炼钢厂受钢跨240t桥式起重机的消摆控制
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摘要
起重机作为主要的起吊搬运设备,大量应用于冶金业、建筑业、制造业以及港口运输业。起重机在作业过程中普遍存在载荷摆动的现象,载荷的摆振主要是由载荷的水平运动引起的。载荷摆振的存在限制了起重机的水平运行速度、延长了起重机的辅助工作时间、降低了起重机的载荷就位精度,生产效率比较低。这些负面影响在大中型高速起重机的应用中尤为突出。消除起重机载荷的摆动,可以有效的提高工作效率,对我国的起重机械的发展是非常有意义的。
本文对240t桥式起重机传动系统的特点与调速要求进行了阐述,比较说明了交流调压调速及交流变频调速的特点,并对平移控制系统的组成、运行方式进行分析,为消摆控制的实现提供了硬件基础。
在消摆控制研究方面,首先对起重机防摆控制研究的国内、外现状进行了综述,然后在分析桥式起重机物理模型的基础上,建立了桥式起重机二维运动的非线性数学模型,并以此为基础在SIMULINK环境下搭建了非线性的仿真模型,仿真结果得出载荷的摆动与大车的驱动力相关的结论,在载荷摆角θ过零的时候取消驱动力F,此时大车与载荷将保持同步运动,载荷的摆动即被消除了。
根据控制模型,在实践中分别采用伺服控制系统及稳钩操作专家系统对主钩消摆进行实现。伺服控制系统把运行过程中的钢丝绳摆角作为参考变量,调节大车运行速度,使得摆角始终保持最小,以此实现主钩的消摆。稳钩操作专家系统通过PLC程序模拟人工操作的过程,一种方法是将钢丝绳的摆角作为变量,控制大车减速的时机;另一种方法用时间延迟模块代替主令给定中的时间间隔,确定大车减速时机。由于程序的固化性,稳钩过程中大车运行距离相同,在作业位置固定的情况下能够实现起重机的消摆控制与大车定位相结合。
伺服控制系统控制精度高,但过多的速度调节降低了起重机的运行效率,且改造费用昂贵。稳钩操作专家系统应用简单明了,编程灵活方便,且成本低、现场使用效果好,适于大范围推广。
课题基于240t起重机主钩消摆控制系统,延伸开发了起重机无线监控系统。该系统通过无线传输模块将上位机终端与车载PLC连接在一起,构成无线监控网络,为生产调度提供起重机的实时位置,并监控起重机各机构的运行情况。
Crane is one of the frequently used carrying equipment. Its m ass use is in the metallurgy, architecture, manufacturing and port transportation. Crane's horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab's horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country's lifting appliances。
This paper introduces the characteristic and timing need of drive system of 240t bridge crane. It compares the point of AC stator conversion and AC frequency conversion. It also analyses the makeup and moving course of main travel drive.
In study of packing accurately, the status quo of research about anti-sway control of bridge crane is expatiated in this thesis. On the base of analyzing the physical model of bridge crane, a nonlinear mathematical model of its two dimension movement is setup ,and construct a nonlinear SIMULINK model based mathematical the model, which offers a foundation for the further controller design。With the conclusion, it uses servo control system and expert system to actualize anti-sway control. Servo control system makes the angle of tight wire as variable to adjusts speed of main travel. It can keep the angle least to actualize anti-sway control. Anti-sway expert system simulates the course of operation with PLC. It substitutes the space of work with time delay model. As the distance always was same in traveling, it can combine the anti-sway control with orientation of main travel.
The precision of control with servo control system is better than expert system, but more adjustment reduce the efficiency of working, and the expense of alteration is more costly. Anti-sway expert system apply simply, programs easily and services on the cheap, and it extends large-scale.
In this thesis, based on the anti-sway control system of main hook in 240t bridge crane, it also designs wireless watch and control system. The system connects computer with PLC through wireless transmission module. It can show the real time position of bridge crane to produce control center, and watch the instance of movement.
