带式输送机故障巡检机器人系统设计

针对现有带式输送机故障检测方法劳动强度大、可靠性较差等问题,提出了一种带式输送机故障巡检机器人系统设计方案。首先分析了带式输送机常见的输送带和托辊故障类型及其原因,包括输送带横向断裂、纵向撕裂、打滑、跑偏及堆煤,托辊磨损和转动卡死等;然后针对不同故障类型,选定了系统传感器,包括激光雷达、单目相机、烟雾传感器、声音传感器和温度传感器,并提出了相应的故障检测算法;最后给出了系统上位机和下位机软件流程。     

带式输送机自动纠偏设备控制系统的应用研究

带式输送机作为一种广泛应用在煤矿上的物料运输设备,具有稳定性高、经济性强的优点,但随着输送机的带速不断增加,输送带长度不断加长,在高速运行过程中由于输送带的黏弹性冲击或者物料分布不均等,均会导致输送机在运行过程中的跑偏现象,轻则导致运输物料的撒料,重则导致皮带翻转、机架倾覆,给煤矿井下的物料运输带来了严重的安全隐患。因此,为了确保物料运输安全,不得不采取降速的措施,使输送带的物料运输效率受到较大的影响。为此,提出了一种新的带式输送机自动纠偏设备控制系统,能够自动对输送带运行过程中的偏位量进行校正。实际应用表明,该自动纠偏设备能够有效地确保输送带在运行过程中的稳定性,有效提升了输送机的物料运输效率和安全性。     

带式输送机变频调速节能控制系统研究

针对某矿带式输送机电能浪费严重的问题,设计了带式输送机变频调速节能控制系统。该系统应用BP神经网络建立带式输送机煤流量、输送带速度和电能消耗的节能模型;基于遗传算法和神经网络对模型参数进行优化,得到了煤流量和输送带速度的最优匹配关系;利用模糊控制算法实现了带式输送机变频调速的节能运行。实际应用表明,该系统可根据煤流量大小调节输送带速度,节能效果显著。     

煤矿用带式输送机的设计

介绍煤矿用带式输送机的设计,包括驱动方式及工作机制,并就输送带跑偏和打滑问题提出解决办法.     

带式输送机张紧系统自适应控制策略研究

科技的进步导致对能源需求量增长,长距离、大运量带式输送机的增量越来越大。张紧系统是带式输送机的重要组成部分,输送带保持合理的张力范围是保证煤矿安全生产和带式输送机稳定运行的关键。通过对输送带驱动系统建立力学模型,得到输送带驱动不打滑最小张力,并通过与保持托辊间输送带合理下垂张力比对,得到输送带最小张力计算方法;并根据带式输送机运行过程分析,得出输送带张紧系统自适应控制策略工作环境及其控制方法,建立了基于模糊PID控制的输送带张力控制模型;通过Simulink对张紧系统自适应控制模型仿真,得到不同载荷下张紧力响应曲线。所建立张紧系统自适应控制方法响应快、超调小,能够满足输送带时变载荷自适应调节的使用需求。     

带式输送机输送带跑偏原因分析及处理方法

针对带式输送机输送带常见的几种跑偏规律,即哪偏往哪跑、哪高往哪跑、哪松往哪跑,详细分析了引起这几种跑偏现象的主要原因,提出了相应的调整方法和预防措施。     

矿用带式输送机智能监测系统研究

针对矿用带式输送机运行过程中存在的托辊、滚筒等关键部件与输送带摩擦发热,钢丝绳芯输送带内部损伤与撕裂,运行功耗大等问题,设计了一种矿用带式输送机智能监测系统。该系统包括基于弱磁检测法的钢丝绳芯输送带损伤监测系统、基于红外热成像温度检测法的带式输送机关键部件故障诊断与预警系统和基于视觉检测法的煤流监测、异物监测、胶带撕裂监测及人员安全监测系统,详细介绍了各系统的实现原理。对钢丝绳芯输送带内部损伤识别及带式输送机关键部件故障诊断预警进行了实验验证,结果表明该系统对钢丝绳芯输送带损伤识别的准确率约为98%,且可准确识别带式输送机关键部件故障并发出预警。     

