Modeling And Simulation For Electrical Driving System Of Electrical Differential Driving And Four Drumms Bridge Grab Bucket Unloader

Research in the thesis is about important load-unload equipment of port which is bridge grab bucket unloader.The bridge grab bucket unloader is regarded as researchful target of the thesis and grab bucket driving is in the light of topic of the thesis.Firstly, characteristic analysis and property comparison are synthetically conducted about unloaders,including self-move unloader,tug traction unloader and differential mechanism unloader.Following that,putting forward a conceive of grab bucket drive by electrical and differential driving of four drumms.Then,this thesis establish kinetic and dynamic model of grab bucket driving system by through Second Lagrange equations in analytic mechanics. Perceiving from the model that grab bucket driving system belongs to interactional system of multi-variables and non-linearity. After analysing the model and researching actual exercise , the thesis makes programming motion of the grab bucket.That are in turn that vertical elevating,parallel and ascent moving,unload and backtracking,parallel and descent moving accelerated and vertical descent. In oder to research control of grab bucket drive by stages.,the thesis establish simulation model in MATLAB/SIMULINK. Soon afterwards,begaining to study about anti-sway of grab bucket by regarding control target as simulation. By simulation,the thesis validates that existence of balance-departure-degree in differential force for the grab bucket.And to bring forward the concept of balance-departure-degree. And then completed solution is provided,that is differential feedback of sway-degree. SIMULINK simulation verify that the scheme is valid. In final,the thesis carries out dynamic simulation of the whole busywork period in unloader.In the end, the thesis analyses two questions in engneering.The one is status scope of sway-degree of grab bucket,the other one is force balance between holding rope and closing rope.At the same time,constitution of grab bucket driving system of electrical and differential drive is explained in detail.