New mode and key technology of series drive of multiple permanent magnet motors for scraper conveyor
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摘要:
装备智能化是煤炭行业高质量发展的必然趋势，伴随着煤矿超大采高、超长工作面的建设，刮板输送机不断朝着重型长运距的方向发展，并且永磁直驱已逐渐取代“异步电机+减速器”成为刮板输送机的主要驱动方式，而传统双驱动刮板输送机存在停机率高、煤流分布不均且能耗大、跟踪性能差的问题，尤其长运距下链条张力波动大造成驱动电机电路涌动，已成为制约我国刮板输送机智能化发展的主要难题。根据刮板输送机面临的主要问题和发展需求，提出了刮板输送机多永磁电机串联“驱动−传动”输送新模式，并阐述了多永磁电机串联驱动刮板输送机这一研究领域涉及的关键技术研究现状，包括刮板输送机故障诊断与状态识别技术、多电机串联驱动“机−电”耦合动力学特性、多永磁电机同步控制技术、多智能体自适应协同控制，对于多驱动刮板输送机的设计研发具有一定的适应性和借鉴性；针对刮板输送机多永磁电机串联驱动系统研究面临的难题，将该系统分为4项关键科学技术：①多驱动刮板输送机新构型设计；②多驱动刮板输送机非线性机−电耦合动力学建模；③多驱动刮板输送机链条张力脉动与主动控制；④串联驱动刮板输送机主动容错与自适应协同控制；从结构设计与优化、整机运维控制实现刮板输送机多永磁电机串联驱动系统技术攻关，提高刮板输送机的智能化水平，促进煤机高端装备的水平和发展。
Abstract:Intelligent equipment is an inevitable trend for the high-quality development of the coal industry, With the construction of super high mining height and super long working face in coal mine, scraper conveyor has been developing towards heavy and long distance, and permanent magnet direct drive has gradually replaced “asynchronous motor + reducer” to become the main driving mode of scraper conveyor. However, the traditional dual-drive scraper conveyor has the problems of high shutdown rate, uneven distribution of coal flow and large energy consumption, poor tracking performance, especially the fluctuation of the chain tension under long transport distance causes the surge of the driving motor circuit, which has become the main problem that limits the intelligent development of scraper conveyor in our country. According to the main problems and development needs of scraper conveyor, this paper puts forward a new mode of scraper conveyor with multiple permanent magnet motors in series “drive - drive”, and expounds the research status of key technologies involved in the research field of scraper conveyor with multiple permanent magnet motors in series. Including the scraper conveyor fault diagnosis and state recognition technology, multi-motor series drive “mechanical-electrical” coupling dynamic characteristics, multi-permanent magnet motor synchronous control technology, multi-agent adaptive cooperative control, for the design and development of multi-drive scraper conveyor has certain adaptability and reference. In view of the difficulties faced by the research of multiple permanent magnet motor series drive system of scraper conveyor, the system is divided into four key science and technology: ① new configuration design of multi-drive scraper conveyor; ② nonlinear mechano-electrical coupling dynamics modeling of multi-drive scraper conveyor; ③ chain tension pulsation and active control of multi-drive scraper conveyor; ④ active fault tolerance and adaptive cooperative control of series drive scraper conveyor. From the structural design and optimization, the whole machine operation and maintenance control to achieve scraper conveyor multiple permanent magnet motor series drive system technology research, improve the scraper conveyor intelligent level, promote the level and development of high-end equipment of coal machinery.
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图 1 小保当煤矿450 m综采成套装备
Figure 1. Xiaobaodang Coal Mine 450-meter fully mechanized mining complete equipment
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图 2 刮板输送机多永磁电机串联驱动输送模型示意
Figure 2. Schematic of multi-permanent magnet motor series drive conveyor model of scraper conveyor
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图 3 多点串联驱动刮板输送机输送示意
Figure 3. Transport diagram of multi-point series drive scraper conveyor
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图 4 基于神经网络的多源信息故障诊断模型
Figure 4. Multi-source information fault diagnosis model based on neural network
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图 5 全永磁驱动带式输送机机-电耦合动力学模型原理
Figure 5. Principle of machine-electric coupling dynamic model of fully permanent magnet driven belt conveyor
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图 6 刮板输送机永磁直驱系统链条动态特性
Figure 6. Chain dynamic characteristics of scraper conveyor permanent magnet direct drive system
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图 7 掘进工作面平行智能控制架构
Figure 7. Parallel intelligent control architecture for excavation working face
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图 8 煤矿钻锚机器人智能协同控制架构
Figure 8. Intelligent collaborative control architecture of coal mine anchor drilling robot
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图 9 刮板输送机多永磁电机串联驱动系统关键技术
Figure 9. Key technologies of multi-permanent magnet motor series drive system for scraper conveyor
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图 11 刮板链变形模式转化力学模型
Figure 11. Scraper chain deformation mode transformation mechanical model
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图 13 多驱动刮板输送机容错控制原理
Figure 13. Fault-tolerant control principle of multi-drive scraper conveyor
表 1 某矿2017—2019年刮板输送机故障统计
Table 1 Failure statistics of scraper conveyor in a coal mine from 2017 to 2019
故障位置 传动系统 驱动系统 控制系统 其他结构件 频次/次 121 61 33 9 故障占比/% 54.9 26.7 14.5 3.9 
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表 2 神东矿区2003—2015年刮板输送机故障统计
Table 2 Scraper conveyor failure statistics in Shendong Mining Area from 2003 to 2015
故障位置 刮板链传动系统 电机驱动系统 结构件 控制系统 过载 链条 接链环 刮板 链轮 电机 减速箱 耦合器 频次/次 48 10 20 38 30 21 8 38 7 8 停机时间/h 10 9 8 13 8 19 13 11 7 10 故障占比/% 21.1 4.4 8.8 16.7 13.1 9.1 3.5 16.7 3.1 3.5 合计/% 51 25.7 16.7 3.1 3.5
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