CN108390595B - Heavy-load self-adaptive starting control device and starting control method for scraper conveyor - Google Patents
Heavy-load self-adaptive starting control device and starting control method for scraper conveyor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention relates to a heavy-load self-adaptive starting control device of a scraper machine, which comprises a self-adaptive starting controller, a speed controller, a digital switching switch, a vector controller, an inverter and a motor, wherein the self-adaptive starting controller comprises a torque observer, the speed observer and a self-adaptive rate controller, the torque observer receives a torque current feedback ist_ fdb signal and a flux linkage amplitude psi of the vector controller of a frequency converter s The method comprises the steps of outputting a real-time estimated torque Te_est signal through calculation, receiving a voltage and current signal of a vector controller by a speed observer, calculating to obtain a real-time speed value omega_est signal of a motor through a speed estimator of a MRAS (maximum speed as sensor), generating a corresponding torque current given value ist_ref signal through calculation by a self-adaptive rate controller through analysis of the real-time torque Te_est signal and the real-time speed omega_est signal, receiving a torque current given ist_ref signal command by the vector controller, generating a pulse PWM (pulse width modulation) signal to drive a three-phase inverter module, and finally outputting a desired voltage and current to drive the motor to operate.
Description
Technical Field
The invention relates to a control method, in particular to a control method for self-adaptive starting of a scraper machine, and belongs to the technical field of mine mining transportation.
Background
The scraper conveyor is one of key equipment of modern and mechanized fully-mechanized mining working surfaces, and the reliable operation of the scraper conveyor directly influences the production capacity of a coal mine. The transmission system of the scraper conveyor is a chain transmission system with smaller elasticity, uneven gaps exist among gears of the transmission system, between chain wheels and chains and among scraper chains, if moment is directly increased during starting, serious mechanical stress can be caused because the transmission system is not tensioned, faults such as chain breakage, tooth breaking, key rolling, wearing and the like are caused under severe conditions, and the service life of the scraper conveyor is seriously influenced.
The starting method currently used comprises the steps of starting a valve-control liquid-filled type hydraulic coupler, starting a double-speed motor, starting a CST controllable driving device and starting a variable-frequency speed regulating system. The frequency conversion speed regulating device has large starting moment and can well control the power balance of the head and tail motors during starting, and meanwhile, the frequency conversion speed regulating device also has the speed regulating and energy saving functions, so that the application advantages of the frequency conversion speed regulating system on the scraper machine are gradually recognized. Because the heavy scraper machine is frequently started, the side deviation phenomenon is often caused, and a heavy-load starting working condition is often caused. The heavy-load starting of the scraper machine not only needs to solve the requirement of starting power, but also meets the power balance requirement of a machine head motor and a machine tail motor, and simultaneously gives consideration to the fact that the tension value born by the scraper chain is as small as possible, otherwise, due to the chain transmission mechanical characteristics of the scraper machine, faults such as chain breakage and the like in the starting process are easy to occur. The existing solution is that the machine head and the machine tail are started in a time sharing way, the mechanism is that the machine tail is started first, the lower scraper chain of the scraper machine is tightened, after a certain time delay, the machine head motor is started, and the requirement of relatively balanced moment of the machine head and the machine tail motor can be met at the moment because the lower scraper chain is tightened. The starting mode has two problems, namely, the starting time needs to be determined by field debugging personnel according to the actual working condition of the scraper machine, and human factors exist; secondly, the starting performance of the system using the same starting time difference under different loads is different, so that the starting mode is only relatively balanced in power, the optimal control effect cannot be achieved, human factors are large, and the self-adaptive starting of the system cannot be achieved. There is therefore an urgent need for new designs to address these technical issues.
Disclosure of Invention
The invention provides a self-adaptive starting control method of a scraper machine, which aims at the technical problems existing in the prior art, solves a series of problems that in the prior art, the power distribution is unbalanced due to the fact that the starting time difference of a machine head and a machine tail is set, the output of a motor is uneven, mechanical structures such as a scraper chain are damaged for a long time, and experience of manually adjusting the starting time difference is poor.
