带陀螺阻尼器的起重机吊重防摆控制装置研究

Anti-swing control device of crane load with gyro damper

由于起重机吊钩缺乏旋转动力装置,在强风作用下会导致其悬挂载荷发生旋转,针对这一问题,提出了一种带陀螺阻尼器的起重机悬挂载荷防摆控制装置。首先,采用由伺服电机驱动的吊钩对悬挂载荷进行旋转定位,采用了单轴机械陀螺的被动控制方式,对悬挂载荷旋转时产生的反作用力矩进行了抑制;然后,从两个方面对该装置进行了优化(在机械陀螺仪的万向节侧面添加弹簧,构建起了一种陀螺阻尼器;利用风力控制来调整悬挂载荷的姿态);最后,构建了陀螺阻尼器和风力组合控制的装置物理模型,并通过实验对该装置进行了分析。研究结果表明:与无弹簧的情况相比,陀螺阻尼器(带弹簧)能够使飞轮倾斜角度返回0°的时间缩短43%,大幅缩短了飞轮倾斜角的偏移时间;此外,与无风机控制的情况相比,采用陀螺阻尼器和风力的组合控制,可使悬挂载荷停止所需的时间缩短90%;该结果验证了该防摆控制装置的有效性。

Aiming at the problem that the suspension load of crane hook rotates under strong wind due to lack of rotating power device,a suspension load anti-swing control device with gyro damper was proposed.Firstly,the hook driven by servo motor was used to rotate and position the suspension load,and the passive control of the single-axis mechanical gyroscope was adopted,thus the generated reaction moment of crane load was repressive when the suspension load rotates.Then,the device was optimized from two aspects(a gyro damper was built by adding a spring to the gimbal side of mechanical gyroscope;the posture of crane load was adjusted by wind control).Finally,the physical model of gyro damper,and wind combined control device was constructed,and the device was analyzed experimentally through real test.The results show that,comparing with the case without spring,gyro damper(with spring)can reduce the time for flywheel inclination angle to return to 0 by 43%,and greatly shorten the deviation time of flywheel inclination angle.In addition,comparing with the case without fan control,the combined control of gyro damper and wind power can reduce the time required to stop suspension load by 90%,which verifies the effectiveness of the anti-swing control device.