树形胶带机运输系统建模与双层预测控制

Modeling of Tree Structure Conveyor Transportation System and Predictive Control of Double-layer

树形胶带机运输系统多用于地下采矿运输过程。在地下采矿运输过程中,各个巷道中的矿产通过胶带机运输至主井,其主要问题包括恒速运行的胶带在堆满矿产时容易造成电力拖动超负荷及矿产跌落,由此带来了更多人工成本和安全隐患。本文为了解决这些问题,将其看成一个有约束的优化控制问题,并采用双层结构预测控制策略。本文主要贡献分两个方面,其一是将复杂树形结构胶带机运输系统分解为若干个简单胶带机的组合,建立状态空间模型并基此产生时变的阶跃响应系数矩阵,其二是采用动态矩阵控制策略实现对胶带机理想速度的跟踪以及在满足各种物理约束情况下的速度调优。采用本文方法对陕北某大型采矿井下胶带机运输系统进行了优化控制的仿真验证,发现控制效果良好。

Conveyor transportation system of tree structure is applied in underground mining transportation process. For an underground mine transportation process, the mine from different roadway is transported to the main shaft by conveyors. The major issues of this process, when the belts run with constant speed are cumulated with mine, include overload of the electric driver and drop-off of mine, which bring more labor costs and safety hazard. In order to tackle these issues, this paper takes it as a constrained optimal control problem, and adopts a double-layered model predictive control strategy. This paper has two main contributions. Firstly, it decomposes the complex tree structure conveyor transportation system into a combination of several simple conveyor systems. The state space model is constructed, and based on which, the time varying step response coefficient matrices are generated. Secondly, using dynamic matrix control strategy, it achieves tracking of ideal conveyor speed and optimal regulation of conveyor speed under various physical constraints. The method here is applied to simulate optimization and control on a large-scale underground mine conveyor system in Shanbei, which achieves the expected effects.