重型刮板输送机柔性起动失稳机理及其调控方法研究

The scraper conveyor is the key transportation equipment in the fully mechanized coal mining face of the coal mine, with the problem of short life of the key components and the high failure rate of the whole machine, and the soft-starting technology is an effective way to solve above problems of heavy scraper conveyor. This project will focus on the key scientific issues such as load spectrum distribution, dynamic fluctuation mechanism of hydro-viscous speed regulation system and soft-starting instability control method. Under complex operating condition, the dynamic load spectrum model will be built to reveal the relationship between coal drop-ccumulation characteristics and load fluctuation of scraper conveyor. The oil film shearing torque prediction model will be established to reveal the oil film dynamic fluctuation behavior during fluid shear stage and nonlinear change of torque and fluctuation characteristics during mixed friction stage; torsional vibration dynamic model with multi-degree of freedom of the whole system will be built to reveal the matching performance, and grasp the nonlinear control strategy with model identification and the dynamic torque characteristics in starting process, and construct the soft-starting control platform of the scraper conveyor. To sum up, based on tribology, fluid dynamics and modern control theories, and combining with theoretical analysis, numerical simulation and experimental research, the soft-starting instability mechanism and its regulation and control methods in heavy scraper conveyor will be finally revealled, and the results can provide a new theoretical reference for the dynamic design and high efficient control strategy of the heavy scraper conveyor, and improve its stability and reliability.

刮板输送机是煤矿综采工作面的关键运输设备，存在关键部件寿命短、整机故障率高等难题，柔性起动技术是解决重型刮板输送机上述问题的有效途径。本项目拟围绕重型刮板输送机载荷谱分布规律、液粘调速系统动力波动机理、柔性起动失稳调控方法等关键科学问题开展深入系统的研究。通过构建复杂运行模式下刮板输送机动态载荷谱理论模型，揭示煤块落煤及堆积特征与刮板输送机负载波动的作用规律；建立油膜剪切转矩预测模型，揭示流体剪切模式下油膜动力波动行为，及混合摩擦模式下摩擦副转矩非线性变化及波动特征；建立刮板输送机整机多自由度扭转振动动力学模型，揭示整机系统匹配性能，掌握基于模型辨识的非线性控制策略和惯性起动过程的动态转矩特性，构建刮板输送机柔性起动调控平台。通过摩擦学、流体动力学和控制理论，结合试验研究、理论推导和数值模拟，最终揭示复杂运行模式下重型刮板输送机柔性起动失稳机理及其调控方法，提高系统运行的稳定性和可靠性。

煤炭是我国的主要能源，约占一次能源消费的70%，中国工程院《中国能源中长期（2030、2050）发展战略研究报告》预测，至2050年煤炭能源消费占比仍将高达50%，长期迫切的能源需求对煤炭开采装备提出了更高要求。刮板输送机是重要的煤矿综采设备，主要用于将工作面的落煤快速运出，其技术水平是综采工作面安全性和开采效率的关键影响因素，千万吨级的重型刮板输送机已成为国内外刮板输送机成套装备的发展目标。但重型刮板输送机由于工作环境恶劣、起动频繁且多为重载，存在起动冲击大、易过载、多机驱动时功率不平衡等问题，致使关键核心零部件寿命短、整机故障率高，严重影响了煤矿安全生产，制约了采煤效率的提升。柔性起动技术是解决重型刮板输送机以上技术难题的有效途径。.本项目围绕重型刮板输送机柔性起动过程中存在的关键科学问题，以复杂运行模式下刮板输送机载荷谱分布及变化特征为主线，从液黏调速器非线性转矩引起的摩擦失效、整机动态匹配特性和自适应控制等方面入手，揭示了刮板输送机柔性起动失稳机理，提出了自适应于动态时变输出特性的柔性起动控制策略和嵌入式模糊PID控制器，实现了驱动系统的快速智能补偿和稳定控制。通过对多机驱动功率平衡影响因素的分析，得到了功率平衡控制方案，对软启动功率平衡特性进行了探索研究。基于此，拓展研究了永磁直驱式重型刮板输送机动态特性。通过本项目的研究，揭示了复杂运行模式下重型刮板输送机可靠柔性起动难题，为提高设备使用性能和可靠性提供了一定理论和技术基础。.项目执行期内，共发表学术论文15篇，其中SCI收录11篇、EI收录1篇、中文核心论文3篇；授权中国发明专利12件；参加国内外学术会议10次；培养学生完成博士论文1篇、硕士论文5篇。较为优秀地完成了项目预期目标。