CN201560061U - Novel automatic speed control device of crane - Google Patents
Novel automatic speed control device of crane Download PDFInfo
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- CN201560061U CN201560061U CN2009202279470U CN200920227947U CN201560061U CN 201560061 U CN201560061 U CN 201560061U CN 2009202279470 U CN2009202279470 U CN 2009202279470U CN 200920227947 U CN200920227947 U CN 200920227947U CN 201560061 U CN201560061 U CN 201560061U
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Abstract
The utility model discloses a novel automatic speed control device of a crane, which relates to a lifting appliance, in particular to an automatic speed control device of the crane. The device is an electronic control cabinet, which comprises a speed changing device, a mechanism speed setter, a speed feedback amplifier, a voltage frequency converter, a pulse width modulator, a photoelectrical coupling link, an intelligent power amplification module, a power switch module, a pulse width modulation switch, a resistor connected with a rotor circuit in series, a three-phase rectifier module, a power supply brake switch, a rotor current detection device, a short circuit switch, a motor revolution and counter revolution contactor, a logic controller, a motor speed detection switch and a phase inverter. The large-power pulse width modulator is used for controlling the current, the torque and the speed of the rotor of a wound-rotor motor so as to realize the automatic speed control of the crane. The utility model has the advantages of novel conception, compact structure, automatic control and convenient maintenance, can adjust the speed extensively, can save energy when being used for a lifting mechanism, is used for large-power high-voltage motor control, can reduce the cost of the appliance by 90%, and can be widely applied to all lifting appliances.
Description
Technical field
The utility model relates to a kind of weight-lifting equipment, especially the auto speed control device of hoisting crane.
Background technology
Existing each mechanism of hoisting crane all adopts winding motor to control, and the speed control of motor is to obtain the starting speed regulation characteristics by the Switch Rotor loop resistance, but this speed regulating method can't obtain stable level and smooth speed setting and control, can not get low steady speed.At present a large amount of weight-lifting equipments, as portal crane, crane for steelworks use and other special hoisting crane all require each mechanism speed to want and can in very large range regulate.Though adopt the stator voltage controlling system can solve some problems in this respect, its shortcoming is a complex circuit, involve great expense, easy care not, and can't extensively promote the use of.
Summary of the invention
Deficiency at above-mentioned existence, the utility model provides a kind of usefulness to cut the rotor current that the rate pulse width modulator is controlled wound-rotor motor greatly, thereby realization motor torque, speed can regulate on a large scale and control, when being used in lifting mechanism, Energy Saving Control can be realized, when being used in the startup of high-power high voltage winding motor and speed control, a kind of later-model hoisting crane auto speed control device of equipment cost can be significantly reduced.
The technical scheme that its technical matters that solves the utility model adopts is: as shown in the figure, a kind of later-model hoisting crane auto speed control device, be a kind of electrical control cubicles device, this device comprises speed changing device (1), mechanism speed setting apparatus (2), velocity feedback amplifier FD (3), U
F/ I
FVoltage to frequency converter (4), pulse width modulator (5), photoelectricity coupling link (6), intelligent power amplification module (7), power switch module (8), pwm switch (9), the series connected resistor of rotor loop (10), three phase rectifier module (11), power supply brake switch (12), rotor current detecting device (13), short circuiting switch (15), asynchronous dynamo conversing contactor (16), logic controller (17), motor speed detector switch (19), power supply (20), phase inverter (21), all devices all are installed in the electrical control cubicles, and connect successively by schematic circuit diagram, electrical control cubicles has two interfaces, one connects with power supply, and another connects with controlled winding motor; Its incoming signal of described speed changing device (1) is a motor rotor voltage, and its frequency and amplitude are all changing, and output then is and the proportional vdc U of rotor frequency
B, when stator winding electrifying, the frequency that rotor induction is pressed is relevant with motor speed, and motor speed is low more, and this vdc is high more, high more then this vdc of motor speed U
BLow more, when stator is just switched on moment, rotor rotates as yet, U
B=5V rotor frequency is 50 hertz, when motor reaches high speed, and U
BBe approximately zero; Described mechanism speed setting apparatus (2), its setting voltage U
GRise first grade the time U
G=4V, U in the time of second grade
G=3V, U during third gear
G=2V, U during fourth speed
G=0.02V, U first grade the time descends
G=-4V, U in the time of second grade
G=3V, U during third gear
G=8V, U during fourth speed
G=9.8V; Described velocity feedback amplifier FD (3), it combines three incoming signals, from the voltage of setter, from the signal U of speed transformation
BAnd current cut-off negative-feedback signal U
