摘要
通过对全功能小车型轨道式集装箱起重机主钢丝绳和辅助钢丝绳空间关系建模,求出主钢丝绳和辅助钢丝绳绳长的空间表达式,计算出辅助电机速度给定与主起升速度给定之间的关系,实现了辅助钢丝绳和主钢丝绳的同步控制。为实现吊具的微动控制,对辅助钢丝绳进行求导,计算出吊具微动速度与辅助钢丝绳收放速度之间的关系,并采用PD控制技术对吊具微动速度进行控制。最后进行实地测试,经测试该类型场桥可以满足自动化需要。
Based on the modeling of the spatial relationship between the main wire rope and the auxiliary wire rope of rail container crane with full-function trolleys,the spatial expression of the rope length of the main wire rope and the auxiliary wire rope was obtained,so did the relationship between the given speed of the auxiliary motor and the given lifting speed of the main wire rope,thus realizing the synchronous control of the auxiliary wire rope and the main wire rope.To realize the micro-motion control of the lifting appliance,the differential of the auxiliary wire rope was conducted,the relationship between the micro-motion speed of the lifting appliance and the retracting speed of the auxiliary wire rope was calculated,and the micro-motion speed of the lifting appliance was controlled by adopting PD control technology.Field test results show that this type of field bridge can meet the needs of automation.
作者
谭兴福
刘春明
Tan Xingfu;Liu Chunming
出处
《起重运输机械》
2020年第12期32-36,共5页
Hoisting and Conveying Machinery
基金
上海市科委科研项目资助(19511132103)
浦东新区科经委项目资助(PKX2019-R18)
中国交通建设集团有限公司科研项目资助(2018-ZJKJ-21)。
