基于电控机械式自动变速器的胶带输送机软起动控制特性研究

发布时间：2018-03-01 14:24

  本文关键词： AMT 软起动 胶带输送机 起步控制 换挡控制　出处：《山东大学》2016年博士论文　论文类型：学位论文

【摘要】：胶带输送机软起动装置普遍存在价格昂贵、维护成本高的问题,低成本软起动装置成为市场需求的方向。重型电控机械式自动变速器(AMT)以其传递扭矩大、成本低在重型车辆中得到了广泛应用,将其用作胶带输送机的软起动装置是AMT应用领域的创新,具有巨大的市场价值。本文在国家自然科学基金《放顶煤支架尾梁振动信号分析法检测顶煤放落程度研究》(N0.51174126)的资助下,对AMT软起动胶带输送机的起步过程控制和换挡过程控制进行了深入研究。论文的主要工作及研究成果如下：(1)建立AMT软起动胶带输送机系统的力学模型。根据AMT软起动胶带输送机系统的动力传递原理,建立了AMT传动系统动力学方程。通过建立胶带输送机力学模型,分析了输送带不打滑条件、物料不滑动条件和输送带的运动方程。通过建立离合器、TB制动器、电磁阀的力学模型,分析了AMT气动系统的时滞性。所建AMT系统的动力学模型能够描述胶带输送机的动力传递过程,体现AMT气动系统的时滞性,为后续起步和换挡控制方法研究奠定基础。(2)研究AMT软起动胶带输送机的软起动加速度控制曲线。通过对常用五种胶带输送机软起动曲线特性的优缺点分析,提出了适合AMT软起动胶带输送机的梯形和直角梯形软起动加速度曲线。利用AMESim软件建立AMT软起动胶带输送机的动态仿真模型,对比分析了梯形和直角梯形加速度起动曲线下AMT软起动胶带输送机的动态响应,从胶带输送机输送带速度、加速度、冲击度和张力参数的变化来看两种软起动曲线可满足软起动要求。(3)研究起步过程负载参数估计方法。针对负载参数对换挡过程控制的影响,提出了一种基于起步过程半接合点的负载阻力矩估计和基于递推最小二乘法的负载惯量递推估计方法。根据起步过程半接合点的位置信息和离合器扭矩位移特性,得到负载阻力矩估计值。根据加速阶段离合器位移和输出轴转速,构建负载惯量估计模型,采用递推最小二乘算法对负载惯量估计模型进行在线估计。(4)设计AMT软起动胶带输送机起步过程离合器接合各阶段的控制器。根据软起动目标要求,给出了软起动品质评价指标和控制需求。通过对起步过程的分析,确定各阶段的控制任务,分别设计了离合器空行程阶段、克服阻力阶段、加速阶段的控制器。为控制起步瞬间输送带冲击度和减小滑摩功损耗,克服阻力阶段采用基于抛物线位移曲线的数据驱动CFDL-MFAC控制算法进行了离合器位移跟踪。为便于AMT控制,将加速阶段对输送带加速度和冲击度的控制等效为对输出轴角加速度和冲击度的控制,采用冲击度补偿模糊PID控制算法对直角梯形加速度控制曲线进行跟踪。(5)研究无同步器式AMT同步换挡控制策略。提出了基于输入轴制动的同步转速差升挡策略和基于输入轴等待输出轴降速的同步降挡策略。通过对同步升挡和同步降挡的理论分析,设计了输入轴控制量算法,根据执行机构的滞后性,以同步转速差条件作为换挡时刻的依据。根据TB制动特性,采用基于控制限幅的PD控制算法对TB制动器进行控制,用于跟踪由输入轴期望转速算法得到的输入轴降速曲线规律,直至达到同步转速差要求。(6)设计AMT软起动胶带输送机换挡过程离合器接合各阶段的控制器。根据软起动目标要求,给出了换挡品质评价指标和控制需求。为控制输送带冲击度,克服阻力阶段采用基于抛物线位移曲线的数据驱动CFDL-MFAC控制算法进行了离合器位移跟踪。以负载参数识别为基础,在加速阶段采用基于接合位置预测与修正的模糊PID控制方法对输出轴直角梯形角加速度控制曲线进行了跟踪。(7)设计AMT软起动胶带输送机的电子控制系统。给出了AMT电子控制系统总体控制方案及底层、中间层和上层软件的设计框架,为试验提供软、硬件支持。(8)验证AMT软起动胶带输送机的控制方案。设计了离合器接合与分离特性试验、离合器扭矩位移特性试验、TB制动特性试验、起步过程控制试验、换挡过程控制试验,验证了AMT软起动胶带输送机起步过程和换挡过程控制方案的可行性。
[Abstract]:The belt conveyor soft start device is too expensive, high maintenance costs, low cost soft start device become the direction of market demand. Heavy automatic mechanical transmission (AMT) with its large transfer torque and low cost in heavy-duty vehicles has been widely used, which is used as the belt conveyor soft start device is the innovation of the application of the AMT, has a huge market value. Based on the National Natural Science Fund < caving support tail beam vibration signal analysis of caving top coal detection method of degree > (N0.51174126) supported by the start process control and shifting process of AMT soft start of belt conveyor control were studied. The main results the work and research are as follows: (1) to establish the mechanical model of AMT soft starting system of belt conveyor. According to the transmission principle of the power of AMT soft starting system of belt conveyor, established AMT The transmission dynamics equation. The mechanical model of the belt conveyor, conveyor belt does not slip conditions, material conditions and sliding motion equation of belt conveying. By establishing the mechanical model of TB clutch, brake, solenoid valve, analysis of the time-delay AMT pneumatic system. The transfer process dynamics model of AMT system to describe the belt conveyor, the AMT delay of the pneumatic system for the subsequent start and shift control method research foundation. (2) soft starting acceleration curve of AMT soft start of belt conveyor. The advantages and disadvantages of the soft starting curve of five kinds of commonly used belt conveyor analysis, put forward the soft start AMT the trapezoidal and rectangular trapezoidal belt conveyor soft start acceleration curve. A dynamic simulation model of AMT soft start of belt conveyor by using AMESim software, the contrastive analysis of the ladder The dynamic response of soft start of belt conveyor and right angled trapezoid acceleration starting curve under AMT, the speed of the conveyor belt, the belt conveyor acceleration, change impact and tension parameters of two kinds of soft starting curve can meet the requirements