煤矿起重机吊重防摆控制研究

Research on Anti-swing Control of Coal Mine Crane

针对井下起吊重物的摆动问题,在考虑绳长变化的条件下建立吊重的摆振数学模型,运用非线性振动理论的慢变振幅和相位法求得吊重摆角的解析表达式,然后采用MATLAB的Simulink工具进行仿真。结果表明:起重机小车加速度将使吊重摆角增大,它将改变吊重的动态平衡位置;在最大摆角处提升吊重和在平衡位置下放吊重可以实现吊重的消摆。

Aiming at the swinging problem of lifted cargo in underground mines, a mathematical model of the pendulum is established under the condition of changing the rope length, and the analytical expression of the swing angle of the lifted cargo is obtained by using the slowly varying amplitude and phase method of nonlinear vibration theory. The simulation is performed using MATLAB’s Simulink tool. The results show that the acceleration of the crane trolley will increase the swing angle of the lifted cargo, which will change the dynamic equilibrium position of the lifted cargo;lifting the lifted cargo at the maximum swing angle and lowering the lifted cargo at the equilibrium position can eliminate the swing of the lifted cargo.