本文对240t桥式起重机传动系统的特点与调速要求进行了阐述,比较说明了交流调压调速及交流变频调速的特点,并对平移控制系统的组成、运行方式进行分析,为消摆控制的实现提供了硬件基础。
在消摆控制研究方面,首先对起重机防摆控制研究的国内、外现状进行了综述,然后在分析桥式起重机物理模型的基础上,建立了桥式起重机二维运动的非线性数学模型,并以此为基础在SIMULINK环境下搭建了非线性的仿真模型,仿真结果得出载荷的摆动与大车的驱动力相关的结论,在载荷摆角θ过零的时候取消驱动力F,此时大车与载荷将保持同步运动,载荷的摆动即被消除了。
根据控制模型,在实践中分别采用伺服控制系统及稳钩操作专家系统对主钩消摆进行实现。伺服控制系统把运行过程中的钢丝绳摆角作为参考变量,调节大车运行速度,使得摆角始终保持最小,以此实现主钩的消摆。稳钩操作专家系统通过PLC程序模拟人工操作的过程,一种方法是将钢丝绳的摆角作为变量,控制大车减速的时机;另一种方法用时间延迟模块代替主令给定中的时间间隔,确定大车减速时机。由于程序的固化性,稳钩过程中大车运行距离相同,在作业位置固定的情况下能够实现起重机的消摆控制与大车定位相结合。
伺服控制系统控制精度高,但过多的速度调节降低了起重机的运行效率,且改造费用昂贵。稳钩操作专家系统应用简单明了,编程灵活方便,且成本低、现场使用效果好,适于大范围推广。
课题基于240t起重机主钩消摆控制系统,延伸开发了起重机无线监控系统。该系统通过无线传输模块将上位机终端与车载PLC连接在一起,构成无线监控网络,为生产调度提供起重机的实时位置,并监控起重机各机构的运行情况。
Crane is one of the frequently used carrying equipment. Its m ass use is in the metallurgy, architecture, manufacturing and port transportation. Crane's horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab's horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country's lifting appliances。
This paper introduces the characteristic and timing need of drive system of 240t bridge crane. It compares the point of AC stator conversion and AC frequency conversion. It also analyses the makeup and moving course of main travel drive.
In study of packing accurately, the status quo of research about anti-sway control of bridge crane is expatiated in this thesis. On the base of analyzing the physical model of bridge crane, a nonlinear mathematical model of its two dimension movement is setup ,and construct a nonlinear SIMULINK model based mathematical the model, which offers a foundation for the further controller design。With the conclusion, it uses servo control system and expert system to actualize anti-sway control. Servo control system makes the angle of tight wire as variable to adjusts speed of main travel. It can keep the angle least to actualize anti-sway control. Anti-sway expert system simulates the course of operation with PLC. It substitutes the space of work with time delay model. As the distance always was same in traveling, it can combine the anti-sway control with orientation of main travel.
The precision of control with servo control system is better than expert system, but more adjustment reduce the efficiency of working, and the expense of alteration is more costly. Anti-sway expert system apply simply, programs easily and services on the cheap, and it extends large-scale.
In this thesis, based on the anti-sway control system of main hook in 240t bridge crane, it also designs wireless watch and control system. The system connects computer with PLC through wireless transmission module. It can show the real time position of bridge crane to produce control center, and watch the instance of movement.
引文
[1]高淑玲等.桥式吊车防摆控制.自动化技术与应用,1988,(7):1-4
[2]华克强,高淑玲等.吊车防摆技术的研究.控制理论与应用,1992,(6):631-637
[3]李伟,吕景惠.起重机线性二次型最优消摆控制.电气传动,第3卷2003年第2期总第172期:21-24
[4]张桂青,李伟.绳长对起重机载荷消摆的影响.山东建筑工程学院学报,第13卷98年第三期,总第46期57-60
[5]邹军,陈志坚.桥式起重机抓斗的防摆控制.山东大学学报,1999,34(1):58-62
[6]李伟,张桂青,陈鹏.基于时间最优的起重机消摆控制策略.山东工业大学学报,第28卷1998年第2期:107-111
[7]李伟.起重机载荷摆振模型的简化条件及误差.山东建筑工程学院学报,第13卷98年第二期总第45期:59-64
[8]李伟.起重机最优消摆对策.山东建筑工程学院学报,第13卷98年第三期:41-46
[9]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究.系统仿真学报,Vol.17 No.4:936-939
[10]薛朵,李宇成.港口集装箱吊车的建模与模糊控制.机电一体化,2000,3:42-47
[11]冀向华.机电一体化技术在控摇系统中的应用与研究[J].机械设计与研究,2002,18(3):34-36.
