性,提出耗能工况主电机为主控,辅电机跟随调压调速、馈能工况主电机空转,辅电机调磁调速控制策略；针对势能回收和怠速能回收工况特性,提出非线性动态励磁控制与多变量均衡控制策略；对柴油发电机组提出油门优化和对直流发电机励磁相结合控制策略。 4、根据共轴双枢变矩电机节能系统工作原理,进行了小功率模拟实验、单机构实物试验研究,设计和研制了用物产品的工业样机的多机构组合工作混合动力轮胎起重机节能动力系统。通过实物样机试验和测试,验证了系统的节能效率和运行可靠性。本文提出的基于共轴双枢变矩电机混合动力起重机节能系统的成果为起重机械领域能量回收与利用的研究提供了新的思路,随着该研究成果的运用实施和进一步的研究深入,必将有力推动起重机及工程机械行业节能减排的技术进步。
[Abstract]:Hoisting machinery is a typical energy engineering machinery load characteristics, when the work load decreases when you release a large number of potential energy loss are reactive state of the crane idling for internal combustion engine driven. The practice shows that the utilization rate of less than 40% in the work of energy in the process of crane, the reactive power state for more than 60% of the energy waste in the working process. How to put a lot of energy consumption of waste recycling is a hot issue in the field of hoist machinery energy-saving emission reduction research. Energy saving scheme of crane power system in current projects launched mainly focused on the driving motor in the load driving renewable energy production and the energy storage and utilization. Practice has proved that the energy saving scheme of energy conversion, storage and control system is complex, low reliability, poor economy, has made a fundamental breakthrough in technology. In this paper, Hong Kong Port tyre crane as the object, put forward a hybrid energy saving coaxial double pivot torque motor drive system scheme based on analysis of energy flow and energy conversion of the working mechanism of crane load on the frame, hybrid energy saving power system, control system established the corresponding mathematical model, using system simulation model and experiment the real test, to verify the energy efficiency and reliability of the hybrid energy system. The main research work and innovations are as follows:
1, a lifting mechanism of tyre crane, luffing mechanism process dynamic motion and mechanics model, analysis of the load rise, drop in the process of energy transfer and conversion, consumption characteristics, proposed by DC coaxial double pivot torque motor drive and energy conversion of renewable energy recycling program, and to study the recovery the potential energy and idle surplus energy storage and reuse methods and ways, completed the construction of hybrid energy system.
2, a diesel engine, DC generator, single DC motor, the performance model of coaxial double pivot torque DC motor power system function module, charge and discharge control of the dynamic characteristics of the coaxial double pivot torque motor speed control and super capacitor module, using MATLAB/SIMULINK software to the system and energy feedback release and control aspects of the simulation, to verify the feasibility of the hybrid energy saving scheme.
3, study the control strategy of hybrid power system for crane energy saving. The charge and discharge characteristics of super capacitor, the energy recovery constant power charging, idle energy recovery constant current charging power control strategy can release the constant voltage discharge characteristics; variable torque motor for coaxial double pivot, put forward the main motor energy consumption condition control. The auxiliary motor with speed regulator can feed the operating condition of the main motor idling, auxiliary motor speed adjustable magnetic control strategy; for energy recovery and recovery characteristics of idle condition, the nonlinear dynamic excitation control and multivariable equalization control strategy; and to put forward the throttle optimization of DC generator excitation control strategy of combination of diesel generators.
4, according to the working principle of coaxial double pivot variable torque motor energy-saving system of small power simulation experiment, the experimental study on physical single machine, designed and developed industrial prototype product multi combination mechanism of hybrid power crane energy saving power system. Through the test and the real test sample machine, verify the energy-saving efficiency and operation the reliability of the system.
This moment motor hybrid system with variable coaxial double pivot crane energy saving based on results for the hoisting machinery field of energy recovery and utilization of the research provides a new way of thinking, with the research results of the application and further study, will greatly promote the technological progress of cranes and construction machinery industry, energy saving and emission reduction.

【学位授予单位】：武汉理工大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH213

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