基于Lyapunov稳定性的带式输送机张紧系统研究

带式输送机在启动过程中,伴随着巨大的张力波动,影响系统正常运行,因此有效地对输送机张紧系统进行控制显得尤为重要。针对输送机液压张紧系统的非线性问题,建立液压伺服系统的状态方程,基于Lyapunov稳定性理论推导了力跟踪自适应控制律,在MATLAB/Simulink中搭建张紧系统的仿真模型,并制定其控制策略;针对输送带张力波动问题,提出采用头、中、尾三点张紧的方式,在AMESim中搭建输送带模型,通过AMESim与MATLAB/Simulink联合仿真,验证了控制策略具有较好的力追踪性能和稳态精度,有效地降低了输送带的张力波动值。

Research on Belt Conveyor Tension System Based on Lyapunov Stability

As an important transportation equipment in the industrial field, belt conveyors have been gradually developing in the direction of long distance, large volume and high speed. During the starting process, it is always accompanied by huge tension fluctuations, which affect the normal operation of the system. Therefore, it is particularly important to achieve effective control of the tensioning system for the conveyor. Considering the nonlinear problem of hydraulic tensioning system, this paper establishes the state equation of hydraulic servo system, derives the force tracking adaptive control law based on Lyapunov stability theory, and builds the model of tensioning system and control strategy in Matlab/Simulink. In view of reducing the tension fluctuation of the conveyor belt, it is proposed that the three-point, head, medium and tail, tensioning method. The conveyor belt model was built in Amesim. By simulation combining Amesim with Matlab/Simulink, the control strategy has great force tracking performance and steady-state accuracy, which effectively reduces the tension fluctuation of the conveyor belt.