深井提升机试验台系统设计与控制研究

发布时间：2019-06-18 12:47

【摘要】：本论文研究的深井提升机试验台是为超深井提升机提供理论及技术支撑,超深井提升机项目是为了迎合国家战略资源开发及深部资源开发提出的,用以取代单次提升深度不足1000米的单绳缠绕式矿井提升机和多绳摩擦式矿井提升机。本文依托国家973项目:“非定常工况下超深矿井提升系统危机预防及安全运行研究”(项目编号:2014CB049404),针对深井提升机试验台的非定常工况进行研究,主要包括提升机试验台速度规划研究和两根钢丝绳张力平衡控制研究。首先,本文充分分析了国内外现有矿井提升机的特点、性能及不足,设计了双绳缠绕式深井提升机试验台。针对双绳缠绕式深井提升机试验台非定常工况进行研究,搭建了双绳缠绕式深井提升机试验台,并对试验台关键部件进行受力分析;对液压回路系统中的液压元件及试验用到的传感器进行选型。其次,针对深井提升机试验台提升系统的速度控制,本文建立了提升机试验台提升系统的动力学模型,并对动力学模型进行仿真验证;针对浮动天轮系统的调节控制,本文建立了浮动天轮系统的动力学模型;根据提升机试验台的组织结构,在AMESim软件里建立了提升机试验台的仿真模型,并进行了仿真验证。然后,分析了双绳缠绕式深井提升机试验台钢丝绳张力差产生的机理,在此基础上规划了钢丝绳张力调平控制策略。在规划的六段速提升机试验台运行速度方案下,在提升机试验台仿真模型里对钢丝绳张力调平控制策略进行仿真验证,仿真结果证实了PID控制器及反步控制器调节钢丝绳张力恢复平衡的有效性。最后,对试验台控制系统部分进行设计、组装与调试;调试完成后在试验台上进行钢丝绳张力调平控制策略的实验验证,实验验证是在提升机试验台两组不同速度方案下进行,旨在更准确验证控制策略的有效性。
[Abstract]:The deep well hoist test-bed studied in this paper provides theoretical and technical support for ultra-deep well hoist. The ultra-deep well hoist project is proposed to cater to the development of national strategic resources and deep resources, and to replace the single-rope winding mine hoist and multi-rope friction mine hoist with a single lifting depth of less than 1000 meters. Based on the national 973 project, "Research on crisis Prevention and safe Operation of Ultra-deep Mine hoisting system under unstable working conditions" (project number: 2014CB049404), this paper studies the unsteady working conditions of deep well hoist test-bed, including speed planning of hoist test-bed and tension balance control of two wire ropes. First of all, this paper fully analyzes the characteristics, performance and shortcomings of the existing mine hoist at home and abroad, and designs a double rope wound deep well hoist test bench. In this paper, the non-steady working condition of the double rope winding deep well hoist test bench is studied, the double rope winding deep well hoist test bed is built, and the stress analysis of the key components of the test bed is carried out, and the hydraulic components in the hydraulic circuit system and the sensors used in the test are selected. Secondly, aiming at the speed control of the hoisting system of the deep well hoist test-bed, the dynamic model of the hoisting system of the hoist test-bed is established in this paper, and the dynamic model is simulated and verified, and the dynamic model of the floating crane system is established in this paper. According to the organization structure of hoist test-bed, the simulation model of hoist test-bed is established in AMESim software, and the simulation verification is carried out. Then, the mechanism of wire rope tension difference in double rope winding deep well hoist test bench is analyzed, and the control strategy of wire rope tension leveling is planned on this basis. Under the planned running speed scheme of the six-stage speed hoist test-bed, the tension leveling control strategy of the wire rope is simulated and verified in the simulation model of the hoist test-bed. The simulation results verify the effectiveness of the PID controller and the backstepping controller in adjusting the tension recovery balance of the wire rope. Finally, the control system of the test-bed is designed, assembled and debugged, and the experimental verification of the tension leveling control strategy of the wire rope is carried out on the test-bed, which is carried out under two different speed schemes of the hoist test-bed in order to verify the effectiveness of the control strategy more accurately.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD534

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