本文選題：橋式起重機門 + 式起重機��； 參考：《西南交通大學(xué)》2012年碩士論文

【摘要】：現(xiàn)代物流裝備中,起重機電子防搖技術(shù)是提高裝卸作業(yè)中穩(wěn)定性和快速性所急需解決的問題之一。由于起重機結(jié)構(gòu)的特殊性,吊重在運行過程中很容易產(chǎn)生搖擺,建立簡單、準(zhǔn)確的數(shù)學(xué)模型是解決此問題的關(guān)鍵。通過對橋式起重機運行特點和對小車——吊重單自由度動力學(xué)模型的計算分析和仿真,得知小車在做恒加速運動時,吊重的擺動規(guī)律是跟非慣性系下單擺運動規(guī)律相同的,小車在恒加速度運動和勻速運行之間切換時,前一狀態(tài)結(jié)束時刻的擺速值不變,擺角轉(zhuǎn)換為新的擺動平衡位置下的擺角后繼續(xù)做單擺運動�；谶@個結(jié)論建立了吊重非慣性系坐標(biāo)擺動模型,通過分析仿真對比知,該模型可以很好的模擬小車在恒加速和勻速運行之間切換時吊重的擺動規(guī)律。 關(guān)于起重機電子防搖裝置的研究很多,但國內(nèi)的實際應(yīng)用較少。為了能更好的為起重機電子防搖系統(tǒng)的設(shè)計提供理論依據(jù)和指導(dǎo),文中對非慣性系坐標(biāo)吊重擺動模型進行計算和分析,制定了起重機分別在運行過程中、裝載貨物后在運行前、到達卸貨位置制動后三種情況下吊重有擺動的情況下的消擺策略,通過對各個策略的分析和計算,對大量的計算結(jié)果進行分析和整理后,使用Matlab擬合得到多項式形式的近似解,以此來得到指導(dǎo)控制系統(tǒng)消除吊重的擺角的各個控制參數(shù)。通過進一步的仿真對比研究,得知：合理控制加速度偶的加速時間、間隔時間,可以有效消除吊重擺角；該防搖策略的消擺速度很快,整個過程能夠在吊重的一個擺動周期左右完成；在起重機分別在運行過程中、運行前、制動后三種情況下吊重有擺動時,使用上述策略消擺時加速度越大對消擺越有利,但超過一定值后差距變得不明顯。 為實現(xiàn)起重機的全自動控制,如何避免在起重機工作過程中消除吊重由于各種原因引起的擺動至關(guān)重要。文中所研究的起重機防控制搖策略,擺角檢測方法簡單、控制對策全面,且能夠根據(jù)控制量實時計算運行路程、定位方便,消擺和定位同時進行,可以很好的應(yīng)用于起重機自動控制系統(tǒng)中。便于在已有的起重機變頻設(shè)備的基礎(chǔ)上進行改裝,成本也較小
[Abstract]:In modern logistics equipment, the electronic anti roll technology of crane is one of the problems urgently needed to improve the stability and rapidity of the loading and unloading operation. Due to the particularity of the crane structure, the lifting weight is very easy to swing during the operation process. It is the key to solve this problem by establishing a simple and accurate mathematical model. The characteristics and the calculation analysis and Simulation of the single freedom dynamic model of the trolley - lifting weight single degree of freedom. It is found that the swing law of the lifting weight is the same as that of the single pendulum under the non inertial system when the car has constant acceleration motion. When the car switches between the constant acceleration motion and the uniform speed, the swing value of the front end is constant and the swing angle turns. The single pendulum motion is continued after the swing angle of the new swing equilibrium position. Based on this conclusion, a coordinate swinging model of the lifting weight non inertial system is established. By analyzing the simulation and comparison, the model can well simulate the pendulum movement law of the trolley when it switches between the constant acceleration and the uniform speed.
There are a lot of research on the electronic anti roll device of crane, but the actual application in China is less. In order to provide the theoretical basis and guidance for the design of the crane electronic anti roll system better, the paper calculates and analyzes the model of the non inertial coordinate lifting wobble, and formulates the operation of the lifting machine in operation and the operation after the loading of the goods. Before arriving at the unloading position, the pendulum suppression strategy under the three conditions of the lifting load is swinging. Through the analysis and calculation of the various strategies, a large number of calculation results are analyzed and arranged, and the approximate solution of the polynomial form is obtained by using Matlab fitting to get the control of the control system to eliminate the pendulum angle of the lifting weight. By further simulation and comparison, it is found that the acceleration time and interval of the acceleration couple can be effectively controlled and the pendulum angle can be eliminated effectively. The anti roll strategy has fast elimination speed, and the whole process can be completed around a swing cycle of the lifting weight. In the operation process, the lifting machine is three after the operation and after the braking, respectively. When the lifting weight is swaying, the greater the acceleration is when using the above strategy, the greater the acceleration is, but the gap is not obvious after a certain value.
In order to realize the full automatic control of the crane, how to avoid the wobble caused by the lifting of the crane in the working process of the crane is very important. The anti control rolling strategy of the crane is studied in this paper. The method of measuring the angle of the swing angle is simple and the control strategy is comprehensive, and it can calculate the running distance in real time according to the control quantity, the positioning is convenient, the pendulum and the setting are fixed. At the same time, it can be applied to crane automatic control system. It is easy to retrofit on the basis of existing crane frequency conversion equipment, and the cost is also small.

【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH215

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