In order to achieve the above purpose, the technical scheme of the invention is that the heavy-duty self-adaptive starting control device of the scraper comprises a self-adaptive controller, a speed controller, a digital switching switch, a vector controller, an inverter and a motor, wherein the self-adaptive controller is connected with the speed controller through the digital switching switch and the vector controller, and the vector controller is connected with the motor through the inverter; the self-adaptive controller is used for controlling the given torque of the vector controller, the speed controller is used for adjusting the speed feedback and tracking the speed given value, the speed controller receives the speed given value and the speed feedback, the speed given value is calculated by the PI regulator, the output torque given value is used as the torque current given value of the vector controller, the digital switching switch is used for selecting the torque current given value of the vector controller, the vector controller collects the states of the motor and the frequency converter, the inverter is controlled by the output PWM signal to output corresponding voltage current through vector control calculation, the inverter drives the motor, and the motor drives the scraper through the connecting shaft mechanism and the scraper chain wheel to operate.
The self-adaptive controller comprises a torque observer, a speed observer and a self-adaptive rate controller; the torque observer is used for detecting a torque current feedback value output by the frequency converter vector controller and a flux linkage amplitude value output by the speed observer, and performing torque calculation to obtain real-time torque of the output frequency converter; the speed observer is used for detecting output voltage electricity of the variable frequency system, observing the speed and outputting real-time speed value of the motor; the self-adaptive rate controller is used for detecting the real-time torque of the frequency converter output by the torque observer and the real-time speed value of the motor output by the speed observer 12 and outputting a torque given value of the vector control link.
A scraper conveyor heavy-load self-adaptive starting control method comprises a self-adaptive starting controller, wherein the self-adaptive starting controller comprises a torque observer, a speed observer and a self-adaptive rate controller, the torque observer receives a torque feedback ist_ fdb output by a frequency converter vector control unit, and a flux linkage amplitude psi is obtained by the torque observer s Calculating real-time output torque Te_est through a torque formula, receiving output voltage and current Us, is of a frequency conversion system by a speed observer, calculating to obtain a real-time speed value omega_est of a motor through an MRAS speed estimator without a speed sensor, and obtaining a corresponding torque current given value ist_ref by a self-adaptive rate controller through analyzing the real-time torque Te_est and the real-time speed omega_est and combining a starting strategy and distributing the corresponding torque current given value ist_ref to a vector control unit; the specific control steps are as follows: 1) The torque observer receiving vector control unit calculates a torque current feedback value ist_ fdb, and a flux linkage amplitude ψ calculated by the speed observer s The real-time torque Te_est output by the frequency converter is calculated through a torque observation expression, wherein the torque observation expression is as follows: t (T) e ＝p 0 ψI STfdb (wherein P 0 Is constant);
2) The speed observer receives voltage and current signals Us and Is output by the frequency converter, calculates a corresponding reference model and an adjustable model, and observes the running speed omega_est of the motor by model reference self-adaption rate.
The reference model expression is:
the adjustable model expression is:
the model reference adaptation rate is:
ω_est＝(K p +K i )ε ω wherein the method comprises the steps of
At the same time by rotor flux linkage psi r Calculating stator flux linkage ψ s ：
3) The adaptive rate controller 13 receives the real-time torque te_est of the torque observer 11 and the estimated speed value ω_est of the speed observer 12, and obtains the torque set value ist_ref of the vector control link by corresponding start-up adaptive algorithm.
