大型矿用电铲永磁外转子提升系统动力学特性研究

Dynamic characteristics of permanent magnet outer rotor lifting system for large mining electric shovel

针对传统电铲提升系统存在传动效率低、能量损耗高、维护工作量大等问题,基于永磁外转子滚筒直接驱动提升装置,提出了一种电铲提升设计方案,并对永磁外转子提升系统的动力学特性进行了研究。首先,分析了电铲挖掘轨迹,建立了以时间为历程的挖掘轨迹函数表达式,确定了齿尖载荷、挖掘体积的计算方法,从而对挖掘过程中铲斗的受力进行了分析;然后,利用SolidWorks建立了电铲三维模型,将其导入SimulationX的CAD模块,建立了电铲多体动力学模型,并加载了外部载荷曲线以模拟铲斗挖掘过程中的受力情况;之后,将电铲多体动力学模型封装成MATLAB子系统,连接到Simulink的永磁外转子滚筒控制模块,采用了比例积分(PI)调节器和永磁同步电机(PMSM)矢量控制方法提高了滚筒的动态性能和抗扰动能力;最后,利用Simulink中的联合仿真模型对电铲挖掘过程进行了仿真分析,得到了提升力、推压力和电机功率等变化曲线。研究结果表明:与传统提升系统相比,永磁外转子滚筒提升系统节能降耗约27%,而电铲挖掘过程整体节能约18%,并在1∶30模拟样机试验台对提升推压力进行了对比验证。永磁外转子滚筒提升方案大大降低了挖掘能耗,为电铲绿色装备转型提供了参考。

Aiming at the problems of low transmission efficiency,high energy loss,and heavy maintenance workload in traditional shovel lifting systems,a shovel lifting scheme design using permanent magnet outer rotor drum to directly drive the lifting device was proposed,and the dynamic characteristics of permanent magnet external rotor hoisting system were studied.Firstly,the excavation trajectory of the electric shovel was analyzed,and an expression for the excavation trajectory function based on time history was established.The calculation method of tooth tip load and excavation volume was determined,and the force on the bucket during the excavation process was analyzed.Secondly,a 3D model of the shovel was established using SolidWorks,and it was imported into the CAD module of SimulationX.A multi-body dynamic model of the shovel was established,and external load curves were loaded to simulate the force situation during the excavation process of the shovel.Then,the multi-body dynamics model of the electric shovel was packaged into a MATLAB subsystem and connected to the permanent magnet outer rotor drum control module in Simulink.The proportion integral(PI)regulator and the permanent magnet synchronous motor(PMSM)vector control method were used to improve the dynamic performance and disturbance resistance of the drum.Finally,the joint simulation model in Simulink was used to simulate and analyze the excavation process of the electric shovel,and the variation curves of lifting force,pushing force,and motor power were obtained.The research results indicate that comparing with traditional lifting systems,the permanent magnet outer rotor drum lifting system can save energy and reduce consumption by about 27%,while the overall energy saving during the excavation process of the electric shovel is about 18%.The lifting pushing force is compared and verified on a 1∶30 simulation prototype test bench.The permanent magnet outer rotor drum lifting scheme greatly reduces excavation energy consumption,providing a reference for the transformation of green equipment in electric shovels.