【摘要】：綜合機(jī)械化的煤礦開(kāi)采方式標(biāo)志著采煤技術(shù)的進(jìn)步,它是目前煤礦開(kāi)采的必要手段,不僅能夠增加井下的煤礦開(kāi)采產(chǎn)量,而且成功加大了產(chǎn)煤的工效,同時(shí)改善了企業(yè)的生產(chǎn)收入。刮板輸送機(jī)是煤礦生產(chǎn)中主要的機(jī)器組成部分,它與煤礦的開(kāi)采效力息息相關(guān)。刮板鏈?zhǔn)枪伟遢斔蜋C(jī)的重要元件,它是彈力體,運(yùn)送物料時(shí)會(huì)被拉伸,使得鏈條形成彈力變形,出現(xiàn)過(guò)松現(xiàn)象或過(guò)緊現(xiàn)象。鏈條如果很松,能使鏈輪和鏈條之間的嵌接受到損害,從而對(duì)鏈條產(chǎn)生震動(dòng)或者使其脫落的影響;鏈條如果很緊,會(huì)使刮板機(jī)的運(yùn)轉(zhuǎn)摩擦力加大,以致輸送能耗增加,從而導(dǎo)致設(shè)備損傷。為了防止這兩種現(xiàn)象,必須有一個(gè)刮板輸送機(jī)的鏈條張力調(diào)節(jié)裝置,確保隨時(shí)自動(dòng)地調(diào)節(jié)鏈條張力。因此,論文擬采用滑�？刂萍夹g(shù),使刮板機(jī)鏈條張力獲得及時(shí)有效的自控效果。首先,建立刮板機(jī)鏈條張力控制數(shù)學(xué)模型,并且根據(jù)刮板機(jī)工程設(shè)計(jì)基本原則,查閱采煤設(shè)備工作手冊(cè),選擇與確定控制模型中的相關(guān)參量值。然后,采用趨近律滑模控制方法實(shí)現(xiàn)刮板輸送機(jī)鏈條張力控制,其中選用三種趨近律,即:指數(shù)趨近律、變速趨近律和組合趨近律。在利用每種趨近律的滑�？刂萍夹g(shù)控制鏈條張力時(shí),必須設(shè)置滑模面函數(shù)以及滑�？刂坡�,并且實(shí)現(xiàn)鏈條張力的趨近律滑�？刂朴�(jì)算機(jī)仿真實(shí)驗(yàn),找出三種控制中效果最佳的組合趨近律滑�？刂品椒�。同時(shí),把該方法和常規(guī)PID控制以及模糊自適應(yīng)PID控制相比較,仿真結(jié)果證明滑模控制在刮板鏈張力控制方面具有優(yōu)越的控制能力。最后,為了克服滑模控制的抖振現(xiàn)象,把PID控制律和滑�？刂萍夹g(shù)結(jié)合起來(lái),形成PID滑�？刂萍夹g(shù)實(shí)現(xiàn)刮板鏈張力的自控方案,并計(jì)算機(jī)仿真實(shí)驗(yàn)證明PID滑�？刂撇粌H抖振小,而且鏈條張力控制性能更好。
[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.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TD634.2;TP273

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