矿井提升机电液制动非线性控制方法  

Nonlinear Electro-hydraulic Braking Control Method for Mine Hoists

作　　者：汤裕[1] 解辉 沈刚 朱真才[1] 李翔[1] TANG Yu;XIE Hui;SHEN Gang;ZHU Zhen-cai;LI Xiang(School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221000;School of Mechanical Engineering,Anhui University of Technology,Huainan,Anhui 232000)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221000 [2]安徽理工大学机械工程学院,安徽淮南232000

出　　处：《液压与气动》2023年第7期46-54,共9页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(52175068,51805532 U1810124);江苏省高校优势学科建设工程资助项目。

摘　　要：电液制动装置是矿井提升机最后一道安全保障设备,合理的制动控制方法是保障提升机安全运行的关键。以单绳缠绕式矿井提升机为研究对象,考虑钢丝绳柔性特性,基于拉格朗日方程构建了提升系统非线性制动控制模型。采用径向基函数神经网络估计制动过程罐道摩擦力、非定常扰动、建模误差等不确定性,结合反步设计原理提出了基于模型的矿井提升机电液制动非线性控制方法,引入自适应更新律对神经网络权值进行在线调节,增强了设计控制方法的鲁棒性。搭建了矿井提升机制动模拟实验台并开展了对比实验,实验结果表明,与传统制动控制策略相比,提出的方法能够有效改善提升机制动平稳性和安全性。Electro hydraulic braking device is the last safety guarantee equipment of mine hoist,and a reasonable braking control method is the key to ensure the safe operation of hoist.Taking the single rope winding mine hoist as the research object,considering the flexibility of steel wire rope,the nonlinear braking control model of hoisting system is constructed based on Lagrange equation.The radial basis function neural network is used to estimate the uncertainties such as cage way friction,unsteady disturbance and modeling error in the braking process.Combined with the backstepping design principle,a model-based electro-mechanical hydraulic braking nonlinear control method for mine hoist is proposed.The adaptive update law is introduced to adjust the weight of the neural network online,which enhances the robustness of the design control method.The braking simulation test-bed of mine hoist is built and the comparative experiment is carried out,and the experimental results show that compared with the traditional braking control strategy,the proposed method can effectively improve the dynamic stability and safety of the mine hoist.

关 键 词：提升机制动控制 系统建模 自适应神经网络 非线性控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP27[自动化与计算机技术—检测技术与自动化装置]