起重机主动防摇控制策略研究

发布时间：2018-04-30 05:04

本文选题：桥式起重机门 + 式起重机　；参考：《西南交通大学》2012年硕士论文

【摘要】：现代物流装备中,起重机电子防摇技术是提高装卸作业中稳定性和快速性所急需解决的问题之一。由于起重机结构的特殊性,吊重在运行过程中很容易产生摇摆,建立简单、准确的数学模型是解决此问题的关键。通过对桥式起重机运行特点和对小车——吊重单自由度动力学模型的计算分析和仿真,得知小车在做恒加速运动时,吊重的摆动规律是跟非惯性系下单摆运动规律相同的,小车在恒加速度运动和匀速运行之间切换时,前一状态结束时刻的摆速值不变,摆角转换为新的摆动平衡位置下的摆角后继续做单摆运动。基于这个结论建立了吊重非惯性系坐标摆动模型,通过分析仿真对比知,该模型可以很好的模拟小车在恒加速和匀速运行之间切换时吊重的摆动规律。关于起重机电子防摇装置的研究很多,但国内的实际应用较少。为了能更好的为起重机电子防摇系统的设计提供理论依据和指导,文中对非惯性系坐标吊重摆动模型进行计算和分析,制定了起重机分别在运行过程中、装载货物后在运行前、到达卸货位置制动后三种情况下吊重有摆动的情况下的消摆策略,通过对各个策略的分析和计算,对大量的计算结果进行分析和整理后,使用Matlab拟合得到多项式形式的近似解,以此来得到指导控制系统消除吊重的摆角的各个控制参数。通过进一步的仿真对比研究,得知：合理控制加速度偶的加速时间、间隔时间,可以有效消除吊重摆角；该防摇策略的消摆速度很快,整个过程能够在吊重的一个摆动周期左右完成；在起重机分别在运行过程中、运行前、制动后三种情况下吊重有摆动时,使用上述策略消摆时加速度越大对消摆越有利,但超过一定值后差距变得不明显。为实现起重机的全自动控制,如何避免在起重机工作过程中消除吊重由于各种原因引起的摆动至关重要。文中所研究的起重机防控制摇策略,摆角检测方法简单、控制对策全面,且能够根据控制量实时计算运行路程、定位方便,消摆和定位同时进行,可以很好的应用于起重机自动控制系统中。便于在已有的起重机变频设备的基础上进行改装,成本也较小
[Abstract]:In modern logistics equipment, the electronic anti roll technology of crane is one of the problems urgently needed to improve the stability and rapidity of the loading and unloading operation. Due to the particularity of the crane structure, the lifting weight is very easy to swing during the operation process. It is the key to solve this problem by establishing a simple and accurate mathematical model. The characteristics and the calculation analysis and Simulation of the single freedom dynamic model of the trolley - lifting weight single degree of freedom. It is found that the swing law of the lifting weight is the same as that of the single pendulum under the non inertial system when the car has constant acceleration motion. When the car switches between the constant acceleration motion and the uniform speed, the swing value of the front end is constant and the swing angle turns. The single pendulum motion is continued after the swing angle of the new swing equilibrium position. Based on this conclusion, a coordinate swinging model of the lifting weight non inertial system is established. By analyzing the simulation and comparison, the model can well simulate the pendulum movement law of the trolley when it switches between the constant acceleration and the uniform speed.
There are a lot of research on the electronic anti roll device of crane, but the actual application in China is less. In order to provide the theoretical basis and guidance for the design of the crane electronic anti roll system better, the paper calculates and analyzes the model of the non inertial coordinate lifting wobble, and formulates the operation of the lifting machine in operation and the operation after the loading of the goods. Before arriving at the unloading position, the pendulum suppression strategy under the three conditions of the lifting load is swinging. Through the analysis and calculation of the various strategies, a large number of calculation results are analyzed and arranged, and the approximate solution of the polynomial form is obtained by using Matlab fitting to get the control of the control system to eliminate the pendulum angle of the lifting weight. By further simulation and comparison, it is found that the acceleration time and interval of the acceleration couple can be effectively controlled and the pendulum angle can be eliminated effectively. The anti roll strategy has fast elimination speed, and the whole process can be completed around a swing cycle of the lifting weight. In the operation process, the lifting machine is three after the operation and after the braking, respectively. When the lifting weight is swaying, the greater the acceleration is when using the above strategy, the greater the acceleration is, but the gap is not obvious after a certain value.
In order to realize the full automatic control of the crane, how to avoid the wobble caused by the lifting of the crane in the working process of the crane is very important. The anti control rolling strategy of the crane is studied in this paper. The method of measuring the angle of the swing angle is simple and the control strategy is comprehensive, and it can calculate the running distance in real time according to the control quantity, the positioning is convenient, the pendulum and the setting are fixed. At the same time, it can be applied to crane automatic control system. It is easy to retrofit on the basis of existing crane frequency conversion equipment, and the cost is also small.

【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH215

【参考文献】