永磁外转子矿井提升机控制系统研究  

Control system of permanent magnet outer rotor mine hoist

作　　者：郑力奎 寇子明 吴娟 ZHENG Li-kui;KOU Zi-ming;WU Juan(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;National-Joint Engineering Laboratory of Mining Fluid Control,Taiyuan 030024,China;Shanxi Province Engineering Technology Research Center for Mine Fluid Control,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024 [2]矿山流体控制国家地方联合工程实验室,山西太原030024 [3]山西省矿山流体控制工程技术研究中心,山西太原030024

出　　处：《机电工程》2022年第8期1160-1167,共8页Journal of Mechanical & Electrical Engineering

基　　金：山西省回国留学人员科研资助项目(2021-049);山西省重点研发计划项目(201903D121078)。

摘　　要：永磁外转子多绳摩擦式矿井提升机工作过程中,负载的波动会影响提升系统运行的稳定性,针对这一问题,对提升机的控制系统进行了研究。首先,对提升机结构和控制理论进行了分析,根据其隐极转子结构的特点,选择了采用i_(d)=0的矢量控制策略,同时提出了采用平滑速度曲线和滑模速度控制器优化提升机运行稳定性的方法,并用李雅普诺夫稳定性定理对滑模速度控制器的稳定性进行了判断;然后,采用simulationX软件搭建了提升系统机电一体化仿真模型,并进行了仿真研究;最后,结合现场试验结果,对仿真模型的可靠性进行了验证。研究结果表明:加速度突变对提升机速度超调有明显影响,提升机q轴电流与加速度明显相关;仅采用平滑速度曲线使提升机的速度超调减少了68%,但对负载波动引起的速度波动没有明显的抑制作用;仅采用滑模速度控制器使提升机的速度超调减少了73%;在同时采用平滑速度曲线和滑模速度控制器时,提升机的速度波动减少了90%,且对负载波动有明显的抑制作用。Aiming at the problem that the load fluctuation of permanent magnet outer rotor multi-rope friction mine hoist affects the stability of the hoist system;the control system of the hoist was studied.Firstly,the hoist structure and control theory were analyzed.According to the characteristics of its hidden pole rotor structure,the vector control strategy of i_(d)=0 was chosen.The smooth speed curve and sliding mode speed controller were proposed to optimize the stability of the hoist,and the stability of the sliding mode speed controller was judged by Lyapunov stability theorem.Then,the mechatronics simulation model of lifting system was built and studied insimulationX.Finally,the reliability of the simulation model was verified by field tests.The results show that acceleration mutation has obvious influence on hoist speed overshoot and q axis current of hoist is obviously correlated with acceleration.The speed overshoot of the hoist was reduced by 68%by using only a smooth speed curve,but the speed fluctuation caused by the load fluctuation has no obvious restraining effect.The speed overshoot of the hoist was reduced by 73%by using only the sliding mode speed controller.When using both smooth speed curve and sliding mode speed controller,the hoist speed fluctuation is reduced by 90%,and it has obvious restraining effect on load fluctuation.

关 键 词：永磁外转子提升机 矢量控制策略 提升系统稳定性 矢量控制 平滑速度曲线 滑模速度控制器 负载波动 

分 类 号：TH211[机械工程—机械制造及自动化] TD534[矿业工程—矿山机电]