双电动机驱动弛张筛及其伺服控制系统
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摘要
普通弛张筛中双筛框的振动相位会根据筛板上来料量的变化而变化,很难实现固定筛框和浮动筛框理想的180°相位差,导致筛分效率不能保证。针对上述问题,建立了双电动机驱动弛张筛力学模型及振动方程,得到弛张筛固定筛框和浮动筛框之间的振幅和相位关系,并分析得出:双激振电动机转速同步且偏心块的相位差为170°时,双筛框的振动相位差能达到180°。提出了一种基于双电动机驱动的弛张筛伺服控制系统,采用了基于交叉耦合的转速同步控制方法和改进的基于点动Bang-Bang的相位补偿控制算法。仿真结果表明:该系统在启动阶段跟随速度快,调整时间短,超调量小,转速同步情况比较理想;转速及相位补偿速度快,转速波动幅度为70r/min左右,偏心块相位差波动幅度控制在5°以内,具有较强的抗干扰性。
Vibration phase of two screen frames in ordinary flip-flow screen varies in accordance with the change of incoming materials,and phase difference between fixed screen frame and floating screen frame is difficult to maintain at ideal 180 degrees,which leads to low screening efficiency.In view of the above problems,mechanical model and vibration equation of double motor driven flip-flow screen were established,relationship of amplitude and phase between fixed and floating screen frames were obtained,and it was concluded that when speed of double excitation motor was synchronized and phase difference of eccentric block is 170°,vibration phase difference of double screen frames can achieve 180°.Servo control system of double motor driven flip-flow screen was proposed, and cross-coupling-based speed synchronization control method and improved Bang-Bang-based phase compensation control algorithm were used.The simulation results show that the system follows quickly in startup phase with short adjustment time and small overshoot,ideal speed synchronization;rotation speed and phase compensation speed are fast,absolute value of speed fluctuation amplitude is about 70 r/min,and eccentric block phase difference fluctuation amplitude is controlled within 5°,which verifies the system has strong anti-interference performance.
Vibration phase of two screen frames in ordinary flip-flow screen varies in accordance with the change of incoming materials,and phase difference between fixed screen frame and floating screen frame is difficult to maintain at ideal 180 degrees,which leads to low screening efficiency.In view of the above problems,mechanical model and vibration equation of double motor driven flip-flow screen were established,relationship of amplitude and phase between fixed and floating screen frames were obtained,and it was concluded that when speed of double excitation motor was synchronized and phase difference of eccentric block is 170°,vibration phase difference of double screen frames can achieve 180°.Servo control system of double motor driven flip-flow screen was proposed, and cross-coupling-based speed synchronization control method and improved Bang-Bang-based phase compensation control algorithm were used.The simulation results show that the system follows quickly in startup phase with short adjustment time and small overshoot,ideal speed synchronization;rotation speed and phase compensation speed are fast,absolute value of speed fluctuation amplitude is about 70 r/min,and eccentric block phase difference fluctuation amplitude is controlled within 5°,which verifies the system has strong anti-interference performance.
引文
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[2]LIU K S.Some factors affecting sieving performance and efficiency[J].Powder Technology,2009,193(2):208-213.
[3]ZHENG Gangfeng,ZHU Jinbo,XIA Wandong,et al.Banana flip-flow screen benefits coal preparation[J].Filtration and Separation,2016,53(4):38-41.
[4]NIKHIL G.Evaluation of pneumatic inclined deck separator for high-ash Indian coals[J].International Journal of Coal Science&Technology,2016,3(2):198-205.
[5]ZHAO Yuemin,YANG Xuliang,LUO Zhenfu,et al.Progress in developments of dry coal beneficiation[J].International Journal of Coal Science&Technology,2014,1(1):103-112.
[6]王新文,姚凯旋,张春节,等.进口振动弛张筛的工作机理分析[J].矿山机械,2014,42(5):87-90.WANG Xinwen,YAO Kaixuan,ZHANG Chunjie,et al.Analysis on working mechanism of imported vibrating flip-flow screen[J].Mining&Processing Equipment,2014,42(5):87-90.
[7]陈志强,石剑锋,刘欣,等.双质体振动弛张筛振动特性分析[J].煤炭工程,2014,46(11):113-114.CHEN Zhiqiang,SHI Jianfeng,LIU Xin,et al.Analysis on vibration characteristics of double mass vibrating flip-flop screen[J].Coal Engineering,2014,46(11):113-114.
[8]顾成祥,熊晓燕.圆迹弛张筛动力学参数对振幅的影响[J].煤炭技术,2014,33(12):238-241.GU Chengxiang,XIONG Xiaoyan.Effect of dynamic parameters on vibration amplitude of flip-flop screen in circular trajectory[J].Coal Technology,2014,33(12):238-241.
[9]王春华,朱殿烨.基于MATLAB的圆振动筛的运动仿真[J].煤矿机械,2009,30(2):45-47.WANG Chunhua,ZHU Dianye.Dynamic simulation of circular vibrating screen based on MATLAB[J].Coal Mine Machinery,2009,30(2):45-47.
[10]王谦,赵俊利.基于MATLAB软件的振动筛振动研究[J].煤矿机械,2011,32(9):38-39.WANG Qian,ZHAO Junli.Analysis and study on vibration shaker with MATLAB software[J].Coal Mine Machinery,2011,32(9):38-39.
[11]翟宏新,杨丽,李君.工业型弛张筛系统参数的整体优化[J].煤炭学报,2004,29(1):105-108.ZHAI Hongxin,YANG Li,LI Jun.Integral optimization on systematic parameters of flip-flow screens[J].Journal of China Coal Society,2004,29(1):105-108.
[12]邹梦麒,刘初升,武继达,等.张紧量对单边驱动式弛张筛筛面动力学参数的影响[J].煤炭学报,2018,43(2):571-577.ZOU Mengqi,LIU Chusheng,WU Jida,et al.Influence of tensional amount on dynamic parameters of unilateral[J].Journal of China Coal Society,2018,43(2):571-577.
[13]刘坤,方一鸣,赵莹.同步控制及其在结晶器振动中的应用[J].控制工程,2007,14(3):328-331.LIU Kun,FANG Yiming,ZHAO Ying.Synchronization control and its applications to continuous casting mold[J].Control Engineering of China,2007,14(3):328-331.
[14]寇宝泉,程树康.交流伺服电机及其控制[M].北京:机械工业出版社,2008.
[15]耿强,单长帅,刘涛,等.双电机刚性齿轮传动系统转矩均衡控制[J].电工技术学报,2017,32(15):17-26.GENG Qiang,SHAN Changshuai,LIU Tao,et al.Torque balance control of dual-motor rigid gear drive system[J].Transactions of China Electrotechnical Society,2017,32(15):17-26.