發(fā)布時(shí)間：2018-03-30 22:11

  本文選題：塔機(jī)　切入點(diǎn)：動(dòng)力學(xué)分析　出處：《哈爾濱工業(yè)大學(xué)》2011年碩士論文

【摘要】：隨著當(dāng)代工程建設(shè)需要以及機(jī)械化的發(fā)展,塔式起重機(jī)是港口、建筑工地等施工項(xiàng)目中重要的不可缺少的工程機(jī)械,而且對(duì)其安全性、平穩(wěn)性和高效性都有很高的要求。但是由塔機(jī)的工作性質(zhì)可知,其需要頻繁的啟動(dòng)制動(dòng),特別是在重載的起升和變幅過程中,必然帶來沖擊和震蕩作用,這樣不僅給塔機(jī)整體部件帶來結(jié)構(gòu)損壞,而且會(huì)存在安全隱患因素,造成生產(chǎn)事故;同時(shí),傳統(tǒng)的調(diào)速控制方式在載重變幅時(shí),需要反復(fù)多次來回運(yùn)動(dòng)才能準(zhǔn)確就位,更增加了塔機(jī)的沖擊與震蕩,帶來更大的潛在危害。所以傳統(tǒng)的調(diào)速控制方法不再滿足現(xiàn)代工程建設(shè)的條件,很難獲得較好的控制性能。 本文充分考慮上述因素,在塔機(jī)機(jī)械結(jié)構(gòu)部分已經(jīng)確定的情況下,從其工作后動(dòng)力學(xué)特性和控制系統(tǒng)的設(shè)計(jì)角度去研究,設(shè)計(jì)塔機(jī)調(diào)速控制系統(tǒng),通過對(duì)與動(dòng)力學(xué)特性相結(jié)合的控制方法上的設(shè)計(jì),去提高塔機(jī)工作機(jī)構(gòu)的工作性能。 首先,通過對(duì)塔機(jī)小車變幅機(jī)構(gòu)和起升機(jī)構(gòu)的動(dòng)力學(xué)分析,分別建立其動(dòng)力學(xué)數(shù)學(xué)模型,找到相關(guān)影響塔機(jī)振動(dòng)、沖擊以及變幅難以定位的運(yùn)動(dòng)學(xué)參量與控制量之間的關(guān)系;然后再把動(dòng)力學(xué)的數(shù)學(xué)模型轉(zhuǎn)換成相應(yīng)的傳遞函數(shù),融入到整個(gè)變頻調(diào)速控制系統(tǒng)中去,從而能夠建立塔機(jī)變頻調(diào)速閉環(huán)的控制系統(tǒng)。最后,應(yīng)用Matlab軟件中Simulink模塊,分別設(shè)計(jì)增量式PID控制和BP神經(jīng)網(wǎng)絡(luò)PID控制的方法,通過系統(tǒng)仿真,進(jìn)行了塔機(jī)調(diào)速控制性能的對(duì)比分析。 搭建變頻調(diào)速起升和變幅系統(tǒng)的實(shí)驗(yàn)平臺(tái),進(jìn)行了塔機(jī)變頻調(diào)速控制實(shí)驗(yàn)。分析實(shí)驗(yàn)所需的各個(gè)模塊,建立了以PC機(jī)為控制中心,通過232/485轉(zhuǎn)換模塊與變頻器串行通信,發(fā)送數(shù)字控制量,再以PCI-8000系列數(shù)據(jù)采集卡和傳感器作為反饋的閉環(huán)變頻調(diào)速控制系統(tǒng);同時(shí),通過PC控制器設(shè)計(jì)變頻控制算法,分別進(jìn)行了常規(guī)PID和神經(jīng)網(wǎng)絡(luò)PID的控制實(shí)驗(yàn),得出神經(jīng)網(wǎng)絡(luò)變頻調(diào)速控制系統(tǒng)更有利于提高塔機(jī)工作性能。
[Abstract]:With the development of modern engineering construction and mechanization, tower crane is an important and indispensable construction machinery in port, construction site and other construction projects, and has high requirements for its safety, stability and efficiency.However, according to the working nature of tower crane, it needs frequent starting and braking, especially in the process of lifting and changing amplitude of heavy load, which will inevitably bring about impact and shock, which will not only bring structural damage to the whole part of tower crane,Moreover, there will be hidden safety factors, which will cause production accidents. At the same time, the traditional speed regulation control methods need to move back and forth repeatedly to accurately position when the load varies, which increases the impact and shock of the tower crane.Bring greater potential harm.Therefore, the traditional speed regulation control method no longer meets the requirements of modern engineering construction, and it is difficult to obtain better control performance.In this paper, considering the above factors, under the condition that the mechanical structure of tower crane has been determined, from the point of view of its dynamic characteristics after work and the design of control system, a speed regulating control system of tower crane is designed.In order to improve the working performance of tower crane, the control method combined with dynamic characteristics is designed.First of all, through the dynamic analysis of the pulley luffing mechanism and the hoisting mechanism of the tower crane, the mathematical models of its dynamics are established, and the relationship between the kinematics parameters and the control quantity which affects the vibration, shock and amplitude change of the tower crane is found.Then the mathematical model of dynamics is transformed into the corresponding transfer function, which is integrated into the whole frequency conversion speed regulation control system, thus the closed-loop control system of variable frequency speed regulation of tower crane can be established.Finally, the incremental PID control method and BP neural network PID control method are designed by using Simulink module in Matlab software. Through system simulation, the performance of tower crane speed regulation control is compared and analyzed.The experiment platform of raising and amplitude changing system is built, and the control experiment of tower crane is carried out.By analyzing each module needed in the experiment, taking PC as the control center, the serial communication between the converter and the converter through 232 / 485 conversion module is established, and the digital control quantity is transmitted.Then, the closed-loop frequency conversion control system with PCI-8000 series data acquisition card and sensor as feedback is used, and the control experiment of conventional PID and neural network PID is carried out respectively through the design of frequency conversion control algorithm by PC controller.It is concluded that the neural network frequency conversion speed control system is more helpful to improve the performance of tower crane.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH213.3

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