浮吊式起重機控制的相關(guān)技術(shù)問題分析中英文翻譯.doc

/ /浮吊式起重機控制的相關(guān)技術(shù)問題分析中英文翻譯Floating crane crane control analysis of the related technical problems in both Chinese and English translation 1 引言1 introduction 浮式起重機是重鋼公司的瓶頸設(shè)備，是礦石原料入口通道的咽喉，該設(shè)備性能的優(yōu)劣直接關(guān)系到公司的生存與發(fā)展，是全公司要改造的重點關(guān)鍵設(shè)備。由于該設(shè)備有舉足輕重的作用，在技術(shù)改造中既要先進，更要把安全可靠擺在頭等地位，因此在設(shè)計中先進科技設(shè)備和控制技術(shù)成熟度是第一位的。浮式起重機是一個復(fù)雜的系統(tǒng)，它的控制涉及眾多工程技術(shù)問題，是多技術(shù)系統(tǒng)應(yīng)用的復(fù)合體。為了改善浮吊性能，保證該系統(tǒng)在高頻率、大運量的情況下正常運行，需對該浮吊的控制系統(tǒng)及相應(yīng)的機械傳動部分進行技術(shù)改造，改造后的控制系統(tǒng)應(yīng)能適應(yīng)設(shè)備年起卸礦石200萬噸的作業(yè)狀況。Floating crane is the bottleneck of chongqing steel company, is a ore raw materials into the throat of the entryway, this equipment fit and unfit quality directly related to the performance of the companys survival and development, is the focus of the whole company to transform key equipment. Because the device has a significant role, both advanced in technological transformation, more safe and reliable to the top position, so in the design of advanced technology equipment and control technical maturity is first. Floating crane is a complex system, its control involves many engineering problems, is a complex technology system application. In order to improve the floating crane performance, to ensure the system normal operation under the condition of high frequency, large capacity, for the floating crane control system and the corresponding mechanical transmission part of the technical renovation, after modification of the control system shall be able to adapt to equipment in ore discharge 2 million tons of homework. 控制系統(tǒng)改造涉及起升及抓斗閉合電機(22110kW)、旋轉(zhuǎn)機構(gòu)電機(2230kW)以及變幅機構(gòu)電機(2130kW)共計10臺電機的驅(qū)動及調(diào)速，實現(xiàn)可靠的安全聯(lián)鎖和防誤操作功能以及聯(lián)合動作控制系統(tǒng)，還涉及聯(lián)動操作臺的改造。Control system involved in lifting and closed grab motor (2 x 2 x 110 kw), rotating body motor (2 * 2 * 30 kw) and derricking gear motor (2 * 1 * 30 kw) for a total of 10 electric motor drive and control, to achieve reliable safety interlocking and prevent wrong operation function and joint movement control system, also involving the linkage work station. 驅(qū)動系統(tǒng)能實現(xiàn)大范圍的平穩(wěn)調(diào)速及較快的速度提升性能(從啟動到高速2.5s)，同時解決抓斗閉合與提升電機間的受力平衡問題，速度調(diào)節(jié)能適應(yīng)抓斗和吊裝兩種作業(yè)方式。Smooth drive system can realize a wide range of speed regulation, and faster speed (2.5 s) from the start to the high speed performance, at the same time solve the grab force balance between the closed and enhance motor problem, speed regulation can be adapted to grab and loading two operation modes. 控制系統(tǒng)要具備較高的安全可靠性及完備的防誤操作功能;聯(lián)動操作臺要操作簡單易掌握，貼近原操作習慣，且有較高的使用壽命，適應(yīng)頻繁操作;整個系統(tǒng)能在高溫高粉塵的惡劣環(huán)境下正常工作，適應(yīng)正負百分之十的電網(wǎng)電壓波動。因此，在系統(tǒng)功能實現(xiàn)上，有一定難度，以下就有關(guān)技術(shù)實現(xiàn)問題作些討論。Control system requires higher safety and reliability and complete maloperation prevention function; Linkage work station to operation simple easy to master, close to the original operation habit, and has high service life and adapt to frequent operation; The whole system can work normally under high temperature and high dust environment, to adapt to the power grid voltage fluctuation of plus or minus percentage points. As a result, the system function realization, has the certain difficulty, the following questions about technology make some discussion. 