动态载荷下大型带式输送机调速协同控制方法研究

This project researches basic port equipment energy-saving control problem about dynamics modeling of conveyor belt considering dynamic load, system stability constraints extracting and large-scale belt conveyor coordination control, based on bulk material laser scanning data on the belt and rigid-flexible coupling dynamics techniqes for lowering accident rate of intelligent speed regulation in large-scale belt conveyor caused by system’s complex coupling relations and low control security, and for improving safety and scientific energy-saving control. Firstly, this project presents description methods of coupling mechanism between dynamic load distribution of material and conveyor belt based on rigid-flexible coupling analysis, and dynamics model of conveyor belt considering dynamic load. On this basis, a coupling constraint model designed for describing interaction mechanism between system boundary conditions and conveyer belt is subsequently proposed and the Lyapunov stability domain and stability constraints during speed control operation is aslo extracted. Finally, combined with speed regulation control constraints, a method of global optimal coordinated control for large-scale belt conveyor system based on the function distribution and game theory optimization is proposed. The above researchs solve the key technology of large-scale belt conveyor intelligent speed regulation, enhance the scientific and intelligent level of port equipment, ensure handling operation safety at ports and lay the theoretical and technical foundation for promoting the development of green harbor.

本课题以物料载荷激光数据为基础，以刚柔耦合动力学分析为手段，针对大型带式输送机动态载荷下系统耦合关系复杂、调控安全性低亟需提升安全性和科学化现状，开展考虑动态载荷的输送带动力学建模、稳定性约束条件提取及系统协调控制等港口装备节能控制基础问题研究。首先基于刚柔耦合动力学方法，描述物料载荷分布与输送带耦合机制，建立考虑动态载荷的输送带动力学模型。在此基础上，建立系统边界条件与输送带耦合约束模型，提取智能调速下系统Lyapunov稳定域及稳定性约束条件。最后，提出基于博弈论的协调控制方法，实现大型带式输送机系统全局控制性能最佳。通过上述研究，解决大型带式输送机智能调速关键技术，提升港口装备科学化与智能化水平，保障港口装卸作业安全，为加快绿色港口建设奠定理论和技术基础。

本课题以大型带式输送机协同控制为研究对象，以提升带式输送机调控安全性和科学化为研究目的，深入研究了带式输送机调控过程中受系统耦合约束的耦合机制，提出了以物料载荷激光数据为基础，以刚柔耦合动力学方法为手段的一系列带式输送机动力学建模和、耦合约束条件检测和协同控制方法。课题组构建了带式输送机调速控制实验平台和物料载荷激光数据采集及分析系统，综合运用模拟实验、仿真实验等多种方法分析分析出物料载荷分布与输送带耦合关系，通过引入基于面元积分方法建立基于物料流量激光数据建立实际载荷分布模型后，以带式输送机纵向特性作为分析对象，采用有限元方法建立考虑动态载荷的输送带动力学模型。最后，基于Matlab仿真平台分别建立带式输送机离散元仿真模型及软启动控制模型，通过仿真试验分析实际载荷分布下带式输送机动态特性变化规律，为带式输送机节能控制策略确定提供基础。在输送带调控安全性方面，提出基于特征融合方法检测输送带纵向撕裂，同时考虑系统优化控制目标及约束条件，提出多目标优化控制方法建立调速控制模型，提出基于模糊PID自适应控制器优化控制参数，设计并搭建了带式输送机节能控制模拟试验系统，开发基于LABView的带式输送机能效控制系统，通过实验证明方法有效性。本课题设计了基于物联网的多级带式输送机协调控制系统。为考虑动态载荷下的多级带式输送机系统协同控制研究奠定了基础。