CN1832327A - Controllable start and brake method of swing mechanism of stacker-reclaimer - Google Patents
Controllable start and brake method of swing mechanism of stacker-reclaimer Download PDFInfo
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- CN1832327A CN1832327A CNA2006100461164A CN200610046116A CN1832327A CN 1832327 A CN1832327 A CN 1832327A CN A2006100461164 A CNA2006100461164 A CN A2006100461164A CN 200610046116 A CN200610046116 A CN 200610046116A CN 1832327 A CN1832327 A CN 1832327A
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- frequency converter
- braking
- reclaimer
- stacker
- starting
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Abstract
This invention provides a method for controlled starting and braking of a turning unit of a stacking-fetching machine, including improving the starting property of the frequency converter to a curve slope of a S shape in the process of starting, in which, the braking method includes: 1, configuring a braking unit for the converter, 2, injecting DC for the turning unit to drive the motor in the process of braking to increase the brake torque of the turning unit for driving the motor, which not only realizes the continuous adjustment of the turning speed of the cantilever but also at very stable state in the starting and braking.
Description
Technical field
The present invention relates to the controllable start and the braking method of swing mechanism of stacker-reclaimer.
Background technology
The revolution of the cantilever of stacker-reclaimer is that an equipment that has than large rotating inertia rises, braking maneuver, in the rising of cantilever, braking procedure, need higher response time and more steady response characteristic, and some stacker-reclaimer to require speed of gyration in the cantilever turning course be continuously adjustable automatically.The method of step-governor d is generally all adopted in tradition control, can not realize that the speed of gyration of real meaning regulates continuously, and starting and braking procedure exist significantly the impact to equipment, in recent years, development along with converter technique, frequency control also has been applied in the cantilever turning course of stacker-reclaimer, but since in cantilever revolution starting and the braking procedure than large rotating inertia, often make motor be in the electrification feedback state, thereby make the DC bus-bar voltage rising of frequency converter and be in malfunction and cisco unity malfunction.
Summary of the invention
At the deficiencies in the prior art, the object of the present invention is to provide a kind of controllable start and braking method of swing mechanism of stacker-reclaimer, realized the controllability of swing mechanism of stacker-reclaimer starting and braking procedure.
The object of the present invention is achieved like this: in starting process, the starting characteristic of frequency converter is improved to the sigmoid curve slope by traditional linear ramp, the sigmoid curve slope has increased the EOC at starting process two ends than traditional linear ramp, it can avoid the response of mutability and the percussion that makes equipment avoid being harmful to, and can increase the starting torque of slew gear according to the actual conditions of equipment and adjust the starting slope time, thereby make the starting process of slew gear have controllability;
Brake apparatus has adopted following control method:
1 connects brake unit for frequency converter.Brake unit is connected on the dc bus of frequency converter, when the frequency converter operating state becomes second quadrant or four-quadrant by first quartile or third quadrant, the DC bus-bar voltage of frequency converter can raise, when being elevated to the threshold voltage of brake unit, brake unit just can be triggered, and brake resistance put into the dc bus loop, at this moment, can become the heat energy of consumption on brake resistance and be consumed owing to motor is in electric energy that generating state produces;
2 are slew gear drive motors injection direct current in braking procedure, increase the brake torque of slew gear drive motors.When using DC injection braking, to determine three key elements.First key element is for injecting the intensity of direct current, and this parameter is to represent with the form of the percentage of motor rated current; Second key element is for injecting the initial frequency of direct current, and last key element is the duration that direct current injects.As above three key elements will cooperatively interact with the fall time of electric machine frequency, and adjusted according to the practical operation situation of equipment.
If in actual application on adopted after any one technology effect still not ideal enough, can adopt composite braking, be about to above-mentioned two kinds of braking methods and use simultaneously.
The present invention compares with the prior art scheme, in the equipment use, not only realized the continuous adjusting of cantilever speed of gyration, and cantilever is in state very stably always in rotating starting of cantilever and braking procedure, substantially eliminated the impact of starting and braking procedure to cantilever, starting and braking procedure have all reached designing requirement and customer requirements, have obtained very satisfied effect.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing.
Fig. 1 is the block diagram of system.
Fig. 2 is logic control flow process figure.
Fig. 3 is frequency converter dynamic characteristic sigmoid curve figure.
Embodiment
Native system mainly is made of following three parts,
One supply unit
The power pack of whole device, its incoming power are three-phase alternating current 380V, and outlet is for being the interchange 380V power supply of converter plant power supply and the alternating current 220V power supply of supply logic control device and brake apparatus.
Two logic control devices
Part is sent and is accepted in the instruction of whole device, and the starting and the braking instruction of equipment are all sent by logic control device, and be ready for and the fault-signal of whole device are all received by logic control device, and sends next action command (Fig. 2 is a control flow chart)
Three converter plants and brake apparatus
The core of whole device, the AC power that converter plant will be obtained by supply unit at first rectification is a DC power supply, modulates then and frequency division, becomes the required AC power of final controlling element at last.
In starting process, the starting characteristic of frequency converter is improved to the sigmoid curve slope by traditional linear ramp, the sigmoid curve slope has increased the EOC at starting process two ends than traditional linear ramp, it can avoid the response of mutability and the percussion that makes equipment avoid being harmful to, and can increase the starting torque of slew gear according to the actual conditions of equipment and adjust the starting slope time, thereby make the starting process of slew gear have controllability (Fig. 3 is S type curve controlled principle).
