摘要
轨道交通施工用的大起升高度提升机构,中间驱动轴尺寸长,容易引起振动和疲劳失效。文中设计了一种双电机驱动无轴提升机构及其控制系统,基于旋转刚体动力学定理,建立了双电机驱动提升机构的数学模型,基于Simulink工具箱构建控制系统试验仿真模型,并对该闭环主从同步控制系统进行试验仿真。结果表明:该控制系统在启动、空载以及负载运行阶段,主从电机输出转矩始终保持一致。在0.25 s施加载荷后,系统相应速度快,在0.01 s后达到稳态值,且超调量仅有2%,满足提升机构性能要求。该研究成果对于大起升高度提升机构设计及同步控制提供了参考。
The intermediate drive shaft of the lifting mechanism with large lifting height used in rail transit construction is long in size,so it is easy to cause vibration and fatigue failure.In this paper,the design of a shaftless lifting mechanism driven by two motors and its control system are presented.Based on the dynamic theorem of rotating rigid body,the mathematical model of this lifting mechanism is established,and the experimental simulation model of the control system is built by using Simulink toolbox,and the closed-loop master-slave synchronous control system is tested and simulated.Results show that the output torques of master and slave motors of the control system are consistent all the time in the starting,no-load and load operation stages.After the load is applied in 0.25 seconds,the corresponding speed of the system is fast,reaching the steady-state value after 0.01 seconds,and the overshoot is only 2%,which meets requirements on improving the performance of the mechanism.Research results provide a reference for the design and synchronous control of lifting mechanism with large lifting height.
作者
安林超
程雪利
杨用增
杨宏磊
An Linchao;Cheng Xueli;Yang Yongzeng;Yang Honglei
出处
《起重运输机械》
2021年第4期38-41,共4页
Hoisting and Conveying Machinery
基金
河南省高等学校青年骨干教师培养计划项目(2018GGJS173)
河南省重点研发推广专项项目(192102210220)。
关键词
提升机构
闭环
主从控制
无轴
lifting mechanism
closed loop
master-slave control
shaftless
