桥式卸船机抛料卸料的抓斗受控摇摆控制策略

The Study of the Dispersal Discharging Controlled Swing Control Scheme of the Bridge Crane

桥式卸船机采用的静止卸料方式和抓斗移动过程中发生的摆动是影响卸船效率的重要因素。从抓斗的受控摇摆和主动抛料卸料工作方式的实现出发,结合小车和抓斗水平速度的变化规律曲线,对抓斗摆动特性进行分析,提出了卸船机抛料卸料的抓斗受控摇摆控制策略。并利用Adams对抓斗系统进行了离散化建模和受控摇摆过程的运动学仿真,仿真结果与理论控制曲线对比表明了该控制策略的可行性。

The static discharge method of the bridge crane and the swing of the grab and are the important factors to influence its working efficiency. This study starts with the realization of the controlled swing and the proactive dispersal discharge working method of the grab, then the swing of the grab is analyzed based on the horizontal velocity curve of the trolley and grab, after which an anti-swing control scheme is proposed based on the dispersal discharge method. The physical model of the system is established with the discretization modeling method in Adams and the proposed controlled swing process of the grab is shown with computer simulation. By comparing the control curve form the computer simulation with the theoretical control curve, the performance of the proposed control scheme is feasible.