长距离带式输送机三点驱动控制系统研究

针对目前带式输送机驱动控制研究忽略了输送带的黏弹性对启动过程的影响、不能较好地模拟带式输送机启动过程的问题,分析了输送带的力学特性及黏弹性模型,并选用Voigt模型对输送带进行建模;利用Simulink与AMESim联合仿真平台,分别对带式输送机的机械部分和电动机控制部分进行建模。根据直接转矩控制原理和协同控制思想设计了长距离带式输送机三点驱动控制系统。该系统采用主从控制策略,以头部驱动电动机为主驱动,其余为从驱动,控制带式输送机头部、中部、尾部3个驱动的输出转速和转矩,使得带式输送机以预设速度曲线平稳启动并运行。仿真结果表明,由于输送带的黏弹性作用及带式输送机加速度不断变化,导致带式输送机的负载转矩不断变化,但带式输送机头部、中部、尾部3个驱动均能很好地跟踪预设的启动速度,说明三点驱动控制系统能够很好地控制带式输送机的启动和运行过程。     

磁悬浮带式输送机电磁结构优化

常规磁悬浮带式输送机采用永磁体和电磁铁组合的电磁结构,在磁悬浮支承力需求较高的工况条件下具有易发热、电流损耗大等问题。为解决该问题,提出了一种基于Halbach阵列的电磁结构。以电磁结构磁感应强度最大为目标函数,以电磁结构尺寸和磁感应强度分布范围为约束条件,建立了电磁结构优化数学模型。针对教与学优化(TLBO)算法用于求解电磁结构优化数学模型时容易陷入局部最优的问题,提出了一种改进的TLBO算法,该算法通过筛选引入新种群及改进教学阶段和互学阶段的学习方式,增强种群的多样性和搜索能力。测试结果表明,改进的TLBO算法的准确性和稳定性均优于标准TLBO算法。采用改进的TLBO算法对磁悬浮带式输送机电磁结构优化数学模型进行求解,得到最优电磁结构参数:Halbach阵列中单个永磁体高7 mm、宽9 mm,永磁体块数为7。实验结果表明,相同尺寸条件下,基于Halbach阵列的电磁结构最大磁感应强度相对基于永磁体的电磁结构提高了47.69%。     

带式输送机一体化控制装置研制

针对带式输送机在缩带、张紧、卷带过程中存在作业程序多、劳动强度大的问题,设计了一种带式输送机一体化控制装置。该装置中的液压自动张紧装置完成带式输送机在运行过程中的自动张紧及工作面推移时的输送带储带任务;液压自动卷带装置把储带仓的输送带卷曲并移出带式输送机,再运至井上进行处理。实际应用表明,该装置运行效果较好,顺利完成了输送带的缩带、卷带工作。     

Dynamic instability of suspension bridges

Suspension bridges are long, slender flexible structures which have the potential to be susceptible to a variety of types of wind-induced instabilities, the most serious of which are divergence (due to stationary wind forces) and flutter (due to aerodynamic forces). Flutter occurs at certain wind speeds where aerodynamic forces acting on the deck feed energy into an oscillating structure, so increasing the vibration amplitudes. If this situation is approached the basic safety of the bridge is threatened. This paper describes a computational method for predicting flutter speed based on a modal technique. A selection of the lowest vertical and torsional natural mode shapes is included with the aerodynamic forces in an interaction analysis which yields an unsymmetric matrix eigenvalue problem, the roots of which indicate if flutter is possible. The paper addresses the question of how the degree of refinement of the basic structural model and the number of natural modes included in the interaction analysis affect the flutter speed predictions.     

Finite element analysis of suspension bridges

A finite element analysis of static and dynamic response of suspension bridges is presented in this paper. Several finite element models of the three-dimensional bridge structure, with varying degrees of complexity and accuracy, are discussed. The formulation takes into account the geometric nonlinearities of the cables and some elements of the girders-bracingsdeck system as well as the nonlinear material properties of the components. Special attention is given to the effects of steady and unsteady wind forces. Examples of application include calculations of the static and dynamic response of a bridge subjected to wind and moving loads.     

