CN104760889B - A kind of determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply - Google Patents
A kind of determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply Download PDFInfo
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- CN104760889B CN104760889B CN201510125999.7A CN201510125999A CN104760889B CN 104760889 B CN104760889 B CN 104760889B CN 201510125999 A CN201510125999 A CN 201510125999A CN 104760889 B CN104760889 B CN 104760889B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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Abstract
The invention belongs to crane control field, be specifically related to a kind of determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply.The control method of the present invention, by Measurement for Inverter output dc power and output frequency thereof after the frequency conversion motor that hoists starts steadily, indirectly measure the weight load torque that hoists, then with it and lifting motor rated power as qualifications, obtain lifting motor maximum frequency of operation.Negotiation speed controls gear and determines lifting motor running frequency again.The control method of the present invention, makes crane system both be operated in nominal torque, is also operated in rated power, reaches ensure safety and put forward high efficiency dual purpose.The control method of the present invention, by Measurement for Inverter inner parameter, eliminates the sensor in conventional hoist system, while improving certainty of measurement, reduces system complexity and cost.Making crane system simpler, precisely, efficiently, reliability is higher.
Description
Technical field
The invention belongs to crane control field, be specifically related to a kind of determine power with vector variable voltage variable frequency converter as power supply
Boom crane control method.
Background technology
Along with technological progress and market demands improve, in recent years, converter technique is more and more introduced into crane system,
As its electrical source of power, play advanced technology, it is easy to control, speed-regulating range width, stable working, simple in construction, maintenance cost
Low, the advantages such as integration degree is high, it is increasingly becoming the most important electrical source of power of crane system.Crane is modern production
In conventional a kind of plant equipment, different use occasions has different use demands, typically can be for different use occasions
Design and manufacture and adapt to the crane in these occasions.Crane in the course of the work, the arm of force if crane system hoists
Do not change, be only the rising or falling of weight of hoisting, or weight and crane system integral translation, such as gantry crane,
Bridge cranes etc., this kind of crane is defined as arm of force crane.Crane is gone back in addition to driving weight to rise or fall
Can drive weight in the horizontal direction or make certain displacement and rotation, crane system around crane gravity fulcrum in pitch orientation
The system arm of force that hoists changes, and such as derrick crane, harbour handling crane etc., this kind of crane is defined as variable arm lifting
Machine.In order to ensure lifting safety, crane operationally can not occur tumbling, cave in or overloading of crane self, it may be assumed that neither
Can be overweight, can not exceed the speed limit, falling i.e. suddenly of weight can not occur: be commonly called as " hook of sauntering " simultaneously.Complicated and changeable in order to adapt to
Lifting operating mode, crane is required for manual operation in the course of the work.In current crane, it is generally provided with multiple inspection
Survey sensor, in order to feed back to operator, make operator when operating crane, can conveniently understand crane operator
Make state, to guarantee lifting safety.The detection sensor arranged in current crane system, generally detects hoisted weight
Quality, the arm of force, torque, and lifting motor actual speed etc., and the final actual loading that lifting machine system is by reducing gear
Torque and working speed are only the key of decision systems work safety and efficiency, and to its actual working condition, current equipment is only
Artificially being judged by operator, this judgement only relies on practical operation experience and the sensation of operator；Current crane control
In system processed, the safety limiting crane landing weight quality only be only considered for the control of crane and arrange
Executing, and do not account for the restriction of crane safety operating rate, the most also cannot work on the premise of it guarantees safety effect
The raising of rate.And lack safety automation control way targetedly.In addition, the sensor made is all external installation, therefore firmly
Part cost, mounting means and the accuracy measured all bring a series of problem；There is obvious sensor additional hard
Part is with high costs, installation difficulty, measures to be affected by installation site and mode and greatly causes measurement difficulty result inaccurate and automatic
Many drawbacks that security control is vacant.
Summary of the invention
The one that the present invention is directed to above-mentioned weak point and provide determines arm of force Crane control method, add safe because of
While element takes into full account lifting safety, crane work efficiency can be significantly improved.The control method of the present invention, is with vector
Variable voltage variable frequency converter, i.e. VT-VVVF converter is the control method that crane system is object of power supply.
Crane is starting to hoist weight when, and weight is moving upward from static beginning, needs adding upwards
Speed a, the power putting on weight needs the gravity m × g more than weight, weight tension F=m that just hoists × (a+g).With
Time crane when starting to hoist, in order to ensure enough detent torques and start steadily, need a maximum starting torque
The rotating speed relatively low with one, this most important characteristics that VT-VVVF converter is possessed just selects it as crane with us
The reason of power supply.
The present invention determines in arm of force Crane control method,
S1 walks, and lifting motor VT-VVVF Frequency Converter Control lifting motor is pressed starting frequency fqd and run starting；
VT-VVVF Frequency Converter Control bridge motor is when hoisting, and different manufacturers, what it exported hoists frequency not to the utmost
Identical, common feature is: when starting, and exports low-down frequency fqd that hoists of lifting motor one, and output one simultaneously connects
It is bordering on the detent torque of lifting motor maximum output torque, Tqd=T during perfect conditionm, so that system obtains maximum rising
Dynamic torque smooth starting.
In determining arm of force crane, load torque size phase produced by lifting mechanism motor output torque Tfz and weight
With, in opposite direction, the most numerically Tfz=m × g × R.Wherein, lifting mechanism motor output torque Tfz is that lifting motor is through over subtraction
After speed mechanism slows down, the torque of output in reducing gear winch, R is lifting speed reducing structure winch radius, m × g
For the gravity by the weight that hoists.Following analysis is all to bear crane is actual with lifting mechanism motor output torque Tfz
Set torque is carried out.For rotating mechanical system, the torque derivation of equation of its broad sense is as follows:
Power required when weight hoists；
P=F × V i.e. power is amassed as power with speed.
When T=F × R steel cable is applied on the reel that radius is R, required torque.
