基于负载估计的带式输送机系统节能控制方法研究
Research on energy saving control method of belt conveyor system based on load estimation
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摘要: 目前常用的带式输送机节能控制方法是通过建立煤量与带速之间的匹配关系来控制运行速度以达到节能目的，但因其采用传感器测量实时煤量时，受到传感器安装位置及数据处理速度等因素的影响，导致检测信号与实时煤量信息不同步而引起滞后现象。当煤量突然增加时，易造成带式输送机无法及时提速引发堆煤及或煤等故障。为解决上述问题，提出了一种新的节能控制方法：通过采用状态重构的方法建立带式输送机系统状态观测器估计输送带上各段张力值，并以机头传动滚筒处输送带张力值的变化率结合电子输送带秤检测的实时煤量信息，应用模糊推理与决策建立了节能控制系统，控制带式输送机在煤量增加时及时提速。基于此，以带式输送机启动过程线性定常系统模型为依托，建立了基于载荷变化的带式输送机时变系统动力学模型，并利用Simulink与LabVIEW软件结合NI CompactRIO-9038实时控制器做硬件在环实验验证，结果表明：在煤量无较大波动时，输送机仍保持恒定速度，说明系统抗干扰能力强；在煤量突变情况下，张力变化率辅助提速效果明显，解决了堆煤及溢煤故障。Abstract: It is the current general energy-saving control method that a matching relationship between coal volume and belt speed is used to control the belt speed. However，the influences of the sensor installation position and data processing speed will cause the detection signal to lag behind the real-time coal information. When the coal volume suddenly increases, the belt conveyor cannot accelerate in time to cause the occurrence of coal accumulation and overflow. In order to solve the above problems, a new energy-saving control method is proposed in this paper. The state observer of the belt conveyor system is established to estimate the tension value of each section on the conveyor belt. And then，combining the change rate of the belt tension value at the head drive roller with the coal volume information tested by the electronic belt scale in real time，an new energy-saving system is established by applying fuzzy reasoning and decision-making to control the belt conveyor accelerate when the coal volume increase. Based on this, basing on the linear steady-state system model of belt conveyor start-up process, a time-varying system dynamics model of belt conveyor based on load change is established, and the hardware in loop test is performed by using NI CompactRIO-9038 real-time controller, Simulink and LabVIEW software .The verification results show that:when the coal volume does not fluctuate greatly, the conveyor maintains a constant speed, indicating that the system has strong anti-interference ability;in the case of sudden change of coal volume, the speed-up effect is obvious with the auxiliary help of the tension change rate, and these issues of the coal accumulation and overflow can be solved.
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Keywords:
- belt conveyor /
- dynamics model /
- load estimation /
- energy-saving control /
- coal flow identification
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