Intelligent movement control method for prolonging service life of slewing bearing

A technology of slewing bearing and motion control, which is applied in general control system, adaptive control, control/regulation system, etc.

Active Publication Date: 2012-12-12
NANJING UNIV OF TECH +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the research in this area is still in its infancy, the research problems are relatively

Method used

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  • Intelligent movement control method for prolonging service life of slewing bearing
  • Intelligent movement control method for prolonging service life of slewing bearing
  • Intelligent movement control method for prolonging service life of slewing bearing

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Embodiment Construction

[0061] The present invention will be further described below in conjunction with the accompanying drawings.

[0062] Such as Figures 1 to 8 , an intelligent motion control method for prolonging the service life of a slewing bearing, comprising the following steps:

[0063] step one:

[0064] will expect the trajectory θ r and Input to Impedance Controller 1, where for θ r The differential of , which represents the angular velocity; for The differential of , which represents the angular acceleration.

[0065] Step two:

[0066] Measure the interaction force F between the end of the slewing bearing mechanical structure and the environment through the force sensor 7 e , use the position sensor 8 at the large gear of the slewing bearing to measure the actual angular displacement θ of the slewing bearing, and set F e , θ is imported into the online identifier 3, and the identifier is used to identify the inertial force M, damping coefficient P, and rigidity coefficie...

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Abstract

The invention discloses an intelligent movement control method for prolonging service life of a slewing bearing. The intelligent movement control method is characterized by comprising the following steps of: inputting an expected track theta r into an impedance controller (1); measuring interaction force Fe of the tail end of a slewing bearing mechanical structure and an environment through a force sensor (7); inputting a compensation signal of a frictional resisting moment compensator (4) into the impedance controller (1); inputting a reference track theta r(t), theta r(t-1) and theta r(t-2) into a neural network compensator (2); and leading a drive torque signal T obtained by the impedance controller (1) into a torque motor (5), and driving the slewing bearing mechanical structure (6) by the torque motor. According to the intelligent movement control method for prolonging the service life of the slewing bearing, disclosed by the invention, accurate force and position control of the slewing bearing mechanical structure is achieved, therefore, power loss is reduced, the occurrence probability and the development speed of damage are effectively reduced, and the service life is prolonged.

Description

technical field [0001] The invention relates to a control method for a slewing bearing, in particular to an intelligent motion control method for prolonging the service life of the slewing bearing. Background technique [0002] Slewing bearings are widely used in construction machinery, wind power generators, offshore platforms, military equipment and other large-scale mechanical structures that require relative rotary motion. Its size is large and similar to bearings, so it is also called slewing bearings, but It has characteristics different from ordinary bearings: it is required to bear axial force, overturning moment and radial force at the same time, low speed and heavy load, gear transmission is adopted, and the working environment is extremely harsh. The slewing bearing is equivalent to the kinematic joint of the equipment. Once it fails, it will cause the failure of the whole machine or even a major accident. However, due to the large size and high price of the slewi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 王华谢冬华陈捷洪荣晶
Owner NANJING UNIV OF TECH
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