港口起重机抓斗测试系统及控制策略研究
摘要
随着改革开放的深入发展,港口也进入到进出口物流业跨越式发展的大环境,对吞吐效率提出了更高的要求。现在的港口散货装卸一直都是困扰港口高效装卸的问题之一,由于散货的比重情况和抓斗斗容的设计相关,可能出现超载现象。这时只能依靠司机的熟练操作和辅助的重量传感器来判断,但是抓斗闭合已经抓起,超重情况无法解决,电气设计上只能将散货放回堆场再抓,严重影响了散货的装卸效率。这种情况下需要研究港口的散货抓斗设备的装卸流程,分析其中的规律,提出智能抓取散货的控制策略。
本论文的研究课题是以天津港煤码头的门式抓斗起重机为对象,设计了抓斗设备的信号测试系统来采集分析散货抓取的过程。其中在信号源端设计了信号调理电路来进行信号的保持和阻抗匹配；选用了研华的USB4711-A数据采集卡来读取信号；在计算机上位部分设计了VB上位界面和SQL2008数据库实现数据的试试显示和后台存储。通过采集抓斗在工作中的开闭斗变频器的电流、力矩,起升变频器的电流、力矩和司机室的力矩限制器的重量传感器的重量信号的大量现场数据,分析抓斗一次装卸过程的各个动作环节的电流特性和重量的关系,研究各个部分的数据源的相关性,验证其中的电流和力矩来推断抓斗抓取散货时稳定阶段重量值的可行性,并以此为实现控制策略的切入点,提出智能抓斗设备装卸的控制策略,设计智能化的港口设备电气控制方案,减少超载情况,提高港口装卸能力,对现代化港口的建设具有重要意义。
总之,对于研究抓斗装卸的流程来寻找智能化的控制方式在当前中国港口发展中还只是刚刚起步。本课题研究的内容作为一次探索,寻找到抓斗的开闭电流和起升重量之间的关系,为港口技术的现代化发展提供了研究方法和借鉴。
With the in-depth development of refrom and opening up, the port into the environment of the import and export logistics industry in leaps and bounds, a higher demand on the throunghput efficiency. Port bulk handing has one of the issues, the proportion of the bulk and the grab capacity design possible over loading. To rely on drivers to manipulate and supporting the weight of the sensors to determine, but the grab closed already grabbed, overweight can not be solved only in the electrical design will bulk back yard and then grab aserous impact on bulkhanding efficiency.
Research topic of this is based on the Coal Terminal gantry grab crane for the object, the design of the grab device-signal test system for collection and analysis of bulkcraml process. Designed signal conditioning circuit, the signal source to maintain and impedance matching of the signal; selected Advantech USB-4711A data acquisition card to read the signal; design in the computer the upper end of the VB host interface and SQL2008DataBase for datatry the display and back-end storage. Opening and closing work of the grab by collecting grab bucket drive current,torque,lifting drive current,torque and the cab torque limiter of the weight of the weight sensor signals alarge number of field data, analysis of the grab time handing processcurrent characteristce and the weight of the various action links. Study the correlation of the various parts of the data source, verify that the current and torque to infer grab bulk stable phase of the feasibility of the weight value, and in order to achieve the entry point of the control strategy proposed the smart grab equipment handling control strategies. Intelligent port equipment design electrical control program to reduce the waste of human energy, to enhance port handing capacity, and of great significance to the construction of a modern port.
In short, to find intelligent control for grab loading and unloading processes in port development has only just started. As the content of this research to explore, to finding grab the opening and closing current and since the relationship between the weight, research methods and the development of the port modernization.
本论文的研究课题是以天津港煤码头的门式抓斗起重机为对象,设计了抓斗设备的信号测试系统来采集分析散货抓取的过程。其中在信号源端设计了信号调理电路来进行信号的保持和阻抗匹配；选用了研华的USB4711-A数据采集卡来读取信号；在计算机上位部分设计了VB上位界面和SQL2008数据库实现数据的试试显示和后台存储。通过采集抓斗在工作中的开闭斗变频器的电流、力矩,起升变频器的电流、力矩和司机室的力矩限制器的重量传感器的重量信号的大量现场数据,分析抓斗一次装卸过程的各个动作环节的电流特性和重量的关系,研究各个部分的数据源的相关性,验证其中的电流和力矩来推断抓斗抓取散货时稳定阶段重量值的可行性,并以此为实现控制策略的切入点,提出智能抓斗设备装卸的控制策略,设计智能化的港口设备电气控制方案,减少超载情况,提高港口装卸能力,对现代化港口的建设具有重要意义。
总之,对于研究抓斗装卸的流程来寻找智能化的控制方式在当前中国港口发展中还只是刚刚起步。本课题研究的内容作为一次探索,寻找到抓斗的开闭电流和起升重量之间的关系,为港口技术的现代化发展提供了研究方法和借鉴。
With the in-depth development of refrom and opening up, the port into the environment of the import and export logistics industry in leaps and bounds, a higher demand on the throunghput efficiency. Port bulk handing has one of the issues, the proportion of the bulk and the grab capacity design possible over loading. To rely on drivers to manipulate and supporting the weight of the sensors to determine, but the grab closed already grabbed, overweight can not be solved only in the electrical design will bulk back yard and then grab aserous impact on bulkhanding efficiency.
