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基于转矩主从控制的双小车岸桥起升电机功率平衡策略

Power Balance Strategy for Hoist Motors of Twin-Trolley Quayside Crane Based on Torque Master-Slave Control

  • 摘要: 双小车岸桥起升机构采用双电机刚性轴共同驱动同一卷筒时,电机参数差异易导致功率分配不均。基于此,提出基于转矩主从控制并引入差矩反馈的功率平衡策略:主电机采用速度-转矩双闭环矢量控制,从电机采用转矩控制模式跟踪主电机转矩;针对动态过程中功率平衡精度不足的问题,引入差矩反馈环节对从电机转矩指令进行动态补偿。在MATLAB/Simulink中搭建双电机刚性联接仿真模型,对电动及再生制动工况进行验证。结果表明,所提策略在稳态下转矩偏差小于1%,动态下功率不平衡度控制在5%以内,再生制动工况下不平衡度降至2.8%。

     

    Abstract: When the hoist mechanism of a twin-trolley quayside crane uses dual motors with rigid shafts to drive the same drum, differences in motor parameters tend to cause uneven power distribution. A power balance strategy based on torque master-slave control with torque-difference feedback is proposed. The master motor adopts speed-torque dual closed-loop vector control, while the slave motor tracks the master torque in torque control mode. To improve dynamic power balance accuracy, a torque-difference feedback loop is introduced to dynamically compensate the slave torque command. A simulation model is built in MATLAB/Simulink and verified under both motoring and regenerative braking conditions. Results show that the proposed strategy achieves steady-state torque deviation within 1%, dynamic power imbalance within 5%, and regenerative imbalance down to 2.8%.

     

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