塔机工作机构调速控制方法的实验研究

发布时间：2018-03-30 22:11

本文选题：塔机　切入点：动力学分析　出处：《哈尔滨工业大学》2011年硕士论文

【摘要】：随着当代工程建设需要以及机械化的发展,塔式起重机是港口、建筑工地等施工项目中重要的不可缺少的工程机械,而且对其安全性、平稳性和高效性都有很高的要求。但是由塔机的工作性质可知,其需要频繁的启动制动,特别是在重载的起升和变幅过程中,必然带来冲击和震荡作用,这样不仅给塔机整体部件带来结构损坏,而且会存在安全隐患因素,造成生产事故;同时,传统的调速控制方式在载重变幅时,需要反复多次来回运动才能准确就位,更增加了塔机的冲击与震荡,带来更大的潜在危害。所以传统的调速控制方法不再满足现代工程建设的条件,很难获得较好的控制性能。本文充分考虑上述因素,在塔机机械结构部分已经确定的情况下,从其工作后动力学特性和控制系统的设计角度去研究,设计塔机调速控制系统,通过对与动力学特性相结合的控制方法上的设计,去提高塔机工作机构的工作性能。首先,通过对塔机小车变幅机构和起升机构的动力学分析,分别建立其动力学数学模型,找到相关影响塔机振动、冲击以及变幅难以定位的运动学参量与控制量之间的关系;然后再把动力学的数学模型转换成相应的传递函数,融入到整个变频调速控制系统中去,从而能够建立塔机变频调速闭环的控制系统。最后,应用Matlab软件中Simulink模块,分别设计增量式PID控制和BP神经网络PID控制的方法,通过系统仿真,进行了塔机调速控制性能的对比分析。搭建变频调速起升和变幅系统的实验平台,进行了塔机变频调速控制实验。分析实验所需的各个模块,建立了以PC机为控制中心,通过232/485转换模块与变频器串行通信,发送数字控制量,再以PCI-8000系列数据采集卡和传感器作为反馈的闭环变频调速控制系统;同时,通过PC控制器设计变频控制算法,分别进行了常规PID和神经网络PID的控制实验,得出神经网络变频调速控制系统更有利于提高塔机工作性能。
[Abstract]:With the development of modern engineering construction and mechanization, tower crane is an important and indispensable construction machinery in port, construction site and other construction projects, and has high requirements for its safety, stability and efficiency.However, according to the working nature of tower crane, it needs frequent starting and braking, especially in the process of lifting and changing amplitude of heavy load, which will inevitably bring about impact and shock, which will not only bring structural damage to the whole part of tower crane,Moreover, there will be hidden safety factors, which will cause production accidents. At the same time, the traditional speed regulation control methods need to move back and forth repeatedly to accurately position when the load varies, which increases the impact and shock of the tower crane.Bring greater potential harm.Therefore, the traditional speed regulation control method no longer meets the requirements of modern engineering construction, and it is difficult to obtain better control performance.In this paper, considering the above factors, under the condition that the mechanical structure of tower crane has been determined, from the point of view of its dynamic characteristics after work and the design of control system, a speed regulating control system of tower crane is designed.In order to improve the working performance of tower crane, the control method combined with dynamic characteristics is designed.First of all, through the dynamic analysis of the pulley luffing mechanism and the hoisting mechanism of the tower crane, the mathematical models of its dynamics are established, and the relationship between the kinematics parameters and the control quantity which affects the vibration, shock and amplitude change of the tower crane is found.Then the mathematical model of dynamics is transformed into the corresponding transfer function, which is integrated into the whole frequency conversion speed regulation control system, thus the closed-loop control system of variable frequency speed regulation of tower crane can be established.Finally, the incremental PID control method and BP neural network PID control method are designed by using Simulink module in Matlab software. Through system simulation, the performance of tower crane speed regulation control is compared and analyzed.The experiment platform of raising and amplitude changing system is built, and the control experiment of tower crane is carried out.By analyzing each module needed in the experiment, taking PC as the control center, the serial communication between the converter and the converter through 232 / 485 conversion module is established, and the digital control quantity is transmitted.Then, the closed-loop frequency conversion control system with PCI-8000 series data acquisition card and sensor as feedback is used, and the control experiment of conventional PID and neural network PID is carried out respectively through the design of frequency conversion control algorithm by PC controller.It is concluded that the neural network frequency conversion speed control system is more helpful to improve the performance of tower crane.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.3

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