核电站核废物库数控遥控吊车大车同步运行控制系统研制

Synchronous running control system of remote controlled crane in storehouse for solidified nuclear waste

为了保证核电站核废物库桥式吊车两侧同步运行,介绍了一种桥式吊车大车运行高精度同步控制系统.在轨道旁和大车端梁侧面分别安装齿条和齿轮装置,齿轮上同轴安装编码器,用于精确检测大车左、右轮位置.大车右轮以大车左轮行走给定速度为参考值,将大车左右轮位置偏差经PI运算转换成速度偏移量叠加到大车右轮速度给定上,使大车右轮位置精确跟踪左轮位置.仿真结果表明,该方法能获得满意的同步效果.试验结果表明,大车运行同步误差可控制在±2mm以内.本研究为实现吊车高精度定位、避免车轮啃轨、提高吊车安全性和可靠性提供了保障.

In order to ensure two sides of the crane for running synchronously in storehouse for solidified nuclear waste,a highly-accurate synchronous control system used for the bridge running of traversing crane is introduced. The rack and wheelwork are installed on the rail side and the beam sides,respectively. The wheelwork equipped with encoder coaxially is used for detecting the position of left and right wheel on the bridge accurately. The right wheel takes the given running speed of the left wheel as a reference. Using PI calculation the position difference between left wheel and right wheel is converted into speed offset which is then added onto the running speed of the right wheel. Hence,the position difference between left wheel and right wheel can be reduced or eliminated. The simulation results prove the validity of the method. The position difference between left wheel and right wheel in real running is controlled within ± 2 mm. The method ensures the highly-accurate positioning for the crane,avoiding gnawing rail by wheel and improving the safety and reliability of the crane.