2 系統(tǒng)總體設(shè)計考慮2 system overall design considerations (1) 驅(qū)動系統(tǒng)設(shè)計及選型(1) drive system design and selection 為提高浮吊作業(yè)效率，既要提高驅(qū)動系統(tǒng)的速度響應(yīng)，又要減少故障檢修及常規(guī)檢修的周期和頻率，采用變頻調(diào)速方式可以很好的滿足浮吊設(shè)備對于驅(qū)動系統(tǒng)的要求。To improve the efficiency of floating crane operations, both to improve the speed response of the drive system, and to reduce the troubleshooting and routine maintenance cycle and the frequency of using frequency control method can well meet the requirements of the floating crane equipment for the drive system. 變頻器有很寬的調(diào)速范圍，可以設(shè)定加減速時間;良好的低速力矩特性使得電動機在啟動和加速時能夠獲得大而且平滑的加速度;制動單元的接入又使得電動機在減速和停車時能夠獲得足夠的制動力矩。上述特性保證了變頻調(diào)速系統(tǒng)有很好的速度響應(yīng)性能。Frequency converter has a wide speed range, can be set and deceleration time; Good low speed torque characteristic enables the motor during starting and speed up to get big and smooth acceleration; Access and makes the motor brake units can gain enough when to slow down and stop brake torque. These features ensure the speed variable frequency speed regulation system has good response performance. 其多段速度功能的各段速度獨立可調(diào)，可根據(jù)作業(yè)需要設(shè)定各種不同速度進行作業(yè)。Independence to the function of paragraphs multistage speed is adjustable, can be homework according to operation need to set different speed. 變頻器的平穩(wěn)起動及制動特性減少了機械沖擊，降低了結(jié)構(gòu)損耗;啟動電流較小，在頻繁起動及制動中減少電機熱損，延長電機壽命;變頻器自身是高可靠性的通用標準設(shè)備，故障率極低，引入變頻器后整機的故障率降低，維護量減少，間接地提高了作業(yè)效率。Smooth starting and braking characteristics of the inverter to reduce the mechanical shock, reduce the loss of the structure; Small starting current, which reduces heat loss in the frequent starting and braking, extend the life of the motor; Inverter itself is the universal standard equipment with high reliability, low failure rate, reduce the failure rate of the machine after introducing the frequency converter, the maintenance quantity is reduced, indirectly improve the working efficiency. 為提高操作器件的可靠性，采用多段速有級平滑調(diào)速方式。In order to improve the reliability of the operating device, USES the multistage velocity step smooth speed control mode. 變頻調(diào)速在低速情況及加減速過程中有明顯的節(jié)電效果。Frequency control of motor speed in the process of low speed and deceleration has obvious power saving effect. 本系統(tǒng)選用的是日本安川公司的616G5系列起重專用型變頻器，它能夠方便的實現(xiàn)閉環(huán)矢量控制，可實現(xiàn)高達1:1000的調(diào)速比，高精度的速度控制，零速時可達到150額定力矩，廣泛的應(yīng)用于起重行業(yè)。各電機原為繞線電機轉(zhuǎn)子串電阻方式調(diào)速，改為變頻調(diào)速后不需要更換電機，僅把電機轉(zhuǎn)子回路短接即可。This system chooses 616 g5 series hoisting AnChuan Japanese company is special inverter, it can be convenient to realize closed loop vector control system, can achieve as much as the latter speed ratio, high precision of speed control, zero speed can reach 150% when the rated torque, widely applied in the lifting industry. Originally the motor winding speed regulating motor rotor string resistance way, dont need to replace the motor after changed to frequency control of motor speed, only take motor rotor circuit short. (2) 控制系統(tǒng)設(shè)計及選型(2) control system design and model selection 起重設(shè)備涉及到一系列的安全問題，浮吊控制系統(tǒng)必須有很好的可靠性和完善的安全措施，保證即使在操作失誤的情況下也不會導致安全事故和設(shè)備損壞，為此本方案采用PLC來實現(xiàn)安全聯(lián)鎖和防誤功能。