大型液压起重机同步控制的研究

摘要

由于大型液压起重机往往无法用一组绞车带动主起升或者变幅臂架,故需要采用双绞车同时驱动,因此往往存在着同步误差.为解决这个问题,该文以某大型液压起重机的主起升系统为研究对象,分析了该设备的机械系统和液压系统,从而建立了其液压系统数学模型,再利用主从同步控制原理,对双绞车进行PID同步控制,并分别从转速同步和转矩同步两个方面进行仿真分析,比较并得出良好的控制效果.%The large hydraulic crane can't use single winch to drive the main hoist or boom usually, then need to adopt dual winches to drive at the same time, so there are synchronization errors. To solve this problem, study a large hydraulic crane hoisting system, analyze its me-chanical and hydraulic system, and thus establish the mathematical model of the hydraulic system in this paper. And use master-slave syn-chronization control principle and PID synchronous control method. Then simulate from speed synchronous and torque synchronous. Final-ly, compare results and get a good control effect.