Electromechanical Coupling Simulation And Experimental Study On The Crawler Travelling Gear Of Mobile Crushing Station

Mobile crushing station is a key equipment of semi-continuous mining technology inlarge opencast mines. Along with the improvement of productivity, the mass of mobilecrushing station has exceeded a thousand tons. The crawler device is the travelling mechanis mof mobile crushing station. Its performance directly affects the efficiency, economy andreliability of the mining production line. Integrating with the National High TechnologyResearch and Development Program863project,“The Development of3000t/h MobileCrushing Station"(No.2012AA062002), the paper demonstrates the simulation andexperimental study of the electromechanical coupling performance of the crawler device inthe mobile crushing station by such ways as electromechanical coupling dynamics modelingand solving, virtual prototype simulation and physical model tests. It puts forward theelectromechanical coupling dynamics analysis method of the crawler device and the adaptivecontrol technology, which will improve the travelling performance and the automation levelof the crawler device in the mobile crushing station.A research review of the electromechanical coupling modeling method and the motioncontrol technology of the crawler device at home and abroad is stated in the paper. Based onthe dynamic analysis of the crawler device under typical working conditions and the dynamiccharacteristics of the induction motor, a dynamic mathematical model of the electromechanica lcoupling of the crawler device under multiple working conditions is established. Theelectromechanical coupling performance under different working conditions are simulated andanalyzed by numerical calculation, which devotes to the change rule of the electrical andmechanical parameters of the crawler device in the non-steady running process.In order to realize the adaptive travelling functionality of the crawler device, a formulaand a flow chart of the adaptive control system in the crawler device based on GPS aredesigned. The system converts the sky coordinates into terrestrial Cartesian coordinateaccording to coordinate transformation and the tracking problem of travelling trajectory intothe stabilization problem of the tracking error system in the crawler device by Lyapunovcontrol theory. Combined with Kinematics, the adaptive control law of the crawler device isalso designed.To control the adaptive travelling process of the crawler device accurately, the functio nmapping among the load torque, the speed and the power output frequency of the output shaftin the induction motor rotor is established by Kriging model. Meanwhile, the correlation coefficients are optimized by improving particle swarm algorithm (IPSO) so as to ensuredecoupling precision. Based on the constructed adaptive control system, the dynamic modelof the crawler device and the theoretical model of the adaptive control system are establishedby the multi-body dynamics software Recurdyn and the numerical analysis softwareMatlab/Simulink respectively. The electromechanical coupling performance under complextravelling conditions is shown by co-simulation and the control effect of the designed adaptivecontrol system is verified.In order to testify the results of the electromechanical coupling numerical simulation andthe virtual prototype simulation of the crawler device, the paper develops a physical prototypemodel of the crawler device with the adaptive control system. The position of the mass centerof the crawler device, the track speed of both sides, the voltage of the drive motor stator andthe load torque are monitored by the GPS positioning system and the performance test system.The results of the physical prototype experiment and the numerical simulation match perfectlywith those of the virtual prototype simulation, which proves that the establishedelectromechanical coupling dynamic model and the virtual prototype model of the crawlerdevice could be applied into the performance analysis of the electromechanical coupling ofthe crawler device in the mobile crushing station and that the designed rules of adaptive controlare highly effective.Based on these, the virtual prototype model of the electromechanical coupling of thecrawler device in large mobile crushing stations is established. Its adaptive travelling processis simulated to verify the control effects of the adaptive control law on large crawler devices.The proposed electromechanical coupling dynamics modeling and analysis method oflarge crawler devices and the adaptive travelling control system based on GPS develops thedesign theory of large crawler devices. The application of the modeling method, analysismethod and the adaptive travelling control technology on the mobile crushing station issignificant for improving the development level of high-ranking mining equipment in ournation.