| With the continuous exploitation of shallow coal resources in China,the quantity of coal is decreasing.However,after exploration,it has been found that the storage capacity of deep coal resources accounts for over 60% of the total coal resources,making it an inevitable choice to mine deep coal in the future.In response to the challenge of mining and transportation of coal resources beyond 2000 meters deep,based on the scientific concept of in-situ fluidized mining of deep coal resources creatively proposed by Academician Xie Heping’s team in 2016,Professor Bao Jiusheng’s team from the China University of Mining and Technology is currently researching the main transportation technology of deep coal fluidized pipelines,which only studies the transportation of coal.However,coal mines also require the transportation of personnel,materials,and equipment by auxiliary shafts.In the auxiliary lifting transportation of ultra-deep shafts,using traditional steel wire ropes for lifting will not only significantly reduce the lifting weight and safety performance of the system due to the increase in the self weight of the lifting rope,the increase in the diameter of the lifting drum,and the complexity of the required auxiliary equipment,but also increase the complexity of the lifting system structure.In response to the urgent problem of ultra-deep well auxiliary lifting in fluidized bed mining of deep coal,this thesis proposes a new solution of "Linear Motors and Gear Rack Composite Lifting System" based on the safety and reliability of gear racks and the technical advantages of the unlimited lifting depth of linear motors.The focus is on researching multimotor synchronous control,gear drive motor and linear drive motor heterogeneous multi motor collaborative control strategies.The research content and results of this article are helpful in breaking through the constraints of traditional wire rope lifting systems,improving the safety and reliability of ultra-deep mine lifting systems,and providing a theoretical basis for deep mine lifting;It also provides a basis for the research and application of multi-motor synchronous control and heterogeneous motor collaborative control technology,thereby actively promoting the progress of coal mining towards deep resource extraction.This thesis first proposes a plan for the composite lifting of linear motor and gear rack based on the transportation objects and working conditions of the deep coal fluidized mining system for auxiliary lifting,and selects and designs its driving equipment and system;Secondly,the vector control strategies for two types of motors,Gear Driven Motors(PMSM)and Linear Driven Motors(PMLSM),were selected.The two motors were mathematically modeled and simulated in MATLAB/Simulink to study the dynamic response characteristics of the motor through vector closed-loop control;Subsequently,research and analysis were conducted on the synchronization and collaborative control strategies for multiple motors working together.In order to further improve the synchronization performance between motors,a fuzzy PI optimization parameter method was used to optimize the traditional coupling control method;At the same time,the concept of "constant torque(F)– speed(ω)" is also proposed for collaborative control of dissimilar motors" Control strategy and dynamic simulation analysis based on AMESim;Finally,an experimental platform was built for the composite lifting of linear motor and gear rack,verifying the proposed "F-ω" The feasibility and rationality of control strategies.The research results indicate that using the fuzzy PI loop coupling control algorithm can optimize the motor response characteristics,improve the following performance and synchronization performance among multiple motors;For dissimilar motors "F-ω" In the collaborative control strategy,the change in load lifting container is positively correlated with the acceleration change of the driving gear motor,making it easy to achieve control.This thesis has 127 figures,16 tables and 117 references. |
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