本文關(guān)鍵詞： AMT 軟起動 膠帶輸送機 起步控制 換擋控制　出處：《山東大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：膠帶輸送機軟起動裝置普遍存在價格昂貴、維護成本高的問題,低成本軟起動裝置成為市場需求的方向。重型電控機械式自動變速器(AMT)以其傳遞扭矩大、成本低在重型車輛中得到了廣泛應(yīng)用,將其用作膠帶輸送機的軟起動裝置是AMT應(yīng)用領(lǐng)域的創(chuàng)新,具有巨大的市場價值。本文在國家自然科學(xué)基金《放頂煤支架尾梁振動信號分析法檢測頂煤放落程度研究》(N0.51174126)的資助下,對AMT軟起動膠帶輸送機的起步過程控制和換擋過程控制進行了深入研究。論文的主要工作及研究成果如下：(1)建立AMT軟起動膠帶輸送機系統(tǒng)的力學(xué)模型。根據(jù)AMT軟起動膠帶輸送機系統(tǒng)的動力傳遞原理,建立了AMT傳動系統(tǒng)動力學(xué)方程。通過建立膠帶輸送機力學(xué)模型,分析了輸送帶不打滑條件、物料不滑動條件和輸送帶的運動方程。通過建立離合器、TB制動器、電磁閥的力學(xué)模型,分析了AMT氣動系統(tǒng)的時滯性。所建AMT系統(tǒng)的動力學(xué)模型能夠描述膠帶輸送機的動力傳遞過程,體現(xiàn)AMT氣動系統(tǒng)的時滯性,為后續(xù)起步和換擋控制方法研究奠定基礎(chǔ)。(2)研究AMT軟起動膠帶輸送機的軟起動加速度控制曲線。通過對常用五種膠帶輸送機軟起動曲線特性的優(yōu)缺點分析,提出了適合AMT軟起動膠帶輸送機的梯形和直角梯形軟起動加速度曲線。利用AMESim軟件建立AMT軟起動膠帶輸送機的動態(tài)仿真模型,對比分析了梯形和直角梯形加速度起動曲線下AMT軟起動膠帶輸送機的動態(tài)響應(yīng),從膠帶輸送機輸送帶速度、加速度、沖擊度和張力參數(shù)的變化來看兩種軟起動曲線可滿足軟起動要求。(3)研究起步過程負(fù)載參數(shù)估計方法。針對負(fù)載參數(shù)對換擋過程控制的影響,提出了一種基于起步過程半接合點的負(fù)載阻力矩估計和基于遞推最小二乘法的負(fù)載慣量遞推估計方法。根據(jù)起步過程半接合點的位置信息和離合器扭矩位移特性,得到負(fù)載阻力矩估計值。根據(jù)加速階段離合器位移和輸出軸轉(zhuǎn)速,構(gòu)建負(fù)載慣量估計模型,采用遞推最小二乘算法對負(fù)載慣量估計模型進行在線估計。(4)設(shè)計AMT軟起動膠帶輸送機起步過程離合器接合各階段的控制器。根據(jù)軟起動目標(biāo)要求,給出了軟起動品質(zhì)評價指標(biāo)和控制需求。通過對起步過程的分析,確定各階段的控制任務(wù),分別設(shè)計了離合器空行程階段、克服阻力階段、加速階段的控制器。為控制起步瞬間輸送帶沖擊度和減小滑摩功損耗,克服阻力階段采用基于拋物線位移曲線的數(shù)據(jù)驅(qū)動CFDL-MFAC控制算法進行了離合器位移跟蹤。為便于AMT控制,將加速階段對輸送帶加速度和沖擊度的控制等效為對輸出軸角加速度和沖擊度的控制,采用沖擊度補償模糊PID控制算法對直角梯形加速度控制曲線進行跟蹤。(5)研究無同步器式AMT同步換擋控制策略。提出了基于輸入軸制動的同步轉(zhuǎn)速差升擋策略和基于輸入軸等待輸出軸降速的同步降擋策略。通過對同步升擋和同步降擋的理論分析,設(shè)計了輸入軸控制量算法,根據(jù)執(zhí)行機構(gòu)的滯后性,以同步轉(zhuǎn)速差條件作為換擋時刻的依據(jù)。根據(jù)TB制動特性,采用基于控制限幅的PD控制算法對TB制動器進行控制,用于跟蹤由輸入軸期望轉(zhuǎn)速算法得到的輸入軸降速曲線規(guī)律,直至達到同步轉(zhuǎn)速差要求。(6)設(shè)計AMT軟起動膠帶輸送機換擋過程離合器接合各階段的控制器。根據(jù)軟起動目標(biāo)要求,給出了換擋品質(zhì)評價指標(biāo)和控制需求。為控制輸送帶沖擊度,克服阻力階段采用基于拋物線位移曲線的數(shù)據(jù)驅(qū)動CFDL-MFAC控制算法進行了離合器位移跟蹤。以負(fù)載參數(shù)識別為基礎(chǔ),在加速階段采用基于接合位置預(yù)測與修正的模糊PID控制方法對輸出軸直角梯形角加速度控制曲線進行了跟蹤。(7)設(shè)計AMT軟起動膠帶輸送機的電子控制系統(tǒng)。給出了AMT電子控制系統(tǒng)總體控制方案及底層、中間層和上層軟件的設(shè)計框架,為試驗提供軟、硬件支持。(8)驗證AMT軟起動膠帶輸送機的控制方案。設(shè)計了離合器接合與分離特性試驗、離合器扭矩位移特性試驗、TB制動特性試驗、起步過程控制試驗、換擋過程控制試驗,驗證了AMT軟起動膠帶輸送機起步過程和換擋過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.

【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TH22;TP273
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本文編號：1552332