Substantiation of stability of complete electromagnetic suspension

A complex of analytical studies of stability of a complete electromagnetic suspension using Lyapunov’s method is conducted. The results have shown that the dynamic mechatronic system “rotor + electromagnetic bearing control system” is stable without additional measures for magnetic force linearization.     

Stability of electromagnetic suspension of a rotor

Lyapunov’s method is used to prove the stability of electromagnetic suspension of a rotor in the case of relay control with account of a number of nonlinearities typical of the considered system and the chosen switch line. Boundaries of stability in the parameter plane of the control system are determined.     

Experimental study of electric suspension for microbearings

Electric suspension bearings with open-loop stability have been proposed as a solution to the problem of surface contact friction resulting from the instability of rotors in micromotors. The proposed electric suspension is an open-loop stable system, which does not require the use of feedback sensors and controllers. A proof of concept experiment of the electric suspension is reported in this work. The experiment consists of levitating and holding a small flat plate in a stable equilibrium under a stator using the electric suspension design. The open-loop stability of the electric suspension is confirmed by photographing the gap between the suspended plate and the stator seen through a microscope. In addition, a gap measurement scheme based on a reflective sensor technique is implemented as a second means to verify stable levitation. The electric suspension is greatly compatible with small scale devices and systems and can be utilized to develop frictionless microactuators     

Self-organizing fuzzy control of active suspension systems

A self-organizing fuzzy controller (SOFC) is proposed to control an active suspension system and evaluate its control performance. In complicated nonlinear system control, the SOFC continually updates the learning strategy in the form of fuzzy rules during the control process. The learning rate and the weighting distribution value of the controller are hard to regulate, so its fuzzy control rules may be excessively modified such that the system response generally causes an oscillatory phenomenon. Two fuzzy-logic controllers were designed according to the system output error and the error change, and introduced to the SOFC to determine the appropriate parameters of the learning rate and the weighting distribution, to eliminate this oscillation. This new modifying self-organizing fuzzy-control approach can effectively improve the control performance of the system, reduce the time consumed to establish a suitable fuzzy rule table, and support practically convenient fuzzy-controller applications in an active suspension control system, as verified experimentally.     

Synthesis of a high-speed tracked vehicle suspension system--Part I: Problem statement, suspension structure, and decomposition

This two-part paper is concerned with the problem of synthesizing a high-speed vehicle suspension system. Using a new decomposition technique, it is shown that there exists an optimal structure which a high-speed suspension must have in order to fulfill the requirements of vehicle body vibration isolation within given displacement constraints, external force cancellation, vehicle body tilting and guideway tracking while maintaining primary gaps or contact forces within given limits, and assuring maintenance of nominal mass and inertia parameters of the vehicle body. The suspension structure derived in this part is such that the incompatibility of vibration isolation and guideway tracking under the influence of external forces which is present for all suspensions synthesized heretofore-whether optimal control approaches have been used or not-has been removed. The new suspension structure features three independent parts: the nonlinear and time-varying preload-and-mass control operating on external forces and vehicle body accelerations, the linear time-invariant tracking control operating on the means of certain vehicle states, and the linear time-invariant vibrating control which operates on the difference between the actual vehicle state vector and its mean.     

萤火虫PID算法在电机作动器悬架上的应用

为提高汽车悬架系统的性能,提出了一种萤火虫PID算法。首先在分析萤火虫PID算法原理的基础上,设计了适合于电机作动器悬架的萤火虫PID算法,给出了算法实现的步骤与流程;然后,对传统电机作动器进行改进设计并建立四自由度电机作动器悬架数学模型与仿真模型,以dSPACE为该仿真模型运行载体,设计主动悬架半实物仿真算法测试系统;最后,利用该测试系统,采用不同车型与路面输入对萤火虫PID算法进行了仿真测试实验,结果表明所设计的萤火虫PID算法可以有效降低车身加速度、悬架动行程、轮胎动位移等。