Research topic of this is based on the Coal Terminal gantry grab crane for the object, the design of the grab device-signal test system for collection and analysis of bulkcraml process. Designed signal conditioning circuit, the signal source to maintain and impedance matching of the signal; selected Advantech USB-4711A data acquisition card to read the signal; design in the computer the upper end of the VB host interface and SQL2008DataBase for datatry the display and back-end storage. Opening and closing work of the grab by collecting grab bucket drive current,torque,lifting drive current,torque and the cab torque limiter of the weight of the weight sensor signals alarge number of field data, analysis of the grab time handing processcurrent characteristce and the weight of the various action links. Study the correlation of the various parts of the data source, verify that the current and torque to infer grab bulk stable phase of the feasibility of the weight value, and in order to achieve the entry point of the control strategy proposed the smart grab equipment handling control strategies. Intelligent port equipment design electrical control program to reduce the waste of human energy, to enhance port handing capacity, and of great significance to the construction of a modern port.
In short, to find intelligent control for grab loading and unloading processes in port development has only just started. As the content of this research to explore, to finding grab the opening and closing current and since the relationship between the weight, research methods and the development of the port modernization.
引文
[1]包起帆.港口散货全自动装卸设备的研究与开发[J].起重运输机械,2009(5).
[2]戴修祥.四绳抓斗自动控制系统[J].起重运输机械,2006(1)：41-43.
[3]刘九卿.浅谈称重传感器技术动向,发展趋势和产业方向[J].综述论坛,2005(6)：1-5.
[4]黄晨君,徐长生.抓斗门式起重机自动开闭斗的研究[J].起重运输机械,2007(4)：33-34.
[5]研华设备使用手册[M].2009.
[6]郑阿奇Visual Basic实用教程[M].电子工业出版社,2005.
[7]胡冬星.抓斗起重机控制系统研究[J].中国科技信息,2005.
[8]黎明森等.现代港口电气自动化工程技术手册[M].人民交通出版社,2004.
[9]杜金城.电气变频调速设计技术[M].中国电力出版社,2001.
[10]张燕宾.电动机变频调速图解[M].中国电力出版社,2003.
[11]陶生桂,叶云魁.变频器在起重机改造中的应用[J].电气时代,2004(10).
[12]纵勇,王红军.变频调速的原理及应用[J].煤炭技术,2006,9：31-33.
[13]戴广平.电动机变频器与电力拖动[M].中国石化出版社,1999.
[14]郑大钟.线性系统理论[M].清华大学出版社,1990：114-126.
[15]金文光.无线动态抓斗秤的研制[J].电子测量与仪器学报,2000,3：57-59.
[16]王世宁,刘轶浩,赵欣.钦州港散货码头自动控制系统应用[J].水运科学研究,2007,6：35-39.
[17]何济民.转速闭环变频调速系统的建模与调节器参数设计.电气传动自动化,2000(2)：34-38
[18]秦寿康,张正方.最优控制[M].电子工业出版社,1984：127-185.
[19]谢学书.最优控制理论与应用[M].清华大学出版社,1986：134-218.
[20]胡中楫,邹伯敏,林冬青等.最优控制原理及应用[M].浙江大学出版社,1988.126-188.
[21]陈凯,孙国正.混凝土泵车臂架结构的智能优化设计[J].武汉理工大学学报(交通科学与工程版),2003,27(2)：244-249.
[22]叶金杰.基于PC总线计算机的自动检测系统[J].计算机自动测量与控制,2001,9(2)：9-10.
[23]吴今培,肖健华.智能故障诊断与专家系统[M].科学技术出版社,1997.