of soft starting. (3) the estimation of the starting process of load parameters. According to the load parameters on the influence of shifting process control that presents a starting process of half engagement point of load resistance and load inertia estimation recursive least squares method based on recursive estimation method based on the starting process. According to the half engagement point position information and clutch torque displacement characteristics, load resistance torque estimation. According to the displacement and acceleration stage clutch output shaft speed, construction load inertia estimation model, using recursive least squares algorithm to estimate the load inertia model are estimated online. (4) the design of AMT soft start of belt conveyor start Each stage of the process of clutch engagement controller. According to the soft starting goal, given the soft starting quality evaluation index and control demand. Through the analysis of the starting process, determine the control tasks of each stage, were designed to overcome the resistance of clutch free stage, stage, stage. In order to control the controller to accelerate the start moment of conveyor belt impact degree and reduce friction power loss, to overcome the resistance of the parabolic phase displacement curve based on the data driven CFDL-MFAC control algorithm for clutch displacement tracking. For AMT control, will accelerate the phase control of equivalent belt acceleration and impact degree for the control of the output shaft angular acceleration and the degree of impact, the impact of compensation fuzzy PID control tracking algorithm of right angle trapezoidal acceleration control curve. (5) AMT type synchronizer synchronous shift control strategy research is proposed. Based on the input shaft Synchronous speed brake synchronous lifting gear differential strategy and based on the input shaft output shaft of the speed reducing gear waiting strategy. Based on synchronous and synchronous gear up drop analysis theory, designed the input axis control algorithm, according to the actuator lag, synchronous speed difference condition as basis. According to the time shift TB braking characteristics controlled by limiting the PD control algorithm to control the brake based on TB, for tracking the input shaft by the desired input shaft speed algorithm to obtain the deceleration curve, until it reaches the synchronous speed difference. (6) the design of AMT soft start rubber belt conveyer shift clutch engagement process controller in each stage according to the soft. The starting goal, given the shift quality evaluation and control requirements. To control the belt impact degree, overcome the resistance of the parabolic phase displacement curve based on the data driven CFDL-MFAC control algorithm. The clutch displacement tracking. To load parameter identification based on acceleration stage fuzzy PID joint position prediction and correction control method to control the output shaft angle curve right angled trapezoid acceleration is carried out based on tracking. (7) electronic control system design of AMT soft start of belt conveyor. Given the overall control scheme and the underlying AMT the electronic control system, the design framework of the middle layer and the upper layer software, to provide test soft hardware support. (8) control scheme is verified by AMT soft start of belt conveyor. The design of the clutch engagement and separation characteristic test, the clutch torque displacement characteristic test, TB braking characteristic test, starting test process control, shift process control the test verified the feasibility of AMT, the soft start of belt conveyor during starting and shifting process control scheme.

【学位授予单位】：山东大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH22;TP273
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本文编号：1552332