胶带机多机平衡控制研究

发布时间：2018-01-20 01:06

本文关键词： 多机拖动变频驱动功率平衡模糊控制　出处：《西安科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：胶带输送机是当今在采矿、冶金、物流输送等行业中广泛应用的单位运费最低廉的散状物料运输设备。特别是性能比较高的大功率传动设备,急需胶带输送机朝着高速率、大功率、大容量的趋势发展,因此大多采用多电机拖动。由于胶带输送机本身的特点、电动机机械特性的差异以及负载的特性等因素,系统在实际运行时,各台电机会出现出力不均衡的状况,即功率不平衡。由此将产生安全性能低、能源消耗量大等问题。为此,多机间功率的平衡是保证其正常运行的必要条件。本文针对井下多机驱动胶带运输机产生的功率不平衡问题,研究多机间功率平衡的控制算法,采用实验室模拟胶带输送机系统的实验装置,验证所研究控制算法的有效性。第一部分基于理论基础研究功率平衡控制算法。首先从动态和静态两方面分析功率不平衡的影响因素;然后阐述由于电动机机械特性的不同导致功率不平衡,理论上调节平衡的过程;其次研究多机连接的两种方式,即刚性连接和柔性连接,给出了系统控制框图;最后在学习模糊控制理论的基础上,研究模糊PID控制算法。第二部分设计控制系统的软硬件,调试并验证所研究的控制算法。首先设计多电机驱动胶带输送机的主电路和AB PLC三层网络控制电路,搭建实验平台;然后依据主从控制的思想,设计载荷给定、单机调速和功率平衡控制算法的流程图,并编写对应的程序;最后实验,一方面采用传统PID控制算法,使电机在不同载荷给定下能够平稳运行,另一方面采用模糊PID控制算法,使电机间功率平衡。实验曲线标明,随着载荷的增加,通过调整电机的机械特性,每台电机能够平稳运行,多电机间的扭矩平衡分配。
[Abstract]:Belt conveyor is widely used in mining, metallurgy, logistics transportation and other industries, the unit transportation of bulk materials is the cheapest transportation equipment, especially the high-power transmission equipment with high performance. Belt conveyors are in urgent need of high speed, high power and large capacity, so most of them are driven by multi-motor, because of the characteristics of belt conveyors themselves. Because of the difference of the mechanical characteristics of the motor and the characteristics of the load, when the system is in operation, there will be unbalanced output force of each motor, that is, the power imbalance, which will result in low safety performance. For this reason, the balance of power between multiple machines is a necessary condition to ensure its normal operation. This paper aims at the power imbalance caused by multi-machine driving belt conveyor. The control algorithm of power balance between multiple machines is studied, and the experimental device is used to simulate the belt conveyor system in laboratory. In the first part, the power balance control algorithm is studied based on the theoretical basis. Firstly, the influence factors of power imbalance are analyzed from the dynamic and static aspects. Then the paper expounds the process of adjusting the balance theoretically because of the imbalance of power caused by the different mechanical characteristics of the motor. Secondly, two methods of multi-machine connection, rigid connection and flexible connection, are studied, and the system control block diagram is given. Finally, on the basis of learning the fuzzy control theory, the fuzzy PID control algorithm is studied. The second part designs the software and hardware of the control system. First, the main circuit of multi-motor driven belt conveyor and AB PLC three-layer network control circuit are designed, and the experimental platform is built. Then, according to the idea of master-slave control, the flow chart of load given, single machine speed regulation and power balance control algorithm is designed, and the corresponding program is written. Finally, on the one hand, the traditional PID control algorithm is used to make the motor run smoothly under different loads, on the other hand, the fuzzy PID control algorithm is used to balance the power between the motors. With the increase of load, by adjusting the mechanical characteristics of the motor, each motor can run smoothly and distribute the torque balance among the multi-motors.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD528.1

【参考文献】