[12]魏克新.MATLAB语言与自动控制系统设计[M].北京:机械工业出版社,2001:57-61.
[13]姚俊.SIMULINK建模与仿真[M].西安:西安电子科技大学出版社,2002.
[14]GIUA.Observer-controller design for three dimensional overhead cranes using time-scaling[J].Mathematical and Computer Modelling of Dynamical Systems,2001,(7):77-107.
[15]KRESS R L.Recent Simulation Conclusions for Damped-oscillation Control of Cranes.ANS Topical Meeting on Robotics and Remote Systems(March 2001):479-485.
[16]吴忠智,吴加林.变频器应用手册[M].北京:机械工业出版社,2002.7:341-349
[17]吴晓莉,林哲辉.MATLAB辅助模糊系统设计[M].西安:西安电子科技大学出版社,2002.8:94-106.
[18]薛定宇.基于MATLAB/SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社.2002:213-221.
[19]张化光.模糊自适应控制理论及应用[M].北京:北京航空航天大学出版社,2002.7:115-121.
[20]章卫国等.模糊控制理论及应用.西安:西北工业大学出版社,1999.1:120-137.
[21]刘传贺.起重机的发展动态[J].河南机电高等专科学校学报,2002,10(4):24-27.
[22]A.Z.Al-Gami,K.A.FMoustafa and S.S.A.K.Javeed Nizami,Optimal Control of Overhead Cranes[J],Control Eng.Practice,1995,3(7):1277-1284.
[23]Ho-Noon Lee,Sung-Kun Cho,A New Fuzzy-Logic Anti-Swing Control for Industrial Three-Dimensional Overhead Cranes[J],Proceedings of the2001 IEEE International Conference on Robotics&Automation Seoul,Korea.May,2001:21-26.
[24]Ho-Hoon Lee,Seung-Gap Choi,A Model-Based Anti-Swing Control of Overhead Cranes with High Hoisting Speeds[J],Proceedings of the2001 IEEE International Conference on Robotics& Automation Seoul,Korea.May,2001:13-19.
[25]S.U.Choi,J.H.Kim,J.WLee,A Study on Gantry Crane Control using Neural Network Two Degree of PID Controller[J],ISIS2 001,Pusan,KOREA:33-35.
[26]Yong-Seok Kim,Han-suk Seo and Seung-Ki Sul,A New Anti-Sway Control Scheme for Trolley Crane System[J],2001IEEE:21-23.
[27]Anusz SZPYTKO,Jaroslaw SMOCZEK and DamianLAKOMSKI Adaptative Control System of Overhead Crane's Movement Mechanismes[J],International Carpathian Control Conference ICCC'2002 MALENOVICE,CZECHR EPUBLIC May,2002:27-30.
[28]Jianqiang Yi,Naoyoshi Yubazaki,Kaoru Hiorta,Anti-swing and positioning control of overhead traveling crane[J].Information Sciencesl 55(2003):19-42.
[29]Alessandro Giua,Carla Seatzu,Giampaolo Usai.Observer-controller design for cranes via Lyapunov equivalencel[J],Automatics,1999,35:669-678.
