桥式起重机多段速防摇摆及精准定位控制方法研究  

Research on multi speed anti sway and precise positioning control method for bridge crane

作　　者：毛轩昂 邱永峰 郑祎 查铂 廖济红 沈国腾 MAO Xuanang;QIU Yongfeng;ZHENG Yi;ZHA Bo;LIAO Jihong;SHEN Guoteng(Hunan Tianqiao Jiacheng Intelligent Technology Co.,Ltd.,Zhuzhou 412007,China)

机构地区：[1]湖南天桥嘉成智能科技有限公司,湖南株洲412007

出　　处：《有色设备》2024年第6期63-68,共6页Nonferrous Metallurgical Equipment

基　　金：科技成果转换及产业化计划-高新技术产业科技创新引领计划-5G重载搬运智能装备研发及产业化(2021GK4008);工信部年度智能制造系统解决方案揭榜挂帅项目(面向工程机械的柔性智能切割下料分拣产线)。

摘　　要：针对由变频器和可编程逻辑控制器(PLC)控制的全自动桥式起重机,在搬运作业过程中由于惯性和风荷载而产生摇摆的问题,本文提出了桥式起重机多段速防摇摆及精准定位控制方法,通过对起重机的实际工况、自动定位、防摇摆算法和控制程序开发进行研究,建立了多段速度曲线数学模型,开发了PLC防摇摆控制程序,控制程序嵌入在起重机主控制程序中,定位移动时通过变频器控制起重机的移动速度,消除移动过程中吊物的摇摆。该控制方法在钢铁冶金旋流池抓斗式起重机中进行了测试与应用,定位精度和防摇摆效果满足旋流池抓渣全自动桥式起重机使用要求,提高了起重机的作业效率,降低了安全风险。Aiming at the problem that full-automatic bridge crane controlled by frequency converter and programmable logic controller(PLC)swings due to inertia and wind load during handling,this paper puts forward a multi-speed anti-swing and precise positioning control method for bridge crane.By studying the actual working condition,automatic positioning,anti-swing algorithm and control program development of crane,a mathematical model of multi-speed curve is established,and a PLC anti-swing control program is developed.The control program is embedded in the main control program of crane,and the crane is controlled by frequency converter when positioning and moving.The control method has been tested and applied in the grab crane of iron and steel metallurgy cyclone pool.The positioning accuracy and anti-swing effect meet the requirements of the full-automatic bridge crane for slag grabbing in cyclone pool,which improves the working efficiency of the crane and reduces the safety risk.

关 键 词：变频器 可编程逻辑控制器 桥式起重机 定位 防摇摆 多段速度曲线 

分 类 号：TH215[机械工程—机械制造及自动化]