长距离带式输送机三点驱动控制系统研究
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摘要
针对目前带式输送机驱动控制研究忽略了输送带的黏弹性对启动过程的影响、不能较好地模拟带式输送机启动过程的问题,分析了输送带的力学特性及黏弹性模型,并选用Voigt模型对输送带进行建模;利用Simulink与AMESim联合仿真平台,分别对带式输送机的机械部分和电动机控制部分进行建模。根据直接转矩控制原理和协同控制思想设计了长距离带式输送机三点驱动控制系统。该系统采用主从控制策略,以头部驱动电动机为主驱动,其余为从驱动,控制带式输送机头部、中部、尾部3个驱动的输出转速和转矩,使得带式输送机以预设速度曲线平稳启动并运行。仿真结果表明,由于输送带的黏弹性作用及带式输送机加速度不断变化,导致带式输送机的负载转矩不断变化,但带式输送机头部、中部、尾部3个驱动均能很好地跟踪预设的启动速度,说明三点驱动控制系统能够很好地控制带式输送机的启动和运行过程。
In view of the problems that influence of viscoelasticity of conveyor belt on starting process is neglected in current research on driving and control of belt conveyor,and belt conveyor starting process cannot be simulated well,mechanical properties and viscoelastic model of the conveyor belt were analyzed and Voigt model was selected for modeling of conveyor belt.Simulink and AMESim co-simulation platform was used to establish model of the mechanical part and motor control part of the belt conveyor separately.Three-point driving and control system of long distance belt conveyor was designed according to principle of direct torque control and the idea of cooperative control.The system adopts master-slave control strategy,takes head driving motor as main driver and the rest as slave drivers to control output speed and torque of the three drivers at the head part,middle part and tail part of the belt conveyor,which enables the belt conveyor to start and run smoothly with the preset speed curve.The simulation results show that although load torque of the conveyor is constantly changing due to viscoelastic effect of conveyor belt and the change of acceleration of the conveyor,the three drivers at the head part,middle part and tail part of the belt conveyor can track the preset starting speed well,which indicates that the three-point driving and control system can control the start-up and operation of the belt conveyor well.
In view of the problems that influence of viscoelasticity of conveyor belt on starting process is neglected in current research on driving and control of belt conveyor,and belt conveyor starting process cannot be simulated well,mechanical properties and viscoelastic model of the conveyor belt were analyzed and Voigt model was selected for modeling of conveyor belt.Simulink and AMESim co-simulation platform was used to establish model of the mechanical part and motor control part of the belt conveyor separately.Three-point driving and control system of long distance belt conveyor was designed according to principle of direct torque control and the idea of cooperative control.The system adopts master-slave control strategy,takes head driving motor as main driver and the rest as slave drivers to control output speed and torque of the three drivers at the head part,middle part and tail part of the belt conveyor,which enables the belt conveyor to start and run smoothly with the preset speed curve.The simulation results show that although load torque of the conveyor is constantly changing due to viscoelastic effect of conveyor belt and the change of acceleration of the conveyor,the three drivers at the head part,middle part and tail part of the belt conveyor can track the preset starting speed well,which indicates that the three-point driving and control system can control the start-up and operation of the belt conveyor well.
引文
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[3]王坤,包继华,刘思哲,等.液体黏性传动在带式输送机多点驱动起车过程中功率平衡的应用研究[J].矿山机械,2010,38(13):77-80.WANG Kun,BAO Jihua,LIU Sizhe,et al.Study on application of hydro-viscous transmission to power balance during multi-motored starting of belt conveyor[J].Mining&Processing Equipment,2010,38(13):77-80.
[4]高洁,裴计田,谷明霞.大型带式输送机起动特性分析及控制[J].煤炭工程,2011,43(10):101-102.
[5]应成龙,闫茹.液体粘性传动装置在带式输送机中的应用[J].煤炭工程,2007,39(6):67-68.
[6]姜雪,周满山,张媛.多点驱动的上运带式输送机功率平衡的研究[J].矿山机械,2007,35(6):84-86.JIANG Xue, ZHOU Manshan, ZHANG Yuan.Study to balance of power of uphill belt conveyor with multi-spot driving[J]. Mining&Processing Equipment,2007,35(6):84-86.
[7]章军,贾春玉.CST驱动装置选用探讨[J].煤炭工程,2005,37(12):8-11.
[8]郭建军,郭建廷.带式输送机多机拖动功率平衡问题的探讨[J].煤炭科学技术,2008,36(1):88-91.GUO Jianjun,GUO Jianting.Discussion on balance issue of multi motor towing power for belt conveyor[J].Coal Science and Technology,2008,36(1):88-91.
[9]杨光辉.基于模糊神经网络的多电机功率平衡控制研究[D].徐州:中国矿业大学,2014.
[10]祝龙记,王汝琳.直接转矩控制在带式输送机电气传动中的应用研究[J].煤炭学报,2004,29(3):376-380.ZHU Longji,WANG Rulin.Application of direct torque control in electric drive of belt conveyors[J].Journal of China Coal Society,2004,29(3):376-380.
[11]王鹏云.基于遗传算法的矿用带式输送机直接转矩控制系统[D].西安:西安科技大学,2006.
[12]邢金岭.变频驱动带式输送机功率平衡控制研究[J].煤炭科学技术,2014,42(7):84-87.XING Jinling.Research on power balance control of belt conveyor with variable frequency drive[J].Coal Science and Technology,2014,42(7):84-87.
[13]王定龙,王然风,赖春林.带式输送机双机驱动控制系统设计[J].工矿自动化,2018,44(1):74-78.WANG Dinglong,WANG Ranfeng,LAI Chunlin.Design of dual-motor driving control system of belt conveyor[J].Industry and Mine Automation,2018,44(1):74-78.
[14]李鑫.基于CMAC的多驱动系统协调控制[D].合肥:合肥工业大学,2010.
[15]潘月斗,李擎,李华德.电力拖动自动控制系统[M].2版.北京:机械工业出版社,2014.