本文關(guān)鍵詞： 起重機(jī) 吊重偏擺系統(tǒng) 動(dòng)力學(xué)仿真 控制　出處：《東北林業(yè)大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：起重機(jī)作為一種裝卸工具,廣泛地適用于各港口碼頭集裝箱的碼放、林區(qū)木材裝卸作業(yè)及車間倉(cāng)庫(kù)搬運(yùn)等作業(yè)。起重機(jī)在裝卸過(guò)程中,起吊載荷會(huì)產(chǎn)生在豎直面的單擺運(yùn)動(dòng)和在水平面的來(lái)回?cái)[動(dòng)。這樣就造成了起重機(jī)不能在目標(biāo)位置立即進(jìn)行裝卸工作,使工作時(shí)間加長(zhǎng),生產(chǎn)效率降低,不能滿足現(xiàn)代化企業(yè)對(duì)貨物裝卸的高效率要求,而且還可能引起安全事故。研究吊重?cái)[角的控制方法對(duì)提高起重機(jī)的作業(yè)效率具有重要意義,那么在進(jìn)行控制研究之前對(duì)起重機(jī)吊重偏擺系統(tǒng)進(jìn)行準(zhǔn)確的動(dòng)力學(xué)分析也是極其必要的,因此對(duì)起重機(jī)的動(dòng)力學(xué)模型和防擺控制同時(shí)進(jìn)行研究更具有重要的理論價(jià)值和實(shí)際意義。本文對(duì)其做了如下幾方面的研究： (1)為了準(zhǔn)確描述吊重偏擺的運(yùn)動(dòng)規(guī)律,首先應(yīng)用拉格朗日方程建立了同時(shí)考慮吊重在大車運(yùn)行方向和小車運(yùn)行方向同時(shí)擺動(dòng)的吊重偏擺系統(tǒng)6自由度動(dòng)力學(xué)模型,得出大車運(yùn)行和小車運(yùn)行對(duì)擺角的影響是不相關(guān)的結(jié)論,從而建立了吊重只在小車運(yùn)行情況下的4自由度動(dòng)力學(xué)模型,經(jīng)過(guò)線性化得出吊重在垂直方向的擺角主要與其同向的小車加(減)速度、繩長(zhǎng)和起升機(jī)構(gòu)升降速度有關(guān),而水平擺角與自身的轉(zhuǎn)動(dòng)慣量和鋼絲繩的扭轉(zhuǎn)系數(shù)有關(guān)。(2)建立了小車制動(dòng)后吊重勻速下降過(guò)程的二自由度吊重?cái)[振微分方程,并用狀態(tài)空間向量描述,最后采用Simulink中的狀態(tài)空間模型建立了仿真模型并對(duì)振動(dòng)微分方程進(jìn)行仿真,仿真結(jié)果表明繩索長(zhǎng)度、吊重下降速度以及吊重長(zhǎng)度對(duì)吊重偏擺系統(tǒng)動(dòng)力響應(yīng)有重要影響。 (3)將起重機(jī)系統(tǒng)的動(dòng)力學(xué)模型用仿射非線性形式表示,將系統(tǒng)的有直接激振力部分用精確線性化方法進(jìn)行處理,得到新的解耦線性化動(dòng)態(tài)方程,并對(duì)其進(jìn)行狀態(tài)反饋控制使繩長(zhǎng)和小車位置有較好的伺服特性,對(duì)無(wú)直接激振力的非線性部分?jǐn)[角的控制通過(guò)對(duì)小車位置的修正來(lái)達(dá)到快速消擺的目的�？刂葡到y(tǒng)的仿真結(jié)果表明該系統(tǒng)對(duì)小車的位置和繩的擺長(zhǎng)有很好的伺服效果,同時(shí)能使吊重的擺角迅速衰減,該控制系統(tǒng)也對(duì)吊重質(zhì)量有較好的魯棒性。
[Abstract]:As a kind of loading and unloading tool, crane is widely used in loading and unloading of container in port and terminal, timber handling in forest area and workshop warehouse handling, etc. During loading and unloading, crane is used in loading and unloading process. The lifting load will produce a single pendulum motion on the vertical plane and a swing back and forth in the horizontal plane. As a result, the crane will not be able to load and unload at the target position immediately, so that the working time will be lengthened and the production efficiency will be reduced. It can not meet the requirement of high efficiency for cargo handling in modern enterprises and may cause safety accidents. It is of great significance to study the control method of hoisting swing angle to improve the working efficiency of cranes. Then it is also extremely necessary to carry out accurate dynamic analysis of the crane hoisting and swinging system before the control study is carried out. Therefore, it is of great theoretical and practical significance to study the dynamic model and anti-swing control of crane simultaneously. 1) in order to accurately describe the motion law of the hoisting deflection pendulum, a 6-DOF dynamic model of the hoisting system is established by using the Lagrange equation, in which the lifting weight is swinging simultaneously in the running direction of the trolley and the running direction of the trolley at the same time. It is concluded that the influence of the running of the cart and the running of the car on the swing angle is irrelevant, and a dynamic model of four degrees of freedom for lifting the load only in the case of the running of the trolley is established. After linearization, it is concluded that the pendulum angle of the lifting weight in the vertical direction is mainly related to the speed of the car in the same direction, the length of the rope and the lifting speed of the lifting mechanism. The horizontal swing angle is related to the moment of inertia and the torsional coefficient of the wire rope. Finally, the state space model in Simulink is used to establish the simulation model and the vibration differential equation is simulated. The simulation results show that the rope length, the drop speed of the lifting load and the length of the lifting load have important effects on the dynamic response of the system. 3) the dynamic model of crane system is represented by affine nonlinear form, and the part of the system with direct excitation force is treated with exact linearization method, and a new decoupling linearized dynamic equation is obtained. And the state feedback control makes the rope length and car position have better servo characteristics. The control of the nonlinear partial pendulum angle without direct excitation force is achieved by modifying the position of the trolley. The simulation results of the control system show that the control system has a good servo effect on the position of the vehicle and the pendulum length of the rope. At the same time, the pendulum angle of the lifting load can be decayed rapidly, and the control system has good robustness to the lifting weight quality.
【學(xué)位授予單位】：東北林業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH21

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 周磊;基于梁理論的龍門起重機(jī)動(dòng)力學(xué)研究[D];武漢理工大學(xué);2012年

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本文編號(hào)：1543842