As an improvement of the present invention, in the step 3), the adaptive algorithm implementation step is as follows:
31 Before and after the scraper conveyor is started, the torque given by the machine head motor and the machine tail motor is given by the self-adaptive starting controller, and at first, the machine tail motor gives a certain torque Te < 0 > =kT N (0<k<1) The tensioning of the return air section scraper chain is realized, and the tension of the head separation point and the tail meeting point is gradually increased. The tail torque amplitude limiting is controlled to k times of rated torque, the output tension is prevented from being too large, and when the tail torque reaches the set torque of the self-adaptive starting controller, the system is maintained at a steady state by maintaining a certain time t;
32 At this stage, the torque of the nose motor is released to be forced to be zero, the torque command of the tail motor is distributed to the nose motor, the nose motor gradually builds up output torque, and the tension of the nose meeting point and the tail separating point is gradually increased. At this time, the scraper chains are in a tensioning state;
33 When the torque of the machine head and the machine tail is established, the torque is given and cut to the output of the speed controller 2 through the digital switch, at the moment, the machine tail motor has a certain pre-starting speed, the initial value of the speed of the machine head motor is zero, and when the machine head motor is started, the two machines gradually speed up to be consistent under the condition that the machine tail motor is in a main control speed ring, and the driving systems at the two ends keep the same speed state. The two machines are controlled by a tail main control motor to keep the speed consistent and operate in a power balance state;
the main function of the speed controller 2 is to adjust the speed feedback tracking speed given value, the speed controller receives the speed given omega_ref of the upper computer and the speed observer signal omega_est, and the speed controller is operated by the PI regulator to finally output a torque given value as the torque current given ist_ref of the vector control unit;
the digital switching switch 3 switches corresponding input values to the vector controller according to a starting process and a running process after starting to serve as a torque current given value ist_ref of the vector controller;
the vector control unit is used for collecting corresponding information quantity of the motor, receiving a torque current set value ist_ref transmitted by the digital switching switch 3, outputting a pulse PWM signal to the inverter 5 through vector control operation, driving the IGBT by the driving unit in the inverter, controlling the inverter 5 to output expected voltage and current, and controlling the motor 6 to drive the scraper machine to start and perform normal operation after the scraper machine is started.
Compared with the prior art, the method has the advantages that 1) the scheme provides a method for solving the self-adaptive control of the heavy-load starting process of the scraper, the method can effectively reduce the maximum tension value of the scraper chain in the starting process of the scraper, reduce the faults such as chain breakage, tooth breaking, key rolling, abrasion aggravation and the like caused by the maximum tension value, and improve the reliability and the safety of a system; 2) In order to solve the power balance problem of the head and tail motors in the starting process and the time-sharing starting time difference problem when the power balance problem is solved, a method for adaptively judging the starting process according to the torque and the rotating speed is designed, the setting problem of the power balance and the starting time difference is effectively solved, and the utilization rate of a system is improved. Meanwhile, the starting process is better, so that the time of the starting process is saved, and the production efficiency is improved.
Drawings
FIG. 1 is a block diagram of an adaptive start controller;
FIG. 2 is a flow chart of an adaptive algorithm;
FIG. 3 is a schematic diagram of an adaptive control algorithm applied to a frequency converter control system;
FIG. 4 is a graph of the startup effect of the adaptive startup control algorithm.
In the figure: 1. the self-adaptive start controller comprises a self-adaptive start controller body, a speed controller body, a digital switching switch body, a vector controller body, an inverter body, a motor body, a torque observer body, a speed observer body, a self-adaptive rate controller body, a self-adaptive start controller, a speed controller body, a digital switching switch body, a vector controller body, a self-adaptive rate controller body, a self-adaptive start controller, an inverter body, a motor body, a self-adaptive start controller, a self-adaptive speed observer body, a self-adaptive control device, a self-adaptive start controller, a self-adaptive speed observer body, a self-adaptive control device, a self-adaptive switching.
The specific embodiment is as follows:
in order to enhance the understanding of the present invention, the present embodiment will be described in detail with reference to the accompanying drawings.
