矿井通风非线性网络建模与控制器设计

Mine Ventilation Network Nonlinear Modeling and Controller Design

矿井通风系统是矿井安全生产的重要组成部分,为了解决因通风网络控制和设计不当而引起的瓦斯爆炸等问题,根据通风网络分支间流量和压力相互影响的动力学特性,利用电路Kirchhoff电流电压定律、图论原理和每一分支的流体动力学方程(微分方程),建立了矿井通风网络的多变量非线性全阶和降阶模型,其中分支的模型利用不可压缩的Navier-Stokes方程为集中参数逼近来建立,然后基于反馈线性化进行非线性控制器设计.建立的非线性模型反映了矿井通风流体运动的非线性本质,克服了流体运动的非稳定性.仿真结果表明,设计的控制器能使通风流量和压力可以快速地收敛于其参考值,风量控制准确率除了分支1为98.11%,其它均超过99%,实现矿井通风的精确控制.

Ventilation networks in coal mine are important parts for safe production.In order to solve the problems of gas explosion caused by improper control and design of the ventilation network,based on the ventilation network branch airflow quantity and pressure mutual influence hydrodynamic characteristic,the multivariable nonlinear full-order and reduced-order model of the mine ventilation network are proposed using Kirchhoff＇s current and voltage laws （algebraic equations）,graph theoretic concepts and fluid dynamical equations of individual branches （differential equations）.The branches were modeled using lumped parameter approximations of incompressible Navier-Stokes aerodynamics equations,and a nonlinear controller was designed based on the feedback linearization.The proposed nonlinear model reflects the nonlinear of the mine ventilation fluid movement,which overcomes non-stability of the fluid movement.The results show that the nonlinear controller enables ventilation system’s airflow quantity and pressure to converge to its desired reference value quickly,and all airflow control accurate rate is over 99% except for the branch 1 of 98.11%,which realizes accurate control of the mine ventilation.