[2]华克强,高淑玲等.吊车防摆技术的研究.控制理论与应用,1992,(6):631-637
[3]李伟,吕景惠.起重机线性二次型最优消摆控制.电气传动,第3卷2003年第2期总第172期:21-24
[4]张桂青,李伟.绳长对起重机载荷消摆的影响.山东建筑工程学院学报,第13卷98年第三期,总第46期57-60
[5]邹军,陈志坚.桥式起重机抓斗的防摆控制.山东大学学报,1999,34(1):58-62
[6]李伟,张桂青,陈鹏.基于时间最优的起重机消摆控制策略.山东工业大学学报,第28卷1998年第2期:107-111
[7]李伟.起重机载荷摆振模型的简化条件及误差.山东建筑工程学院学报,第13卷98年第二期总第45期:59-64
[8]李伟.起重机最优消摆对策.山东建筑工程学院学报,第13卷98年第三期:41-46
[9]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究.系统仿真学报,Vol.17 No.4:936-939
[10]薛朵,李宇成.港口集装箱吊车的建模与模糊控制.机电一体化,2000,3:42-47
[11]冀向华.机电一体化技术在控摇系统中的应用与研究[J].机械设计与研究,2002,18(3):34-36.
[12]魏克新.MATLAB语言与自动控制系统设计[M].北京:机械工业出版社,2001:57-61.
[13]姚俊.SIMULINK建模与仿真[M].西安:西安电子科技大学出版社,2002.
[14]GIUA.Observer-controller design for three dimensional overhead cranes using time-scaling[J].Mathematical and Computer Modelling of Dynamical Systems,2001,(7):77-107.
[15]KRESS R L.Recent Simulation Conclusions for Damped-oscillation Control of Cranes.ANS Topical Meeting on Robotics and Remote Systems(March 2001):479-485.
[16]吴忠智,吴加林.变频器应用手册[M].北京:机械工业出版社,2002.7:341-349
[17]吴晓莉,林哲辉.MATLAB辅助模糊系统设计[M].西安:西安电子科技大学出版社,2002.8:94-106.
[18]薛定宇.基于MATLAB/SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社.2002:213-221.
[19]张化光.模糊自适应控制理论及应用[M].北京:北京航空航天大学出版社,2002.7:115-121.
[20]章卫国等.模糊控制理论及应用.西安:西北工业大学出版社,1999.1:120-137.
[21]刘传贺.起重机的发展动态[J].河南机电高等专科学校学报,2002,10(4):24-27.
[22]A.Z.Al-Gami,K.A.FMoustafa and S.S.A.K.Javeed Nizami,Optimal Control of Overhead Cranes[J],Control Eng.Practice,1995,3(7):1277-1284.
[23]Ho-Noon Lee,Sung-Kun Cho,A New Fuzzy-Logic Anti-Swing Control for Industrial Three-Dimensional Overhead Cranes[J],Proceedings of the2001 IEEE International Conference on Robotics&Automation Seoul,Korea.May,2001:21-26.
[24]Ho-Hoon Lee,Seung-Gap Choi,A Model-Based Anti-Swing Control of Overhead Cranes with High Hoisting Speeds[J],Proceedings of the2001 IEEE International Conference on Robotics& Automation Seoul,Korea.May,2001:13-19.
[25]S.U.Choi,J.H.Kim,J.WLee,A Study on Gantry Crane Control using Neural Network Two Degree of PID Controller[J],ISIS2 001,Pusan,KOREA:33-35.
[26]Yong-Seok Kim,Han-suk Seo and Seung-Ki Sul,A New Anti-Sway Control Scheme for Trolley Crane System[J],2001IEEE:21-23.
[27]Anusz SZPYTKO,Jaroslaw SMOCZEK and DamianLAKOMSKI Adaptative Control System of Overhead Crane's Movement Mechanismes[J],International Carpathian Control Conference ICCC'2002 MALENOVICE,CZECHR EPUBLIC May,2002:27-30.
[28]Jianqiang Yi,Naoyoshi Yubazaki,Kaoru Hiorta,Anti-swing and positioning control of overhead traveling crane[J].Information Sciencesl 55(2003):19-42.
[29]Alessandro Giua,Carla Seatzu,Giampaolo Usai.Observer-controller design for cranes via Lyapunov equivalencel[J],Automatics,1999,35:669-678.
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