P=F × V=F × ω × R=F × (2 × π × n/60) × R=(T/R) × (2 × π × n/60) × R both sides are with taking advantage of
1000 be converted into kW after be:
P=(T × n)/9550 P-(kW) ... ... (2-1)；
Or: P=(T × n)/9.55P-(W) ... ... (2-1)；
Broad sense rotates machinery system torque formula；
Wherein, rotating speed n unit is that r/min i.e. turns every point, and power P unit is kW；Torque T unit N m；Vector transformation becomes
Frequently, in converter, fairing output dc power is Pd, P1For vector variable voltage variable frequency converter frequency conversion output AC power with rise
Lifting motor stator power is equal, P2For lifting motor rotor power, reducing gear output is Pfz, then have a following relation:
For IGBT switching tube efficiency factor；
λ=P2/P1；λ is lifting motor electromagnetic conversion efficiency factor；
ε=Pfz/P2；ε is the gear reducer mechanism coefficient of mechanical efficiency；
∴
δ=n2/nfz；n2Lifting motor or lifting mechanism input speed, nfz lifting mechanism output speed, δ is lifting motor
Reducing gear gear ratio；
n2=60 × (1-S) × f/ ρ；Asynchronous machine asynchronous speed；S is asynchronous machine revolutional slip, and ρ is asynchronous machine magnetic pole
Logarithm；F is that asynchronous machine operating frequency is equal to VT-VVVF converter output frequency；
∴Then
Have:
Order: Kdj=160 × ρ/(1-S)；Electric machine rotation parameter；
Electric efficiency parameter；
Kjs=ε × δ=(Pfz/P2)×(n2/ nfz)=(Pfz/nfz)/(P2/n2)=Tfz/T2；Reductor parameter；
∴ Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × Ud×Id/f…(2-2)；
Wherein, definition territory: fqd (Hz)≤f≤2 × f0；
Codomain: TK≤Tfz (N m) ＜ Kjs × Tn；
Fqd is the starting frequency of lifting motor vector frequency converter,
2×f0For the maximum operation frequency of current lifting motor,
f0For work frequency 50Hz；
TK is no-load torque；
Tn is Rated motor torque；
When measuring lifting motor, running frequency f that lifting motor is corresponding rises at vector variable voltage variable frequency converter
Dynamic frequency fqd and maximum output frequency 2 × f0Between.P1NFor lifting motor nominal rating power, Pd≤P1N× λ/Kdx ensure that
Lifting motor is not over nominal rating Power operation.By to converter commutating DC power PdWith corresponding output frequency f's
Measure, and judge accordingly: if Tfz is ＞ Tfzmax, Torque Overload, the weight that hoists allows lifting maximum weight more than crane；
If Pd＞ P1N× λ/Kdx, power overloads, and crane power is more than lifting motor nominal rating power；Broadly fall into crane
System overcharge, if during system overcharge, makes U0=0 i.e. frequency converter output voltage sets to 0, and crane alarm is stopped, forward locking, instead
To opening, failure to the safe side.
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × Ud×Id/f……(2-2)；
The present invention determines in arm of force Crane control method,
S2 walks, and after lifting motor starts, measures lifting motor vector variable voltage variable frequency converter rectification output DC voltage Ud
DC current I is exported with rectificationd, converter rectification output dc power in 2 seconds fluctuating margin less than 10% time, surveying record
Its rectification output DC voltage Ud, rectification output DC current IdWith the output frequency f that hoists, formula (2-2) is utilized to calculate lifting machine
Structure motor output torque Tfz.
Formula 2-2 has drawn lifting mechanism motor output torque Tfz calculated relationship.Same crane, in running
Electric machine rotation parameter Kdj, electric efficiency parameter Kdx, the parameter such as reductor parameter Kjs will not change；Lifting mechanism defeated
Go out rectification output dc power P of torque Tfz and vector variable voltage variable frequency converterdDirectly contact is there is with output frequency f,
I.e. load and dynamic relation, it is actually the formula (2-1) tool in vector variable voltage variable frequency converter crane system
The body form of expression.Specifically hoist process for certain, will not be changed by the weight quality of lifting, namely lifting motor
Load will not change, and is constant torque load；After lifting motor operates steadily, export by measuring converter rectification
Dc power Pd=Ud×IdWith output frequency f, i.e. to obtain lifting mechanism motor output torque Tfz.The main root of formula (2-2)
According to the real work principle of vector variable voltage variable frequency converter crane system, have chosen the P being prone to measure the mostdWith f as survey
Amount object also establishes and the strict quantitative relation of lifting mechanism motor output torque Tfz three；It is that broad sense rotates machinery system
System torque formula (2-1) is prone to measure the concrete manifestation form controlled in vector variable voltage variable frequency converter crane system.
Calculate lifting motor maximum frequency of operation fmax,
∵ Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × Ud×Id/f……(2-2)；
Pd=P2/ Kdx electric efficiency parameter；
∴ f=Kdj × Kdx × Kjs × Pd/ Tfz=Kdj × Kdx × Kjs × (P2/Kdx)/Tfz
Make P2=P2N=P1N× λ, then obtain corresponding to system load torque Tfz in lifting motor nominal rating Power Limitation
Under the running frequency upper limit-maximum frequency of operation fmax:
∴fmax=Kdj × Kjs × (P2N/ Tfz)=Kdj × Kjs × (P1N×λ/Tfz)……(2-3)；
Substituted into (2-3) by (2-2) to obtain:
In formula, P2NFor lifting motor rotor-side nominal rating power, P1NFor lifting motor nominal rating power, λ is for hoisting
Motor electromagnetic conversion efficiency coefficient.
Thus, under a specific lifting mechanism motor output torque Tfz, lifting motor nominal rating power P1NAs
Restrictive condition, limits maximum frequency of operation f of lifting motormax.Certain is specifically hoisted, during hoisting, is risen
The weight quality of weight will not change, and namely lifting motor load torque will not change, and the weight that i.e. hoists is to hoisting
It it is a constant torque load for motor.After lifting motor operates steadily, measure lifting motor vector variable voltage variable frequency frequency conversion
Device rectification output dc power PdWith lifting motor running frequency f, i.e. can obtain hoisting weight time required lifting mechanism
Motor output torque Tfz.For certain specific lifting mechanism motor output torque Tfz, the maximum frequency of operation of lifting motor
fmaxBy the nominal rating power P of lifting motor1NDetermine.During crane works, converter output frequency f≤fmax, really
Protect lifting motor operating frequency to control all the time not can exceed that fmax；This is that another safety precautions of system carries again simultaneously
The quantity foundation that high workload efficiency is the strictest.
The present invention determines in arm of force Crane control method,
S3 walks, and calculates lifting motor maximum frequency of operation fmax,
Crane is when hoisting weight, it is possible to overloading occurs, and the present invention determines in arm of force Crane control method；
S4 walks, it is judged that whether lifting motor overloads,
If Tfz is ＞ Tfzmax, or P1max＞ P1N；It is defined as system overcharge.
