起重机升降运动系统的建模及仿真研究

摘要

At present, research on crane hoisting system are generally done in way of electrical system and in way of mechanical system, or done in way of simple link of electrical system and mechanical system, so it's difficult to establish an effective and precise mathematical model. For the problem, an electromechanical coupling mathematical model of crane hoisting system was built based on analyzing of relationships between all component parts of hoisting system of crane. The model avoids to neglect interrelationship between the electrical system model and mechanical system model through introducing electromagnetism torque and elastic coefficient of ropes as variables. Meanwhile, a simulation test was performed for the model with speed regulation method based on vector control and taking position of load movement as control variable. The simulation result showed that the model preferably reflectes work process of hoisting system of crane.%目前,对起重机升降系统的研究,基本上将电气系统和机械系统分开研究,或者只是简单的进行链接,很难建立有效、精确的数学模型.针对该问题,分析了起重机升降运动系统各组成部分的关系,建立了起重机升降运动系统机电耦合数学模型,以变量的形式引入了电磁转矩和钢丝绳的弹性系数,避免了单纯从机械系统或电气系统建模而忽略两者之间存在相互影响的缺陷；以负载运动位置作为控制变量,采用基于矢量控制的调速方法对该模型进行了仿真,结果表明,该模型能够较好地反映出起重机升降运动的工作过程.