發(fā)布時間：2018-03-08 04:00

  本文選題：集裝箱正面吊運機　切入點：直線吊運軌跡　出處：《大連理工大學》2014年碩士論文　論文類型：學位論文

【摘要】：集裝箱正面吊運機是用于港口、碼頭、鐵路公路、中轉(zhuǎn)站以及各類堆場進行集裝箱裝卸、堆碼和搬運的常用物流裝備。港口資源的日益緊張,對于物流裝備的工作效率提出了更高的要求,集裝箱正面吊運機的智能化操作水平較低,不僅降低了其工作效率而且對操作人員的熟練程度要求較高。因此,本文以ZLRS14-7020型集裝箱正面吊運機為研究對象,分析了其在工作中常用吊運軌跡,運用傳遞函數(shù)法進行了液壓控制系統(tǒng)建模,并對多種控制方法下軌跡直線度進行了對比分析。本文主要研究工作及成果如下： (1)研究了集裝箱正面吊運機的整機結構,設計了部分液壓控制系統(tǒng)及電氣控制系統(tǒng),并對關鍵元件進行了選型。 (2)確定了集裝箱正面吊運機液壓控制系統(tǒng)的建模方法,運用傳遞函數(shù)法建立了伸縮液壓缸與變幅液壓缸控制系統(tǒng)的數(shù)學模型。 (3)研究了集裝箱正面吊運機的作業(yè)特點,通過運動學逆解得到直線吊運軌跡下伸縮缸與變幅缸長度變化量與時間的關系,并運用Simulink建立了理想輸入信號模型。 (4)研究了非耦合、單向耦合和雙向耦合控制的原理及特點,在實現(xiàn)直線吊運軌跡的基礎上,分別建立了不同協(xié)同控制方法的直線吊運軌跡控制模型。在不同的控制模型下對直線吊運軌跡偏差控制效果進行了仿真對比分析,表明了這些控制方式均可有效保持吊運軌跡直線度,而雙向耦合PID控制方法的效果更佳,為實際運用提供了一定的參考。
[Abstract]:Container hoisting machines are common logistics equipment used for container handling, stacking and handling in ports, docks, railway highways, transit stations and various types of stacks. A higher requirement is put forward for the working efficiency of logistics equipment. The intelligent operation level of container crane is low, which not only reduces its working efficiency, but also requires high proficiency of operators. This paper takes ZLRS14-7020 container hoisting machine as the research object, analyzes the hoisting track commonly used in the work, and uses the transfer function method to model the hydraulic control system. The trajectory straightness of various control methods is compared and analyzed. The main research work and results are as follows:. 1) the whole machine structure of container crane is studied, some hydraulic control system and electric control system are designed, and the key components are selected. (2) the modeling method of hydraulic control system of container crane is established, and the mathematical model of the control system of telescopic hydraulic cylinder and variable amplitude hydraulic cylinder is established by using the transfer function method. In this paper, the working characteristics of the container hoisting machine are studied. The relationship between the length of the telescopic cylinder and the variable amplitude cylinder and the time under the linear hoisting track is obtained by kinematics inverse solution, and the ideal input signal model is established by using Simulink. The principle and characteristics of decoupling, unidirectional and bidirectional coupling control are studied. The linear hoisting trajectory control models with different cooperative control methods are established, and the control effects of trajectory deviation of linear hoisting are compared and analyzed under different control models. It is shown that these control methods can effectively maintain the straightness of the hoisting track, and the effect of the bidirectional coupling PID control method is better, which provides a certain reference for practical application.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TH21

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本文編號：1582278