T1 is the S type curve rising The initial segment circular arc time among the last figure, and T2 is the S type curve rising ending segment circular arc time, and T3 is that S type curve rises total time.The rotating startup of chien shih equipment is more steady when suitable T1 and T2 are set, and can reduce the impact in the start-up course to greatest extent.
The revolution of stacker-reclaimer has bigger moment of inertia the braking of slew gear has been proposed higher requirement; if the too short frequency converter that just might make of braking time is operated in second quadrant or four-quadrant; DC bus-bar voltage rising to making frequency converter makes frequency converter be in guard mode and cisco unity malfunction.At as above situation, brake apparatus has adopted following control method:
1 connects brake unit for frequency converter.Brake unit is connected on the dc bus of frequency converter, when the frequency converter operating state becomes second quadrant or four-quadrant by first quartile or third quadrant, the DC bus-bar voltage of frequency converter can raise, when being elevated to the threshold voltage of brake unit, brake unit just can be triggered, and brake resistance put into the dc bus loop, at this moment, can become the heat energy of consumption on brake resistance and be consumed owing to motor is in electric energy that generating state produces;
2 are slew gear drive motors injection direct current in braking procedure, increase the brake torque of slew gear drive motors.When using DC injection braking, to determine three key elements.First key element is for injecting the intensity of direct current, and this parameter is to represent with the form of the percentage of motor rated current; Second key element is for injecting the initial frequency of direct current, and last key element is the duration that direct current injects.As above three key elements will cooperatively interact with the fall time of electric machine frequency, and adjusted according to the practical operation situation of equipment.
If in actual application on adopted after any one technology effect still not ideal enough, can adopt composite braking, be about to above-mentioned two kinds of braking methods and use simultaneously.
Four final controlling elements
Final controlling element comprises stacker-reclaimer cantilever revolution drive motors, drives band-type brake and revolution drive motors cooling blower, and it is the final operating part of whole device.
Claims (3)
1, a kind of controllable start method of swing mechanism of stacker-reclaimer is characterized in that:
In starting process, the starting characteristic of frequency converter is improved to the sigmoid curve slope by traditional linear ramp.
2, a kind of controllable brake method of swing mechanism of stacker-reclaimer, it is characterized in that: for frequency converter connects brake unit, brake unit is connected on the dc bus of frequency converter, when the frequency converter operating state becomes second quadrant or four-quadrant by first quartile or third quadrant, the DC bus-bar voltage of frequency converter can raise, when being elevated to the threshold voltage of brake unit, brake unit just can be triggered, and brake resistance is put into the dc bus loop.
3, a kind of controllable brake method of swing mechanism of stacker-reclaimer, it is characterized in that: in braking procedure, inject direct current for the slew gear drive motors, when using DC injection braking, to determine three key elements, first key element is for injecting the intensity of direct current, second key element is for injecting the initial frequency of direct current, and last key element is the duration that direct current injects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100461164A CN1832327A (en) | 2006-03-20 | 2006-03-20 | Controllable start and brake method of swing mechanism of stacker-reclaimer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100461164A CN1832327A (en) | 2006-03-20 | 2006-03-20 | Controllable start and brake method of swing mechanism of stacker-reclaimer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1832327A true CN1832327A (en) | 2006-09-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006100461164A Pending CN1832327A (en) | 2006-03-20 | 2006-03-20 | Controllable start and brake method of swing mechanism of stacker-reclaimer |
Country Status (1)
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| CN (1) | CN1832327A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642775A (en) * | 2012-05-23 | 2012-08-22 | 中建一局集团第三建筑有限公司 | Device and method for controlling slewing mechanism of tower crane |
| CN101414837B (en) * | 2008-10-24 | 2013-02-13 | 上海新时达电气股份有限公司 | Slope table search method for automatically generating S-shaped frequency curve of frequency changer |
| CN101425808B (en) * | 2008-10-24 | 2013-02-13 | 上海新时达电气股份有限公司 | Slope rate addition method for automatically generating S shaped frequency curve by frequency transformer |
| CN104242736A (en) * | 2014-10-21 | 2014-12-24 | 内蒙古包钢钢联股份有限公司 | Starting method of driving motor by frequency converter |
-
2006
- 2006-03-20 CN CNA2006100461164A patent/CN1832327A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101414837B (en) * | 2008-10-24 | 2013-02-13 | 上海新时达电气股份有限公司 | Slope table search method for automatically generating S-shaped frequency curve of frequency changer |
| CN101425808B (en) * | 2008-10-24 | 2013-02-13 | 上海新时达电气股份有限公司 | Slope rate addition method for automatically generating S shaped frequency curve by frequency transformer |
| CN102642775A (en) * | 2012-05-23 | 2012-08-22 | 中建一局集团第三建筑有限公司 | Device and method for controlling slewing mechanism of tower crane |
| CN102642775B (en) * | 2012-05-23 | 2014-04-23 | 中建一局集团第三建筑有限公司 | Device and method for controlling slewing mechanism of tower crane |
| CN104242736A (en) * | 2014-10-21 | 2014-12-24 | 内蒙古包钢钢联股份有限公司 | Starting method of driving motor by frequency converter |
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