履带起重机力矩限制器算法研究
发布时间：2018-08-27 18:49
【摘要】：履带起重机是现代工程建设中最为常见的流动式起重机之一,而力矩限制器则是履带起重机安全监控系统中的最为核心的装置。随着履带起重机的作业安全性和可靠性要求越来越高,配套的力矩限制器自身精度的要求也越来越高。 本文以大连理工大学与上海派芬自动控制技术有限公司联合开发的履带起重机力矩限制器工程项目为背景,提出了履带起重机最为常见的几种力矩限制器核心算法,进而通过现场试验进行验证,最后针对小型履带起重机与中大型履带起重机的力矩限制器算法分别进行理论修正。论文中的主要工作和研究成果具体如下： (1)针对履带起重机臂架系统,引入了铁木辛柯(一译铁摩辛柯)梁理论与格构式构件等效惯性矩法,对履带起重机的臂架模型进行简化,同时对履带起重机臂架的受力状况进行具体分析。 (2)对于小型履带起重机,通过铁木辛柯梁理论和格构式构件等效惯性矩法,对臂架根部角度进行修正,从而达到提高算法精度的目的,并通过80吨履带起重机现场验证性试验,论证算法及算法修正理论的可行性。 (3)对于中大型履带起重机,通过铁木辛柯梁理论和格构式构件等效惯性矩法,同时对臂架根部角度与臂架头部角度进行修正,进而得到修正后的臂架角度计算值,最终达到提高算法精度的目的,并通过750吨履带起重机现场验证性试验,论证算法及算法修正理论的可行性。 (4)通过两次现场验证性试验,进一步分析和验证了臂架幅度,臂架长度对履带起重机力矩限制器算法精度的影响。 本文着重研究了履带起重机力矩限制器核心算法及算法修正理论,该研究成果已初步应用于实际产品开发中,并为指导履带起重机力矩限制器算法的设计与完善提供了理论依据。
[Abstract]:Crawler crane is one of the most common mobile cranes in modern engineering construction, and torque limiter is the most important device in crawler crane safety monitoring system. With the requirements of safety and reliability of crawler cranes becoming higher and higher, the precision of the matching torque limiter is becoming more and more high. Based on the project of torque limiter of crawler crane developed jointly by Dalian University of Technology and Shanghai Piffin automatic Control Technology Co., Ltd., this paper puts forward some common core algorithms of torque limiter for crawler crane. Finally, the torque limiter algorithms of small crawler crane and medium and large crawler crane are modified in theory. The main work and research results are as follows: (1) in view of the crawler crane boom system, the theory of Temmoxinko beam and the equivalent moment of inertia method of lattice members are introduced. The jib model of crawler crane is simplified, and the stress condition of crawler crane jib is analyzed concretely. (2) for the small crawler crane, the equivalent moment of inertia of track-crane is obtained by the theory of Timuxinko beam and the equivalent moment of inertia of lattice structure. In order to improve the accuracy of the algorithm, the angle of arm root is corrected, and the field verification test of 80 ton crawler crane is carried out. The feasibility of the algorithm and algorithm correction theory is demonstrated. (3) for medium and large crawler cranes, the method of equivalent moment of inertia of lattice components and the angle of the root of boom and the angle of head of boom are modified by the theory of Temocco beam and the equivalent moment of inertia method of lattice components. Then, the revised jib angle calculation value is obtained, and the accuracy of the algorithm is improved finally, and the field verification test of 750 ton crawler crane is carried out. The feasibility of the algorithm and algorithm correction theory is demonstrated. (4) the influence of boom amplitude and arm length on the precision of moment limiter algorithm of crawler crane is further analyzed and verified by two field verification tests. In this paper, the core algorithm and algorithm correction theory of torque limiter for crawler crane are studied. The research results have been applied to the actual product development. It provides a theoretical basis for the design and improvement of torque limiter algorithm for crawler crane.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.7
[Abstract]:Crawler crane is one of the most common mobile cranes in modern engineering construction, and torque limiter is the most important device in crawler crane safety monitoring system. With the requirements of safety and reliability of crawler cranes becoming higher and higher, the precision of the matching torque limiter is becoming more and more high. Based on the project of torque limiter of crawler crane developed jointly by Dalian University of Technology and Shanghai Piffin automatic Control Technology Co., Ltd., this paper puts forward some common core algorithms of torque limiter for crawler crane. Finally, the torque limiter algorithms of small crawler crane and medium and large crawler crane are modified in theory. The main work and research results are as follows: (1) in view of the crawler crane boom system, the theory of Temmoxinko beam and the equivalent moment of inertia method of lattice members are introduced. The jib model of crawler crane is simplified, and the stress condition of crawler crane jib is analyzed concretely. (2) for the small crawler crane, the equivalent moment of inertia of track-crane is obtained by the theory of Timuxinko beam and the equivalent moment of inertia of lattice structure. In order to improve the accuracy of the algorithm, the angle of arm root is corrected, and the field verification test of 80 ton crawler crane is carried out. The feasibility of the algorithm and algorithm correction theory is demonstrated. (3) for medium and large crawler cranes, the method of equivalent moment of inertia of lattice components and the angle of the root of boom and the angle of head of boom are modified by the theory of Temocco beam and the equivalent moment of inertia method of lattice components. Then, the revised jib angle calculation value is obtained, and the accuracy of the algorithm is improved finally, and the field verification test of 750 ton crawler crane is carried out. The feasibility of the algorithm and algorithm correction theory is demonstrated. (4) the influence of boom amplitude and arm length on the precision of moment limiter algorithm of crawler crane is further analyzed and verified by two field verification tests. In this paper, the core algorithm and algorithm correction theory of torque limiter for crawler crane are studied. The research results have been applied to the actual product development. It provides a theoretical basis for the design and improvement of torque limiter algorithm for crawler crane.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.7
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