除了緊急停機操作保留直接連線方式外，所有的操作均通過PLC程序來實現(xiàn)。本系統(tǒng)選用西門子公司6ES7200系列緊湊型小型PLC產(chǎn)品作為核心控制設(shè)備。Hoisting equipment involves a series of security problems, floating crane control system must have good reliability and improve the safety measures and guarantee the even in the case of error will not cause safety accidents and equipment damage, so this scheme adopts the PLC to realize the safety interlocking and the error function. In addition to emergency stop operating reserves the direct connection way, all operations are done by PLC program. This system chooses the Siemens 6 es7-200 series compact small PLC as the core control device. (3) 聯(lián)動操作臺設(shè)計及選型(3) linkage work station design and type selection 聯(lián)動操作臺是浮吊的唯一操作位置和人機界面，除了作為基本操作器的手柄式凸輪控制器外，還設(shè)置了各種故障信號、緊急停機按鈕、功能選擇開關(guān)、允許操作鑰匙開關(guān)等。Linkage work station is the only location and man-machine interface operation, floating crane as well as the basic operator handle type CAM controller, also set up all kinds of fault signal, the emergency stop button, the function selection switch, allows operation key switch, etc. 聯(lián)動操作器作為浮吊主要操作設(shè)備，動作十分頻繁，要求可靠并且有較長的使用壽命。本系統(tǒng)選用法國施耐德公司的XKB-E系列手柄式凸輪控制器，其操作靈活可靠，手感好，使用壽命高達各方向100萬次，以旋轉(zhuǎn)及變幅操作器為例，即允許左旋右旋和變幅向前向后各操作100萬次，根據(jù)浮吊作業(yè)頻率估計，每臺操作器大約可使用1年左右。Linkage manipulator as floating crane main operating equipment, the movement is very frequent, requirements and reliable and has long service life. This system chooses the French schneider company XKB - E series lever type CAM controller, its operation is flexible and reliable, feel is good, the service life of up to 1 million times, the direction to rotate and amplitude operator, for example, allowing a left-handed right-handed and transformer the backward and forward for 1 million times, according to the floating crane operation frequency estimates that each operator can be used about 1 years. 當起升或抓斗部分出現(xiàn)故障時，需要將抓斗下放，為此設(shè)計了機械制動器釋放踏板和允許此項操作的鑰匙開關(guān)。When lifting or grab some malfunction, you need to grab, this design the mechanical brake release the pedal and allow the key switch of the operation. (4) 系統(tǒng)的環(huán)境適應(yīng)性設(shè)計及選型(4) the system of environmental adaptability design and type selection 浮吊位于江邊，主要任務(wù)是裝卸礦石，工作在高溫、高濕、高粉塵及振動環(huán)境，需要采取措施保證控制系統(tǒng)正常工作。Floating crane is located in the river, the main task is to load and unload ore, work in high temperature, high humidity, dust and vibration environment, some measures are needed to guarantee the normal work of the control system. 浮吊主卷揚室內(nèi)的四臺電機、所有的控制柜等均為發(fā)熱體，夏天時將因排放熱量困難而產(chǎn)生很高的環(huán)境溫度，不利于控制系統(tǒng)正常工作。在該室加裝有強制通風設(shè)備以改善散熱條件。Floating crane main winding indoor all four motors and control cabinet are the heating element, heat in the summer they will difficult to generate high temperature, unfavorable to the normal work of the control system. In the chamber is equipped with forced ventilation equipment to improve the cooling conditions. 起升及抓斗電機工作持續(xù)性較高，在長時間低速運行時由于內(nèi)置風扇工作效率低而導致散熱能力差，改為外部強制風冷。