轨道龙门吊行走大车的啃轨问题及纠偏控制  

Rail-gnawing of rail mounted gantry crane and rectifying deviation control

作　　者：王洋[1] 林叶春[2] 梁森[1] 朱先铭 

机构地区：[1]上海电机学院电气学院,上海200240 [2]上海海事大学科学研究院,上海200135 [3]美国船级社,上海200003

出　　处：《上海海事大学学报》2008年第3期65-70,共6页Journal of Shanghai Maritime University

摘　　要：针对轨道龙门吊大车的刚性支腿与柔性支腿力矩不平衡,导致行走大车走偏而引起啃轨的问题,运用1种新型的力矩偏差调节与位置偏差调节相结合的PID实时纠偏控制系统进行纠偏.经实验,与其他控制系统相比,该系统具有一定的优越性,在实际应用中取得良好效果.Because of the torque imbalance between rigid leg and flexible leg of the rail mounted gantry crane, the crane walks deflected and the problem of rail-gnawing is brought out. A new PID real-time control system which rectifies the deviation combining torque modulation with position feedback is applied. The experiment shows that it has more advantages compared with other control systems. It makes good progress in the practical application.

关 键 词：轨道龙门吊 啃轨 PID 纠偏控制 

分 类 号：U653.92[交通运输工程—港口、海岸及近海工程] TS735[交通运输工程—船舶与海洋工程]