Tfzmax=mmax× g × R is the maximum allowable load torque of crane system,
In formula: mmaxLifting by crane quality for system maximum, g is acceleration of gravity, and R is lifting mechanism hoist engine radius；
In formula: P1maxFor in load torque Tfz and lifting motor maximum frequency of operation fmaxUnder lifting motor needed for merit
Rate, TfzmaxFor the maximum allowable load torque of crane system；If overload once occurs in crane system, namely hoist electricity
Acc power exceedes its nominal rating power or hoisted weight quality exceedes crane maximum lifted load, then automatically into U0=
0 i.e. frequency converter output voltage sets to 0, and crane stops, signal of reporting to the police, and forward locking reversely opens, the overload work of failure to the safe side
Mode；Obtaining crane in certain lifting motor maximum frequency of operation f under load that specifically hoistsmaxAfter, lifting motor
Actual motion frequency is determined by the gear number residing for lifting motor speed control handle.Lifting motor maximum frequency of operation fmax
Corresponding is the high tap position running frequency of lifting motor speed control handle.Lowest gear running frequency is zero, namely
During deep low gear, lifting motor is in stopped status.Crane operator, when operation, handles lifting motor speed control handle
To suitable gear, lifting motor vector variable voltage variable frequency converter can be to convert output frequency, with lifting motor speed controlling hands
Gear residing for handle adapts.When lifting motor speed control handle gear changes, lifting motor vector variable voltage variable frequency frequency conversion
Device output frequency can make corresponding conversion.
The present invention determines in arm of force Crane control method；
S5 walks, and detects lifting motor speed control handle current gear kdw；
Wherein kdw gear is by 0,1,2 ... kmaxConstitute；kmaxFor hoisting speed of crane total gear number；
S6 walks, and calculates adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f, Δ f
=fmax/kmax；
S7 walks, and calculates the lifting motor vector variable voltage variable frequency converter output frequency fk that current gear kdw is corresponding,
Fk=fmax×kdw/kmax=kdw × Δ f；………(2-15)；
S8 walks, and lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, with spacing frequency for Δ f
Frequency is increased or decreased, with frequency/time rate of change is i.e.: Δ f/ Δ tdSpeed, make output frequency transform to
Fk, and keep fk to run, return S5 step circulation after running time T y or process interruption.
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))………(2-16)；
T in formulanFor lifting motor nominal rated torque, Kt is frequency transformation period coefficient, Δ t0During for frequency change basis
Between.
Frequency increase and decrease speed=frequency variation and the ratio=Δ f/ Δ t of time variation amountd；……(2-16)′；
Interval time Δ tdIt is divided into two parts, Δ t0Basal latency, Kt × (Tfz/ (Kjs × Tn)) is one and lifting machine
Structure motor output torque Tfz and lifting motor nominal torque TnRelevant numerical value, Kt is frequency transformation period coefficient, according to lifting
Machine system differs, and value also differs.From formula (2-16), Tfz is the biggest, and the weight namely hoisted is the heaviest, Δ
tdThe biggest, Δ f/ Δ tdThe least, the time of lifting motor vector variable voltage variable frequency converter conversion output frequency gear is also more
Long, speed of going forward one by one is the slowest, and vice versa.This satisfies the weight that hoists the heaviest, conversion lifting velocity needs the most stable actual work
Condition requirement.
Further, the present invention determines in arm of force Crane control method,
Interrupt described in S8 interrupting for the spacing interruption of deceleration or speed limit or one of fault interrupting or overload interruption.If crane
When occurring such as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane can enter the interruption service of correspondence
Routine processes is also eventually led to safety.
Further, the present invention determines in arm of force Crane control method,
In S8 step, Δ t0Value is 1 second, and Kt value is the 1-2 second, and Ty value is the 1-2 second.
Further, the present invention determines in arm of force Crane control method,
In S1 step, vector variable voltage variable frequency Frequency Converter Control lifting motor is 0.1-5Hz by starting frequency fqd.
Further, the present invention determines in arm of force Crane control method,
In S2 step, the sample frequency of Measurement for Inverter rectification output dc power is 10-20Hz.Further, the present invention
Determine in arm of force Crane control method, lifting motor vector variable voltage variable frequency converter rectification output DC voltage UdDefeated with rectification
Go out DC current IdSampling sensor use two variablees input Hall element and two groups of variablees can be measured simultaneously, thus
Reach quickly and simplify to measure Pd=Ud×IdPurpose.
Further, in the control method of the present invention, lifting motor revolutional slip is for using revised revolutional slip:
Revising revolutional slip: by mechanical property figure T=f (s) of AC asynchronous motor, graph of a relation understands:
S=Sn×(Pdl/Pdn)×(fn/f)………………(3-5)；
Or:
In formula: S, T are arbitrfary point on working curve；PdlDc power, unit kW, P is surveyed for converterdnFor converter
Nominal DC power, unit kW；In the present embodiment: f is converter practical frequency and PdlCorrespondence, fnFor converter rated frequency with
PdnCorresponding.
Further, in S2 step
After S2: lifting motor starts, measure lifting motor vector variable voltage variable frequency converter rectification output DC voltage UdWith
Rectification output DC current Id, converter rectification output dc power within the 1-2 second fluctuating margin less than 5% time, surveying record
Lifting motor vector variable voltage variable frequency converter rectification output DC voltage Ud, rectification output DC current IdWith lifting motor vector
Variable voltage variable frequency converter output frequency f, calculating lifting mechanism motor output torque Tfz:
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × (Ud×Id)/f
In formula, Kdj=160 × ρ/(1-S)；Kjs=ε × δ；For converter DC-AC transformation process
Middle IGBT switching tube efficiency factor；λ is lifting motor electromagnetic conversion efficiency factor；ε is the reducing gear coefficient of mechanical efficiency；δ is
Reducing gear gear ratio；ρ is lifting motor magnetic pole logarithm；S is lifting motor revolutional slip；UdWhole for vector variable voltage variable frequency converter
Stream output DC voltage；IdDC current, P is exported for vector variable voltage variable frequency converter rectificationdWhole for vector variable voltage variable frequency converter
Stream output dc power.
