集装箱正面吊运机直线吊运轨迹控制研究

发布时间：2018-03-08 04:00

本文选题：集装箱正面吊运机　切入点：直线吊运轨迹　出处：《大连理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：集装箱正面吊运机是用于港口、码头、铁路公路、中转站以及各类堆场进行集装箱装卸、堆码和搬运的常用物流装备。港口资源的日益紧张,对于物流装备的工作效率提出了更高的要求,集装箱正面吊运机的智能化操作水平较低,不仅降低了其工作效率而且对操作人员的熟练程度要求较高。因此,本文以ZLRS14-7020型集装箱正面吊运机为研究对象,分析了其在工作中常用吊运轨迹,运用传递函数法进行了液压控制系统建模,并对多种控制方法下轨迹直线度进行了对比分析。本文主要研究工作及成果如下： (1)研究了集装箱正面吊运机的整机结构,设计了部分液压控制系统及电气控制系统,并对关键元件进行了选型。 (2)确定了集装箱正面吊运机液压控制系统的建模方法,运用传递函数法建立了伸缩液压缸与变幅液压缸控制系统的数学模型。 (3)研究了集装箱正面吊运机的作业特点,通过运动学逆解得到直线吊运轨迹下伸缩缸与变幅缸长度变化量与时间的关系,并运用Simulink建立了理想输入信号模型。 (4)研究了非耦合、单向耦合和双向耦合控制的原理及特点,在实现直线吊运轨迹的基础上,分别建立了不同协同控制方法的直线吊运轨迹控制模型。在不同的控制模型下对直线吊运轨迹偏差控制效果进行了仿真对比分析,表明了这些控制方式均可有效保持吊运轨迹直线度,而双向耦合PID控制方法的效果更佳,为实际运用提供了一定的参考。
[Abstract]:Container hoisting machines are common logistics equipment used for container handling, stacking and handling in ports, docks, railway highways, transit stations and various types of stacks. A higher requirement is put forward for the working efficiency of logistics equipment. The intelligent operation level of container crane is low, which not only reduces its working efficiency, but also requires high proficiency of operators. This paper takes ZLRS14-7020 container hoisting machine as the research object, analyzes the hoisting track commonly used in the work, and uses the transfer function method to model the hydraulic control system. The trajectory straightness of various control methods is compared and analyzed. The main research work and results are as follows:. 1) the whole machine structure of container crane is studied, some hydraulic control system and electric control system are designed, and the key components are selected. (2) the modeling method of hydraulic control system of container crane is established, and the mathematical model of the control system of telescopic hydraulic cylinder and variable amplitude hydraulic cylinder is established by using the transfer function method. In this paper, the working characteristics of the container hoisting machine are studied. The relationship between the length of the telescopic cylinder and the variable amplitude cylinder and the time under the linear hoisting track is obtained by kinematics inverse solution, and the ideal input signal model is established by using Simulink. The principle and characteristics of decoupling, unidirectional and bidirectional coupling control are studied. The linear hoisting trajectory control models with different cooperative control methods are established, and the control effects of trajectory deviation of linear hoisting are compared and analyzed under different control models. It is shown that these control methods can effectively maintain the straightness of the hoisting track, and the effect of the bidirectional coupling PID control method is better, which provides a certain reference 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】：2014
【分类号】：TH21

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