F2, and three signals are carried out the PID computing, the output voltage U as a result of computing
FSend into the input end of U/I electric voltage/frequency converter (4), described U
F/ I
FElectric voltage frequency converter (4) is the device that an output signal amplifier converts corresponding electric current to, and the outgoing current IF of link is proportional to input voltage U
FDescribed pulse width modulator (5) has three input ends, and the G end---control end is subjected to I
FEffect, D end---power end, S end---pulse width modulator mouth is worked as I
FWhen changing, waveform and the aviation value of output pulse width modulated terminal S illustrate corresponding variation, output pwm signal; Described photoelectricity coupling link (6) is used for width-modulation pulse is delivered to next link through photoelectrical coupler, and photoelectricity coupling link plays a control circuit (low pressure) and keeps apart with power model (high pressure); Described intelligent power amplification module (7), generation is used for the control wave of driving power switch, it should have enough driving powers, amplitude, pulse steepness and quick reaction capability and various defencive function, can prevent disturbing pulse and produce shutoff pulse under the faulty condition; Described power switch module (8), form by high-performance IGBT and corresponding clamp circuit, fast quick-recovery rectifier tube, resistance capacitance, can prevent the puncture of di/dt to IGBT, the power switch module produces high-power pwm pulse, according to the signal automatically regulating of regulating amplifier and the rotating speed of control rotor current and motor; Described pwm switch (9), closure when pulse width modulator is worked constitutes necessary path to rotor current; The series connected resistor of described rotor loop (10), mechanical specialities when improving speed governing; Described three phase rectifier module (11) is that rotor voltage is rectified into the power supply that direct current (DC) is made the PWM pulse width modulator; Described power supply brake switch (12), during decline, motor is done the resistance braking operation, and rectification module output direct current is sent into motor stator winding and is made braking current; Described rotor current detecting device (13), the rectifying circuit by some schottky diodes are formed changes fast speed to rotor current and gives amplifier, makes it produce overcurrent by effect, suppresses the generation of excess current process; Described short circuiting switch (15) only excises its effect in some cases, makes it to enter conventional state of a control; Described asynchronous dynamo conversing contactor (16), according to the output signal of logic detection link, the control motor is done forward and is promoted, and resistance braking is transferred with regenerative brake and is transferred work under three kinds of states; Described logic controller (17), it produces forward and promotes under switch for over speed detection (19) and (2) two signal control of speed setter, and energy consumption descends or the regeneration dropping signal; Described motor speed detector switch (19) detects motor speed and has or not; Described by controlled motor (18), it is hoisting crane mechanism wound-rotor motor, under high power pulsed modulator control, motor makes it equal the set definite value of speed setter (2) by the rotating speed of the rule self-regulation motor of expectation, and motor is worked under three-phase 380V alternating-current voltage/AC voltage; Power supply (20) is three-phase alternating-current supply; Described phase inverter (21), reverse command signal, given as descending.
The beneficial effects of the utility model are: the rotor current that adopts high-power pulse width modulator control wound-rotor motor, make motor torque, speed can on a large scale, stablize, regulate smoothly and control, novel, compact conformation, automatic guidance, easy to maintenance, can realize Energy Saving Control when being used for lifting mechanism, cheap when being used for the starting of high-power, high-tension winding formula motor and speed control, compare with other control methods, can reduce equipment cost 90%.Can extensively promote the use in various hoisting crane automatic speed control.
Description of drawings
Accompanying drawing is schematic circuit diagram of the present utility model.
The utility model is described in further detail to utilize drawings and Examples.
The specific embodiment
The utility model is automatically controlled cabinet type device, and all devices all are installed in the electrical control cubicles, and connect successively by schematic circuit diagram.
Motor positive and inverse contactless switch (direction switch) 16 is connected on the three phase mains 20, direction switch terminates at for 16 times on the stator winding of the motor of being controlled 18, three terminals of the armature loop of motor 18 are connected with the series connected three-phase equilibrium resistance 10 of rotor loop respectively, and the lower end of three-phase equilibrium resistance 10 links to each other with the end that exchanges of three phase rectifier module 11 respectively, dc terminal P (+) N (-) of rectification module 11 and power supply brake switch 12A, 12B links to each other, P and N while and pwm switch 9A, 9B links to each other, 12A, 12B is used for braking current is injected the stator winding of motor, 9A, 9B then is used to flow through pulse width modulation electrical current.