The invention has the beneficial effects as follows:
The present invention determines arm of force crane system control method, in existing lifting with vector variable voltage variable frequency converter as power supply
Machine system security controls only to rise heavy substance amount m single factor test limit on the basis of, add to its operating rate f ∝ n this because of
Element limits, thus ensure that the safe operation of crane system all sidedly；Meanwhile, owing to introducing its operating rate
The control of f, and then another effect produced is exactly on the premise of abundant safeguards system safe operation, makes again the system can be quantitative
It is operated in the highest safe speed f exactlymaxUnder, therefore expand its speed adjustable range, improve work efficiency；
The present invention determines arm of force crane system control method, by crane after completing starting process, to the electricity that hoists
Machine vector variable voltage variable frequency converter output DC electric power Pd=Ud×IdCarry out with output frequency f i.e. lifting motor running frequency
Measuring, calculate lifting mechanism motor output torque Tfz, indirect measuring goes out the load torque that hoists of crane, makes systematic survey
It is no longer necessary to be added on converter and the gravity sensor of outside motor and velocity sensor, then is exported by lifting mechanism motor
Torque Tfz calculates the running frequency that lifting motor is corresponding under nominal rating Power operation, as when time lifting correspondence
The allowed maximum frequency of operation f of Tfzmax.Finally control lifting motor running frequency and can allow maximum frequency of operation fmaxIt
Interior operation.In practical operation, crane operator is according to field condition, and when needing low speed to hoist, operator can be rising
Lifting motor speed control handle is put into low gear.When operator is put into high tap position lifting motor speed control handle,
Lifting motor runs to be not more than and can allow maximum frequency of operation fmaxAnd keep maximum running frequency to run, guaranteeing system
The work efficiency of tackling system is substantially increased on the premise of safety.
The present invention determines arm of force Crane control method, by measuring lifting motor vector variable voltage variable frequency converter rectification part
The mode dividing output dc power obtains controlling parameter, it is no longer necessary to AC power measurement, because DC power measurement is the most accurate
Convenient and reliable, simplify control system and means, improve convenience and the accuracy of measurement.Use simultaneously and measure vector transformation
Frequency conversion converter output frequency obtains lifting motor rotating speed plus the mode that revolutional slip S carries out load correction, it is no longer necessary to rise
Lifting motor rotor speed sensor, while simplified system measurement means, also improves certainty of measurement and convenience；And avoid
Measurement that measuring method of the prior art is brought difficulty, measurement means is complicated, affected greatly by environment and mounting means and
The inaccurate drawback of measurement caused；Be greatly saved in prior art sensor hardware cost and installation and debugging operating cost with
And the difficult and inaccurate problem of measurement that installation method and position are brought；Meanwhile, the control method of the present invention, required measurement
All parameters all complete inside converter, change existing externally measured into internal measurement, make system control to measure more accurate
Really conveniently save and be easy to the further system integration.The lifting motor vector variable voltage variable frequency converter rectifying part of the application is defeated
Going out dc power uses the Hall element of two variable inputs to measure, and can measure DC voltage and DC current, directly simultaneously
Obtaining dc power, make measurement more stable reliable, convenient accurate, specific aim is higher, and cost decreases, and facilitates internal system collection
Become.
The present invention determines arm of force Crane control method, it is ensured that crane system the most safely but also runs mesh efficiently
's；And then driver can be absorbed in the observation of field working conditions environment without worrying owing to estimating that mistake causes overload hypervelocity
Generation.DATA REASONING mode required for Tong Shi, by dynamically transferring static state to, is transferred to inside by outside, by indirectly transferring to directly,
The transformation of metering system, overcomes hardware spending, and equipment installation difficulty, measurement are affected by sensor mounting location mode and measure
Inaccurate, complicated technology realization is difficult, the drawback of high cost etc..
The present invention determines arm of force Crane control method, it is no longer necessary to gravity sensor and lifting motor rotor speed sensing
Device, saves system hardware installation and operation cost, is effectively improved crane system observing and controlling quality and complete machine equipment property.
The present invention determines arm of force Crane control method, owing to have employed the strictest quantitative analysis, to complete machine
Providing the checking means of supplementing out economy with the original design etc. of structural establishment manufacturer, to safety allowance analysis, early warning judges, safety
Property the aspect such as raising can play and further supplement and perfect effect.
Accompanying drawing explanation
Fig. 1 is the frequency conversion motor parameter that hoists in embodiments of the invention.
Fig. 2 is lifting mechanism characterisitic parameter in embodiments of the invention.
Detailed description of the invention
In enforcement, hoist frequency conversion motor parameter as shown in Figure 1；The lifting mechanism parameter of electric machine is as shown in Figure 2.
