一种改进的基于驱动模型的门式起重机消摆设计

摘要

To find a more better convenient closed—loop controller of gantry crane, the drive system, which consists of the inverter, three phase squirrel cage and the reducer, was embodied in the whole control system, to establish a precise mathematical model and know the transitive relation of the motor speed and trolley speed. According to crane load swing door type of nonlinear model, joining the negative feedback of swing—angle of hanging board, by the use of micro — Accelerometer. Using direct design model reference adaptive control strategy to speed up the learning speed. By means of PLC frequency control gantry crane experimental platform in hydraulic laboratory, it proves the theory anti swing and positioning method faster and better effects.%为研究一种较快捷的起重机闭环消摆控制器,把由变频器、三相笼型异步电机、减速器所构成的驱动系统纳入到整个控制系统中来,通过建立精确的数学模型,得到电机转速与吊载摆动角度的传递关系；运用微加速度计,实时检测吊载摆动角度,加入负反馈,而设计出一种新型的自适应神经控制器；为加快学习速度,采用直接设计模型参考自适应控制策略；借助于液压实验室中PLC变频调速门式起重机实验平台,进行仿真和实验；证明了该方法消摆和定位更快,效果更好.