基于PID滑模控制的刮板输送机链条张力控制

发布时间：2018-10-15 07:04

【摘要】：综合机械化的煤矿开采方式标志着采煤技术的进步,它是目前煤矿开采的必要手段,不仅能够增加井下的煤矿开采产量,而且成功加大了产煤的工效,同时改善了企业的生产收入。刮板输送机是煤矿生产中主要的机器组成部分,它与煤矿的开采效力息息相关。刮板链是刮板输送机的重要元件,它是弹力体,运送物料时会被拉伸,使得链条形成弹力变形,出现过松现象或过紧现象。链条如果很松,能使链轮和链条之间的嵌接受到损害,从而对链条产生震动或者使其脱落的影响;链条如果很紧,会使刮板机的运转摩擦力加大,以致输送能耗增加,从而导致设备损伤。为了防止这两种现象,必须有一个刮板输送机的链条张力调节装置,确保随时自动地调节链条张力。因此,论文拟采用滑模控制技术,使刮板机链条张力获得及时有效的自控效果。首先,建立刮板机链条张力控制数学模型,并且根据刮板机工程设计基本原则,查阅采煤设备工作手册,选择与确定控制模型中的相关参量值。然后,采用趋近律滑模控制方法实现刮板输送机链条张力控制,其中选用三种趋近律,即:指数趋近律、变速趋近律和组合趋近律。在利用每种趋近律的滑模控制技术控制链条张力时,必须设置滑模面函数以及滑模控制律,并且实现链条张力的趋近律滑模控制计算机仿真实验,找出三种控制中效果最佳的组合趋近律滑模控制方法。同时,把该方法和常规PID控制以及模糊自适应PID控制相比较,仿真结果证明滑模控制在刮板链张力控制方面具有优越的控制能力。最后,为了克服滑模控制的抖振现象,把PID控制律和滑模控制技术结合起来,形成PID滑模控制技术实现刮板链张力的自控方案,并计算机仿真实验证明PID滑模控制不仅抖振小,而且链条张力控制性能更好。
[Abstract]:The comprehensive mechanization of coal mining indicates the progress of coal mining technology. It is a necessary means of coal mining at present. It can not only increase the production of underground coal mines, but also increase the efficiency of coal production successfully. At the same time, improve the enterprise's production income. Scraper conveyor is the main machine component in coal mine production, which is closely related to the mining efficiency of coal mine. Scraper chain is an important component of scraper conveyor, it is an elastic body, when transporting materials will be stretched, resulting in elastic deformation of the chain, appear too loose or too tight phenomenon. If the chain is very loose, it can damage the connection between the sprocket and the chain, thereby causing vibration or shedding of the chain; if the chain is very tight, the friction of the scraper will be increased, resulting in an increase in the energy consumption of the conveyance. As a result, the equipment is damaged. In order to prevent these two phenomena, it is necessary to have a chain tension adjusting device of scraper conveyor to ensure that chain tension is adjusted automatically at any time. Therefore, the paper adopts sliding mode control technology to make the chain tension of scraper obtain timely and effective automatic control effect. Firstly, the mathematical model of chain tension control of scraper is established, and according to the basic principles of scraper engineering design, the working manual of coal mining equipment is consulted, and the relevant parameters in the control model are selected and determined. Then, the sliding mode control method is used to control the chain tension of scraper conveyor, in which three kinds of convergence laws are selected: exponential approach law, variable speed approach law and combined approach law. In order to control chain tension with sliding mode control technology of each approach law, the sliding mode surface function and sliding mode control law must be set, and the computer simulation experiment of sliding mode control of chain tension must be realized. To find out the most effective sliding mode control method of combined approach law among the three kinds of control. At the same time, compared with the conventional PID control and fuzzy adaptive PID control, the simulation results show that the sliding mode control has superior control ability in the tension control of scraper chain. Finally, in order to overcome the chattering phenomenon of sliding mode control, the PID control law and sliding mode control technology are combined to form the automatic control scheme of PID sliding mode control technology to realize the tension of scraper chain. The computer simulation results show that PID sliding mode control is not only chattering small. And chain tension control performance is better.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD634.2;TP273

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