【摘要】 随着吊装重物的大型化,单卷扬单吊钩的形式已不能提供足够的起重力矩来吊取重物,工程上常采用多卷扬单吊钩的吊取形式。但卷扬系统各自单独的液压控制系统常常会存在泄漏、参数不一致和比例阀死区等问题,导致马达输出角度之间存在同步误差。同时,卷筒平均半径的不一致和吊钩存在的初始角度误差也会导致钢丝绳出绳长度不一致,进而导致吊钩发生倾斜,存在安全问题。基于四卷扬单吊钩的形式,提出了将四卷扬系统分为两组,组间以吊钩水平倾角数据作为反馈量采用交叉耦合控制,系统内采用马达转角数据作为反馈量,采用主从控制的控制方法,利用常规PID和滑模变结构分别进行控制。仿真研究表明,此种控制系统可以很好地消除吊钩存在水平倾角的问题,控制系统的控制性能较好,鲁棒性较强。更多还原

【Abstract】 With the large-scale lifting of heavy objects, the form of single winch and single hook can no longer provide enough lifting moment to lift and take heavy objects, and the form of multiple winch and single hook is often used in engineering. However, the hydraulic control system of winch system often has some problems, such as leakage, parameter inconsistency and dead zone of proportional valve, which lead to the synchronization error between the motor output angle.At the same time, the inconsistency of the average radius of the drum and the initial angle error of the hook will also lead to the inconsistency of the length of the wire rope, which will lead to the tilt of the hook and safety problems. Based on the form of four-winch single hook, the four-winch system was divided into two groups. The horizontal dip angle data of the hook was used as the feedback quantity and the cross-coupling control method was adopted between the groups. The motor angle data was used as the feedback quantity and the master-slave control method was used in the system. The simulation results show that this control system can effectively eliminate the problem of horizontal inclination of the hook, and the control performance of the control system is better and the robustness is stronger.更多还原