本文關(guān)鍵詞： 移動(dòng)式破碎站 履帶行走裝置 機(jī)電耦合 自適應(yīng)控制 克里金模型 動(dòng)力學(xué)　出處：《吉林大學(xué)》2015年博士論文　論文類(lèi)型：學(xué)位論文

【摘要】：移動(dòng)式破碎站是大型露天礦半連續(xù)開(kāi)采成套裝備的關(guān)鍵設(shè)備，，隨著其生產(chǎn)率的提高，移動(dòng)式破碎站整機(jī)質(zhì)量達(dá)千噸以上，大型履帶裝置作為移動(dòng)式破碎站的行走機(jī)構(gòu)，其性能直接影響著采礦生產(chǎn)線的生產(chǎn)效率、經(jīng)濟(jì)性和可靠性。本文結(jié)合國(guó)家高技術(shù)“863”課題“3000t/h移動(dòng)式破碎站研制”（No.2012AA062002），通過(guò)機(jī)電耦合動(dòng)力學(xué)建模及求解、虛擬樣機(jī)仿真和物理樣機(jī)試驗(yàn)等方法對(duì)移動(dòng)式破碎站履帶行走裝置機(jī)電耦合性能進(jìn)行仿真及試驗(yàn)研究，提出履帶行走裝置機(jī)電耦合動(dòng)力學(xué)分析方法和自適應(yīng)行駛控制技術(shù)，提高大型移動(dòng)式破碎站履帶行走裝置行駛性能和自動(dòng)化水平。 本文綜述了機(jī)電耦合建模方法及履帶行走裝置運(yùn)動(dòng)控制技術(shù)的國(guó)內(nèi)外研究現(xiàn)狀，基于履帶行走裝置典型工況下的動(dòng)力學(xué)分析以及感應(yīng)電機(jī)的動(dòng)態(tài)特性，建立了履帶行走裝置在各典型工況下的機(jī)電耦合動(dòng)態(tài)數(shù)學(xué)模型，通過(guò)數(shù)值計(jì)算對(duì)其在各工況下的機(jī)電耦合性能進(jìn)行了仿真分析，得到了履帶行走裝置在非穩(wěn)態(tài)運(yùn)行過(guò)程中的機(jī)電參數(shù)變化規(guī)律。 為了實(shí)現(xiàn)履帶行走裝置自適應(yīng)行走的功能，設(shè)計(jì)了基于GPS定位的履帶行走裝置自適應(yīng)控制系統(tǒng)方案和履帶行走裝置的自適應(yīng)控制流程。該系統(tǒng)通過(guò)坐標(biāo)轉(zhuǎn)換將天空坐標(biāo)系轉(zhuǎn)換成陸地直角坐標(biāo)系，根據(jù)Lyapunov穩(wěn)定控制理論，將目標(biāo)履帶裝置的行駛軌跡跟蹤問(wèn)題轉(zhuǎn)化為跟蹤誤差系統(tǒng)的鎮(zhèn)定問(wèn)題，并結(jié)合其運(yùn)動(dòng)學(xué)原理設(shè)計(jì)了履帶行走裝置的自適應(yīng)控制律。 為了實(shí)現(xiàn)對(duì)履帶行走裝置的自適應(yīng)行走過(guò)程進(jìn)行精準(zhǔn)控制，利用Kriging模型建立了感應(yīng)電機(jī)轉(zhuǎn)子輸出軸端的負(fù)載轉(zhuǎn)矩、輸出轉(zhuǎn)速與供電頻率之間的函數(shù)映射關(guān)系。同時(shí)，為了提高Kriging模型的解耦精度，還利用改進(jìn)的粒子群算法對(duì)Kriging模型中的相關(guān)性系數(shù)進(jìn)行了優(yōu)化�；谝呀�(jīng)構(gòu)建的自適應(yīng)控制系統(tǒng)，分別用多體動(dòng)力學(xué)軟件Recurdyn和數(shù)值分析軟件Matlab/Simulink建立了履帶行走裝置的動(dòng)力學(xué)模型和自適應(yīng)控制系統(tǒng)的理論模型，通過(guò)虛擬樣機(jī)聯(lián)合仿真得到其在復(fù)合行駛工況下的機(jī)電耦合性能，并驗(yàn)證了所設(shè)計(jì)的自適應(yīng)控制系統(tǒng)的控制效果。 為了對(duì)履帶行走裝置機(jī)電耦合數(shù)值仿真和虛擬樣機(jī)聯(lián)合仿真結(jié)果進(jìn)行驗(yàn)證，本文開(kāi)發(fā)了履帶行走裝置的物理樣機(jī)模型及自適應(yīng)控制系統(tǒng)。利用GPS定位系統(tǒng)和性能測(cè)試系統(tǒng)對(duì)履帶裝置質(zhì)心位置和兩側(cè)履帶的行駛速度、驅(qū)動(dòng)電機(jī)定子端電壓及所受負(fù)載轉(zhuǎn)矩進(jìn)行監(jiān)測(cè)。試驗(yàn)結(jié)果與數(shù)值仿真結(jié)果和虛擬樣機(jī)仿真結(jié)果吻合較好，從而驗(yàn)證了所建立的履帶行走裝置機(jī)電耦合動(dòng)態(tài)模型和虛擬樣機(jī)模型可用于對(duì)移動(dòng)式破碎站履帶行走裝置的機(jī)電耦合性能分析當(dāng)中，且所設(shè)計(jì)的自適應(yīng)控制律也表現(xiàn)出很好的控制效果。 在此基礎(chǔ)上，建立了大型移動(dòng)式破碎站履帶行走裝置機(jī)電耦合虛擬樣機(jī)模型，對(duì)其自適應(yīng)行走過(guò)程進(jìn)行了仿真，驗(yàn)證了自適應(yīng)控制律在大型履帶行走裝置上的控制效果。 本文提出的大型履帶行走裝置機(jī)電耦合動(dòng)力學(xué)建模及分析方法和基于GPS的履帶自適應(yīng)行駛控制系統(tǒng)，發(fā)展了大型履帶行走裝置設(shè)計(jì)理論，履帶行走裝置機(jī)電耦合動(dòng)力學(xué)建模方法、分析方法和自適應(yīng)行駛控制技術(shù)在移動(dòng)式破碎站上的應(yīng)用，對(duì)于提高了我國(guó)高端采礦裝備的研制水平具有重要意義。
[Abstract]:The mobile crushing station is the key equipment of large opencast mine semi continuous mining equipment, along with the improvement of productivity, the mobile crusher machine quality up to more than 1000 tons, large crawler device as mobile crushing station walking mechanism, its performance directly affects the mining production efficiency, economy and reliability in this paper. The national high technology project "863" "3000t/h mobile crusher station development" (No.2012AA062002), through the modeling and solving of electromechanical coupling dynamics, virtual prototype simulation and physical prototype test methods such as crushing station crawler system electromechanical coupling performance of the simulation and test of mobile, proposed crawler system electromechanical coupling dynamic analysis method and adaptive cruise control technology, improve the large-scale mobile crusher station crawler device driving performance and automation level.
