刚柔耦合大型带式输送机的平衡模型降阶

大型带式输送机是具有超长黏弹性体的机电一体化刚柔耦合系统,而传统的刚性静态模型不能反映出大型带式输送机的特性,需要在建模时考虑其黏弹特性。基于有限元法建立了大型带式输送机的黏弹性动力学模型,但模型阶次较高。为了易于低维控制器的设计以及降低控制"溢出",利用基于平衡实现的截断降阶法、残差降阶法对大型带式输送机进行模型降阶,得到系统的低阶模型。对原始高阶模型和降阶模型分别进行仿真试验,仿真结果验证了降阶前后主要模态保持不变,降阶模型精度能够满足要求。提出的大型带式输送机的降阶模型,表明了动力学建模与模型降阶法的有效性和正确性,为基于智能算法的带式输送机控制器的设计提供了参考。

Model reduction for large rigid-flexible coupling belt conveyor system based on balanced realization

Large belt conveyor system is an electro-mechanics system with long viscoelastic body，but traditional rigid model cannot reflect the characteristics of large belt conveyor，so it is regarded as a viscoelastic body when modeling.Firstly，the dynamic model of belt conveyor system，which is with high degree，was obtained by using finite element method.Secondly，in order to design low-degree controller and reduce the control “spillover”，the balanced truncation method and singular perturbation approximation method were used for model reduction.Finally，the simulation experiments were between the original model and reduction model.The comparative results show that the main model can be invariable and the simulation results demonstrate the effectiveness of the method.The model error was obtained to provide a reference for the controller design.The reduction model provides a theoretical base for belt conveyor controller based on intelligent control.