塔式起重机自动化配重控制及平衡动态特性分析研究

Automatic counterweight control and dynamic characteristicanalysis of a tower crane

针对塔式起重机工作过程中由于固定配重导致的力矩不平衡问题,研究了塔式起重机的自动化配重控制及平衡动态特性,提出了一种基于自动配重的平衡控制方法。采用拉压传感器测试了塔式起重机吊重过程中两端的力矩偏差,根据偏差和偏差变化率,采用了模糊PID控制算法,实时调节了塔式起重机配重块的位置,实现了配重端与重物起吊端的力矩平衡,保证了塔式起重机运行过程中整体的稳定性;设计了塔式起重机自动配重系统实验系统,在重物起升及重物摆动过程中,对塔式起重机的平衡动态特性进行了测试和分析。研究结果表明:塔式起重机自动配重系统响应速度为0.4 s,配重过程中最大力矩差值为0.045 N·m,且对重物摆动具有良好的平衡性能;该系统能够实现塔式起重机不同工况的实时动态平衡调节,为提高塔式起重机的稳定性,延长塔式起重机的使用寿命提供了一种有效的技术手段。

Aiming at the imbalance moment of a tower crane caused by fixed counterweight during working process,the automatic counterweight control and dynamic characteristic analysis of a tower crane were analyzed,and a balance control method based on automatic counterweight was proposed.The moment deviations at both ends of the tower crane during the lifting process were tested by the tension and pressure sensor.According to the deviation and deviation change rate,the fuzzy PID control algorithm was adopted to adjust the position of the weight block during the lifting process of the tower crane,then the moment balance between the counterweight end and the lifting end of the heavy object was achieved.By using the experimental system of the tower crane automatic counterweight system,the balance dynamic characteristics of the tower crane during the lifting and swinging of the heavy objects were tested and analyzed.The results indicate that the response speed of the automatic counterweight system of the tower crane is 0.4 s,the maximum torque difference during the counterweight process is 0.045 N·m,which shows that the system has good dynamic performance and realizes the real-time dynamic balance adjustment of tower crane under different working conditions.Thus,an effective technical method is provided for improving the stability of the tower crane and extending the service life of the tower crane.