If motor is worked under the lifting weight, and speed setting is for rising one grade, and at first grade, speed setting is 4V, logic controller 17 is connected the forward contactless switch, motor obtains power supply, and resistance braking this moment switch 12A, 12B disconnect, and PWM modulation switch 9A, 9B connect, speed converter 1 output-5V vdc, amplifier 3 output+10V saturation values as a result, motor begin to quicken, and this voltage is through the electric current I of the conversion generation+5mA of voltage/current changer 4
F, I
FMake PWM modulator 5 produce dutycycles near 95% modulating pulse, this pulse enters intelligent power amplification module 7 by photoelectrical coupler 6, the pulse of intelligent power amplification module 7 makes the electric current of the module output control rotor of high-power modulator rectification, thus, in the process that motor 18 is quickened by electric current, the output voltage of speed converter 1 very fast by-5V become-4V and smooth operation be about-4V, dutycycle is also reducing, the 3rd, a PID regulating amplifier, think indifference system, under the certain situation of load, amplifier 3 output voltages also are stabilized under a certain output, and this is a speed closed loop degeneration factor.
When speed setting device 2 provides the decline instruction, if give constant potential at the one grade-4V that descends, through logic controller, make resistance braking enter work, this moment pwm switch 9A, 9B turn-offs, power supply brake switch 12A, the 12B closure enters work, because stator is not switched on, motor 18 rotors drag down at weight, quicken rotation down downwards, the remanent magnetism magnetic field of rotor rotated winding cutting stator winding produces induced voltage e, and this voltage e is rectified into vdc Ud by rectification module 11, and by brake switch 12A, 12B injects stator winding, strengthened the stator system streaming current, i.e. the lock torque of motor, thereby, weight obtains a stabilized speed and descends, this is a resistance braking decline process, is a positive feedback process, in this process, electric current is not received on the source of AC, weight is subjected to the effect of stator system kinetic moment and slowly descends, and this is a power saving process, does not consume the electrical network energy.When rising, make the weight potential energy that raise by the electrical network energy, potential energy converts the electric energy of braking usefulness to during decline, can think energy-conservation.
If the too light deficiency of load so that motor be rotated down, then detect by switch for over speed detection 19, and by logic controller 17 judgements, export a signal that motor positive and inverse contactless switch 16 is connected, motor is worked under reproduced state, this moment 12A, 12B turn-offs, 9A, 9B connects, make the switch 16 of being responsible for lifting change the decline state that forces into, the empty hook of motor (underloading) is reversed acceleration, when first grade of descending, given signal is a negative value, and speed changing device 1 becomes positive quantity through phase inverter 21, the input end of amplifier 3 still has three signals, the output signal of setting apparatus 2, the output of speed converter 1 is output signal after phase inverter 21 effects, and the output signal of current cut-off feedback 13.
