Fault Diagnosis And Tolerant Control For The Multi-motor Driving Transport System Of Bulk Port

The multi-motor driving transport system of bulk port is a kind of large system, combining equipment motion control and transport process control. At present, the level of the system technology is: PLC distributed control network, sequencing control by operation experience, non-systematic fault detecting. In this paper, the applying field of model control, system diagnosis, tolerant control is expanded from industry to port transport. Both the engineering problems and the theories application of fault diagnosis and tolerant control are studied for the multi-motor driving transport system of bulk port. The main content of the paper are as the following:(1) Construct control model of multi-motor driving transport system of bulk port.By analyzing the structure of the multi-motor driving transport system of bulk port, the multi-variable control model of associate-cooperate vectors is constructed. The universal adaptability of linear and non-linear applications, the models features of the integrality, consistency and extension are demonstrated.The flow control rules of the transport system and the corresponding control rules of the conveyer driving system are set up. All of these prove the feasibility of the model in the transport system of bulk port. Therefore, the problems of the power matching and power distributing of the conveyer driving system are solved.(2) Fault diagnosis of multi-motor driving transport system of bulk port.According to the control model of the multi-motor driving system of bulk port, the fault diagnosis models based on multi-variable state detection and pattern characteristics are built up. The application range and localization of the models are discussed, in order to realize the fault detect and diagnosis (FDD) of the system.Taking the flow fault diagnosis of the coal transport system as the object, the model of multi-variable state detection is applied to set up basic fault functions, and to recognize the flow faults.Taking the conveyer faults of the stall and off-tracking as the object, the model of pattern characteristics is applied to study detecting the signal, extracting the characteristics, and the diagnosis method. (3) Adaptive detection of dynamic disturbing fault in bulk transport.Affected by the load fierce fluctuation and heavy-load continuous impulsion, the problem of dynamic disturbing is very evident in the transport system of bulk port. It is a non-linear and non-smooth random disturbance, which seriously affects the reliability and accuracy of the detecting and controlling signals, and the normal running of the transport process and equipment. Aiming at the random dynamic interference of the multi-motor driving transport system of bulk port, the basic strategy and method of the self-adaptive filtering are presented.The reference model of the dynamic disturbing of gantry crane hoisting mechanism is set up, and a self-adaptive filter is developed. Founding the off-line pre-estimating algorithm for the model parameters speeds up detecting on-line. When the crane is in the state of zero-speed, and zero-load, the self zero-tracking will act, and the zero drift of the detecting system can be corrected. The adaptive filtering can effectively eliminate the signals of speed and acceleration interference when the crane starts or brakes. The applying results show that the new technique has increased the accuracy of detecting lifted load.The interference mechanism of the impact load of the large separated material is studied. Based on momentum theory, an impact model of bulk matter is founded and a kind of adaptive filtering method to restrain the instantaneous impact is put forward. A self-adjusting convergence factor speeds up the approaching, and the impact interfering signal is identified.(4) Tolerant control of multi-motor driving transport system of bulk port.According to the fault diagnosis for multi-motor driving transport system of bulk port, mixing with the intelligent tolerant control method, combining the active and passive fault tolerant control technology, the control rule reconfiguration (CRR) of the transport equipment and process are studied, which improves the control performance, realizes the safety control and the reliable control of the system.Based on the radial basis function network (RBFN), an equipment fault classifying device (FCD) is proposed. The structure of generalized active tolerant control is studied by control reference variable replacement, in order to avoid non-integrality and non-stability of the system caused by the control rule reconfiguration online. In the applications, the key problem is to research the synthetic tolerant control of rectifying the deviation, slowing down and deloading in the state of the conveyer running off-tracking.By the interoperability of the flow equipment, the passive tolerant control method of the transport flow is studied. The control rule is reconfigurated online—scheduled online, in the fixed scheduling way or the index scheduling way.The new network structure of the tolerant control of the multi-motor driving transport system of bulk port is designed by many ways of control, such as parameter, components, channels, equipments and so on, and by many modes of control, such as embedded single chip, PLC, control workstation and so on. At the same time, the program and data interface of the tolerant control are developed, which are embedded into the transport control system of the coal port as an attachable program.In the research on fault diagnosis and tolerant control of the multi-motor driving transport system of bulk port, more than ten patents have been applied, which fill the technology blanks in the automatic transport of bulk port. The main contributions include:——Based on the multi-variable associate-cooperate model, the problems are solved, such as mixed-modeling of digital and analog, and corresponding control for high power multi-motor driving equipment and transport network system of bulk port.——Through grouping and mapping the multi-variable state information, the fault pattern characteristic are extracted and the fault diagnosis problems are solved, such as the process faults, the stall faults, and the off-tracking faults in the bulk transport.——The model of random dynamical interference and adaptive filter are founded. The speed and acceleration disturbing of the gantry crane, and impulsion interference of large separated materials of the transport system are cancelled.——Based on the RBFN, the fault classifying device is constructed. By the control reference variable replacement and the control rule reconfiguration, the available software and hardware resource of the transport system is utilized efficiently, and the tolerant control is realized flexibly.The research results of the thesis are of practical value to all kinds of transport system of bulk port, and have been applied to many engineering projects, including the technological reform of the existing ports and the construction of new ports. The applications of the research results have brought considerable economic benefits and social benefits—increase production value by more than one hundred million Yuan (RMB), and profits tax value over ten million Yuan (RMB) annually. The relative subjects have won the science and technology awards from the government.