桥式起重机制动阶段防摇控制方案研究

Research on Anti-Sway Control Scheme of Bridge Crane During Braking

针对由PLC及变频器驱动的桥机系统加入防摇算法后在制动阶段防摇效果不明显的问题,从制动阶段计算速度曲线出发,分析了反向超调对制动阶段防摇效果的影响,提出了改变控制主导参数、分段减速制动、去除反向超调制动三种方法,在MATLAB及实际桥机中对三种方法进行了仿真及试验,结果表明去除反向超调制动方法能有效提高桥机在制动阶段的防摇效果。

Aiming at the problem that the anti-sway effect of the bridge crane system driven by PLC and frequency converter is not obvious in the braking stage after adding the anti-sway algorithm,this paper starts from the calculation of the speed curve in the braking stage,and analyzes the effect of reverse overshoot on the anti-sway in the braking stage.Three methods are put forward,which are changing the dominant parameters of the control,segmented deceleration braking and removing reverse overshoot braking.The three methods are simulated and tested in MATLAB and actual bridge crane,and the results show that the method can effectively improve the anti-sway effect of the bridge crane in the braking phase.