| At present,mining electric shovels in China are mainly operated manually.Due to the lack of current technological level,it is difficult for staff to accurately track the target excavation trajectory of mining electric shovels with large machinery.Therefore,this thesis relies on the National Natural Science Foundation of China(NSFC)"Research on Collaborative Design and Intelligent Operation of Large Mining Shovel Adapting to Complex Environments",takes the mining shovel mining system as the research object,and combines the theories of kinematics analysis,dynamics analysis,motor vector control,fuzzy PID control and cross coupling control to carry out research on tracking control of mining shovel mining trajectory based on multi motor drive,A planning method was designed for the control parameters of mining electric shovel excavation trajectory-lifting speed and pushing speed.Different control strategies were proposed for the multi motor speed control system,and experiments were completed to track the target excavation trajectory.Firstly,the system composition and working principle of the mining shovel excavation mechanism were introduced,the mining shovel excavation trajectory equation was established,and the relationship between the driving motor speed of the mining shovel excavation mechanism and the excavation trajectory was analyzed.Taking the mining shovel mining system as the research object,the kinematics model of mining shovel mining mechanism is built based on D-H method,which provides strong support for the following planning of mining trajectory control parameters.Based on the Lagrangian equation method,a dynamic model of the mining shovel excavation mechanism is constructed,and the stress situation of the mining shovel excavation mechanism during operation is analyzed,providing support for calculating the energy consumption of excavation materials in the following text.Secondly,based on the dynamic model and the principle of energy consumption per unit mass of materials excavated by mining electric shovels,an optimal excavation trajectory is determined as the target excavation trajectory.Using mathematical knowledge and the kinematics model of the mining mechanism,research and analyze the relationship between the end actuator of the mining mechanism and the joint variables,convert the changes of the joint variables of the mining mechanism into the changes of the mining trajectory control parameters of the mining shovel,and finally plan the speed of the crowd motor and the speed of the lifting motor that can track the target mining trajectory,and simulate and analyze the control parameter planning method in MATLAB software,Verify its correctness.Then,analyze the mathematical model of the driving motor of the mining electric shovel excavation mechanism,establish a motor vector control system,introduce fuzzy PID control for single motor speed,and introduce a cross coupling controller to solve the problem of dual motor speed synchronization control.Simulate and analyze the established multi motor speed control system control model in MATLAB to verify the effectiveness of the motor speed control strategy proposed in this thesis.Finally,establish an experimental platform for mining electric shovel excavation trajectory tracking,and conduct experiments on single motor speed control,dual motor speed synchronous control,and multi motor speed collaborative control.And based on the multi motor speed control system,experiments were conducted on the tracking of the excavation trajectory of mining electric shovels.The results indicate that the motor speed control strategy proposed in this thesis has greatly improved the speed control of multi motor systems.The research ideas proposed in this article can accurately track the excavation trajectory of mining electric shovels. |