Embodiment 1:
The present embodiment determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply.Including following step
Rapid:
S1: lifting motor vector variable voltage variable frequency (same under VT-VVVF) Frequency Converter Control lifting motor presses starting frequency fqd fortune
Row starts:
In this enforcement row, VT-VVVF Frequency Converter Control lifting motor is 0.5Hz by starting frequency.The change that this example selects
Frequently device automatically selects startup item；
After S2: lifting motor starts, being gradually increased converter output frequency and extremely measure frequency f, the principle of f is as far as possible
Ensureing non-overloading under low frequency and hoist steadily, this example is 15Hz；Measure lifting motor VT-VVVF converter rectification output unidirectional current
Pressure UdWith DC current Id, its corresponding dc power Pd=Ud×IdWhen in 1 second, fluctuating margin is less than 5%, its value of surveying record
Pd=Ud×IdWith output frequency f, calculate lifting mechanism motor output torque Tfz:
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × (Ud×Id)/f....(2-2)；
In the present embodiment, system operation conditions parameter is as follows:
IGBT switching tube efficiency factor in converter DC-AC transformation process
Lifting motor electromagnetic conversion efficiency factor λ=0.85；
Reducing gear coefficient of mechanical efficiency ε=0.8；
Reducing gear gear ratio δ=148, this gear ratio is pressed rotating speed and is calculated；
Lifting motor rated power P1N=110kW, corresponding P1NThe VT-VVVF specified output of converter rectification straight
Stream powerLifting motor magnetic
Number of pole-pairs ρ=4, lifting motor synchronous rotational speed n0=750r/min, rated speed nN=722r/min；
Lifting motor rated slip is: Sn=(n0-nN)/n0=(750-722)/750=0.0373；
Kdj=160 × ρ/(1-S)=160 × 4/ (1-0.0373)=664.8；
Kjs=ε × δ=0.8 × 148=118.4；
Detect lifting motor vector variable voltage variable frequency converter rectification output dc power in 1 second, fluctuating margin is less than
When 5%, then detect record, now its rectification output dc power Pd=34.57kW, output frequency f=15Hz, then
Tfz=Kdj × Kdx × Kjs × Pd/f
=664.8x0.8075x118.4x34.57/15=146485.07N m；
Known by Fig. 2: Tfz=146485.07N m < 147000N m=mmax× g × R=10000x9.8x1.5；Wherein
mmaxFor maximum allowable lifting capacity, g is acceleration of gravity, and R is lifting elevator dish radius；TfzmaxGive maximum allowable negative for producer
Set torque；
S3: calculate lifting motor maximum frequency of operation fmax:
In the present embodiment, lifting motor nominal rating power P1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. actual measurement load torque Tfz not should be greater than equipment manufacturer given permission load torque；
Known by S2: Tfz=146485.07N m < Tfzmax=147000N m, TfzmaxGive maximum allowable negative for producer
Set torque；But Tfz closely Tfzmax, can conclude that the maximum lift heavy amount that now lift heavy the most closely system allows, operation
It is careful with caution；Safety but the closely limit；
2. judge that lifting motor is operated in Tfz and peak frequency f simultaneouslymaxIn the case of power limit P1maxWhether surpass its volume
Determine power P1N:
According to: Tfz=Kdj × Kdx × Kjs × Pd/f......(2-2)；
≤P1N=110kW, safety；
Therefore can determine whether, lifting motor actual measurement load torque is not more than the given load torque that allows of equipment manufacturer, but
Closely its ultimate value, therefore should careful safe driving；It is operated in actual measurement load torque Tfz simultaneously and peak frequency is
fmaxTime, its ultimate value in rated operating range, non-overloading.Analysis also plays analysis and early warning effect simultaneously；
S5, detects lifting motor speed control handle current gear kdw；
Wherein kdw gear is by 0,1,2 ... ..kmaxConstitute；kmaxFor hoisting speed of crane total gear number；
In the present embodiment, total gear number is 8 grades.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f,
Δ f=fmax/kmax
In the present embodiment, output gap frequency values Δ f=fmax/kmax=50.24/8=6.28Hz；
S7, calculates current gear lifting motor vector variable voltage variable frequency converter output frequency fk,
Fk=fmax×kdw/kmax=kdw × Δ f；Kdw is speed control handle current gear；
Detection speed control handle current gear is the 4th grade, lifting motor output frequency
Fk=kdw × Δ f=4x6.28=25.12Hz；
S8, lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, spacing frequency is that Δ f increases
Or minimizing frequency, make output frequency transform to fk,
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))
In the present embodiment, frequency transformation period COEFFICIENT K t is 1.5 seconds, frequency change basal latency Δ t0=1S,
Frequency transformation interval time
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))
=1+1.5x (146485.07/ (118.4x1455))=2.275S；
Gear increase and decrease speed=frequency/time rate of change=(frequency increment)/(incremental time)=Δ f/ Δ td；
Gear increase and decrease speed=Δ f/ Δ td=6.28/2.275=2.76Hz/S；Vector variable voltage variable frequency frequency converter frequency is defeated
Going out after fk=25.12Hz, keep 25.12Hz to run, after running time T y, return S5 step circulates or processes and interrupts.Described in S8
Interrupt interrupting for the spacing interruption of deceleration or speed limit or one of fault interrupting or overload interruption.Detection speed control handle current gear
Kdw, if crane occurs such as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane system enters
Corresponding interrupt service routine processes and failure to the safe side.
Embodiment 2:
The present embodiment is distinguished as with embodiment 1, and lifting motor revolutional slip is the revised revolutional slip of employing,
According to: S=Sn×(Pd/Pdn)×(f0/f)………………(3-5)；
Or
The system operation conditions parameter of the present embodiment is with embodiment 1:
When actual measurement VT-VVVF converter rectification output dc power PdDuring=34.57kW,
Unmodified rated slip SnI.e. rated slip calculates:
Sn=(n0-nN)/n0=(750-722)/750=0.0373；
Revolutional slip after correction:
Use revised revolutional slip S calculate lifting motor output speed be: nN=n0-S×n0=750-0.03712 ×
750=722.16r/min.During actual measurement, lifting motor rotating speed is 723r/min.Revised revolutional slip S is used relatively to use
The rated slip Sn of unmodified calculates lifting motor output speed and measures that to obtain speed error less with actual；Thus
Going out and use the former to replace the latter to calculate lifting motor output speed, error is less, closer to reality.Separately, due to revised S
With SnDiffer minimum, now lifting mechanism motor torque Tfz the most closely Tfz is describedmax?；Actual revolutional slip can be passed through
With the comparison indirect analysis system load situation of rated slip, this is also the effect that revolutional slip correction brings；
S2: revolutional slip S=0.03712 after correction:
Kdj=160 × ρ/(1-S)=160x4/ (1-0.03712)=664.67；
Kjs=ε × δ=0.8x148=118.4
Then Tfz=Kdj × Kdx × Kjs × Pd/f
=664.67x0.8075x118.4x34.57/15=146456.426N m；
Known from above: Tfz=146456.426N m < Tfzmax=147000N m；TfzmaxGive maximum allowable for producer
Load torque；This explanation is after revolutional slip S diminishes, and the load torque of motor reality have also been smaller, therefore load torque is than use volume
Determine revolutional slip SnThe result calculated is little, compares with embodiment 1, decreases, and this causes owing to revolutional slip reduces；More
Meet the result of actual measurement；
S3:
In the present embodiment, lifting motor nominal rating power P1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. actual measurement load torque Tfz not should be greater than equipment manufacturer given permission load torque；Known by S2: Tfz
=146456.426N m < Tfzmax=147000N m；TfzmaxMaximum allowable load torque is given for producer；But Tfz is very
Close to Tfzmax, can conclude that the maximum lift heavy amount that now lift heavy the most closely system allows, operation are careful with caution；Safety
But the closely limit.
2. judge that lifting motor is operated in Tfz and peak frequency f simultaneouslymaxIn the case of power limit P1maxWhether surpass its volume
Determine power P1N:
According to: Tfz=Kdj × Kdx × Kjs × Pd/f..................(2-2)；
Safety.
