全地面起重机自动排绳系统设计及控制研究  

The Designand Control of the All-Terrain Crane Automatic Rope System

作　　者：张彩红[1] 刘永志[1] 杨云勇 张媛媛 

机构地区：[1]六盘水师范学院矿业工程系,贵州六盘水553000 [2]徐州赫思曼电子有限公司,江苏徐州221004

出　　处：《机械设计与制造》2017年第9期190-192,196,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(60304016);大功率传动用磁流变液制备及磁流变液传动装置研制(黔科合LH字20147452号)

摘　　要：针对全地面起重机在收放绳过程中,容易出现乱绳现象的问题,设计并提出一种全地面起重机超起卷扬自动排绳系统。根据自动排绳系统的实际结构情况,建立系统整体模型,并在Matlab/Simulink中仿真,为了更好的解决系统响应速度缓慢的问题,加入常规PID控制算法,以提高响应速度,考虑到外界干扰等因素,并要求PID控制参数能够自动调节,以实现对非线性、时变系统的有效调节,基于模糊PID控制策略对自动排绳系统进行了优化研究,进一步提高了响应速度,降低了跟踪误差,更好的满足了实际工况的需要。For the phenomenon of arbitrary jnstice is likely to occur in all-terrain crane retractable cord process, the automatic rope system of all-terrain crane is designed and proposed.A ccarding to the actual structural condition of automatic rope system, the overall system model is established,and a simulation is made in Matlab/Simulink. For the slow system response speed, the conventional PID control algorithms is added to improve the response speed.Considering the outside disturbances and requiring the PID control parameters automatically adjusted to achieve the nonlinear, time-varying system,the automatic＂ rope system was optimized to further improve the response rate and reduce the tracking errorbased on fuzzy PID control strategy, and better meet the needs of actual Working conditions.

关 键 词：自动排绳系统 系统模型 SIMULINK仿真 模糊PID控制 非线性系统 跟踪误差 

分 类 号：TH16[机械工程—机械制造及自动化] TH21