基于专家PID算法的矿井提升机调速系统研究

发布时间：2018-03-10 03:20

本文选题：专家PID控制　切入点：矿井提升机　出处：《山东科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：在矿井提升过程中,提升机调速系统是提升稳定运行的关键,是矿井安全高效运转的保障,调速系统的性能会受到外部环境干扰和内部参数变动等因素影响。设计一种智能控制策略,通过对传动电机的转速进行在线调节,能够改善调速系统的动态性能和抗扰动性能。论文基于专家智能控制理论,采取专家式控制器的形式,将专家控制引入提升机调速系统。设计了转速、电流串级控制系统,系统的转速外环采用专家PID控制器,电流内环采用传统PID控制器。在设计专家控制策略时,以传统PID控制为基础,然后结合积分分离思想和专家控制经验,最终得到积分分离专家PID控制策略。针对给定的矿井提升机,建立了调速系统的知识库,制定了专家控制规则,采用了前向逻辑推理机。调速过程中,专家控制器的逻辑推理机以知识库中转速偏差的实际情况为前提,匹配对应的专家控制规则,匹配成功后输出控制量,作用于后续电路,最终实现对转速的动态调节。以TMS320F28335 DSP为核心控制器,设计了数字控制矿井提升机调速系统。硬件部分设计了系统的主电路,控制电路和检测电路,并对电路元器件进行了计算和选型。软件部分设计了主程序和中断服务子程序,利用ADC模块来测量电流,利用eQEP模块来测量转速,设置1个PWM周期执行一次电流调节子程序,100个PWM周期执行一次转速调节子程序。在MATLAB的SIMULINK环境中,搭建了提升机调速系统仿真模型,采用对比分析的方法,将专家PID调速系统与传统PID调速系统的响应结果进行比较,表明专家PID调速系统的动态性能和抗扰动性能得到改善。利用实验室现有eMCP1OOON实验装置搭建了一套直流调速系统,验证了专家PID控制策略对实际系统性能的改善。
[Abstract]:In the process of mine hoisting, the speed regulation system of hoist is the key to the steady operation of the mine and the guarantee of the safe and efficient operation of the mine. The performance of the speed regulating system is affected by the external environment disturbance and the change of internal parameters. An intelligent control strategy is designed to adjust the speed of the drive motor on line. Based on the expert intelligent control theory, the paper introduces expert control into the speed regulation system of hoist, and designs the speed and current cascade control system, which is based on the expert intelligent control theory and the form of expert controller, which can improve the dynamic performance and anti-disturbance performance of the speed governing system. The expert PID controller is used in the outer loop of the system, and the traditional PID controller is used in the inner loop of the current. When designing the expert control strategy, the expert control strategy is based on the traditional PID control, and then combined with the idea of integral separation and the experience of the expert control. Finally, the expert PID control strategy of integral separation is obtained. For a given mine hoist, the knowledge base of the speed regulation system is established, the expert control rules are formulated, and the forward logic reasoning machine is adopted. The logical inference machine of expert controller takes the actual condition of speed deviation in knowledge base as the premise, matches the corresponding expert control rule, outputs the control quantity after matching successfully, and acts on the subsequent circuit. Finally, the dynamic regulation of rotational speed is realized. With TMS320F28335 DSP as the core controller, the speed regulation system of the digital control mine hoist is designed. The main circuit, control circuit and detection circuit of the system are designed in the hardware part. In the software part, the main program and interrupt service subroutine are designed, the current is measured by ADC module, and the rotational speed is measured by eQEP module. One PWM cycle is set up to execute a current regulation subroutine, and 100 PWM cycles to perform a speed regulation subroutine. In the SIMULINK environment of MATLAB, the simulation model of hoist speed regulation system is built, and the method of comparative analysis is adopted. The response results of expert PID speed control system and traditional PID speed regulating system are compared. The results show that the dynamic performance and anti disturbance performance of expert PID speed regulating system have been improved. A set of DC speed regulation system has been built by using the existing eMCP1OOON experimental device in the laboratory. The expert PID control strategy is proved to improve the system performance.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD633;TP273

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