组合臂架式门座起重机的匀速变幅控制
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摘要
针对常规调速模式下组合臂架式门座起重机在变幅过程中存在速度不稳定、机械冲击大等问题,提出一种能更好地适用于组合臂架门座起重机非线性变幅过程的优化调速方案。首先利用变频变幅电机的编码器实时测出的电机转角,运用反求方法由电机转角反推变幅的幅度大小,再根据幅度大小和期望的匀速变幅速度反求出期望的电机转速值。然后再利用PLC控制电机转速,使象鼻梁端点的水平速度实现匀速。该优化调速方案的有效性得到了基于Matlab和ADAMS的联合仿真试验的验证。
Considering the problems of unstable speed and large mechanical impact in the luffing process of the combinedarm gantry crane under the conventional speed regulation mode, an optimized speed regulation scheme which can be better applied to the nonlinear luffing process of the combined-arm gantry crane is proposed. Firstly, the motor rotation angle measured in real time by the encoder of the variable frequency luffing motor is used, and the amplitude of luffing is reversely deduced from the motor rotation angle by the reverse calculation method, and then the expected motor rotation speed value is reversely calculated according to the amplitude and the expected uniform luffing speed. Then PLC is used to control the rotation speed of the motor so that the horizontal speed at the end of the trunk girder can be uniform. The effectiveness of the optimized speed regulation scheme has been verified by the joint simulation test based on Matlab and ADAMS.
Considering the problems of unstable speed and large mechanical impact in the luffing process of the combinedarm gantry crane under the conventional speed regulation mode, an optimized speed regulation scheme which can be better applied to the nonlinear luffing process of the combined-arm gantry crane is proposed. Firstly, the motor rotation angle measured in real time by the encoder of the variable frequency luffing motor is used, and the amplitude of luffing is reversely deduced from the motor rotation angle by the reverse calculation method, and then the expected motor rotation speed value is reversely calculated according to the amplitude and the expected uniform luffing speed. Then PLC is used to control the rotation speed of the motor so that the horizontal speed at the end of the trunk girder can be uniform. The effectiveness of the optimized speed regulation scheme has been verified by the joint simulation test based on Matlab and ADAMS.
引文
[1]李琳,张金营,周宝.单臂架起重机匀速变幅控制驱动函数的反求方法[J].上海:船海工程,2016,45(4):149-152.
[2]肖利涛,谢宛朋,田涛.基于非线性输入的门座起重机匀速变幅实现方法[J].北京.起重机运输机械,2016(5):39-42.
[3]肖博,郭建生.基于多体分析的四连杆臂架系统变幅过程研究[J].武汉理工大学学报:信息与管理工程版,2010,32(1):74-77.
[4]徐长生,陶德馨.门座起重机变幅速度和水平位移轨迹的摄影测量[J].北京:起重运输机械,1987(9)52-55.
[5]王国强.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2002.
[6]史耀强,厉明勇,顿向明,等.双足机器人基于ADAMS与MATLAB的联合仿真[J].机械与电子,2008(1):45-47.
[7]宋宇,陈无畏,陈黎卿.基于ADAMS与MATLAB的车辆稳定性控制联合仿真研究[J].机械工程学报,2011,47(16):86-92.
[8]蒋国仁.港口起重机械[M].大连:大连海事大学出版社,1995.
[9]秦凡.门座式起重机变幅机构的变频调速系统研究[D].武汉:武汉理工大学,2010.
[10]李明星.基于遗传算法的门座起重机变幅系统优化设计[D].武汉:武汉理工大学,2006.
[2]肖利涛,谢宛朋,田涛.基于非线性输入的门座起重机匀速变幅实现方法[J].北京.起重机运输机械,2016(5):39-42.
[3]肖博,郭建生.基于多体分析的四连杆臂架系统变幅过程研究[J].武汉理工大学学报:信息与管理工程版,2010,32(1):74-77.
[4]徐长生,陶德馨.门座起重机变幅速度和水平位移轨迹的摄影测量[J].北京:起重运输机械,1987(9)52-55.
[5]王国强.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2002.
[6]史耀强,厉明勇,顿向明,等.双足机器人基于ADAMS与MATLAB的联合仿真[J].机械与电子,2008(1):45-47.
[7]宋宇,陈无畏,陈黎卿.基于ADAMS与MATLAB的车辆稳定性控制联合仿真研究[J].机械工程学报,2011,47(16):86-92.
[8]蒋国仁.港口起重机械[M].大连:大连海事大学出版社,1995.
[9]秦凡.门座式起重机变幅机构的变频调速系统研究[D].武汉:武汉理工大学,2010.
[10]李明星.基于遗传算法的门座起重机变幅系统优化设计[D].武汉:武汉理工大学,2006.