[24]侯朝桢.分布式计算机控制系统[M].北京理工大学出版社,1997.
[25]何克忠.计算机控制系统分析与设计[M].清华大学出版社,1998.
[26]叶金杰.基于现场总线的门式起重机监控系统实现[J].计算机测量与控制,2002,10(2)
[27]RAJ RAJAGOPAL等Windows NT高级程序设计[M].机械工业出版社,1998.
[28]高继勇,王金诺,来新民.桥式起重机动态分析与优化设计[J].机械设计,1994,4：13-17.
[29]Guyan RJ.Reduction in stiffness and mass matrices[J].AIAA Journal.1965,3
[30]Oden J T.Hp adaptive method in CFD[J]. Mechanics Computing in 1990's and beyond. ASCE.1991.
[31]Tanizumi Kazuya,Yoshirmura Toshio,Hino Junichi.Modelling of dynamic behavior and control of tuck cranes[J]. Transactions of the Japan Society of Mechanical Engineers,1995,2:549-551.
[32]VICENT L,SOILLE P.Watersheds in digital spaces:an efficient algorithmbased on immersion simuIation[J].IEEE Trans.PAMI,1991,13(6):583-596.
[33]Bernard J. A.useof rule-base system for process control[J].IEEE Control System Magazine,1998.
[34]Lee Dongho,Lee Hyungdong,Choillhwan,etal.CBR in fused castrefractory manufacture.Kim W(Eds.):Human[J].Society Internet,2001,LNCS2105:436-453.
[35]Fieldbus foundation, www.fieldbus.org.2001-6.
[36]Deepak Khemani,Radhika B Selvamani,Ananda Rabi Dhar,etal.CBR in Fused Cast Refractory Manufacture [J]. Craw S,Preece A(Eds.):ECCBR,2002,LNAI 2416:560-574.
[37]L. Liu, Q. Song,X. Chen. "The developmental design of the intelligent slave station based on the Profibus-DP fieldbus," in International Conference on Computer Science and Information Technology[J]. ICCSIT 2008, August 29, 2008 - September 2, 2008, Singapore, Singapore,2008, pp. 658-661.
[38]Analog Devices.AD7190 Data Sheet.20.
[39]Hui-Myoung Oh,Sungsoo Choi,Youngsun Kim etal. A Systematic Approach to Analyzing Multipath Parameters From PLC Channel Response[J]. IEEE Transactions on Power Delivery, 2008, 23 (4)_9. DOI:10.1109/TPWRD.2008.9,1.78-87.
[40]Chang-Keun Park,Joon-Myung Kang,Mi-Jung Choi et al. An Integrated Network Management System for Multi-Vendor Power Line Communication Networks [A].2008 International Conference on Information Networking (ICOIN 2008)[C].2008.5.
[41]Hui-Myoung Oh,Sungsoo Choi,Youngsun Kim etal. A Systematic Approach to Analyzing Multipath Parameters From PLC Channel Response[J]. IEEE Transactions on Power Delivery,2008,23 (4)_9. DOI:10.1109/TPWRD.2008.917887.
[42]张炼冬,王子旭.门座式起重机起升机构的智能化实现[J].计算机测量与控制,2003(9).
[43]袁昕,韩林山.桥式抓斗起重机钢丝绳卷绕系统动态分析[J].郑州工业大学学报,1999,9：76-77.
[2]戴修祥.四绳抓斗自动控制系统[J].起重运输机械,2006(1)：41-43.
[3]刘九卿.浅谈称重传感器技术动向,发展趋势和产业方向[J].综述论坛,2005(6)：1-5.
[4]黄晨君,徐长生.抓斗门式起重机自动开闭斗的研究[J].起重运输机械,2007(4)：33-34.
[5]研华设备使用手册[M].2009.
[6]郑阿奇Visual Basic实用教程[M].电子工业出版社,2005.
[7]胡冬星.抓斗起重机控制系统研究[J].中国科技信息,2005.
[8]黎明森等.现代港口电气自动化工程技术手册[M].人民交通出版社,2004.
[9]杜金城.电气变频调速设计技术[M].中国电力出版社,2001.
[10]张燕宾.电动机变频调速图解[M].中国电力出版社,2003.
[11]陶生桂,叶云魁.变频器在起重机改造中的应用[J].电气时代,2004(10).
[12]纵勇,王红军.变频调速的原理及应用[J].煤炭技术,2006,9：31-33.
[13]戴广平.电动机变频器与电力拖动[M].中国石化出版社,1999.