Therefore can determine whether, lifting motor actual measurement load torque is not more than equipment manufacturer given permission load torque；Simultaneously
It is operated in actual measurement load torque Tfz and peak frequency is fmaxTime, its ultimate value in rated operating range, non-overloading.With reality
Executing example 1 to compare and understand, due to the reduction of actual revolutional slip S, system load torque Tfz that hoists have dropped, therefore security of system nargin
Increase than before not revising.
S5, detects lifting motor speed control handle current gear kdw；
Wherein kdw gear is by 0,1,2 ... ..kmaxConstitute；kmaxFor hoisting speed of crane total gear number.
In the present embodiment, total gear number is 8 grades, and detection speed control handle current gear is the 4th grade.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f, Δ f=
fmax/kmax；
In the present embodiment, output gap frequency values Δ f=fmax/kmax=50.24/8=6.28Hz.
S7, calculates current gear lifting motor vector variable voltage variable frequency converter output frequency fk,
Fk=fmax×kdw/kmax=kdw × Δ f；Kdw is speed control handle current gear；
Detection speed control handle current gear is the 4th grade, lifting motor output frequency
Fk=kdw × Δ f=4X6.28=25.12Hz.
S8, lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, spacing frequency is that Δ f is increased or decreased
Frequency, makes output frequency transform to fk；
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))；
In the present embodiment, frequency transformation period COEFFICIENT K t is 1.5 seconds, frequency change basal latency Δ t0=1 second, frequency became
Change interval time
Δtd=Δ t0+ Kt × (Tfz/ (Kjs × Tn))=1+1.5x (146456.426/ (118.4X1455))=
2.275S；
Frequency increase and decrease speed=frequency variation and the ratio=Δ f/ Δ t of timed；
In the present embodiment, frequency increase and decrease speed=Δ f/ Δ td=6.28/2.275=2.76Hz/S；
After vector variable voltage variable frequency frequency converter frequency exports fk=25.12Hz, keep 25.12Hz to run, run time 1S
Rear return S5 step circulation or process are interrupted.Interrupt described in S8 interrupting for slow down spacing interruption or speed limit or fault interrupting or overload
One of interrupt.Detection speed control handle current gear kdw, if crane occurs that such as spacing, speed limit, overload, fault, weight arrive
When reaching the situations such as target location, crane system enters corresponding interrupt service routine and processes and failure to the safe side.Thus number of cases evidence
Finding out, it differs the least with embodiment 1, and this is mainly due to now system load the most closely rated load, specified turn
Rate SnIt is sufficiently close to actual revolutional slip S, therefore both result of calculations are also very close to.
Embodiment 3:
The present embodiment determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply.Including following step
Rapid:
S1: lifting motor vector variable voltage variable frequency Frequency Converter Control lifting motor is pressed starting frequency fqd and is run starting；
In this enforcement row, VT-VVVF Frequency Converter Control lifting motor is 5Hz by starting frequency.Initiation culture is by selected change
Frequently device determines.
After S2: lifting motor starts, measure lifting motor VT-VVVF converter rectification output DC voltage UdAnd unidirectional current
Stream Id, Pd=Ud×Id；When in 2 seconds, its fluctuating margin is less than 10%, surveying record VT-VVVF becomes
Frequently device PdAnd output frequency f, calculating lifting mechanism motor output torque Tfz:
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × (Ud×Id)/f.....(2-2)；
In the present embodiment: system operation conditions parameter is as follows:
IGBT switching tube efficiency factor in converter DC-AC transformation process
Lifting motor electromagnetic conversion efficiency factor λ=0.85,
Reducing gear coefficient of mechanical efficiency ε=0.8,
Reducing gear gear ratio δ=148, this gear ratio is pressed rotating speed and is calculated；
Lifting motor magnetic pole logarithm ρ=4, lifting motor rated slip is 0.0373；
Kdj=160 × ρ/(1-S)=160x4/ (1-0.0373)=664.8
Kjs=ε × δ=0.8x148=118.4；
Lifting motor rated power P1N=110kW, corresponding P1NThe VT-VVVF specified output of converter rectification straight
Stream powerLifting motor magnetic
Number of pole-pairs ρ=4, lifting motor synchronous rotational speed n0=750r/min, rated speed nN=722r/min；
Lifting motor rated slip is: Sn=(n0-nN)/n0=(750-722)/750=0.0373；
Detect lifting motor vector variable voltage variable frequency converter rectification output dc power in 2 seconds, fluctuating margin is less than
When 10%, then detection record vector variable voltage variable frequency converter rectification output dc power is 20.83kW, vector variable voltage variable frequency frequency conversion
Device output frequency f=15Hz,
Then Tfz=Kdj × Kdx × Kjs × Pd/ f=664.8x0.8075x118.4x20.83/15=88263.93N
m；
Tfz=88263.93N m < Tfzmax=147000N m, TfzmaxMaximum allowable load torque is given for producer；
S3: calculate lifting motor maximum frequency of operation fmax,
In the present embodiment, lifting motor side nominal rating power P1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. actual measurement load torque Tfz not should be greater than equipment manufacturer given permission load torque；Known by S2: Tfz
=88263.93N m < Tfzmax=147000N m TfzmaxMaximum allowable load torque is given for producer；Can be seen from above
Going out, Tfz is much smaller than Tfzmax, now ballast load system of distance allows maximum load to also have bigger gap；Safety also has bigger
Nargin.
2. judge that lifting motor is operated in Tfz and peak frequency f simultaneouslymaxIn the case of power limit P1maxWhether surpass its volume
Determine power P1N:
According to: Tfz=Kdj × Kdx × Kjs × Pd/f......(2-2)；
Safety；
Therefore can determine whether, lifting motor actual measurement load torque is operated in allowed band, safety；It is operated in actual measurement load simultaneously
Torque Tfz and peak frequency are fmaxTime, its ultimate value in rated operating range, overall condition is for being operated in security of system
In the range of, safe driving；
S5: detection lifting motor speed control handle current gear kdw:
Wherein kdw gear is by 0,1,2 ... ..kmaxConstitute；kmaxFor hoisting speed of crane total gear number；
In the present embodiment, total gear number is 16 grades.
S6: calculate adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f
Δ f=fmax/kmax；
In the present embodiment, output gap frequency values Δ f=fmax/kmax=83.38/16=5.21Hz.
