Bridge Type Reclaimer Modeling And Research On Control Methods

Bridge type reclaimer is a kind of large span engineering machinery, its derailing accidents happens in actual production, which is an important factor about production efficiency and safety, so it becomes very important to ensure its synchronous running. The aim is to find optimal control laws corresponding to actual require, which can be useful to large span engineering problems.Two ends synchronous control of large span engineering machinery is an important technical problem. The paper takes the bridge type reclaimer as an example, finding the reasons of bridge type reclaimer's derailing by depth analysis the problem of bridge type reclaimer's derailing. The paper also establishes mathematical model for the bridge type reclaimer and identifies parameters for the mathematical model by using test data. And it discrete the synchronous control system. On the base of discretization, the paper analyses performance of the continuous system as well as discretization system. The paper emphasize on several theory problems of this kind of synchronous control, namely at first solving optimal control laws of synchronous control for time optimal corresponding to actual production, secondly displacement difference optimal and time-displacement difference optimal respectively. In the end, by contrasting and analyzing the test curves and simulation curves, the paper validates the right of the mathematical model. The paper simulates the optimal control laws former solved and the time optimal control laws are used in practical production successfully.The paper provide a solid base for a better understanding of large span synchronous control system and also provide important basis for improving of performance of control system.