机械工程学报 >

2018 , Vol. 54 >Issue 15: 31 - 40

DOI: https://doi.org/10.3901/JME.2018.15.031

机构学及机器人

基于自抗扰转矩补偿的采煤机截割传动系统动载荷主动控制

  • 葛帅帅 ,
  • 秦大同 ,
  • 胡明辉 ,
  • 刘永刚
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  • 重庆大学机械传动国家重点实验室 重庆 400044
葛帅帅,男,1988年出生,博士研究生。主要研究方向为机械动力学与控制。E-mail:gess@cqu.edu.cn

收稿日期: 2017-12-12

  修回日期: 2018-01-10

  网络出版日期: 2018-08-05

基金资助

国家重点基础研究发展计划资助项目（973计划，2014CB046304）。

收起

Active Control on Dynamic Loads of the Drum Shearer Cutting Transmission System Based on Active Disturbance Rejection Torque Compensation

  • GE Shuaishuai ,
  • QIN Datong ,
  • HU Minghui ,
  • LIU Yonggang
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  • State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044

Received date: 2017-12-12

  Revised date: 2018-01-10

  Online published: 2018-08-05

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摘要

为有效抑制由冲击载荷引起的采煤机截割传动系统动载荷，提出基于自抗扰转矩补偿的采煤机截割传动系统动载荷主动控制方法。综合考虑电动机动态特性、齿轮时变刚度以及滚筒负载特性等，建立采煤机截割传动系统机电耦合动力学模型；以弹性扭矩轴两端的转速差为反馈状态变量，设计了传动系统动载荷自抗扰转矩补偿控制器，该控制器以弹性轴两端的转速差等于零为跟踪目标，将动载荷抑制问题转换成目标轨迹跟踪问题，通过控制电动机转矩来抑制截割传动系统动载荷；最后分析突变工况下所提控制方法对传动系统动载荷的抑制效果。研究结果表明：基于自抗扰转矩补偿的采煤机截割传动系统动载荷主动控制可有效地衰减由外部突变载荷引起的截割传动系统动载荷；载荷突增和突减工况下，与截割电动机直接转矩控制相比，基于自抗扰转矩补偿的传动系统动载荷分别减少46.51%和38.87%。

关键词： 采煤机; 机电传动系统; 动载荷; 自抗扰控制

本文引用格式

葛帅帅 , 秦大同 , 胡明辉 , 刘永刚 . 基于自抗扰转矩补偿的采煤机截割传动系统动载荷主动控制[J]. 机械工程学报, 2018 , 54(15) : 31 -40 . DOI: 10.3901/JME.2018.15.031

Abstract

In order to suppress the dynamic load of the electro-mechanical transmission system of the drum shearer cutting unit, an active control method is proposed based on active disturbance rejection torque compensation. An electro-mechanical coupling model of the drum shearer cutting unit is established considering the dynamic characteristics of the motor, time-varying meshing stiffness as well as drum load characteristic. Taking the speed difference between the motor rotor and the first stage gear as feedback state variable, an active disturbance rejection torque compensation controller for suppressing the dynamic load of the electro-mechanical transmission system is designed, which takes the speed difference as the tracking control target and transforms the dynamic load suppressing problem into the trajectory tracking problem. The suppress effect on the dynamic load of the transmission system is analyzed based on the proposed method. Research results indicate that the proposed method has good control effect to suppress the dynamic load caused by mutational external load, compared with traditional direct torque control of the cutting motor, the dynamic loads are reduced 46.51% and 38.87% under both sudden-increasing and sudden-decreasing drum loads, respectively.

Key words： drum shearer; electro-mechanical transmission system; dynamic load; active disturbance rejection control

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