Example 1: referring to fig. 1 and 3, a frequency converter control device of a self-adaptive start controller of a scraper machine comprises a self-adaptive controller 1, a speed controller 2, a digital switching switch 3, a vector controller 4, an inverter 5 and a motor 6, wherein the self-adaptive controller 1 and the speed controller 2 are connected with the vector controller 4 through the digital switching switch 3, and the vector controller 4 is connected with the motor 6 through the inverter 5; the self-adaptive controller 1 is used for controlling the given torque of the vector controller 4, the speed controller 2 is used for adjusting the speed feedback tracking speed given value, the speed given value and the speed feedback are received, the speed given value and the speed feedback are calculated through the PI regulator, the output torque given value is used as the torque current given value of the vector controller 4, the digital switch 3 is used for selecting the torque current given value of the vector controller 4, the vector controller 4 collects the states of the motor and the frequency converter, the inverter 5 is controlled to output corresponding voltage current through vector control calculation, the inverter 5 drives the motor 6, and the motor 6 drives the scraper through the connecting shaft mechanism and the scraper chain wheel to operate. The adaptive controller 1 comprises a torque observer 11, a speed observer 12 and an adaptive rate controller 13; the torque observer 11 is used for detecting a torque current feedback value output by the frequency converter vector controller 4 and a flux linkage amplitude value output by the speed observer 12, and performing torque calculation to obtain real-time torque of the output frequency converter; the speed observer 12 is used for detecting output voltage power of the variable frequency system, carrying out speed observation and outputting real-time speed value of the motor; the self-adaptive rate controller 13 is used for detecting the real-time torque of the frequency converter output by the torque observer 11 and the real-time speed value of the motor output by the speed observer 12, and outputting the torque given value of the vector control link. The speed controller 2 is composed of an analog quantity sampling link, an analog-digital conversion link and a PI control link. The analog quantity sampling link receives a speed command analog quantity signal sent by the upper computer, compares the speed command analog quantity signal with a speed observation value output by the self-adaptive starter, outputs a torque current signal through the PI proportional integral algorithm link, and the vector controller 4 receives the torque current signal to control the torque after the starting process is finished. The vector controller 4 consists of an analog quantity sampling link, an analog-to-digital conversion link, a TMS3200C2812 type DSP, a PI control link, a switching value input and output link, a SVPWM pulse generation link and a pulse driving link. The analog quantity sampling link collects voltage and current signals, receives a torque current given signal selected by the digital switch 3, enters the TMS3200C2812, generates a voltage command signal through vector control operation, outputs an equivalent PWM pulse signal through the SVPWM pulse generation link, and finally outputs a value inverter 5 through the pulse driving link. The vector control unit acquires corresponding information quantity of the motor, receives a torque current set value ist_ref transmitted by the digital switching switch 3, and finally controls the inverter 5 to output corresponding voltage and current through vector control operation, and controls the motor 6 to drive the scraper to start and perform normal operation after the start, the starting effect is shown in fig. 4, the tail motor of the machine head can be seen to start simultaneously, but the tail motor runs in advance due to the self-adaptive distribution of the torque, the head motor starts again after self-adaptive starting judgment, and the head and tail starting time difference adopts the self-adaptive control strategy provided by the invention, so that the defect of manually setting the time difference is reduced, the time difference can be independently changed according to different loads, and the purpose of starting power balance is achieved.
Example 2: referring to fig. 1-4, the heavy-duty self-adaptive starting control method of the scraper comprises a self-adaptive starting controller, wherein the self-adaptive starting controller comprises a torque observer, a speed observer and a self-adaptive rate controller, the torque observer receives a torque feedback ist_ fdb output by a vector control unit of a frequency converter, and a flux linkage amplitude psi is calculated by the self-adaptive rate controller s Calculating real-time output torque Te_est through a torque formula, and receiving output electricity of a frequency conversion system through a speed observerThe method comprises the steps that the voltage currents Us and Is pass through an MRAS speed estimator without a speed sensor, a real-time speed value omega_est of a motor Is calculated, and a self-adaptive rate controller obtains a corresponding torque current given value ist_ref by analyzing the real-time torque Te_est and the real-time speed omega_est and combining a starting strategy and distributes the torque current given value ist_ref to a vector control unit; the specific control steps are as follows: 1) The torque observer receiving vector control unit calculates a torque current feedback value ist_ fdb, and a flux linkage amplitude ψ calculated by the speed observer s The real-time torque Te_est output by the frequency converter is calculated through a torque observation expression, wherein the torque observation expression is as follows: t (T) e ＝p 0 ψI STfdb (wherein P 0 Is constant);
2) The speed observer receives the voltage and current signals Us, is output by the frequency converter, calculates a corresponding reference model, an adjustable model,
the running speed omega_est of the motor is observed through the model reference adaptive rate.
The reference model expression is:
the adjustable model expression is:
the model reference adaptation rate is:
ω_est＝(K p +K i )ε ω wherein the method comprises the steps of
At the same time by rotor flux linkage psi r Calculating stator flux linkage ψ s ：
3) The adaptive rate controller 13 receives the real-time torque te_est of the torque observer 11 and the estimated speed value ω_est of the speed observer 12, and obtains the torque set value ist_ref of the vector control link by corresponding start-up adaptive algorithm.
