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针对传统凿井绞车控制难以实现快速准确就位、缺乏现场数据记录的缺点,设计了基于模型参考PID自适应差速补偿的同步控制算法,利用增量式轴编码器、SIMENS S7-200控制器以及安川G7变频器,实现了对4台凿井绞车的同步平衡控制,加快了立井施工的进度,同时监测和记录了凿井绞车的实时运行参数,为凿井绞车性能的评判提供了依据,具有良好的经济效益。
Aiming at the shortcomings that the traditional sinking winches control is difficult to achieve rapid and accurate positioning and lack of field data record, a synchronous control algorithm based on model reference PID adaptive differential compensation is designed. By using incremental shaft encoder, SIMENS S7-200 controller As well as Yaskawa G7 frequency converter, realized the synchronous balance control of 4 sinking winches, accelerated the construction progress of the shaft, monitored and recorded the real-time operating parameters of the sinking winch at the same time, and provided the basis for the evaluation of the performance of the sinking winch. Has good economic benefits.