折臂式随车起重机力矩限制器算法研究

发布时间：2018-04-20 10:21

本文选题：力矩限制器 + 折臂式随车起重机　；参考：《大连理工大学》2012年硕士论文

【摘要】：折臂式随车起重机凭借其快捷、灵活和多功能等优点,在各种工程建设和生产生活中应用越来越广泛,与此同时,折臂式随车起重机作业安全性也越来越受到用户和生产厂商的共同重视。力矩限制器是国家强制要求安装的起重机安全监控装置,而折臂式随车起重机在结构和性能上与其他起重机不同,因此其力矩限制器的算法原理与常见的力矩限制器也有较大不同。本文结合折臂式随车起重机的结构和起重性能表的特点,以大连理工大学工程机械研究中心与上海派芬自动控制技术有限公司合作开发的折臂式随车起重机的力矩限制器项目为背景,研究了具有二维起重性能表的折臂式随车起重机力矩限制器算法并设计了基于算法的系统硬件和软件。本文主要研究内容如下： (1)分析了折臂式随车起重机臂架的机构和运动,提出了在臂架运动构件上设定坐标系运用齐次坐标变换法建立臂架的运动学方程,进而求解起重机的作业幅度和相对作业高度。通过ADAMS对臂架模型进行运动学仿真验证臂架位姿算法的准确性。 (2)分析了折臂式随车起重机二维分布的起重性能表,用基于最小二乘法的多项式曲线拟合的方法建立等起重量曲线的数学模型,然后依据起重机的作业幅度和高度带入起重性能模型计算实时的额定起重量。 (3)设计了折臂式随车起重机力矩限制器的控制策略,详细分析了折臂式随车起重机在发生超载时不同臂架姿态下的危险动作,给出了相应的控制方法。 (4)基于本文所设计的折臂式随车起重机力矩限制器算法,设计了力矩限制器系统的硬件构成,编写了相应的控制器和显示器人机界面软件并进行了调试。本文设计的折臂式随车起重机力矩限制器为监控起重性能二维分布的折臂式随车起重机作业安全提供了新的方法,具有广泛的应用前景。
[Abstract]:With its advantages of quickness, agility and multifunction, folding jib crane is more and more widely used in various engineering construction and production and life, at the same time, The safety of folding jib crane is paid more and more attention by users and manufacturers. Torque limiter is a kind of crane safety monitoring device that is required to be installed by the state. The structure and performance of the folding jib crane are different from those of other cranes. Therefore, the algorithm principle of torque limiter is different from that of common torque limiter. This paper combines the characteristics of the structure and the lifting performance table of the folding arm type truck carrying crane. Based on the moment limiter project of the folding arm crane developed by Dalian University of Technology Construction Machinery Research Center and Shanghai Piffin automatic Control Technology Co., Ltd. The algorithm of moment limiter with two dimensions lifting performance table is studied, and the system hardware and software based on the algorithm are designed. The main contents of this paper are as follows: In this paper, the mechanism and motion of the jib of the folding jib crane are analyzed, and the kinematics equation of the jib is established by using the homogeneous coordinate transformation method in the coordinate system of the jib moving member, and then the operation amplitude and the relative operating height of the crane are solved. The kinematics simulation of the arm model is carried out by ADAMS to verify the accuracy of the arm pose algorithm. In this paper, the lifting performance table of two dimensional distribution of folding jib crane is analyzed, and the mathematical model of equal lifting weight curve is established by polynomial curve fitting method based on least square method. Then the real-time rated lifting weight is calculated according to the lifting performance model of crane. The control strategy of the moment limiter is designed, and the dangerous action of the jib crane under different boom posture is analyzed in detail, and the corresponding control method is given. 4) based on the torque limiter algorithm designed in this paper, the hardware structure of the torque limiter system is designed, and the corresponding controller and display man-machine interface software are programmed and debugged. The torque limiter designed in this paper provides a new method for monitoring the safety of the crane with two dimensional distribution of lifting performance and has a wide application prospect.
【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】：TH21

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