CN201447728U - Fully-digital frequency-converting speed-regulating control system of excavator - Google Patents
Fully-digital frequency-converting speed-regulating control system of excavator Download PDFInfo
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- CN201447728U CN201447728U CN2009200105493U CN200920010549U CN201447728U CN 201447728 U CN201447728 U CN 201447728U CN 2009200105493 U CN2009200105493 U CN 2009200105493U CN 200920010549 U CN200920010549 U CN 200920010549U CN 201447728 U CN201447728 U CN 201447728U
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Abstract
The utility model discloses a fully-digital frequency-converting speed-regulating control system of an excavator, which comprises a lifting motor, a lifting speed sensor, a lifting frequency converter, a propulsion motor, a propulsion speed sensor, a propulsion frequency converter, a normal gyro motor, a reverse gyro motor, a traveling motor, a gyration/traveling frequency converter, a control cabinet, a field bus (MODBUS) and a cab human-computer interface/master controller, wherein the control cabinet is communicated with the cab human-computer interface/master controller, the lifting frequency converter, the propulsion frequency converter and the gyration/traveling frequency converter by the field bus (MODBUS); the lifting frequency converter controls the lifting motor; the lifting frequency converter controls the propulsion motor; and the gyration/traveling frequency converter controls the normal gyro motor and the reverse gyro motor as well as the traveling motor. The fully-digital frequency-converting speed-regulating control system has the advantages of reliable control, stable performance, high interference resistance, simple and convenient maintenance, high speed, high power, high reliability, high efficiency and low maintenance cost.
Description
Technical field
The present invention relates to the digital frequency-converting speed-governing control system of a kind of electric excavator, belong to the frequency-converting speed-governing control system technical field.
Background technology
The existing power shovel excavator of China's surface mine is essentially high pressuring prime motor-generator-motor group driving style, this system's auxiliary reclay is many, fault rate is high, this driving style shortcoming is more, mainly show as: unit is that machine-electricity-function conversion efficiency is low, electric energy loss is big, and noise is big; The on-off control system of resolution element is difficult to satisfy the excavator control characteristic of power shovel.
Because the excavator feature of electric excavator makes system be in the adjusting of overcurrent running status magnetic field and is difficult to control, often causes motor burning.The Maintenance of Electric system workload is big, the maintenance cost height, and production operational availability is low.This system exists also that electric energy loss is big, noise is big, maintenance workload is big, complex structure, shortcoming that production operational availability is low.
Summary of the invention
The present invention provides a kind of electric excavator digital frequency-converting speed-governing control system for solving above technical problem, has solved above-mentioned technical problem.
The digital frequency-converting speed-governing control system of a kind of electric excavator of the present invention comprises promoting motor, hoisting velocity sensor, lifting frequency converter, pushing motor, pushing velocity sensor, pushing frequency converter, positive turning motor, backspace rotating motor, movable motor, revolution/walking frequency converter, switch board, MODBUS fieldbus and drivers' cab man-machine interface/master controller; Carrying out communication lifting frequency converter with the MODBUS fieldbus between switch board and drivers' cab man-machine interface/master controller, lifting frequency converter, pushing frequency converter and the revolution/walking frequency converter controls promoting motor, promote frequency converter the pushing motor is controlled, the positive respectively turning motor of revolution/walking frequency converter, backspace rotating motor and movable motor are controlled.Switch board comprises programmable logic controller PLC, three phase rectifier bridge module, control relay, drivers' cab man-machine interface power supply, isolating transformer, gauge tap, lifting variable frequency control plate, pushing variable frequency control plate, revolution/walking variable frequency control plate, drives bucket motor contactor, direct current closing contactor, turning motor contactor, movable motor contactor, automatic switch, A.C. contactor.
When external control signal is input in the PLC programmable logic controller, the PLC programmable logic controller is exported to frequency converter control signal corresponding (promoting startup etc.), corresponding frequency converter starts, and frequency converter is controlled the operation of corresponding motor according to given signal of speed and encoder feedback speed signal then.Wherein by the PLC programmable logic controller to the processing of logic control, switching value and the analog quantity of all electric-control systems, and the monitoring of frequency converter operation conditions, pass through Fieldbus Control, the man-machine interface that is positioned at drivers' cab can be controlled all service datas and situation totally, PLC at first can make each electromagnetic valve dead electricity under emergency case, the very first time is embraced band-type brake, and as long as operating personnel are just can very fast understanding and fix a breakdown according to the demonstration information of man-machine interface.
