| As an important equipment for coal carriage coal cleaning and recovery,the coal cleaning robot has the advantages of high cleaning efficiency,low regional dust,reduced personnel and increased safety,compared with the traditional manual cleaning.The negative pressure adsorption system is a key component of the residual coal cleaning robot,which is mainly responsible for sucking up the residual coal swept up in the carriage and transporting it to the dust collection box.Its stable operation with low power consumption is very important.In this paper,the numerical simulation method is used to analyze and optimize the working process of pipeline and dust collecting box in the negative pressure adsorption system,so as to improve the recovery effect of residual coal in the system.On this basis,an intelligent control method of air volume in the negative pressure adsorption system based on the improved Bat algorithm is proposed to achieve the effect of energy saving by real-time control of air volume according to the distribution of residual coal.Finally,the proposed method is verified by simulation comparison and experiment.The main work contents are as follows:(1)Design the overall structure of the residual coal cleaning robot and analyze the working principle of the negative pressure adsorption system,analyze the dynamic characteristics of coal particles in the negative pressure adsorption system,calculate the suspended air volume and pressure loss of coal particles in the pipeline and give the fan selection scheme,study the sedimentation mechanism of coal particles in the dust collection box.(2)According to the working characteristics of the negative pressure pipeline,the structural distribution of the negative pressure pipeline was designed,and a scheme combining PU hose and stainless steel pipe was proposed.The superiority of the transportation capability of the designed scheme was verified by numerical simulation and the movement characteristics of coal particles in the negative pressure pipeline were studied.The main structure and parameters of the dust collecting box are designed based on the working principle of the dust collecting box.The distribution characteristics of the gas phase and the solid phase are mastered by numerical simulation and the internal structure is reasonably designed.The uniformity experiment method is used to optimize the Angle Angle of the windscreen,a key parameter that affects the settlement efficiency.Finally,the negative pressure adsorption system structure with optimal recovery effect of residual coal was obtained.(3)The variable frequency regulation mechanism of air volume in the negative pressure adsorption system was studied,and the adjustable range of air volume frequency was determined.Then the fitting function database of fan current and air volume at different frequencies was obtained by Lagrange interpolation combined with fan law,and the relationship between current and frequency was established.The defects of the traditional bat algorithm are analyzed and corresponding improvement strategies are proposed.The PID parameters are dynamically adjusted by the improved bat algorithm,and an intelligent control method of air volume of the negative pressure adsorption system is proposed according to the change of the volume of residual coal.(4)According to the scale model 10:1,the experimental platform of the negative pressure adsorption system of the residual coal cleaning robot was built,and the dynamic analysis of the negative pressure pipe network was carried out to clarify the regulatory frequency range.Combined with the experimental data,fan law and Lagrange interpolation method to obtain the corresponding database,energy efficiency ratio and cleaning efficiency as evaluation indexes,design a comparative experiment scheme.Finally,the experimental results verify that the air volume control method can significantly reduce energy consumption compared with full load condition on the basis of ensuring that the cleaning efficiency is not less than 1% in full load condition. |
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