S7: calculate current gear lifting motor vector variable voltage variable frequency converter output frequency fk,
Fk=fmax×kdw/kmax=kdw × Δ f；Kdw is speed control handle current gear；
Detection speed control handle current gear is the 13rd grade, lifting motor output frequency
Fk=kdw × Δ f=13x5.21=67.75Hz；
S8: lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, spacing frequency is that Δ f is increased or decreased
Frequency, makes output frequency transform to fk；
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))；
In the present embodiment, frequency transformation period COEFFICIENT K t is 2 seconds, frequency change basal latency Δ t0=1 second, frequency transformation
Interval time
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))
=1+2x (88263.93/ (118.4x1455))=2.025S；
Position increase and decrease speed=frequency/time rate of change=(frequency increment)/(incremental time)=Δ f/ Δ td；
Gear increase and decrease speed=Δ f/ Δ td=5.21/2.025=2.57Hz/S；
After vector variable voltage variable frequency frequency converter frequency exports fk=67.75Hz, keep 67.75Hz to run, run 2 seconds time
Rear return S5 step circulation or process are interrupted.Interrupt described in S8 interrupting for slow down spacing interruption or speed limit or fault interrupting or overload
One of interrupt.Detection speed control handle current gear kdw, if crane occurs that such as spacing, speed limit, overload, fault, weight arrive
When reaching the situations such as target location, crane system enters corresponding interrupt service routine and processes and failure to the safe side.
Embodiment 4:
The present embodiment is distinguished as with embodiment 3, and lifting motor revolutional slip is the revised revolutional slip of employing,
The system operation conditions parameter of the present embodiment is with embodiment 3:
S1: when actual measurement VT-VVVF converter rectification output dc power PdDuring=20.83kW,
Unmodified rated slip SnCalculate:
Sn=(n0-nN)/n0=(750-722)/750=0.0373；
Correction revolutional slip:
According to: S=Sn×(Pd/Pdn)×(f0/f)………………(3-5)；
Or
Use revised revolutional slip S calculate lifting motor output speed be: nN=n0-S×n0=750-0.022367 ×
750=733.225r/min.During actual measurement, lifting motor rotating speed is 735r/min.Revised revolutional slip S is used relatively to use
The rated slip S of unmodifiednCalculate lifting motor output speed and measure that to obtain speed error less with actual；Thus
Going out and use the former to replace the latter to calculate lifting motor output speed, error is less, closer to reality.
S2:Kdj=160 × ρ/(1-S)=160x4/ (1-0.022367)=654.642；
Kjs=ε × δ=0.8x148=118.4；
Then Tfz=Kdj × Kdx × Kjs × Pd/f
=654.642x0.8075x118.4x20.83/15=86915.326N m
Known by Fig. 2: Tfz=86915.326N m < Tfzmax=147000N m；TfzmaxGive maximum allowable for producer
Load torque.
This explanation is after revolutional slip S diminishes, and the load torque of motor reality have also been smaller, therefore load torque is more specified than using
Revolutional slip SnThe result calculated is little, more meets the result of actual measurement；
S3: calculate lifting motor maximum frequency of operation fmax,
In the present embodiment, lifting motor side nominal rating power P1N=110kW
S4: judge whether lifting motor overloads:
Criterion: 1. actual measurement load torque Tfz not should be greater than equipment manufacturer given permission load torque；Known by S2: Tfz
=86915.326N m < Tfzmax=147000N m；TfzmaxMaximum allowable load torque is given for producer；It is operated in permission
In load torque limit range, as seen from the above, Tfz is much smaller than Tfzmax, now ballast load system of distance allows maximum negative
Carry and also have bigger gap；Safety also has bigger nargin；
2. judge that lifting motor is operated in Tfz and peak frequency f simultaneouslymaxIn the case of power limit P1maxWhether surpass its volume
Determine power P1N；
According to: Tfz=Kdj × Kdx × Kjs × Pd/f......(2-2)；
Therefore can determine whether, lifting motor actual measurement load torque is operated in permission load torque limit range, trouble free service；With
Time be operated in actual measurement load torque Tfz and peak frequency be fmaxTime, its ultimate value in rated operating range,
In the range of overall condition is considered as being operated in system limits value, trouble free service；Compare with embodiment 3 and understand, due to reality
The reduction of border revolutional slip S, system load torque Tfz that hoists have dropped, therefore security of system nargin increases than before not revising；
S5, detects lifting motor speed control handle current gear kdw；
Wherein kdw gear is by 0,1,2 ... ..kmaxConstitute；kmaxFor hoisting speed of crane total gear number；
In the present embodiment, total gear number is 16 grades, and detection speed control handle current gear is the 13rd grade.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f, Δ f=
fmax/kmax；
In the present embodiment, output gap frequency values Δ f=fmax/kmax=83.38/16=5.21Hz.
S7, calculates current gear lifting motor vector variable voltage variable frequency converter output frequency fk,
Fk=fmax×kdw/kmax=kdw × Δ f；Kdw is speed control handle current gear；
Detection speed control handle current gear is the 13rd grade, lifting motor output frequency
Fk=kdw × Δ f=13x5.21=67.75Hz.
S8, lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, spacing frequency is that Δ f is increased or decreased
Frequency, makes output frequency transform to fk；
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))；
In the present embodiment, frequency transformation period COEFFICIENT K t is 2 seconds, frequency change basal latency Δ td=1 second, frequency transformation
Interval time Δ td=Δ t0+ Kt × (Tfz/ (Kjs × Tn))=1+2x (86915.326/ (118.4x1455))=2.009S；
Frequency increase and decrease speed=frequency variation and the ratio=Δ f/ Δ t of timed；
In the present embodiment, frequency increase and decrease speed=Δ f/ Δ td=5.21/2.009=2.59Hz/S；
After vector variable voltage variable frequency frequency converter frequency exports fk=67.75Hz, keep 67.75Hz to run, run 2 seconds time
Rear return S5 step circulation or process are interrupted.Interrupt described in S8 interrupting for slow down spacing interruption or speed limit or fault interrupting or overload
One of interrupt.Detection speed control handle current gear kdw, if crane occurs that such as spacing, speed limit, overload, fault, weight arrive
When reaching the situations such as target location, crane system enters corresponding interrupt service routine and processes and failure to the safe side.
