【作者】 王辉；

【导师】 鄢华林；

【作者基本信息】 江苏科技大学 ， 机械电子工程， 2010， 硕士

【摘要】 在现代绞车朝着缆绳越来越长、张力越来越大的方向发展的过程中,绞车的速度控制精度、缆绳的有效保护及变节距排缆成为制约现代绞车发展的瓶颈。针对上述遇到的问题,本文提出了一种变节距排缆减张力液压绞车的方案,并对绞车电液控制系统、减张力机构、变节距排缆系统进行了深入的理论和试验研究,具有重要的理论价值和实际工程意义。本课题针对液压绞车的结构特点,分析其液压系统的构成,建立起了阀控马达液压绞车系统的数学模型。通过应用减张力机构的方案,解决了绞车在应用过程中出现的缆绳损坏的问题,该方案应用摩擦学原理,使缆绳和摩擦轮之间的摩擦力吸收掉了缆绳上的大部分张力,在缆绳缠绕到储缆筒上时缆绳上的张力能够保持在一个较小的范围,有效的保护了缆绳。为了满足特殊结构缆绳的使用要求,本文还提出了摩擦轮的防滑设计和摩擦轮变摩擦系数的设计方案。在变节距排缆系统的研究过程中,应用PLC作为控制器,光电编码器作为速度反馈单元,将缆绳直径及储缆筒转速作为系统输入,通过PLC运算后功率放大器可得到相应的输出来控制排缆丝杠的转速。当缆绳直径发生变化时,排缆丝杠的的排缆节距也会做出相应的调整,使得绞车的排缆机构能够适用不同直径的缆绳。在绞车速度的伪微分反馈控制环节,首先进行了伪微分反馈控制器的设计,并阐述了控制器参数的设计方法,针对末级能量提供单元的过驱动问题,应用了抗饱和积分器的方案。在理论研究的同时还设计了绞车调速系统及变节距排缆系统的试验模型,并进行了相应的试验。理论研究和试验结果均表明,应用了伪微分反馈控制算法的绞车调速系统具有响应速度快、参数调整简单、抗干扰能力强等优点;由伺服电机驱动排缆丝杠的变节距排缆系统,排缆丝杠能够紧紧的跟随储缆筒的转动,有效的避免了外层缆绳切入内层的问题。当缆绳直径或储缆筒的转速发生变化时,排缆丝杠能够作出快速的响应,满足了绞车变节距排缆的要求。更多还原

【Abstract】 As the length and tension requirement of cable is higher and higher. Common winch faces several problems: speed accuracy is not high; no efficient way to protect the cable; the winch can not adapt for different diameter cables. To solve above problems, a solution of variable pitch cable tension-reduction hydraulic winch is proposed. The research of this paper is essential both in theory and engineering.The paper analyze the structure of the winch hydraulic system firstly, then establish the mathematical modeling of valve-controlled motor system. Based on the tribology theory, this paper puts forward a tension-reduction unit. Most tension on the cable is transferred to friction between cable and wheel, the cable will be protected well during working progress. To meet the requirement of cable with special structure, the proposals of deslick wheel and friction wheel of variable friction coefficient are mentioned. In the variable pitch cable system, PLC is the main controller and photoelectric encoder works as the speed feedback unit. Input value of PLC includes the diameter of cable and the speed of cable drum, after the calculation of PLC the power amplifier will get a corresponding output which can control the rotary speed of the cable lead screw. Speed of the motor which drive cable lead screw will be changed when diameter of cable is modified. The winch of this paper can adapt to different diameter cables. During the algorithm research progress, introduce an efficient way to calculate the parameter of the pseudo feedback controller. To solve override problem of the last stage energy provide unit, the anti-saturation integrator is applied.Based on the theory researched in this paper, the experiment models of winch speed control system and variable pitch cable system are designed. Both theoretic and experimental research demonstrate following conclusions. The winch speed control system with PDF algorithm has fast response, easy parameter adjustment, excellent disturbance-handling ability. The variable pitch cable system which driven by servo motor can follow the rotation of cable drum strictly and meet the requirement of different diameter cables.更多还原