高铁1000t/40m梁“昆仑号”架桥机同步驱动控制研究

Research on Synchronous Drive Control for high-speed Railway 1000t/40m “Kunlun” erecting machine

摘要:

高铁1000t/40m梁“昆仑号”架桥机集简支箱梁的运输和架设于一体，可直接提吊运输箱梁到达架梁工位架梁。架桥机的主梁连接有前车行走机构和后车行走机构，后车行走机构与主梁通过球铰连接。由于主梁很长，前后车行走机构是两套独立的闭式液压系统驱动，以及驱动数量较多且分散等因素，导致保证同步协调困难。整机行走过程中，前后车行走驱动是否同步直接影响操控效果和机械性能。通过对横向、纵向行走特性的分析、驱动模型建模、以及驱动同步算法的推演，确定了两种行走模式采用的同步算法。并在已确定的同步算法基础上完成了控制系统硬件及软件编程设计，通过现场调试和试用，最终解决这一难题，有效保证了整机的同步性，减少了行走系统不同步传递给主梁的外力，提高了架桥机的行车运行效率并保障设备稳定的工作。

Abstract:

The "Kunlun" bridge erection machine integrates the transportation and erection of simply supported box girder, and can directly lift and transport box beams to reach the on-site station beams. The main beam of the bridge erecting machine is connected with the traveling mechanism of the front vehicle and the traveling mechanism of the rear vehicle, and the traveling mechanism of the rear vehicle is connected with the main beam through a ball joint.Because the main beam is very long, the front and rear vehicle running mechanisms are driven by two independent closed hydraulic systems, and the number of drives is large, which makes it difficult to ensure synchronization and coordination.During the running process of the whole machine, whether the front and rear running drives are synchronized directly affects the control effect and mechanical performance.Through the analysis of the lateral and longitudinal walking characteristics, the modeling of the driving model, and the deduction of the driving synchronization algorithm, the synchronization algorithms used in the two walking modes are determined.Based on the determined synchronization algorithm, the hardware and software programming design of the control system is completed, and through on-site debugging and trial, this problem is finally solved, which effectively ensures the synchronization of the whole machine and reduces the asynchronous transmission of the walking system to the main beam. The external force improves the running efficiency of the rack-transporting machine and ensures the stable operation of the equipment.