采煤机牵引部双电机驱动协调控制研究

发布时间：2018-04-29 03:32

本文选题：采煤机 + 牵引系统　；参考：《重庆大学》2016年硕士论文

【摘要】：随着采煤机装机功率和开采能力的提升,牵引部控制系统控制效果的优劣及其机械系统动态性能表现成为影响采煤机工作稳定性的重要因素。目前采煤机牵引部双电机控制方式多采用为主从控制,而由于主从控制同步精度差,存在滞后,导致销轮销轨啮合偏载的情况时有发生,而业内学者对该方面的研究较少,且集中在静态啮合力学特性和轮齿齿廓研究等方面,如行走轮和销轨齿廓对啮合应力大小的影响、行走轮齿的接触和弯曲强度、行走机构运动仿真等等,几乎没有将驱动端电机的控制因素考虑进来,也没有研究前、后销轮销轨的机械耦合关系。本文从动力学角度对采煤机牵引部双电机协调驱动系统的动态特性进行了研究,为了分析采煤机牵引系统在截煤过程中的动态响应,建立了牵引部双电机驱动控制模型和前后牵引机械系统的虚拟样机模型,进而建立了采煤机双电机牵引系统机—电耦合模型,实现了复杂强耦合机电系统的联合仿真,研究工作的主要内容如下:(1)对所研究的MG300/700-WD型电牵引采煤机进行了牵引传动系统参数的选取和匹配,并对齿轮强度进行了校核;针对行走机构非共轭曲面相互啮合导致齿销磨损十分严重的问题,匹配设计了渐开线牵引齿轮与齿条形销轨。(2)根据匹配设计的机构几何参数建立三维实体模型从而建立整机Adams动力学模型,对牵引部传动系统进行了运动学和动力学仿真分析,通过仿真得到了传动系统各级齿轮和销轮销轨间的运动和动态啮合力响应。(3)建立了采煤机牵引电机在三相静止坐标下的动态数学模型,并利用坐标变换结合矢量控制变换,基于Simulink软件搭建了电机的矢量调速模型,结合单电机矢量调速模型,建立了双电机协调控制模型,仿真分析了传统采煤机主从控制的电机响应特性,并在主从控制的基础上提出了改进的同步控制方法。(4)基于双电机控制模型和牵引部虚拟样机模型建立了牵引部机电耦合模型,仿真分析了传统采煤机在正常牵引工况下的系统响应特性,仿真结果表明传统采煤机较多采用的主从控制控制效果差,易导致电机偏载运行,稳定运行时偏载率也达到11.7%,调速过程中偏载率高达61.5%;在此基础上,本文提出了两种同步精度更高的协调控制方法:即交叉耦合控制和并行控制。仿真比较了采煤机在几种典型工况下不同协调控制方法的机电动态响应。
[Abstract]:With the improvement of the power and mining capacity of shearer, the control effect of traction control system and the dynamic performance of mechanical system become important factors that affect the stability of shearer. At present, the dual motor control mode in the traction part of shearer is mainly controlled by slave control. However, due to the poor synchronization precision of master-slave control and lag, the misalignment load of pin and rail occurs from time to time, but the research on this aspect is less studied by scholars in this field. And it focuses on the static meshing mechanical characteristics and gear tooth profile, such as the influence of walking wheel and pin rail tooth profile on meshing stress, the contact and bending strength of walking gear tooth, the movement simulation of walking mechanism, etc. The control factors of the motor at the drive end are hardly taken into account, and the mechanical coupling relationship between the pin and rail of the rear pin is not studied before. In this paper, the dynamic characteristics of the dual motor coordinated drive system in the traction part of the shearer are studied from the dynamic point of view. In order to analyze the dynamic response of the haulage system of the shearer in the coal cutting process, The driving control model of double motor in traction department and the virtual prototype model of front and rear traction machinery system are established, and then the mechanical-electric coupling model of double motor traction system of shearer is established, which realizes the joint simulation of complex and strong coupling electromechanical system. The main contents of the research are as follows: (1) the parameters of the traction drive system of the MG300/700-WD type electric traction shearer are selected and matched, and the gear strength is checked. In view of the serious problem of tooth pin wear caused by non-conjugate surface meshing of walking mechanism, The involute traction gear and rack pin rail are designed. According to the geometric parameters of the matching design, the three-dimensional solid model is established to establish the Adams dynamic model of the whole machine, and the kinematics and dynamics simulation analysis of the traction part transmission system is carried out. The dynamic mathematical model of shearer traction motor under three-phase static coordinate is established by simulation, and the dynamic meshing force response between gear and pin rail of drive system is obtained. The coordinate transformation is combined with vector control transformation. Based on the Simulink software, the vector speed regulation model of the motor is built. Combined with the vector speed regulation model of the single motor, the coordinated control model of the double motor is established, and the motor response characteristics of the master-slave control of the traditional shearer are simulated and analyzed. On the basis of master-slave control, an improved synchronous control method is proposed. (4) based on the dual motor control model and the traction virtual prototype model, the mechanical and electrical coupling model of the traction part is established. The system response characteristics of the traditional shearer under normal traction condition are analyzed by simulation. The simulation results show that the master-slave control effect of the traditional shearer is poor, which can easily lead to the running of the motor under eccentric load. At the same time, the biasing load rate is 11.7%, and the offset load rate is up to 61.5% in the course of speed regulation. On the basis of this, two kinds of coordination control methods with higher synchronization precision are proposed in this paper: cross coupling control and parallel control. The electromechanical dynamic responses of different coordinated control methods of shearer under several typical conditions are simulated and compared.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD632.1

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