In the step 3), referring to fig. 2, the adaptive algorithm implementation steps are as follows:
31 Before and after the scraper conveyor is started, the torque setting of the machine head motor and the machine tail motor is given by the self-adaptive starting controller, and the machine tail motor firstly gives a certain torque Te < 0 > = 30%T N The tensioning of the return air section scraper chain is realized, and the tension of the head separation point and the tail meeting point is gradually increased. The tail torque limiting is controlled to 30% of rated torque, the output tension is prevented from being too large, and when the tail torque reaches the set torque of the self-adaptive starting controller, the tail torque is maintained for a certain time t=5S, so that the system is maintained in a steady state;
32 At this stage, the torque of the nose motor is released to be forced to be zero, the torque command of the tail motor is distributed to the nose motor, the nose motor gradually builds up output torque, and the tension of the nose meeting point and the tail separating point is gradually increased. At this time, the scraper chains are in a tensioning state;
33 When the torque of the machine head and the machine tail is established, the torque is given and cut to the output of the speed controller 2 through the digital switch, at the moment, the machine tail motor has a certain pre-starting speed, the initial value of the speed of the machine head motor is zero, and when the machine head motor is started, the two machines gradually speed up to be consistent under the condition that the machine tail motor is in a main control speed ring, and the driving systems at the two ends keep the same speed state. The two machines are controlled by a tail main control motor to keep the speed consistent and operate in a power balance state;
the main function of the speed controller 2 is to adjust the speed feedback tracking speed given value, the speed controller receives the speed given omega_ref of the upper computer and the speed observer signal omega_est, and the speed controller is operated by the PI regulator to finally output a torque given value as the torque current given ist_ref of the vector control unit;
the digital switching switch 3 switches corresponding input values to the vector controller according to a starting process and a running process after starting to serve as a torque current given value ist_ref of the vector controller;
the vector control unit is used for collecting corresponding information quantity of the motor, receiving a torque current set value ist_ref transmitted by the digital switching switch 3, outputting a pulse PWM signal to the inverter 5 through vector control operation, driving the IGBT by the driving unit in the inverter, controlling the inverter 5 to output expected voltage and current, and controlling the motor 6 to drive the scraper machine to start and perform normal operation after the scraper machine is started.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and equivalent changes or substitutions made on the basis of the above-mentioned technical solutions fall within the scope of the present invention as defined in the claims.
Claims (3)
1. The heavy-load self-adaptive starting control device of the scraper machine is characterized by comprising a self-adaptive controller, a speed controller, a digital switching switch, a vector controller, an inverter and a motor, wherein the self-adaptive controller is connected with the speed controller through the digital switching switch and the vector controller, and the vector controller is connected with the motor through the inverter; in the starting process, the self-adaptive controller is used for controlling a torque current given value of the vector controller, after the starting process, the speed controller is used for controlling the torque current given value of the vector controller, the digital switching switch is used for selecting the torque current given value of the vector controller, the vector controller collects states of the motor and the frequency converter and outputs PWM signals to control the inverter, the inverter outputs corresponding voltage current to drive the motor to drive the scraper to operate through the connecting shaft mechanism and the scraper chain wheel, the self-adaptive controller comprises a torque observer, a speed observer and a self-adaptive rate controller, the torque observer receives and detects a torque current feedback value output by the vector controller of the frequency converter and a flux linkage amplitude signal output by the speed observer, and the frequency converter outputs real-time torque signals through operation; the speed observer receives output voltage and current signals of the frequency conversion system, performs speed observation, and outputs a real-time speed value of the motor; the self-adaptive rate controller is used for detecting the real-time torque of the frequency converter output by the torque observer and the real-time speed observation value of the motor output by the speed observer, and outputting a torque current given value required by the vector controller through self-adaptive rate algorithm operation.