[14]郑大钟.线性系统理论[M].清华大学出版社,1990：114-126.
[15]金文光.无线动态抓斗秤的研制[J].电子测量与仪器学报,2000,3：57-59.
[16]王世宁,刘轶浩,赵欣.钦州港散货码头自动控制系统应用[J].水运科学研究,2007,6：35-39.
[17]何济民.转速闭环变频调速系统的建模与调节器参数设计.电气传动自动化,2000(2)：34-38
[18]秦寿康,张正方.最优控制[M].电子工业出版社,1984：127-185.
[19]谢学书.最优控制理论与应用[M].清华大学出版社,1986：134-218.
[20]胡中楫,邹伯敏,林冬青等.最优控制原理及应用[M].浙江大学出版社,1988.126-188.
[21]陈凯,孙国正.混凝土泵车臂架结构的智能优化设计[J].武汉理工大学学报(交通科学与工程版),2003,27(2)：244-249.
[22]叶金杰.基于PC总线计算机的自动检测系统[J].计算机自动测量与控制,2001,9(2)：9-10.
[23]吴今培,肖健华.智能故障诊断与专家系统[M].科学技术出版社,1997.
[24]侯朝桢.分布式计算机控制系统[M].北京理工大学出版社,1997.
[25]何克忠.计算机控制系统分析与设计[M].清华大学出版社,1998.
[26]叶金杰.基于现场总线的门式起重机监控系统实现[J].计算机测量与控制,2002,10(2)
[27]RAJ RAJAGOPAL等Windows NT高级程序设计[M].机械工业出版社,1998.
[28]高继勇,王金诺,来新民.桥式起重机动态分析与优化设计[J].机械设计,1994,4：13-17.
[29]Guyan RJ.Reduction in stiffness and mass matrices[J].AIAA Journal.1965,3
[30]Oden J T.Hp adaptive method in CFD[J]. Mechanics Computing in 1990's and beyond. ASCE.1991.
[31]Tanizumi Kazuya,Yoshirmura Toshio,Hino Junichi.Modelling of dynamic behavior and control of tuck cranes[J]. Transactions of the Japan Society of Mechanical Engineers,1995,2:549-551.
[32]VICENT L,SOILLE P.Watersheds in digital spaces:an efficient algorithmbased on immersion simuIation[J].IEEE Trans.PAMI,1991,13(6):583-596.
[33]Bernard J. A.useof rule-base system for process control[J].IEEE Control System Magazine,1998.
[34]Lee Dongho,Lee Hyungdong,Choillhwan,etal.CBR in fused castrefractory manufacture.Kim W(Eds.):Human[J].Society Internet,2001,LNCS2105:436-453.
[35]Fieldbus foundation, www.fieldbus.org.2001-6.
[36]Deepak Khemani,Radhika B Selvamani,Ananda Rabi Dhar,etal.CBR in Fused Cast Refractory Manufacture [J]. Craw S,Preece A(Eds.):ECCBR,2002,LNAI 2416:560-574.
[37]L. Liu, Q. Song,X. Chen. "The developmental design of the intelligent slave station based on the Profibus-DP fieldbus," in International Conference on Computer Science and Information Technology[J]. ICCSIT 2008, August 29, 2008 - September 2, 2008, Singapore, Singapore,2008, pp. 658-661.
[38]Analog Devices.AD7190 Data Sheet.20.
[39]Hui-Myoung Oh,Sungsoo Choi,Youngsun Kim etal. A Systematic Approach to Analyzing Multipath Parameters From PLC Channel Response[J]. IEEE Transactions on Power Delivery, 2008, 23 (4)_9. DOI:10.1109/TPWRD.2008.9,1.78-87.
[40]Chang-Keun Park,Joon-Myung Kang,Mi-Jung Choi et al. An Integrated Network Management System for Multi-Vendor Power Line Communication Networks [A].2008 International Conference on Information Networking (ICOIN 2008)[C].2008.5.
[41]Hui-Myoung Oh,Sungsoo Choi,Youngsun Kim etal. A Systematic Approach to Analyzing Multipath Parameters From PLC Channel Response[J]. IEEE Transactions on Power Delivery,2008,23 (4)_9. DOI:10.1109/TPWRD.2008.917887.
[42]张炼冬,王子旭.门座式起重机起升机构的智能化实现[J].计算机测量与控制,2003(9).
[43]袁昕,韩林山.桥式抓斗起重机钢丝绳卷绕系统动态分析[J].郑州工业大学学报,1999,9：76-77.