Abstract
Hoisting mechanisms operate under high dynamic loads determined by the need to maintain specified acceleration and deceleration rates during load lifting and the finite stiffness of the pull rope. Therefore, limiting oscillatory loads is a pressing issue. The study objective is to reduce the maximum level of dynamic loads in the hoisting mechanism elastic rope by adjusting the vector control system of a variable-frequency asynchronous electric drive. The paper examines a dual-mass system simulating the operation of a hoisting mechanism with a variable-frequency asynchronous electric drive and proposes a method for reducing the amplitude of elastic moment oscillations occurring in the rope during load lifting by adjusting the setpoint signal at the torque controller input. The correction is achieved by introducing a signal proportional to the difference between the specified ramp acceleration and the actual acceleration value determined by converting the signal from the first mass speed sensor, which can be easily mounted on the motor shaft or the lifting device drum into the vector system stator current torque-generating component control channel. The correction system can be configured using the known values of the inertia moment and static moment, which directly affect the electric drive acceleration. The proposed correction system can be implemented in the electric drive of the hoisting mechanism at overhead foundry cranes, which primarily handle two types of known mass loads, an empty ladle and a ladle filled to a predetermined level with molten metal, while the load-handling device mass remains constant. The need to dampen elastic vibrations in the rope arises at the maximum load of the electromechanical system, i.e., when lifting a ladle filled with metal, so the correction system is configured for this mode. The graphs obtained using computer modeling of uncorrected and corrected electromechanical systems with an asynchronous electric drive with vector control are presented, showing the proposed corrective means effectiveness for limiting the maximum level of dynamic loads in an elastic rope.
Keywords
load lifting mechanism, dual-mass system, elastic connection, asynchronous motor, frequency vector control, correction, computer modeling
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