Hoisting system of permanent magnetic direct drive type electromagnetic suspended beam crane and control method of hoisting system

An electromagnetic hanging beam, permanent magnet direct drive technology, applied in the direction of load hanging components, transportation and packaging, can solve the problems of brake wear, inconsistent instantaneous speed, inconsistent load, etc., to prevent hook slip and overshoot, and smooth transition. The effect of running, smooth and precise control

Active Publication Date: 2018-05-01
JIANGXI GONGBU MACHINERY
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AI-Extracted Technical Summary

Problems solved by technology

[0006] 2) Due to the difference in the pull-in position of the electromagnetic chuck and the load, the loads on both sides will be inconsistent, so when the load is lost during operation, it is a sudden load change for the motor, and the impact of the two motors is different, which will lead to instantaneous speed on both sides. Inconsistencies, which eventually lead to synchronization problems, need to coordinate synchronization and eliminate deviations
[0007] However, the current traditional electromagnetic hanging beam crane hoisting mechanism composed of an outer rotor direct-drive permane...
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Method used

In addition, the present invention adopts permanent magnet direct drive motor to replace traditional motor to add the structural form of gearbox, noise is little, simple in structure, light in weight, and failure rate is low; Utilize variable parameter control, high bandwidth cooperates memory current to realize when lifting The hook does not slip when starting, there is no need to consider the problem of load changes, and it has no effect...
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Abstract

The invention discloses a hoisting system of a permanent magnetic direct drive type electromagnetic suspended beam crane. The hoisting system comprises a controller, two frequency converters, two direct drive type permanent magnetic synchronous motors and steel wire ropes of the synchronous motors, two brakes, an electromagnetic suspended beam, a plurality of electromagnetic chucks and two encoders, wherein the encoders are connected with the direct drive type permanent magnetic synchronous motors to obtain the rotating speed and position information of the direct drive type permanent magneticsynchronous motors and upload the rotating speed and position information to the controller; and the controller controls the direct drive type permanent magnetic synchronous motors to have synchronous operation so as to ensure the height difference of two ends of the electromagnetic suspended beam. The invention further discloses a controlling method of the hoisting system of the permanent magnetic direct drive type electromagnetic suspended beam crane. The controlling method comprises the following steps: starting and levelling; adjusting the rotating speed of the motors through the frequency converters to ensure the height difference of two ends of the electromagnetic suspended beam; recording the torque current value under the zero-speed hovering state during halt and braking; after halt and during operation, establishing the torque current with high priority; starting with the controlling parameter changed; and carrying out normal operation. The hoisting system is low in cost andsimple and reliable to control, can effectively prevent hook gliding and realizes coordination synchronization.

Application Domain

Load-engaging elements

Technology Topic

Synchronous motorControl parameters +5

Image

  • Hoisting system of permanent magnetic direct drive type electromagnetic suspended beam crane and control method of hoisting system
  • Hoisting system of permanent magnetic direct drive type electromagnetic suspended beam crane and control method of hoisting system

Examples

  • Experimental program(1)

