【作者】 王勇；

【导师】 何宽芳； 肖冬明；

【作者基本信息】 湖南科技大学 ， 机械工程（专业学位）， 2016， 硕士

【摘要】 矿井提升机是矿山生产的重要设备,主要承担运输矿石、设备、人员的重要工作。提升机能否高效、稳定的运行,直接关系到矿山企业的生产效益。提升机行程监测和速度控制对提升机运行性能影响重大,提高提升机行程监测的准确性和速度控制的精准性,使其高效稳定运行,具有重大的实际工程意义。本文以湘潭锰矿所使用的单绳缠绕式矿井提升机为研究对象,在深入分析其行程监测和速度控制原理的基础上,对行程计算模型和按行程给定下S形曲线的速度给定方式进行优化。在速度调节上,采用模糊PID控制技术来控制提升机的斗车速度,设计了斗车行程与速度的监控系统。文章的主要研究的内容如下:1.建立了新的行程计算模型和速度给定方式。在对单绳缠绕式矿井提升机工作原理分析的基础上,针对提升机的行程监测原理和速度给定方式,结合钢丝绳在缠绕过程中滚筒直径的变化规律,提出在线实时修正滚筒直径参数的行程计算模型,并且利用MATLAB SIMULINK仿真模块将其与原有的行程计算模型进行仿真对比,仿真结果验证了新的计算模型行程计算更加准确。利用曲线拟合的方法得到行程与速度的多项式函数计算关系,避开复杂隐函数迭代运算,实现按行程给定的S形曲线速度给定方式的优化,使其可以直接在PLC中编程实现。2.设计了提升机斗车速度模糊PID控制器。依据提升机斗车速度控制系统和模糊PID控制技术的工作原理,设计了二输入三输出的模糊控制器,能够根据速度偏差和偏差变化率在线调整PID控制器参数,实现斗车速度的模糊PID控制。利用MATLAB SIMULINK仿真模块,将斗车速度模糊PID控制器与传统的PID控制器进行仿真分析,仿真结果表明斗车速度模糊PID控制器在提升机这类非线性、时滞性的速度控制系统中控制效果更好。3.单绳缠绕式矿井提升机监控系统的设计与实现。提升机的监控系统主要由主模块、提升机行程计算模块、提升机速度给定模块、提升机斗车速度模糊PID控制模块四个部分组成。单绳缠绕式矿井提升机监控系统实现了对提升机运行状态的实时监控。根据实验平台运行调试结果表明,设计的提升机行程与速度的监控系统各个环节运转正常,能够有效实现单绳缠绕式矿井提升机斗车行程与速度的监控。更多还原

【Abstract】 Mine hoist is a significant mine production equipment, which mainly used for transportation work of ore, facilities and personnels. Efficient and stable mine operation affects mining entreprises’ production efficiency directly. Travel monitoring and speed controlling of hoist affect the operating performance of the major machine greatly. Therefore, how to improve the accuracy and precision of hoist Travel monitoring and speed controlling, making it operate efficiently, securely and steadily,is of great practical engineering significance.The paper takes single rope winding mine hoist, used in Manganese Mine of Xiang Tan city, as the case objective. After an in-depth analysis on the principle of its travel monitoring and speed controlling, a new travel calculation model is presented.Based on the fact that optimized Travel calculation model improves Travel monitoring accuracy, the paper proposes a Travel giving S-curve speed given model. On hoist trolley speed control, the fuzzy PID controlling technology is used to control the speed of trolley hoist and a new hoist monitoring system is presented accordingly. The main contents of this article are as follows:1. The establishment of a new hoist trolley travel calculation model and speed given model. Based on the working principles analysis of single rope winding mine hoist, making further research on hoist travel monitoring principles and speed given model, combining rope variation of roller diameter in wire rope winding process on the drum, presenting an online real-time roller diameter parameter modifying travel calculation model. And the author also performs comparison and simulation on MATLAB SIMULINK simulation module and original itinerary calculation model,which verifies the accurate basis of travel calculation based on new calculation model.Furthermore, curve fitting method is used to achieve polynomial functions calculation relationship of travel and speed, optimizing the travel giving S-curve speed given model, which avoids the complexity of iterative operation for implicit function,making the speed given model available in the PLC programming directly.2. The design of a fuzzy PID controller for controlling the speed of hoist trolley.According to the working principles of hoist trolley speed controlling system and fuzzy PID controlling technology, a two-input and three-output fuzzy controller isprojected to have a fuzzy PID controlling of trolley’s speed, in which a real-time online adjustment of PID controller parameters can be carried out according to the speed deviation and speed deviation changing rate. The simulation experiments results, conclude from comparison of MATLAB SIMULINK simulation model and traditional trolley’s speed PID controller, prove that the fuzzy PID controller for speed of trolley has a better effect when used in nonlinear and time-delay speed control system.3. The design and implementation of single rope winding mine hoist monitoring system. The designing of monitoring system can be divided into four parts: the main model, Travel calculation model, speed setting model and fuzzy PID controlling of speed for trolley model respectively. Monitoring system makes the real-time monitoring of the operating condition available. According to the results from the experimental platform, all aspects of the designed hoist Travel and speed monitoring system operates normally. single-rope winding mine hoist trolley travel and speed monitoring can be get effectively.更多还原