悬吊物防摆控制装置的设计
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西安工业大学 电子信息工程学院 西安 710021

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TN9

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陕西省科技厅项目(2014K0506)资助


Research and design of antiswing control system for suspension
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School of Electronic and Information Engineering,Xi’an Technological University,Xi’an 710021,China

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    摘要:

    针对悬吊运输装置的摆动问题,以桥式起重机作为研究对象,设计一款悬吊物防摆控制装置。采用拉格朗日方程建立桥式起重机吊重摆动的数学模型,通过姿态传感器采集吊物实时摆动的信息,建立电机控制方案。根据系统功能要求,以MC9S12XS128芯片为核心,完成了系统硬件电路的设计,然后结合Kalman滤波、互补滤波等算法进行计算机软件编程。最终采用角度反馈的闭环控制方式,通过变频器驱动小车运行实现悬吊物的防摆控制。通过实验表明,设计的悬吊防摆控制装置具有良好的控制性能,使得小车电机停止运行后,可以快速消除摆动,适应性较强,实现了悬吊物运输装置安全、高效运行。

    Abstract:

    In view of the swing of the suspension transportation device, the bridge crane is taken as the research object. The mathematical model of crane load swing is established by using Lagrange equation, and the control scheme of the motor is established by using the attitude sensor to collect the realtime swing information of the crane. According to the function requirements of the system, the hardware circuit of the system is designed with the MC9S12XS128 chip as the core, and then the computer software is programmed with Kalman filter and complementary filtering algorithm. Finally, the closedloop control method of angle feedback is adopted to realize the anti swing control of the suspension by the drive of the frequency converter. The experimental results show that the design of the suspension anti swing control device has good control performance, so that the motor can be removed quickly after the motor stops running. The utility model has the advantages of strong adaptability, high safety and high efficiency.

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薛绍凡,秦刚,陈忠孝,荣梦杰,冯利.悬吊物防摆控制装置的设计[J].电子测量技术,2017,40(10):47-51

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  • 在线发布日期: 2017-12-05
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