Example Embodiment

[0033] Such as figure 1 Shown is the functional module diagram of the lifting system of the present invention: the lifting system of the permanent magnet direct drive electromagnetic suspension beam provided by the present invention includes a controller, two inverters, and two direct drive permanent magnets Synchronous motor and its wire rope, two brakes, electromagnetic suspension beams, several electromagnetic chucks, two encoders, remote control receivers and remote controls; the controller controls two direct-drive permanent magnet synchronous motors through two inverters, and then passes The steel wire rope, electromagnetic hanging beam and electromagnetic chuck lift or lower the heavy objects. The controller is also connected with the brake, and brakes the motor by controlling the activation and closing of the brake. The encoder is connected with the direct-drive permanent magnet synchronous motor, It is used to obtain the motor speed and position information of the direct-drive permanent magnet synchronous motor and upload it to the controller. The controller is used to control the speed of two direct-drive permanent magnet synchronous motors according to the uploaded motor speed and position information to ensure the speed of the two motors. Synchronous operation to ensure the height difference between the two ends of the electromagnetic hanging beam; the remote control is connected to the controller through the remote control receiver through wireless communication, and is used to remotely control the lifting system of the permanent magnet direct-drive electromagnetic hanging beam.
[0034] In specific applications, when the encoder adopts a multi-turn absolute encoder, it is more convenient and quick to control and use. The controller can individually control a certain motor to start and run independently, so that the leveling operation of the electromagnetic hanging beam can be conveniently performed.
[0035] Such as figure 2 Shown is the method flow chart of the control method of the present invention: the control method of the permanent magnet direct-drive electromagnetic suspension beam hoisting system includes the following steps:
[0036] S1. The permanent magnet direct-drive electromagnetic hanging beam crane is started, and the initial leveling process is manually completed. The controller records the initial positions of the two encoders after the initial leveling, so as to obtain the difference between the initial positions of the two encoders as the initial error value;
[0037] The manual leveling process described in step S1 only needs to be leveled once during the installation and commissioning of the equipment, and manual leveling is not required every time the equipment is started; in the future, as long as the working mechanism of the electromagnetic hanging beam does not show serious problems Balance without manual leveling;
[0038] S2. When the electromagnetic hanging beam is hoisted, the controller adjusts the speed of the two motors through the inverter according to the real-time difference between the two encoders, so as to ensure that the height difference between the two ends of the electromagnetic hanging beam is within the set range ;
[0039] For specific applications, use the following steps to adjust the speed:
[0040] 1) Obtain the real-time difference between the two encoders, and judge the motor that needs to reduce the speed according to the current rotation direction of the motor and the current real-time difference, and at the same time convert the real-time difference between the encoders into a height difference;
[0041] 2) Calculate the speed adjustment value of the motor that needs to reduce the speed according to the following formula:
[0042] n=n_request*k
[0043] Where n_request is the given speed converted by the controller according to the received remote control command; n is the speed adjustment value of the motor that needs to reduce the speed, that is, n_request minus n represents the given speed sent by the final controller to the inverter, k is The error adjustment coefficient is specifically selected according to the following rules:
[0044] If the height difference is less than 3cm, the value of k is 0;
[0045] If 3cm≤height difference<10cm, the value of k is 0.2;
[0046] If 10cm≤height difference<30cm, the value of k is 0.4;
[0047] If 30cm≤height difference<50cm, the value of k is 0.6;
[0048] If 50cm≤ height difference, the value of k is 0.8;
[0049] This method can ensure that: when the electromagnetic hanging beam hoist is running fast, the n_request value is large, and the leveling adjustment force is large; when the height error on both sides of the electromagnetic hanging beam hoist is large, the k value becomes larger, and the leveling adjustment force is large; So that no matter whether the speed is high or low, whether the error is large or small, there is a relatively reasonable adjustment strength to ensure the smooth and fast leveling process;
[0050] The algorithm in the inverter can use the difference between the current position value of the encoder and the initial leveling position value, the position value increment corresponding to the 360-degree electrical angle of the encoder, the number of pole pairs of the encoder, the number of pole pairs of the motor, and The diameter of the motor drum is calculated to obtain the height difference between the two ends of the electromagnetic hanging beam;
[0051] S3. When receiving the stop command, the controller sends a control command to make the inverter control the motor to decelerate to the zero-speed hovering state, and at the same time record the current torque current value under the zero-speed hovering state as the memory current, and then issue it The brake command of the brake ensures that the electromagnetic suspension beam crane is braked and stopped smoothly;
[0052] S4. After stopping, when the controller receives the running command, it will give the speed loop a set opening speed value in the brake holding state, and detect the torque current in real time until the torque current value rises to the value described in step S3 Memory current
[0053] S5. When the torque current value rises to the memory current, the controller issues a brake opening command, and at the same time sets the given speed control value issued to the motor to 0, and at the same time modifies the control parameters of the speed loop and current loop to The preset opening control parameters are sent to the inverter;
[0054] The so-called opening control parameters are actually a set of special PI (Proportional Integral) parameters whose P and I values ​​are both larger than the PI control parameters during normal operation; therefore, under the control of the opening control parameters , The motor has a high dynamic response process, so that the motor can quickly respond to load changes, thereby improving the dynamic performance of the motor; but due to the large value of the PI parameter of the opening control parameter, the motor is in the opening control parameter Under the control of, in the stable working state, the motor speed and output voltage will fluctuate greatly, which will affect the stability of the operation. Therefore, the opening control parameters are only suitable for the control of a short transition state;
[0055] S6. The inverter controls the motor to run with the parameters given in step S5 until it receives the feedback signal of opening the brake from the controller. At this time, the inverter resets the control parameters of the motor to the control parameters in the normal state and sets the The control speed is reset to the given speed issued by the controller, and the normal operation of the motor is controlled to complete the control of the electromagnetic hanging beam.
[0056] Specifically, under the effect of the brake opening control parameters, if the load does not change after the motor is previously braked, that is, the memory current matches the current load current after the brake is opened, then the brake opening process will not cause downward slip or overshoot. Phenomenon, if the load changes after the motor was previously braked, such as the operator through the electromagnetic chuck control switch to increase or decrease the load, due to the use of special PI parameters, instantaneous high response ability plus the established torque current As a foundation, the system will not cause serious slippage or overshoot. When the inverter receives the gate opening feedback signal sent by the PLC, it will switch the control parameters to the normal control parameters, and set the given speed to the command speed given by the PLC start-up command to control the normal operation of the motor, thus realizing the electromagnetic hanging beam The crane is raised or lowered according to the given remote control signal.
[0057] In addition, the present invention uses a permanent magnet direct drive motor to replace the traditional motor plus gearbox structure, with low noise, simple structure, light weight, and low failure rate; using variable parameter control, high bandwidth and memory current are used to achieve startup without slipping during lifting. Hook, there is no need to consider load changes, and it has no effect on the brake; using the characteristics of the permanent magnet direct drive motor's outer rotor to directly wind the wire rope to connect the electromagnetic suspension beam, the rotor detected by the encoders on both sides under the premise of no gearbox or gear gap The position information can more accurately calculate the height difference between the two ends of the electromagnetic hanging beam, which provides a reference for the PLC to realize synchronous control, without additional cost, and can ensure fast and stable adjustment.

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