| Monorail crane is a modern and efficient auxiliary transportation equipment widely used in China’s coal mines in recent years,mainly used to transport materials,mining equipment,personnel and comprehensive mining bracket moving.According to the actual needs of the source project,this thesis designs a simulation test bench of the drive part of the monorail crane,and carries out the research on the running speed control and clamping force control of the experimental bench,so as to provide a safe and reliable experimental platform for the subsequent research of energy recovery,safe brake control and multi-point collaborative control.Firstly,based on the structural forms of domestic and foreign monorail crane manufacturers and the requirements of the source project,the overall mechanical system scheme of the monorail crane driving part simulation experimental platform was designed.The design of key components such as the experimental platform frame unit,driving unit,braking unit,driving track,power unit,etc.was completed,and finite element analysis was conducted on the key mechanical components of the simulation experimental platform.Secondly,a mathematical model of the pump control motor system for the simulation experimental platform of the monorail crane driving part was established,and an adaptive backstepping control strategy for the operating speed of the experimental platform was designed.A MATLAB/Simulink simulation model was built and simulation analysis was conducted.The simulation results showed that the designed adaptive backstepping controller can solve the problem of parameter uncertainty in the model and improve the accuracy of operating speed control.Then,the clamping force characteristics of the simulation experimental platform for the driving part of the monorail crane were analyzed,and the control objectives of the clamping force under different working conditions were determined;The mathematical model of the valve controlled single rod hydraulic cylinder system of the test-bed is established,and the adaptive Robust control strategy of the clamping force of the test-bed is designed.The MATLAB/Simulink simulation model is built and the simulation analysis is carried out.The simulation results show that the adaptive robust controller improves the control accuracy of the clamping force control system,and has a certain anti-interference ability.Finally,a simulation experimental platform for the driving part of a monorail crane was built according to the design scheme,and a low-level control program and upper computer monitoring system based on x PC/Target rapid prototyping technology were developed.Experiments were conducted to compare the operating speed and clamping force of the simulation experimental platform for the driving part of a monorail crane under different control strategies,verifying the effectiveness of the developed simulation experimental platform and related control strategies. |
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