Dynamic Optimal Control Of The Operation Of Belt Conveyors

Belt conveyors(BCs)which are high-energy-consumption equipment for transporting bulk materials are widely used in mining industry,chemical industry,wharfs and so on.At present,the average energy consumption efficiency of BCs in our country still lags far behind the foreign advanced level.In order to guarantee safety,BCs usually operate at a constant speed,and the mass of the carrying material is much less than the maximum carrying capacity.However,this operation method may cause enormous wastage of energy because the method cannot regulate the belt speed to match the variable feed rates.Therefore,many scholars have carried out researches on optimal design of the belt speed.These methods emphasize the optimal energy consumption during the operation of BCs.But,the methods do not focus on the dynamic characteristics of BCs which may lead to belt over-tension and belt slippage.Therefore,the dynamic optimal control method of the operation of BCs is studied by fully considering the dynamic characteristics of BCs in this thesis.The layout of this thesis is as follows.1.Energy modeling of BCs and parameter identification of the energy model.Firstly,an analytical energy model is established to describe the energy consumption of BCs.Secondly,according to the characteristics that the parameters of the energy model change with the variable operating environment and equipment state,the parameters of the energy model are identified by fading memory recursive least-square method.Finally,the effectiveness of the proposed method is verified by a simulation experiment.2.Dynamic optimal control design for the operation of BCs.Firstly,a dynamic belt conveyor model is introduced based on finite element analysis.Secondly,a dynamic optimization problem of the belt speed set value is established which fully considers energy-saving,safety and dynamic characteristics of BCs.Thirdly,to deal with the complex high-order dynamic model constraints and static constraints,the economic model predictive control(EMPC)method is used to solve the optimization problem.Finally,the recursive feasibility of the proposed EMPC method and the stability of the closed-loop system are proved.3.dSPACE based experiment study on dynamic optimal control of the operation of BCs.Firstly,the dynamic model of BCs is built in MATLAB/Simulink to form a simulation object of BCs.Secondly,the real-time interface provided by dSPACE software is configured to realize real-time communication between host computer and dSPACE hardware system,and then the host computer software of dSPACE is designed.Finally,the energy saving performance and safety performance of the dynamic optimal control method are analyzed by an experiment.The thesis has 38 figures,5 tables and 60 references.