The invention discloses a motor control framework of an automatic crown block. The motor control framework comprises a cart, a main crane and a controller, the cart is arranged across a main track with an auxiliary encoder, and is provided with a host driver and a slave driver for driving two motors, and a motor shaft is provided with a main encoder. The main hoist controls the lifting rope to ascend and descend and calculates rope length information. The controller calculates an anti-sway position command based on the rope length information and the position command. And the two drivers of the cart perform full-closed-loop calculation based on the anti-swing position command, the feedback of any main encoder and the feedback of the auxiliary encoder. Wherein the host driver controls one motor based on a speed command of full-closed loop calculation, and the slave driver controls the other motor according to the speed command and the torque command of the host driver; or the two drivers of the cart compensate the torque command according to the position error of the feedback of any main encoder and the feedback of the auxiliary encoder.
一种自动化天车的马达控制架构,包括大车、主吊及控制器。大车跨设于具有辅助编码器的主轨道,具有驱动两个马达的主机驱动器及从机驱动器,马达轴上具有主编码器。主吊控制吊绳升降并计算绳长信息。控制器基于绳长信息及位置命令计算防摇摆位置命令。大车的两个驱动器基于防摇摆位置命令及任一主编码器的回授及辅助编码器的回授进行全闭环演算。其中,主机驱动器基于全闭环演算的速度命令控制马达,从机驱动器跟随主机驱动器的速度命令及转矩命令控制另一马达;或者,大车的两个驱动器依据任一主编码器的回授及辅助编码器的回授的位置误差对转矩命令做补偿。
Motor control framework of automatic crown block
自动化天车的马达控制架构
2024-04-23
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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