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论文类型：会议论文

发表时间：2021-04-26

页面范围：100-104

关键字：component; polar crane in nuclear power plant; positioning accuracy; relative coupling control; sliding mode control; synchronous control

摘要：As a large-scale special lifting equipment, the positioning error of polar crane in nuclear power plant (abbreviated as polar crane) should he less than 5 mm. The operation control of crane traveling mechanism is the key technology to improve the positioning accuracy of polar crane. Firstly, based on the principle of virtual work, the dynamic model of polar crane is established. Secondly, a synchronous control method of crane traveling mechanism based on the combination of synchronous relative coupling control and a novel nonsingular fast terminal sliding mode control is proposed. Finally, the horizontal wheel-rail gap and lateral force of horizontal guide device are taken as evaluation indexes, working process and influence mechanism on positioning accuracy of the control method under the influence of the drive response delay of crane traveling mechanism are analyzed. This paper provides valuable reference for improving the positioning accuracy and robustness of polar crane.