组合臂架式门座起重机的匀速变幅控制

针对常规调速模式下组合臂架式门座起重机在变幅过程中存在速度不稳定、机械冲击大等问题,提出一种能更好地适用于组合臂架门座起重机非线性变幅过程的优化调速方案。首先利用变频变幅电机的编码器实时测出的电机转角,运用反求方法由电机转角反推变幅的幅度大小,再根据幅度大小和期望的匀速变幅速度反求出期望的电机转速值。然后再利用PLC控制电机转速,使象鼻梁端点的水平速度实现匀速。该优化调速方案的有效性得到了基于Matlab和ADAMS的联合仿真试验的验证。

Uniform luffing control of combined-arm gantry crane

Considering the problems of unstable speed and large mechanical impact in the luffing process of the combinedarm gantry crane under the conventional speed regulation mode, an optimized speed regulation scheme which can be better applied to the nonlinear luffing process of the combined-arm gantry crane is proposed. Firstly, the motor rotation angle measured in real time by the encoder of the variable frequency luffing motor is used, and the amplitude of luffing is reversely deduced from the motor rotation angle by the reverse calculation method, and then the expected motor rotation speed value is reversely calculated according to the amplitude and the expected uniform luffing speed. Then PLC is used to control the rotation speed of the motor so that the horizontal speed at the end of the trunk girder can be uniform. The effectiveness of the optimized speed regulation scheme has been verified by the joint simulation test based on Matlab and ADAMS.