Crane variable amplitude speed regulation system and method using inverse model and pid double compensation

Abstract

The invention discloses a crane amplitude-variable speed regulation system and method using inverse model and PID double compensation. The system includes a dynamic inverse model module, a PID adjustment module and an input-output module; Reverse application of the speed output equation: the system determines the desired speed value of the variable frequency and amplitude motor according to the absolute rotation angle of the variable frequency and amplitude motor monitored in real time and the position of the luffing joystick corresponding to the expected variable speed; the PID adjustment module, It is used to perform PID compensation on the difference between the expected motor speed and the actual speed obtained after the compensation of the dynamic inverse model module, and then send a control command to the variable frequency and variable amplitude motor; the input and output module is used to define the input and output signals of the system, Including 3 input signals and an output control signal. The invention ensures that the luffing speed can be adjusted evenly through the luffing speed adjusting handle directly according to the driver's wishes during the whole luffing process of the combined jib type portal crane.

Description

technical field [0001] The invention belongs to the technical field of electric drive for cranes, and relates to a crane amplitude-variable speed regulation system and method, in particular to a combined boom-type portal crane amplitude-variable speed regulation system and method using inverse model and PID double compensation. Background technique [0002] Cranes have become an essential and important mechanical equipment for modern production because they can lift vertically and carry heavy objects horizontally within a certain range. Among the different types of cranes, the portal crane has a wide range of advantages, for example, it is flexible in high speed, safe and reliable, wide in adaptability, strong in loading and unloading capacity, and high in loading and unloading efficiency. At present, most portal cranes use a four-link combined jib type luffing mechanism to realize jib pitching and thus change the working range. In order to ensure good luffing performance, ...

AI Technical Summary

Problems solved by technology

Even if the luffing speed gear set by the master switch remains unchanged, the speed of the luffing motor remains constant, and the luffing speed cannot maintain a constant speed during the luffing process.

[0003] Chinese invention patent application CN105329788A discloses a method for controlling constant speed and variable amplitude of a jib crane, but the control mechanism of this method is relatively obscure, and the solution also has many deficiencies in the implementation method and speed regulation performance due to insufficient application of the control principle. For example, it is not optimal to choose the boom angle sensor as the input of the controller. The function form of the boom luffing system fitted with a one-dimensional high-order polynomial is complicated, the process is cumbersome, and the tracking performance of the luffing motor needs to be optimized and improved, etc.

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