This paper summarizes the current status of research on modeling method of electromechanical coupling and crawler device movement control technology at home and abroad, crawler device dynamic analysis under typical conditions and dynamic characteristics of induction motor based on the established dynamic mathematical model of crawler electromechanical coupling device in various typical conditions, the electromechanical coupling performance under different working conditions simulation analysis is carried out by numerical calculation, the variation of electrical parameters of crawler device in the non steady state process.
In order to realize the adaptive crawler walking function, the design of the crawler system adaptive control scheme and crawler control process based on GPS. The system will be through the sky coordinates into Cartesian coordinates of terrestrial coordinate conversion, according to Lyapunov stability control theory, the trajectory tracking problem into target track device for the stabilization problem of the tracking error of the system, the kinematics principle and design combined with the adaptive control law of crawler running device.
In order to realize the accurate control of adaptive walking crawler walking device, a load torque of induction motor rotor output shaft using Kriging model, function mapping relation between the output speed and power supply frequency. At the same time, in order to improve the accuracy of the decoupling Kriging model, the correlation coefficient in Kriging model were optimized by improved the particle swarm algorithm. The adaptive control system has been constructed based on respectively using multi-body dynamics software Recurdyn and numerical analysis software Matlab/Simulink to establish a theoretical model of crawler system dynamics model and adaptive control system, get the composite driving conditions of electromechanical coupling performance through co simulation of virtual prototype, and verify the control effect the design of the adaptive control system.
In order to crawler system electromechanical coupling numerical simulation and virtual prototype simulation results verify the developed crawler prototype model and adaptive control system. The speed of the crawler device and two track centroid position using GPS positioning system and performance test system, drive motor stator voltage and the monitoring the load torque. The experimental results and numerical simulation results are in good agreement with the virtual prototype simulation results, which verified the crawler system electromechanical coupling dynamic model and virtual prototype model can be used for crushing of mobile station electromechanical coupling performance analysis of crawler running device, the adaptive control law and the control effect is also shown good.
On this basis, a mechanical and electrical coupling virtual prototyping model of a large mobile crusher station was established, and its adaptive walking process was simulated, which verified the control effect of adaptive control law on large crawler walking device.
The methods of modeling and analysis of electromechanical coupling dynamics and crawler device based on GPS adaptive cruise control system of large crawler walking is put forward in this paper, the development of large crawler system design theory, crawler device electromechanical coupling dynamic modeling method, analysis method and adaptive cruise control technology in the application of mobile crusher station, is of great significance for the to improve the development level of China's high-end mining equipment.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TD632

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