移动式破碎站履带行走装置机电耦合仿真及试验研究

发布时间：2018-02-13 13:23

本文关键词： 移动式破碎站履带行走装置机电耦合自适应控制克里金模型动力学　出处：《吉林大学》2015年博士论文　论文类型：学位论文

【摘要】：移动式破碎站是大型露天矿半连续开采成套装备的关键设备，，随着其生产率的提高，移动式破碎站整机质量达千吨以上，大型履带装置作为移动式破碎站的行走机构，其性能直接影响着采矿生产线的生产效率、经济性和可靠性。本文结合国家高技术“863”课题“3000t/h移动式破碎站研制”（No.2012AA062002），通过机电耦合动力学建模及求解、虚拟样机仿真和物理样机试验等方法对移动式破碎站履带行走装置机电耦合性能进行仿真及试验研究，提出履带行走装置机电耦合动力学分析方法和自适应行驶控制技术，提高大型移动式破碎站履带行走装置行驶性能和自动化水平。本文综述了机电耦合建模方法及履带行走装置运动控制技术的国内外研究现状，基于履带行走装置典型工况下的动力学分析以及感应电机的动态特性，建立了履带行走装置在各典型工况下的机电耦合动态数学模型，通过数值计算对其在各工况下的机电耦合性能进行了仿真分析，得到了履带行走装置在非稳态运行过程中的机电参数变化规律。为了实现履带行走装置自适应行走的功能，设计了基于GPS定位的履带行走装置自适应控制系统方案和履带行走装置的自适应控制流程。该系统通过坐标转换将天空坐标系转换成陆地直角坐标系，根据Lyapunov稳定控制理论，将目标履带装置的行驶轨迹跟踪问题转化为跟踪误差系统的镇定问题，并结合其运动学原理设计了履带行走装置的自适应控制律。为了实现对履带行走装置的自适应行走过程进行精准控制，利用Kriging模型建立了感应电机转子输出轴端的负载转矩、输出转速与供电频率之间的函数映射关系。同时，为了提高Kriging模型的解耦精度，还利用改进的粒子群算法对Kriging模型中的相关性系数进行了优化。基于已经构建的自适应控制系统，分别用多体动力学软件Recurdyn和数值分析软件Matlab/Simulink建立了履带行走装置的动力学模型和自适应控制系统的理论模型，通过虚拟样机联合仿真得到其在复合行驶工况下的机电耦合性能，并验证了所设计的自适应控制系统的控制效果。为了对履带行走装置机电耦合数值仿真和虚拟样机联合仿真结果进行验证，本文开发了履带行走装置的物理样机模型及自适应控制系统。利用GPS定位系统和性能测试系统对履带装置质心位置和两侧履带的行驶速度、驱动电机定子端电压及所受负载转矩进行监测。试验结果与数值仿真结果和虚拟样机仿真结果吻合较好，从而验证了所建立的履带行走装置机电耦合动态模型和虚拟样机模型可用于对移动式破碎站履带行走装置的机电耦合性能分析当中，且所设计的自适应控制律也表现出很好的控制效果。在此基础上，建立了大型移动式破碎站履带行走装置机电耦合虚拟样机模型，对其自适应行走过程进行了仿真，验证了自适应控制律在大型履带行走装置上的控制效果。本文提出的大型履带行走装置机电耦合动力学建模及分析方法和基于GPS的履带自适应行驶控制系统，发展了大型履带行走装置设计理论，履带行走装置机电耦合动力学建模方法、分析方法和自适应行驶控制技术在移动式破碎站上的应用，对于提高了我国高端采矿装备的研制水平具有重要意义。
[Abstract]:The mobile crushing station is the key equipment of large opencast mine semi continuous mining equipment, along with the improvement of productivity, the mobile crusher machine quality up to more than 1000 tons, large crawler device as mobile crushing station walking mechanism, its performance directly affects the mining production efficiency, economy and reliability in this paper. The national high technology project "863" "3000t/h mobile crusher station development" (No.2012AA062002), through the modeling and solving of electromechanical coupling dynamics, virtual prototype simulation and physical prototype test methods such as crushing station crawler system electromechanical coupling performance of the simulation and test of mobile, proposed crawler system electromechanical coupling dynamic analysis method and adaptive cruise control technology, improve the large-scale mobile crusher station crawler device driving performance and automation level.
This paper summarizes the current status of research on modeling method of electromechanical coupling and crawler device movement control technology at home and abroad, crawler device dynamic analysis under typical conditions and dynamic characteristics of induction motor based on the established dynamic mathematical model of crawler electromechanical coupling device in various typical conditions, the electromechanical coupling performance under different working conditions simulation analysis is carried out by numerical calculation, the variation of electrical parameters of crawler device in the non steady state process.
In order to realize the adaptive crawler walking function, the design of the crawler system adaptive control scheme and crawler control process based on GPS. The system will be through the sky coordinates into Cartesian coordinates of terrestrial coordinate conversion, according to Lyapunov stability control theory, the trajectory tracking problem into target track device for the stabilization problem of the tracking error of the system, the kinematics principle and design combined with the adaptive control law of crawler running device.
In order to realize the accurate control of adaptive walking crawler walking device, a load torque of induction motor rotor output shaft using Kriging model, function mapping relation between the output speed and power supply frequency. At the same time, in order to improve the accuracy of the decoupling Kriging model, the correlation coefficient in Kriging model were optimized by improved the particle swarm algorithm. The adaptive control system has been constructed based on respectively using multi-body dynamics software Recurdyn and numerical analysis software Matlab/Simulink to establish a theoretical model of crawler system dynamics model and adaptive control system, get the composite driving conditions of electromechanical coupling performance through co simulation of virtual prototype, and verify the control effect the design of the adaptive control system.
In order to crawler system electromechanical coupling numerical simulation and virtual prototype simulation results verify the developed crawler prototype model and adaptive control system. The speed of the crawler device and two track centroid position using GPS positioning system and performance test system, drive motor stator voltage and the monitoring the load torque. The experimental results and numerical simulation results are in good agreement with the virtual prototype simulation results, which verified the crawler system electromechanical coupling dynamic model and virtual prototype model can be used for crushing of mobile station electromechanical coupling performance analysis of crawler running device, the adaptive control law and the control effect is also shown good.
On this basis, a mechanical and electrical coupling virtual prototyping model of a large mobile crusher station was established, and its adaptive walking process was simulated, which verified the control effect of adaptive control law on large crawler walking device.
The methods of modeling and analysis of electromechanical coupling dynamics and crawler device based on GPS adaptive cruise control system of large crawler walking is put forward in this paper, the development of large crawler system design theory, crawler device electromechanical coupling dynamic modeling method, analysis method and adaptive cruise control technology in the application of mobile crusher station, is of great significance for the to improve the development level of China's high-end mining equipment.

【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TD632

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