Claims (1)
1. later-model hoisting crane auto speed control device, it is characterized in that: this device is a kind of electrical control cubicles device, comprises speed changing device (1), mechanism speed setting apparatus (2), velocity feedback amplifier FD (3), U
F/ I
FVoltage to frequency converter (4), pulse width modulator (5), photoelectricity coupling link (6), intelligent power amplification module (7), power switch module (8), pwm switch (9), the series connected resistor of rotor loop (10), three phase rectifier module (11), power supply brake switch (12), rotor current detecting device (13), short circuiting switch (15), asynchronous dynamo conversing contactor (16), logic controller (17), motor speed detector switch (19), power supply (20), phase inverter (21), all devices all are installed in the electrical control cubicles, electrical control cubicles has two interfaces, one connects with power supply, and another connects with controlled winding motor; Its incoming signal of described speed changing device (1) is a motor rotor voltage, and its frequency and amplitude are all changing, and output then is and the proportional vdc U of rotor frequency
B, when stator winding electrifying, the frequency that rotor induction is pressed is relevant with motor speed, and motor speed is low more, and this vdc is high more, high more then this vdc of motor speed U
BLow more; Described mechanism speed setting apparatus (2), its setting voltage U
GIf the rising fourth gear,, the decline fourth gear; Described velocity feedback amplifier FD (3), it combines three incoming signals, from the voltage of setter, from the signal U of speed transformation
BAnd current cut-off negative-feedback signal U
F2, and three signals are carried out the PID computing, the output voltage U as a result of computing
FSend into U
F/ I
FThe input end of electric voltage/frequency converter (4), described U
F/ I
FElectric voltage frequency converter (4) is a device that is used for the output signal of amplifier is converted to corresponding electric current, the outgoing current I of link
FBe proportional to input voltage U
FDescribed pulse width modulator (5) has three input ends, and the G end---control end is subjected to I
FEffect, D end---power end, S end---pulse width modulator mouth is worked as I
FWhen changing, waveform and the aviation value of output pulse width modulated terminal S illustrate corresponding variation, output pwm signal; Described photoelectricity coupling link (6) is used for width-modulation pulse is delivered to next link through photoelectrical coupler, and photoelectricity coupling link plays a control circuit and power model is kept apart; Described intelligent power amplification module (7), generation is used for the control wave of driving power switch, it should have enough driving powers, amplitude, pulse steepness and quick reaction capability and various defencive function, can prevent disturbing pulse and produce shutoff pulse under the faulty condition; Described power switch module (8), form by high-performance IGBT and corresponding clamp circuit, fast quick-recovery rectifier tube, resistance capacitance, can prevent the puncture of di/dt to IGBT, the power switch module produces high-power pwm pulse, according to the signal automatically regulating of regulating amplifier and the rotating speed of control rotor current and motor; Described pwm switch (9), closure when pulse width modulator is worked constitutes necessary path to rotor current; The series connected resistor of described rotor loop (10), mechanical specialities when improving speed governing; Described three phase rectifier module (11) is that rotor voltage is rectified into the power supply that direct current (DC) is made the PWM pulse width modulator; Described power supply brake switch (12), during decline, motor is done the resistance braking operation, and rectification module output direct current is sent into motor stator winding and is made braking current; Described rotor current detecting device (13), the rectifying circuit by some schottky diodes are formed changes fast speed to rotor current and gives amplifier, makes it produce overcurrent by effect, suppresses the generation of excess current process; Described short circuiting switch (15) only excises its effect in some cases, makes it to enter conventional state of a control; Described asynchronous dynamo conversing contactor (16), according to the output signal of logic detection link, the control motor is done forward and is promoted, and resistance braking is transferred with regenerative brake and is transferred work under three kinds of states; Described logic controller (17), it produces forward and promotes under switch for over speed detection (19) and (2) two signal control of speed setter, and energy consumption descends or the regeneration dropping signal; Described motor speed detector switch (19) detects motor speed and has or not; Described by controlled motor (18), it is hoisting crane mechanism wound-rotor motor, under high power pulsed modulator control, motor makes it equal the set definite value of speed setter (2) by the rotating speed of the rule self-regulation motor of expectation, and motor is worked under three-phase 380V alternating-current voltage/AC voltage; Power supply (20) is three-phase alternating-current supply; Described phase inverter (21), reverse command signal, given as descending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202279470U CN201560061U (en) | 2009-09-09 | 2009-09-09 | Novel automatic speed control device of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202279470U CN201560061U (en) | 2009-09-09 | 2009-09-09 | Novel automatic speed control device of crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201560061U true CN201560061U (en) | 2010-08-25 |
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ID=42625208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202279470U Expired - Fee Related CN201560061U (en) | 2009-09-09 | 2009-09-09 | Novel automatic speed control device of crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201560061U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401878A (en) * | 2014-10-29 | 2015-03-11 | 北京机械设备研究所 | Multi-shaft composite driving tower crane control method |
| TWI483891B (en) * | 2011-11-17 | 2015-05-11 | Mitsubishi Heavy Ind Ltd | Crane and its control methods and control procedures |
-
2009
- 2009-09-09 CN CN2009202279470U patent/CN201560061U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI483891B (en) * | 2011-11-17 | 2015-05-11 | Mitsubishi Heavy Ind Ltd | Crane and its control methods and control procedures |
| CN104401878A (en) * | 2014-10-29 | 2015-03-11 | 北京机械设备研究所 | Multi-shaft composite driving tower crane control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100825 Termination date: 20170909 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |