天车吊钩防摆控制器设计论文.docVIP

 PAGE \* MERGEFORMAT 66 (此文档为word格式，下载后您可任意编辑修改！) 毕业设计 天车吊钩防摆控制器设计 摘 要 吊物的摆动是影响吊车装卸效率的主要原因。电子防摇作为一种主动防摇方式，它将减摇和运行控制结合起来考虑，不依赖于司机的操作经验，可以有效的提高吊车的装卸效率，减轻司机的工作强度，是实现港口、厂矿装卸自动化的趋势。 本文首先建立了桥式吊车运动系统的数学模型，并搭建了系统的仿真实验模型，设计了双闭环PID控制器来实现吊车系统的防摆和定位控制。针对常规PID控制器很难满足桥式吊车这类控制参数变化很大的复杂系统对控制精度的要求，设计了非线性PID控制器（即PID参数随误差的变化而变化），该控制方案可以消除系统静差，缩短系统响应时间，抗干扰能力较强。运用增量型PID控制算法对PID控制策略进行了数字实现。 本系统实现了吊车到达目的地吊钩不在摆动的目的，使所吊重物在到达指定地点时，摆角为零。从而避免了作业时，照成不必要的事故。 关键词：桥式吊车；防摆；非线性PID Abstract Generally speaking, the loading efficiency of crane is mainly influenced by swing of active method for avoiding swing, electronic anti-swing is not dependent on the driver’s experience and can combine swing-decreasing with movement-control to improve the efficiency of crane, and lighten the intensity of drivers. Therefore, it will be used widely for loading of port and factory. In this thesis, the mathematical model of the overhead crane motion system is established and the simulation model is also built . The two closed-loop PID controller is designed to achieve the control of anti-swing and orientation. Comparing with the controlling results of using conventional PID algorithm as a controller on different disturbance conditions, we can find that it is difficult to meet the accuracy requirements of the practical operation of crane system which the process of running. So we design the nonlinear PID whose variable parameters change with error. The results of simulation indicate that the steady-state error can be eliminated, and the response time of system can be shortened, in addition, the disturbance rejection ability of system can be strengthened. Then, we complish the digital realization of PID control strategy with increment PID control algorithm. This system , make lifting got to the designated place, pendulum Angle is zero. Avoiding the 、Modbus)；直接测量长距离线性位移,测量长度可达18米；恒力弹簧收绳最大拉力可达5公斤；直径1.5毫米软性多股不锈钢钢丝绳316L材料耐腐蚀、耐海水浸泡；选装绝对型多转编码器抗干扰，重复性高。  图3.3 拉绳式传感器 倾角传感器经常用于系统的水平测量，如工程车辆调平，和高空平台安全保护，定向卫星通讯天线的俯仰角测量，