Electromechanical Coupling Dynamics Model and Its Verification of Dual Path Propelled Lifting Mechanism of Bridge Crane

doi:10.3901/JME.2022.11.170

Abstract

Abstract: For study the electromechanical coupling dynamic characteristics of dual path propelled lifting mechanism of bridge crane, the structural characteristics and loading characteristics are considered, a vertical plane-torsion dynamic model with the electromechanical coupling is established, and the interaction mechanism between the motor and its speed control system and the mechanical system is analyzed. A test platform for dynamic parameters of a dual path propelled lifting mechanism under service conditions is built, and the dynamic test is carried out. The research shows that in the normal operation process of start-up, speed regulation, braking and load change, as well as the special conditions of motor pulling, motor power on out-sync and brake closing out-sync, there are obvious overshooting and vibration in the electromagnetic torque output of the motor, which causes dynamic loads to the transmission cylinder, such as the reducer and drum, and load. The test results show that there is dragging phenomenon in the dual path propelled lifting mechanism, which is used in test, and the torque value and vibration law of the test points consistented with the simulation results, which means that the validity of the dual path propelled lifting mechanism model and results is verified.

Key words: dual path propel, lifting mechanism, electromechanical coupling, dynamics, testing

CLC Number:

TH21

LI Yan, XIANG Dong, WANG Junying. Electromechanical Coupling Dynamics Model and Its Verification of Dual Path Propelled Lifting Mechanism of Bridge Crane[J]. Journal of Mechanical Engineering, 2022, 58(11): 170-182.

References

[1] NIU Congmin. Unified modeling of dynamics and control of bridge crane electromechanical system and its application in load lifting process analysis[D]. Dalian:Dalian University of Technology, 2012 牛聪民. 桥式起重机机电系统动力学和控制的统一建模及其在负载升降过程分析中的应用[D]. 大连:大连理工大学, 2012.
[2] GHIGLIAZZA R M, HOLMES P. On the dynamics of cranes, or spherical pendula with moving supports[J]. International Journal of Non Linear Mechanics, 2002, 37(7):1211-1221.
[3] CVETICANIN L. Dynamic behavior of the lifting crane mechanism[J]. Mechanism & Machine Theory, 1995, 30(1):141-151.
[4] CHIN C M, NAYFEH A H, MOOK D T. Dynamics and control of ship-mounted cranes[J]. Journal of Vibration & Control Jvc, 2001, 7(6):891-904.
[5] WITZ J A. Parametric excitation of crane loads in moderate sea states[J]. Ocean Engineering, 1995, 22(4):411-420.
[6] CHA J H, ROH M I, LEE K Y. Dynamic response simulation of a heavy cargo suspended by a floating crane based on multibody system dynamics[J]. Ocean Engineering, 2010, 37(14-15):1273-1291.
[7] OGUAMANAM D C D, HANSEN J S, HEPPLER G R. Dynamic response of an overhead crane system[J]. Journal of Sound & Vibration, 1998, 213(5):889-906.
[8] WU J J, WHITTAKER A R, CARTMELL M P. Dynamic responses of structures to moving bodies using combined finite element and analytical methods[J]. International Journal of Mechanical Sciences, 2001, 43(11):2555-2579.
[9] WU J J. Dynamic responses of a three-dimensional framework due to a moving carriage hoisting a swinging object[J]. International Journal for Numerical Methods in Engineering, 2004, 59(13):1679-1702.
[10] WU J J. Transverse and longitudinal vibrations of a frame structure due to a moving trolley and the hoisted object using moving finite element[J]. International Journal of Mechanical Sciences, 2008, 50(4):613-625.
[11] ZRNIC N D, BOSNJAK S M, HOFFMANN K. Modelling of dynamic interaction between structure and trolley for mega container cranes[J]. Mathematical Modelling of Systems, 2009, 15(3):295-311.
[12] ZRNIC N D, BOSNJAK S M, HOFFMANN K. Parameter sensitivity analysis of non-dimensional models of quayside container cranes[J]. Mathematical Modelling of Systems, 2010, 16(2):145-160.
[13] PU H, XIE X, LIANGE G, et al. Analysis for dynamic characteristics in load-lifting system of the crane[J]. Procedia Engineering, 2011, 16(1):586-593.
[14] LIU Shijie. Dynamics analysis and simulation of 200t bridge crane[D]. Taiyuan:Taiyuan University of Science and Technology, 2014. 刘世杰. 200t桥式起重机动力学分析与仿真[D]. 太原:太原科技大学, 2014.
[15] ZORAN M, SASA M, DRAGAN M. Linearization and solving of differential motion equations of crane driving mechanisms[J]. Facta universitatis-series:Mechanical Engineering, 2000, 1(7):879-886.
[16] BOGDEVICIUS M, VIKA A. Investigation of the dynamics of an overhead crane lifting process in a vertical plane[J]. Transport, 2005, 20(5):176-180.
[17] EBEID A M, MOUSTAFA K F, EMARA-SHABAIK H. Electromechanical modelling of overhead cranes[J]. International Journal of Systems Science, 1992, 23(12):2155-2169.
[18] NIU Congming, OUYANG Huajiang, ZHANG Hongwu. Electro-mechanical dynamic simulation of overhead cranes during the operation of lifting mechanism[C]//XXIII ICTAM. 2012.
[19] NIU Congmin, OUYANG Huajiang, ZHANG Hongwu, et al. System dynamics simulation of load lifting process of electric bridge crane[J]. Journal of Computational Mechanics, 2014 (5):558-564. 牛聪民, 欧阳华江, 张洪武, 等. 电动桥式起重机负载升降过程的系统动力学模拟[J]. 计算力学学报, 2014(5):558-564.
[20] CAO Songbo. Research on vector control of hybrid electric vehicle assembly controller and drive motor[D]. Changsha:Hunan University, 2006. 曹松波. 混合电动汽车总成控制器及驱动电机的矢量控制研究[D]. 长沙:湖南大学, 2006.
[21] GAO Donglong. Design and implementation of speed sensorless vector control system for induction motor[D]. Beijing:University of Chinese Academy of Sciences, 2014. 高东龙. 异步电机无速度传感器矢量控制系统的设计与实现[D]. 北京:中国科学院大学, 2014.
[22] GUO wenran, LI Yang. Application of MATLAB in power electronic circuit simulation[J]. Electronic Technology, 2013 (11):26-29. 郭文然, 李洋. MATLAB在电力电子电路仿真中的应用[J]. 电子技术, 2013(11):26-29.
[23] ZHAO Shaobian, WANG Zhongbao. Anti fatigue design method and data[M]. Beijing:China Machine Press, 1997. 赵少汴, 王忠保. 抗疲劳设计方法与数据[M]. 北京:机械工业出版社, 1997.