By example 4 it can be seen that in the case of load normal variation, the change of revolutional slip S is to motor speed n compared with example 3
Have a certain impact with system actual measurement load torque Tfz；The least on the impact of other parameter.
Claims (9)
1. determine an arm of force Crane control method with vector variable voltage variable frequency converter as power supply, it is characterized in that following steps:
S1: lifting motor vector variable voltage variable frequency Frequency Converter Control lifting motor is pressed starting frequency fqd and is run starting；
After S2: lifting motor starts, measure lifting motor vector variable voltage variable frequency converter rectification output DC voltage UdDefeated with rectification
Go out DC current Id, converter rectification output dc power is time within the 1-2 second, fluctuating margin is less than 10%, and surveying record hoists electricity
Machine vector variable voltage variable frequency converter rectification output DC voltage Ud, rectification output DC current IdBecome with lifting motor vector transformation
Frequently converter output frequency f, calculating lifting mechanism motor output torque Tfz:
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × (Ud×Id)/f
In formula, Kdj=160 × ρ/(1-S)；Kjs=ε × δ；For in converter DC-AC transformation process
IGBT switching tube efficiency factor；λ is lifting motor electromagnetic conversion efficiency factor；ε is the reducing gear coefficient of mechanical efficiency；δ is for subtracting
Speed transmission ratio；ρ is lifting motor magnetic pole logarithm；S is lifting motor revolutional slip；UdFor vector variable voltage variable frequency converter rectification
Output DC voltage；IdDC current, P is exported for vector variable voltage variable frequency converter rectificationdFor vector variable voltage variable frequency converter rectification
Output dc power；
S3: calculate lifting motor maximum frequency of operation fmax,
In formula, P2NFor lifting motor rotor-side nominal rating power, P1NFor lifting motor nominal rating power；
S4: judge whether lifting motor overloads,
If Tfz is ＞ Tfzmax, or P1max＞ P1N；Then vector variable voltage variable frequency converter transmission of electricity pressure sets to 0, and crane is reported to the police and stopped, just
To locking, reversely open, failure to the safe side；
In formula, Tfzmax=mmax× g × R is the maximum allowable load torque of crane system, mmaxQuality, g is lifted by crane for system maximum
For acceleration of gravity, R is lifting mechanism hoist engine radius；
P1maxFor in load torque Tfz and lifting motor maximum frequency of operation fmaxUnder lifting motor power demand；
S5, detects lifting motor speed control handle current gear kdw；
Wherein kdw gear is by 0,1,2 ... ..kmaxConstitute；kmaxFor hoisting speed of crane total gear number；
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency converter output gap frequency values Δ f,
Δ f=flmax/kmax；
S7, calculates current gear lifting motor vector variable voltage variable frequency converter output frequency fk,
Fk=f1max×kdw/kmax=kdw × Δ f；
S8, lifting motor vector variable voltage variable frequency converter is by being interval time Δ td, spacing frequency is that Δ f is increased or decreased frequency,
Making output frequency transform to fk, keep fk to run, after running time T y, return S5 step circulates or processes and interrupts；
Δtd=Δ t0+Kt×(Tfz/(Kjs×Tn))；
In formula, Kt is frequency transformation period coefficient, Δ t0Basal latency, T is changed for frequencynFor lifting motor nominal torque.
The most according to claim 1 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is, interrupts interrupting for the spacing interruption of deceleration or speed limit or one of fault interrupting or overload interruption described in S8.
The most according to claim 1 and 2 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply,
It is characterized in that, in S8 step, Δ t0Value is 1 second, and Kt value is the 1-2 second, and Ty value is the 1-2 second.
The most according to claim 3 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is, in S1 step, vector variable voltage variable frequency Frequency Converter Control lifting motor is 0.1-5Hz by starting frequency fqd.
The most according to claim 4 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is, in S2 step, the sample frequency of Measurement for Inverter rectification output dc power is 10-20Hz.
The most according to claim 5 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is, lifting motor vector variable voltage variable frequency converter rectification output DC voltage UdDC current I is exported with rectificationdSampling
Sensor uses Hall element.
The most according to claim 6 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is, described Hall element directly exports dc power Pd。
The most according to claim 5 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is,
Lifting motor revolutional slip is for using revised revolutional slip:
In formula, SnFor lifting motor rated slip, PdDirect current merit is exported for lifting motor vector variable voltage variable frequency converter rectification
Rate, f is and PdCorresponding measurement frequency, PdnSpecified dc power is exported for lifting motor vector variable voltage variable frequency converter rectification,
f0For work frequency, P1NFor lifting motor nominal rating power.
The most according to claim 7 determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply, its
Feature is that S2 step replaces with,
After S2: lifting motor starts, measure lifting motor vector variable voltage variable frequency converter rectification output DC voltage UdDefeated with rectification
Go out DC current Id, converter rectification output dc power is time within the 1-2 second, fluctuating margin is less than 5%, and surveying record hoists electricity
Machine vector variable voltage variable frequency converter rectification output DC voltage Ud, rectification output DC current IdBecome with lifting motor vector transformation
Frequently converter output frequency f, calculating lifting mechanism motor output torque Tfz:
Tfz=Kdj × Kdx × Kjs × Pd/ f=Kdj × Kdx × Kjs × (Ud×Id)/f
In formula, Kdj=160 × ρ/(1-S)；Kjs=ε × δ；For in converter DC-AC transformation process
IGBT switching tube efficiency factor；λ is lifting motor electromagnetic conversion efficiency factor；ε is the reducing gear coefficient of mechanical efficiency；δ is for subtracting
Speed transmission ratio；ρ is lifting motor magnetic pole logarithm；S is lifting motor revolutional slip；UdFor vector variable voltage variable frequency converter rectification
Output DC voltage；IdDC current, P is exported for vector variable voltage variable frequency converter rectificationdFor vector variable voltage variable frequency converter rectification
Output dc power.
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| CN109098696B (en) * | 2018-07-03 | 2020-10-27 | 深圳市蓝海华腾技术股份有限公司 | Position control method for tower type oil pumping unit |
| CN113620176A (en) * | 2020-05-09 | 2021-11-09 | 安川电机（中国）有限公司 | Control method and device of hoisting equipment |
| CN116119534B (en) * | 2023-02-07 | 2023-09-12 | 江苏苏港智能装备产业创新中心有限公司 | Method for detecting lifting load of crane based on lifting frequency converter technology |
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