【摘要】 桥式起重机大车、小车在行走时易发生啃轨现象,轻则损坏轨道,降低使用寿命;重则出现大车、小车卡死。核用智能桥式起重机实现核废料全自动化转运,研究实时纠偏策略,即大车或小车两侧的轨道行走机构的同步运行算法,避免啃轨现象的发生,对于系统的稳定性、安全性和无人值守具有重大意义。以桥式起重机的大车为例,提出一种起重机实时纠偏的控制策略和算法,实现起重机高精度定位。该策略通过伺服电机的位置模式,以大车两侧轨道边上的WCS编码尺的位置作为反馈,研究基于PLC的自适应控制的PID参数调节。通过现场试验证明算法满足现场无人值守的可靠性要求。更多还原

【Abstract】 It easily occurs gnawing rail phenomenon for bridge crane,damaging to the track,reducing life slightly;or stuck seriously. Nuclear intelligent bridge crane transports nuclear waste automatically,studying real-time correction strategy,which is synchronous operation algorithm of both sides of the cart or trolley running gear,avoiding the occurrence of gnawing rail,with great significance for stability,security and unmanned system. The paper,taking cart of bridge crane as an example,proposes a real-time correction of control strategy and algorithm with crane,to achieve high-precision positioning for crane. With the position mode of servo motor,the WCS code rail position on both sides of cart as feedback;it researches the adjustment of PID adaptive control based on PLC. It proves that the algorithm could meet the reliability requirements of unmanned system through the tests.更多还原