基于智能减阻策略的地下铲运机自动铲装控制研究

Research on Automatic Shoveling Control of Underground Scraper Based on Intelligent Drag-Reduction Strategy

地下铲运机在铲装作业过程中其铲斗力学性能复杂多变,驾驶室操作员只能根据工作经验实时观察判断后进行操作,实际效果并不理想。通过研究铲装过程中的力学性能,提出一种基于智能减阻策略的地下铲运机自动铲装控制方法,可以高效、低耗地完成铲装过程的自动控制。基于时序反馈,配合铲装过程中的多次举斗或撬斗动作,不断破坏料堆中密实核的生成并减小铲装阻力,提高了铲运机满斗率和工作效率。同时,基于EDEM软件开展智能减阻铲装过程仿真研究,在工程铲运机上搭建了自动铲装控制系统,并通过人机交互编程控制开展了工程应用。结果表明,基于智能减阻策略的地下铲运机自动铲装控制系统的控制效果稳定,可靠性高,可完全满足工业应用的要求。

In the process of shoveling operation,the bucket mechanical properties of the underground scraper are complex and changeable.The cab operator can only operate after real-time observation and judgment based on work experience,and the actual effect is not ideal.By studying the mechanical properties of the shoveling process,an automatic shoveling control method of the underground scraper based on the intelligent drag-reduction strategy was proposed,which could complete the automatic control of the shoveling process with high efficiency and low consumption.Based on the timing feedback,combined with the lifting bucket or prying bucket several times during shoveling process,the dense core in the material pile was destroyed continuously and the shoveling resistance was reduced to improve the full bucket rate and the working efficiency of the scraper.At the same time,based on the EDEM software,the intelligent drag-reduction shoveling process simulation research was carried out,and the automatic shoveling control system was built on the project scraper.Through human-computer interaction programming control,the engineering application was carried out.The results show that the automatic shoveling control system of underground scraper based on intelligent drag-reduction strategy has stable control effect and high reliability,which can fully meet the requirements of industrial application.