大型履带式起重机双卷扬自由落钩同步控制

Free-fall Synchronization Control of Double Hoist in Large Crawler Crane

针对某企业某大型履带式起重机双卷扬在下放吊钩以吊起重物的过程中,由于双卷扬同步性误差难以校正,导致吊钩不能平稳下放的问题,提出自由落钩模糊PID控制策略,即通过模糊PID控制器控制刹车系统的动作来实现双卷扬自由落钩同步。仿真和实验结果表明,相比常规PID控制,模糊PID控制具有超调量小、快速性好、鲁棒性强等优点,能够较好地实现履带式双卷扬起重机自由落钩的同步控制。

For the problem of an enterprise of double hoist in large crawler crane in the process of devolution hook to lift heavy objects because of the double hoist synchronous error is difficult to correct causing the hook can not be stable fall. Free-fall hook fuzzy PID control strategy was put forward, that is, through the fuzzy PID controller to control the action of brake system to achieve the double hoist synchronization free-fall hook. Simulation and experimental results show that compared with the conventional PID control, fuzzy PID control with less overshoot and good rapidity,and the advantages of strong robustness. It can well realize the free-fall synchronization control of double hoist in large crawler crane.