2. The heavy-load self-adaptive starting control method for the scraper conveyor is characterized by comprising a self-adaptive starting controller, wherein the self-adaptive starting controller comprises a torque observer, a speed observer and a self-adaptive rate controller, and the torque observer receives a torque feedback ist_ fdb and a flux linkage amplitude psi which are output by a vector control unit of a frequency converter s Calculating real-time output torque Te_est through a torque formula, calculating a real-time speed value omega_est of a motor through a speed estimator of an MRAS speed-free sensor by a speed observer through receiving output voltage current Us, is of a frequency conversion system, and obtaining a corresponding torque current given value ist_ref by a self-adaptive rate controller through analyzing the real-time torque Te_est and the real-time speed omega_est and combining a starting strategy, and distributing the corresponding torque current given value ist_ref to a vector control unit;
the specific control steps are as follows: 1) The torque observer receives the torque current feedback value ist_ fdb calculated by the vector control unit and the flux linkage amplitude ψ calculated by the speed observer s The real-time torque Te_est output by the frequency converter is calculated through a torque observation expression, wherein the torque observation expression is that,
Te＝P 0 ×ψ s x ist_ fdb, where P 0 Is a constant;
2) The speed observer receives voltage and current signals Us and Is output by the frequency converter, calculates a corresponding reference model and an adjustable model, and observes the running speed omega_est of the motor from time to time through model reference self-adaption rate;
the reference model expression is:
the adjustable model expression is:
the model reference adaptation rate is:
at the same time by rotor flux linkage psi r Calculating stator flux linkage ψ s ：
3) The self-adaptive rate controller receives the real-time torque Te_est of the torque observer and the speed estimated value omega_est of the speed observer, and obtains the torque set value ist_ref of the vector control link through a corresponding starting self-adaptive algorithm.
3. The method for controlling the heavy-duty self-adaptive start of a scraper machine according to claim 2, wherein in the step 3), the self-adaptive algorithm is implemented as follows:
31 Before and after the scraper conveyor is started, the torque given by the machine head motor and the machine tail motor is given by the self-adaptive starting controller, and at first, the machine tail motor gives a certain torque Te < 0 > =kT N ，0<k<1, tensioning a scraper chain at a return-to-air section, gradually increasing tension at a head separation point and a tail meeting point, controlling tail torque limiting to k times of rated torque at the stage, avoiding excessive output tension, and maintaining a certain time t to enable a system to be maintained in a steady state after the tail torque reaches the set torque of a self-adaptive starting controller;
32 At this stage, the torque of the nose motor is released to be forced to be zero, the torque command of the tail motor is distributed to the nose motor, the nose motor gradually builds output torque, the tension of the meeting point of the nose and the separation point of the tail is gradually increased, and the scraper chains are in a tensioning state at this time;
33 When the torque of the machine head and the machine tail is built, the torque is given and cut to the output of the speed controller through the digital switch, at the moment, the machine tail motor has a certain pre-starting speed, the initial value of the speed of the machine head motor is zero, when the machine head motor is started, the two machines gradually speed to be consistent under the condition of the main control speed ring of the machine tail motor, the driving systems at the two ends keep the same speed state, and the two machines keep the speed consistent under the control of the main control motor of the machine tail and operate in a power balance state;
the speed controller is used for adjusting a speed feedback tracking speed given value, receiving an upper computer speed given omega_ref and a speed observer signal omega_est, and finally outputting a torque given value as a torque current given ist_ref of the vector control unit through PI regulator operation;
the digital switching switch switches corresponding input values to the vector controller according to a starting process and a running process after starting, and the corresponding input values are used as torque current given values ist_ref of the vector controller;
the vector control unit is used for collecting corresponding information quantity of the motor, receiving a torque current set value ist_ref transmitted by the digital switching switch, outputting a pulse PWM signal to the inverter through vector control operation, driving the IGBT by the driving unit in the inverter, controlling the inverter to output expected voltage and current, and controlling the motor to drive the scraper to start and perform normal operation after the motor is started.
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| CN109625845B (en) * | 2018-12-04 | 2020-10-23 | 太原理工大学 | Dynamic tension on-line monitoring system for scraper chain of scraper conveyor |
| CN114204871B (en) * | 2021-11-30 | 2024-10-25 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Multiphase motor fault branch belt speed switching control method |
| CN114013954B (en) * | 2021-12-15 | 2023-08-18 | 国家能源集团乌海能源有限责任公司 | Power automatic balance method and system based on scraper conveyor multi-circuit inverter |
| CN118125046B (en) * | 2024-03-25 | 2024-08-16 | 山西维达传动科技有限公司 | Variable frequency driving control method of scraper conveyor |
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