Persistent high hoisting and grab motor work, during low speed running for a long time due to built-in fan work efficiency low heat dissipation ability is poor, instead of external forced air cooling. 各控制柜采用進口柜體，密閉式結(jié)構(gòu)可防止粉塵及濕氣侵入，柜體上加裝帶過濾罩的強制通風風機以排放柜內(nèi)熱量，裝有PLC的柜體裝設(shè)柜用空調(diào)器，保證系統(tǒng)可以在-10-65的環(huán)境溫度下正常工作。Each control cabinet adopts imported cabinet put oneself in anothers position, closed structure can prevent dust and moisture intrusion, cabinet put oneself in anothers position with forced draft fan with filter cover on emissions of heat inside ark, cabinet put oneself in anothers position with PLC tank equipped with air-conditioner, ensures that the system can be in - 10-65 ambient temperature to work properly. 各主要電氣設(shè)備均選用具有抗振能力的進口設(shè)備。為了保證整個控制系統(tǒng)的高可靠性，本系統(tǒng)對于斷路器、隔離開關(guān)、接觸器以及按鈕信號燈等低壓電器統(tǒng)一選用了歐洲著名品牌，德國金鐘默勒公司的產(chǎn)品。All the main electrical equipment with ant-vibration ability of imported equipment. In order to ensure the high reliability of the control system, this system for circuit breaker, isolating switch, contactor and button lights and other low voltage apparatus, unified use famous brand in Europe, the German admiralty - moeller companys products. 3 控制系統(tǒng)詳細設(shè)計3 control system design in detail 3.1 電氣主回路設(shè)計中的幾個問題Several problems in 3.1 the main electrical circuit design (1) 電氣保護(1) electric protection 各支路入口用支路斷路器作支路短路保護及后備過載保護，支路的過載保護、過壓及欠壓保護和其他保護則由變頻器自身的保護功能承擔。由隔離變壓器提供控制電源及向PLC供電，以盡可能減小PLC及控制元件受電源干擾導致工作不正常的可能性。隔離變壓器前端設(shè)一斷路器作為短路保護及線路保護。The branch entrance with branch breaker branch reserve short circuit protection and overload protection, branch of the overload protection, over-voltage and under-voltage protection and other protections are borne by the inverters own protection. Provided by the isolation transformer power supply and the power supply to the PLC control, PLC in order to minimize and control components interference by power lead to the possibility of work is not normal. Isolation transformer front-end for a circuit breaker as a short circuit protection and line protection. (2) 變頻器出口隔離開關(guān)(2) the inverter export isolating switch 電動機在檢修或較長時間停止運行后，要進行絕緣檢測，合格才能夠投入運行，而變頻器是電力電子類設(shè)備，不能進行常規(guī)絕緣檢測，為此，在各變頻器之后都設(shè)置了隔離開關(guān)，以便在需要時方便地將變頻器與電動機斷開。Motor after maintenance or stop running a long time, must carry on the insulation test, qualified to put into operation, the inverter is power electronics equipment, cannot undertake regular insulation test, therefore, set up in every inverter after isolating switch, in order to convenient when you want to disconnect inverter and motor. (3) 制動單元及制動電阻(3) the braking unit, braking resistor 起升及抓斗電機在負荷下降時，重物的勢能將轉(zhuǎn)化成為電能，再由變頻器附加的制動電阻將此電能轉(zhuǎn)變?yōu)闊崮芎纳⒌?，以達到平穩(wěn)制動的目的。旋轉(zhuǎn)及變幅電機也附加了制動電阻，作為減速過程中的制動手段。制動電阻是通過制動單元接入變頻器的，制動單元能夠根據(jù)需要自動投入和切除制動電阻。制動電阻安裝在控制柜外專門的電阻安裝支架上。Hoisting and grab motor when the load decline, the weight of the potential energy will be converted to electrical energy, again by additional inverter braking resistor to the electrical energy into heat energy dissipation, to achieve the purpose of smooth braking. Rotation and luffing motor braking resistance is also attached, as the sl