Can satisfy the key technology requirement of electric excavator fully based on the characteristics of Direct Torque Control technology, the Direct Torque Control technology is because the control method based on stator flux orientation that is adopted, lacked a Current Control link than vector converter control, therefore Direct Torque Control responds fast more than 5 times than vector controlled dynamic torque, feed back rotor-position signal in that encoder is not installed, still can realize high-precision sound attitude speed and Torque Control; Direct Torque Control is the direct control to torque in addition, so it is corresponding rapidly to the variation of load, can realize process control fast, having simultaneously very high overload capacity and 200% starting torque again. direct Torque Control is more suitable for the frequent overload of electric excavator and the quick response of motor than Vector Control Frequency Conversion system, is the AC speed regulator of core so here adopt with the Direct Torque Control technology.
The present invention compared with prior art, because Alternating Current Governor System is incorporated on the electric excavator, make it adopt squirrel cage induction motor to become a reality, the hardware connection that field bus control system of the present invention needs greatly reduces than traditional mode, AC frequency conversion apparatus and direct-current driving device structure compared are simple, the control accuracy height, can effectively suppress the harm of higher hamonic wave to electrical network, thereby the present invention has the following advantages: it is reliable that electric-control system has control, stable performance, antijamming capability is strong, easy maintenance, speed is fast, power is big, good reliability, high and the low advantage of maintenance cost of efficient.
Description of drawings
Fig. 1 is the schematic diagram of the digital frequency-converting speed-governing control system of excavator of the present invention;
Fig. 2 is the structural layout plan of the digital frequency-converting speed-governing control system of excavator of the present invention;
Fig. 3 is the electrical control cubicles structure chart of the digital frequency-converting speed-governing control system of excavator of the present invention.
The specific embodiment
Fig. 1 is the schematic diagram of the digital frequency-converting speed-governing control system of excavator of the present invention, comprises promoting motor 1, hoisting velocity sensor 2, lifting frequency converter 3, pushing motor 4, pushing velocity sensor 5, pushing frequency converter 6, positive turning motor 7, backspace rotating motor 8, movable motor 9, revolution/walking frequency converter 10, switch board 11, MODBUS fieldbus 12 and drivers' cab man-machine interface/master controller 13; Carry out communication with MODBUS fieldbus 12 between switch board 11 and lifting frequency converter 3, pushing frequency converter 6, revolution/walking frequency converter 10 and the drivers' cab man-machine interface/master controller 13; Promote 3 pairs of lifting motors 1 of frequency converter and control, promote 3 pairs of pushing motors 4 of frequency converter and control, the positive respectively turning motor 7 of revolution/walking frequency converter 10, backspace rotating motor 8 and movable motor 9 are controlled.Digital ac variable frequency speed regulation electrical control system adopts ABB ACS800 690V Direct Torque Control frequency converter, Mitsubishi PLC programmable logic controller, MODBUS fieldbus devices.In order to improve the control accuracy of motor, reach the response of accelerating motor, promoting motor and pushing motor also needs to add code-disc.Need install braking resistor or feedback unit additional in order to handle recovered energy.
Fig. 2 is the structural layout plan of the digital frequency-converting speed-governing control system of excavator of the present invention, and this control system is pulled down former electrical control cubicles, operating desk, generating set and lifting, pushing, revolution/movable motor.By overall dimensions, lower margin size, the high size in the base center variable-frequency motor customized of original motor, promote the parameter of electric machine: power 220KW; Voltage 690V; Rated frequency 38HZ; Rated current 200A; Frequency converter output apparent energy is 440KVA; The pushing parameter of electric machine: power 95KW; Voltage 690V; Rated frequency 38HZ; Rated current 108A; Frequency converter output apparent energy is 260KVA; Revolution/movable motor parameter: power 75KW; Voltage 690V; Rated frequency 38HZ; Rated current 85A; Frequency converter output apparent energy is 260KVA; Former 5.5KW drives the bucket motor and drives with the M75R dc driver.
