基于确定性规则的混合动力型高速单轨吊控制策略

Control strategy of hybrid electric high speed monorail crane based on deterministic rules

单轨吊作为煤矿井下辅助运输系统的重要设备形式之一,其运行速度普遍较低(满载<2 m/s),且传统防爆柴油机或防爆蓄电池单一动力形式均难以满足单轨吊动力性能与环保需求。为提高单轨吊驱动性能并实现绿色矿山目标,在传统单轨吊结构基础上提出了一种新型分布式混合动力驱动系统,基于确定性规则建立其控制策略并进行建模和仿真试验。首先,结合单轨吊结构的多段性,在不同驱动端设置不同动力源,采用分布式架构作为高速单轨吊混合动力架构形式,并制定该架构下不同的工作模式,确定不同模式下的能量流向;其次,为了提高单轨吊动力性能以及改善防爆柴油机工作区间,根据常规工况制定工作模式切换逻辑策略与转矩分配策略,在此基础上设计了基于逻辑门限值的确定性规则控制策略并利用Matlab搭建整体切换逻辑仿真策略;然后,根据高速单轨吊的实际行驶情况,建立小坡度重载、小坡度轻载、大坡度轻载3种整机循环工况;最后,将控制策略导入AMESim仿真软件,对所搭建的高速单轨吊整机物理模型进行联合仿真。仿真结果表明,基于确定性规则的控制策略能够使防爆柴油机和防爆电动机的工作点均处于高效区间,并使单轨吊整机具有较好的速度跟随性;在小坡度重载工况下,电池组荷电状态(SOC)值消耗量仅为17.6%,满载最大运行速度达到了3.01 m/s,CO、HC、NO^(x)尾气排放量相比传统单轨吊分别降低了67.3%、36.4%、49.4%和13.1%;在大坡度轻载工况下,电池组SOC值消耗量仅为13.1%,满载最大运行速度达到了2.29 m/s,CO、HC、NO^(x)尾气排放量相比传统单轨吊分别降低了70.2%、58.1%、41.7%。研究结果对于提高煤矿井下单轨吊运输效率、降低尾气排放具有理论意义和实用价值。

Monorail crane,as one of the important equipment forms of underground auxiliary transportation,has a generally low running speed(full load<2 m/s),and the traditional single power drive is difficult to meet the power and environmental requirements of monorail crane.In order to improve the driving performance of monorail crane and achieve the goal of green mine,a new distributed hybrid power drive system is proposed based on the traditional monorail crane structure.Its control strategy is established based on the deterministic rules and its modeling and simulation tests are carried out.First of all,combined with the multi section of the monorail crane structure,different power sources are set at different drive ends,and a distributed architecture is adopted as the hybrid power architecture of the highspeed monorail crane.Different working modes under the architecture are formulated to determine the energy flow direction under different modes;Secondly,in order to improve the power performance of the monorail crane and the working range of the explosion-proof diesel engine,the working mode switching logic strategy and torque distribution strategy are formulated in the face of conventional working conditions.On this basis,the deterministic rule control strategy based on the logic threshold value is designed,and the overall switching logic simulation strategy is built using MATLAB;Then,according to the actual running situation of the high-speed monorail crane,three complete machine cycle conditions are established,namely,small slope heavy load,small slope light load and large slope light load;Finally,the control strategy is imported into AMESim simulation software,and the physical model of the high-speed monorail crane distributed hybrid power system is jointly simulated.The simulation results show that the designed control strategy based on the deterministic rules can make the working points of the explosion-proof diesel engine and explosion-proof motor of the monorail crane in the high efficiency range,and make the whole machine have a good speed following performance;Under the condition of small slope and heavy load,the state of charge(SOC)consumption of the battery pack is only 17.6%,the maximum operating speed under full load reaches 3.01 m/s,and the emissions of CO,HC and NO^(x) are reduced by 67.3%,36.4%,49.4%and 13.1%respectively compared with the emissions of traditional monorail cranes;Under the working condition of large slope and light load,the consumption of SOC value of the battery pack is only 13.1%,the maximum operating speed under full load reaches 2.29m/s,and the emissions of CO,HC and NO^(x) are 70.2%,58.1%and 41.7%lower than those of traditional monorail cranes respectively.The research results are of great significance and practical value to improve the running speed of monorail crane,enhance its transportation efficiency,and reduce exhaust emissions to improve the downhole working environment.