本文關(guān)鍵詞： 橋式抓斗卸船機(jī) 防搖控制系統(tǒng) 加減速法 PLC編程　出處：《浙江工業(yè)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：橋式抓斗卸船機(jī)是港口散料裝卸作業(yè)的重要設(shè)備。為了減輕工人操作強(qiáng)度,增加設(shè)備運(yùn)行的可靠性及安全性,提高生產(chǎn)效率,新方法、新技術(shù)的應(yīng)用與改進(jìn)迫在眉睫。 本文主要研究橋式抓斗卸船機(jī)在半自動、全自動運(yùn)行中的防搖控制,通過防搖控制系統(tǒng)精確的編程控制,縮短止擺時間,從而減少單個工作循環(huán)時間,提高了橋式抓斗卸船機(jī)的可靠性、安全性及工作效率。 通過分析卸船機(jī)抓斗和小車的運(yùn)行規(guī)律,將抓斗和小車運(yùn)行過程中的六個階段作為主要研究對象,并根據(jù)理論及操作經(jīng)驗(yàn)建立數(shù)學(xué)模型。運(yùn)用最優(yōu)控制理論,計算得出卸船機(jī)小車到達(dá)運(yùn)行目標(biāo)位置的最優(yōu)時間控制方法。利用加減速法對各個階段進(jìn)行控制,通過控制使其得到合適的一次加速度,并且使啟動階段小車的水平輸出加速度和抓斗的垂直起升加速度之間得到一定程度的相互匹配,在二次加速過程中,根據(jù)計算得到二次加速的控制方法對起升防搖階段及卸料防搖階段進(jìn)行控制。同時,通過具體項(xiàng)目實(shí)施,根據(jù)功能要求對變頻器、PLC、編碼器進(jìn)行選型,對防搖控制系統(tǒng)進(jìn)行了硬件組態(tài)和軟件設(shè)計,將計算機(jī)數(shù)學(xué)模型轉(zhuǎn)化成為程序語言,開發(fā)出了橋式抓斗卸船機(jī)自動(半自動)控制系統(tǒng)。 所設(shè)計的抓斗卸船機(jī)自動(半自動)防搖控制系統(tǒng)運(yùn)用于連云港的橋式抓斗卸船機(jī)(ZQX1850t/h)上。經(jīng)過實(shí)踐考核驗(yàn)證,滿足預(yù)期目標(biāo)。它不僅能夠消除擺動,增加系統(tǒng)的可靠性和安全性,而且縮減了循環(huán)時間,提高了勞動生產(chǎn)效率,使卸船機(jī)在一個循環(huán)過程內(nèi)的運(yùn)行得到了優(yōu)化。
[Abstract]:Bridge grab ship unloader is an important equipment for bulk loading and unloading in port. In order to reduce the operation intensity of workers, increase the reliability and safety of the equipment, and improve the production efficiency, a new method is proposed. The application and improvement of new technology is urgent. In this paper, the anti-rolling control of bridge grab ship unloader in semi-automatic and fully automatic operation is mainly studied. Through the precise programming control of anti-rolling control system, the anti-swing time is shortened and the single working cycle time is reduced. The reliability, safety and working efficiency of bridge grab ship unloader are improved. By analyzing the running law of grab and cart of ship unloader, the six stages in the operation of grab and car are taken as the main research object, and the mathematical model is established according to the theory and operation experience, and the optimal control theory is applied. The optimal time control method for the ship unloader car to reach the moving target position is obtained. The acceleration and deceleration method is used to control each stage, and the appropriate first acceleration is obtained through the control. And the horizontal output acceleration and the vertical lifting acceleration of the grab can be matched to a certain extent in the second acceleration process. According to the calculation of the secondary acceleration control method to control the hoisting and anti-rolling stage and unloading stage. At the same time, through the implementation of specific projects, according to the functional requirements of frequency converter PLC, encoder type selection. The hardware configuration and software design of the anti-rolling control system are carried out. The computer mathematical model is transformed into a program language and the automatic (semi-automatic) control system of the bridge grab ship unloader is developed. The designed automatic (semi-automatic) anti-rolling control system of grab ship unloader is applied to bridge grab ship unloader ZQX1850t / h in Lianyungang. It can not only eliminate the swing, increase the reliability and safety of the system, but also reduce the cycle time and improve the productivity of labor. The operation of the ship unloader in a cycle is optimized.
【學(xué)位授予單位】：浙江工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U653.928.1;TP273

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