Fig. 3 is the electrical control cubicles structure chart of the digital frequency-converting speed-governing control system of excavator of the present invention, and switch board 11 comprises programmable logic controller PLC 12, three phase rectifier bridge module 13, control relay 14, drivers' cab man-machine interface power supply 15, isolating transformer 16, gauge tap 17, promotes variable frequency control plate 18, pushing variable frequency control plate 19, revolution/walking variable frequency control plate 20, drives bucket motor contactor 21, direct current closing contactor 22, turning motor contactor 23, movable motor contactor 24, automatic switch 25, A.C. contactor 26.
Claims (2)
1. the digital frequency-converting speed-governing control system of excavator is characterized in that: comprise promoting motor (1), hoisting velocity sensor (2), lifting frequency converter (3), pushing motor (4), pushing velocity sensor (5), pushing frequency converter (6), left turning motor (7), right-hand rotation motor (8), movable motor (9), revolution/walking frequency converter (10), switch board (11), MODBUS fieldbus (12) and drivers' cab man-machine interface/master controller (13);
Carry out communication with MODBUS fieldbus (12) between described switch board (11) and drivers' cab man-machine interface/master controller (13), lifting frequency converter (3), pushing frequency converter (6) and the revolution/walking frequency converter (10).
2. the digital frequency-converting speed-governing control system of excavator according to claim 1 is characterized in that: described switch board (11) comprises programmable logic controller PLC (12), three phase rectifier bridge module (13), control relay (14), drivers' cab man-machine interface power supply (15), isolating transformer (16), gauge tap (17), promote variable frequency control plate (18), pushing variable frequency control plate (19), revolution/walking variable frequency control plate (20), drive bucket motor contactor (21), direct current closing contactor (22), turning motor contactor (23), movable motor contactor (24), automatic switch (25), A.C. contactor (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200105493U CN201447728U (en) | 2009-02-13 | 2009-02-13 | Fully-digital frequency-converting speed-regulating control system of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200105493U CN201447728U (en) | 2009-02-13 | 2009-02-13 | Fully-digital frequency-converting speed-regulating control system of excavator |
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| CN201447728U true CN201447728U (en) | 2010-05-05 |
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| CN2009200105493U Expired - Lifetime CN201447728U (en) | 2009-02-13 | 2009-02-13 | Fully-digital frequency-converting speed-regulating control system of excavator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328875A (en) * | 2011-08-25 | 2012-01-25 | 长沙中联重工科技发展股份有限公司 | Control method and control system for engineering machinery swing mechanism and engineering machinery |
| CN103615026A (en) * | 2013-12-04 | 2014-03-05 | 太原重工股份有限公司 | Mining variable frequency speed-regulating electric shovel excavation operation system and control method |
| CN112709570A (en) * | 2020-12-18 | 2021-04-27 | 华能伊敏煤电有限责任公司 | Control device for moving and fine-tuning under remote operation electric shovel |
| CN114855909A (en) * | 2022-05-13 | 2022-08-05 | 徐州徐工基础工程机械有限公司 | Multi-module communication device and slot cleaning machine |
-
2009
- 2009-02-13 CN CN2009200105493U patent/CN201447728U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328875A (en) * | 2011-08-25 | 2012-01-25 | 长沙中联重工科技发展股份有限公司 | Control method and control system for engineering machinery swing mechanism and engineering machinery |
| CN102328875B (en) * | 2011-08-25 | 2013-01-23 | 中联重科股份有限公司 | Control method and control system for engineering machinery swing mechanism and engineering machinery |
| CN103615026A (en) * | 2013-12-04 | 2014-03-05 | 太原重工股份有限公司 | Mining variable frequency speed-regulating electric shovel excavation operation system and control method |
| CN112709570A (en) * | 2020-12-18 | 2021-04-27 | 华能伊敏煤电有限责任公司 | Control device for moving and fine-tuning under remote operation electric shovel |
| CN114855909A (en) * | 2022-05-13 | 2022-08-05 | 徐州徐工基础工程机械有限公司 | Multi-module communication device and slot cleaning machine |
| CN114855909B (en) * | 2022-05-13 | 2024-01-30 | 徐州徐工基础工程机械有限公司 | Multi-module communication device and groove cleaning machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100505 |
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| CX01 | Expiry of patent term |