综采工作面乳化液泵站动力匹配控制技术研究.pdf

硕士学位论文 综采工作面乳化液泵站动力匹配控制 技术研究 Research on Power Matching Control Technology of Emulsion Pump Station in Fully Mechanized Coal Mining Face 作 者齐 楠 导 师姚新港副教授 中国矿业大学 二○一六年四月 万方数据 中图分类号 TV675 学校代码 10290 UDC 621 密 级 公开 中国矿业大学 硕士学位论文 综采工作面乳化液泵站动力匹配控制技术研究 Research on Power Matching Control Technology of Emulsion Pump Station in Fully Mechanized Coal Mining Face 作 者 齐楠 导 师 姚新港副教授 申请学位 工学硕士 培养单位 机电工程学院 学科专业 机械设计及理论 研究方向 煤矿机电装备自动化 答辩委员会主席 韩正铜 教授 评 阅 人 二〇一六年四月 万方数据 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 万方数据 论文审阅认定书论文审阅认定书 研究生 齐楠 在规定的学习年限内，按照研究生培养方案的要求，完成了 研究生课程的学习，成绩合格；在我的指导下完成本学位论文，经审阅，论文中 的观点、数据、表述和结构为我所认同，论文撰写格式符合学校的相关规定，同 意将本论文作为学位申请论文送专家评审。 导师签字 年 月 日 万方数据 致谢致谢 本论文是在导师姚新港副教授的悉心指导下完成的， 在研究生学习的三年期 间，姚新港副教授在研究工作等方面给予了我很多的指导、关心和帮助，没有他 的指导、 鼓励， 论文是不可能得以顺利完成的。 师从三载， 收获颇丰， 感触亦深。 姚新港副教授优秀的做人品质、精益求精的工作作风以及严谨的科学态度，令我 折服，这也是导师传授给我的最宝贵的财富。在此，谨向我的导师致以深深的敬 意 在三年的学习和生活中还受到了课题组王忠宾、谭超、 刘新华和杨寅威等老 师悉心的指导和帮助。 他们运筹帷幄、 睿智深邃， 是我学习的榜样和追逐的目标 在这里同样对他们致以深深的敬意 另外，感谢许静博士，范祯科、潘健、王艳萍、王利锋、汪佳彪、刘泽、徐 西华、徐荣鑫和高鹏等研究生同学给予我的帮助。与他们相处的三年，从他们身 上学到了很多我所不具备的知识和品质，感谢他们 同时，感谢我的家人在我求学期间给予我始终如一的鼓励、关怀和帮助。 最后，感谢各位专家和学者在百忙之中审阅我的论文，并提出宝贵的指导意 见和建议 万方数据 I 摘摘 要要 综采工作面的“自动化”和“智能化”对于煤矿的安全高效生产具有重要的 意义， 乳化液泵站作为液压支架的动力源， 是保证煤矿安全生产的关键设备之一。 当前，乳化液泵站主要采用变频恒压控制方法，但控制效果并不理想，实际使用 中存在液压支架动作不到位、跟机时间长和初撑力不足等问题。本文结合综采工 作面液压支架跟机动作特点， 通过预测采煤机牵引速度， 判断液压支架动力需求， 优化乳化液泵站的出口流量和压力，实现乳化液泵站的动力匹配控制。主要研究 内容如下 （1）建立了基于采煤机牵引速度和位置的液压支架时序动作模型，采用 BP 神经网络算法对采煤机牵引速度进行预测， 进而获得液压支架在自动跟机过程中 对乳化液的流量需求。 （2）针对综采工作面尾端液压支架动作不到位的现象，建立了乳化液泵站 供液系统沿线压力损失模型， 运用AMESim软件对压力损失模型进行仿真分析， 并采用比例溢流阀实现压力补偿。 （3）设计了一种混合粒子群多目标优化算法对乳化液泵站的供液流量进行 匹配控制，分别采用粒子群算法和粒子群混合算法进行仿真，结果表明粒子群混 合算法的的寻优效果更好。 （4）搭建了乳化液泵站动力匹配控制系统实验平台，进行了乳化液泵站供 液实验。结果表明乳化液泵站动力匹配控制系统具有良好的控制性能，且系统 流量响应时间小于 1s，液压支架动作准确到位。 该论文有图 51 幅，表 16 个，参考文献 82 篇。 关键词关键词乳化液泵站；动力匹配；液压支架；预测控制 万方数据 III Abstract “Automation” and “Intelligentization” in fully mechanized working face are of great significance to realize high-efficiency and safe production in coal mine. As a power station of hydraulic support, emulsion pump station is one of key equipments to guarantee safety production in coal mine. Current emulsion pump stations mainly adopt the of frequency conversion constant pressure control. But the does not bring ideal control result. In actual use, the phenomenons exsit with hydraulic support of abnormal place, long time following shearer, insufficient setting force,etc.Therefore, combining with working characteristics of hydraulic support we predict hauling speed of shearer, judge motions requirements of hydraulic support and opimize output of emulsion pump station. Finally power matching technology of emulsion pump station is realized. Main research content is as follows 1 Model is established of hydraulic support timing motions based on the hauling speed and position of shearer. The thesis predicts hauling speed of shearer based on BP neural network. And then the demand for emulsion flow of hydraulic support can be konwn in the process of following shearer. 2 In view of the phenomenon that hydraulic supports are not in place at the end of fully mechanized working face, this thesis establishes pressure loss model of emulsion pump station along the line. The loss value is obtained through simulation analysis based on AMESim. Pressure compensation is realized with electro-hydraulic proportion relief valve. 3 This thesis designs a hybrid particle swarm multi-objective optimization algorithm to match-control feeding folw of emulsion pump station. Optimizings are done with particle swarm optimization algorithm and hybrid particle swarm optimization algorithm respectively. Simulation results prove optimization effect of the designed algorithm better. 4 The power matching control system experimental plat of emulsion pump station is established. Experiment is done of emulsion pump station feeding. Experimental results show that power matching control system of emulsion pump station has good control perance, and the system response time is less than one second. At the same time, hydraulic support motions are accurate. The thesis has 51 figures, 16 tables and 82 references. Keywords emulsion pump station; power matching; hydraulic support; prediction control 万方数据 V 目目 录录 摘摘 要要 ............................................................................................................................. I 目目 录录 ............................................................................................................................ V 图清单图清单 .......................................................................................................................... IX 表清单表清单 ....................................................................................................................... XIII 变量注释表变量注释表 ................................................................................................................. XV 1 绪论绪论 .............................................................................................................................1 1.1 课题来源及背景 .......................................................................................................1 1.2 课题研究现状 ...........................................................................................................2 1.3 课题研究存在的问题和意义 ...................................................................................4 1.4 课题研究内容及方法 ...............................................................................................5 1.5 论文结构 ...................................................................................................................5 2 乳化液泵站动力匹配控制系统总体设计乳化液泵站动力匹配控制系统总体设计 .................................................................7 2.1 乳化液泵站概述 .......................................................................................................7 2.2 乳化液泵站动力匹配控制系统需求分析 .............................................................10 2.3 乳化液泵站动力匹配控制系统体系结构划分 .....................................................13 2.4 本章小结 .................................................................................................................17 3 液压支架动作预测方法研究液压支架动作预测方法研究 ...................................................................................18 3.1 液压支架工作特性分析 .........................................................................................18 3.2 液压支架时序动作模型 .........................................................................................20 3.3 基于 BP 神经网络的采煤机速度预测分析 ..........................................................24 3.4 本章小结 .................................................................................................................29 4 乳化液泵站动力匹配控制策略研究乳化液泵站动力匹配控制策略研究 .......................................................................30 4.1 乳化液泵站沿线压力损失模型 .............................................................................30 4.2 基于 AMESim 的乳化液泵站沿线压力损失仿真分析 ........................................32 4.3 基于混合粒子群优化算法的乳化液泵站流量匹配控制策略 .............................37 4.4 本章小结 .................................................................................................................45 5 实验研究实验研究 ...................................................................................................................46 5.1 实验平台总体架构 .................................................................................................46 5.2 乳化液泵站机载控制器 .........................................................................................48 万方数据 VI 5.3 液压支架电液控制器 .............................................................................................50 5.4 集中监控系统 .........................................................................................................53 5.5 实验方案及结果分析 .............................................................................................56 5.6 本章小结 .................................................................................................................61 6 总结与展望总结与展望 ...............................................................................................................62 6.1 总结 .........................................................................................................................62 6.2 展望 .........................................................................................................................62 参考文献参考文献 .......................................................................................................................64 作者简历作者简历 .......................................................................................................................69 学位论文原创性声明学位论文原创性声明 ...................................................................................................71 学位论文数据集学位论文数据集 ...........................................................................................................73 万方数据 VII Contents Abstract ....................................................................................................................... III Contents ......................................................................................................................VII List of Figures ............................................................................................................. IX List of Tables ............................................................................................................ XIII List of Variables ......................................................................................................... XV 1 Introduction ...............................................................................................................1 1.1 Project Origin and Background .................................................................................1 1.2 Project Research Status .............................................................................................2 1.3 Project Problems and Research Significance ............................................................4 1.4 Project Research Contents and s ...................................................................5 1.5 Structure of Thesis .....................................................................................................5 2 Total Design of Power Matching Control System for Emulsion Pump Station ...7 2.1 Introduction of Emulsion Pump Station ....................................................................7 2.2 Requirement Analysis of Power Matching Control System for Emulsion Pump Station ......................................................................................................................10 2.3 Architecture Division of Power Matching Control System for Emulsion Pump Station ......................................................................................................................13 2.4 Summary .................................................................................................................17 3 Predicting Research on Hydraulic Support Motions .............................18 3.1 Perance Characteristics Analysis of Hydraulic Support ..................................18 3.2 Model of Hydraulic Support Timing Motions .........................................................20 3.3 Shearer Speed Prediction Analysis Based on BP Neural Network .........................24 3.4 Summary .................................................................................................................29 4 Research on Power Matching Control Strategy for Emulsion Pump Station ...30 4.1 Pressure Loss Model of Emulsion Pump Station Along the Line ...........................30 4.2 Simulation Analysis on Pressure Loss of Emulsion Pump Station Along the Line Based on AMESim ..................................................................................................32 4.3 Power Matching Control Strategy of Emulsion Pump Station Based on HPSO Algorithm ................................................................................................................37 4.4 Summary .................................................................................................................45 5 Experiment Research ..............................................................................................46 万方数据 VIII 5.1 Structure of Experiment Plat ...........................................................................46 5.2 Onboard Controller of Emulsion Pump Station ......................................................48 5.3 Electric-hydraulic Controller of Hydraulic Support ................................................50 5.4 Centralized Monitoring System ..............................................................................53 5.5 Experiment Scheme and Results Analysis ..............................................................56 5.6 Summary .................................................................................................................61 6 Summary and Forecast ...........................................................................................62 6.1 Summary .................................................................................................................62 6.2 Forecast ...................................................................................................................62 References ....................................................................................................................64 Appendix ......................................................................................................................69 Declaration of Thesis Originality ...............................................................................71 Thesis Data Collection ................................................................................................73 万方数据 IX 图清单图清单 图序号 图名称 页码 图 1-1 Hauhinco 控制系统结构 2 Figure 1-1 Structure of Hauhinco control system 2 图 2-1 乳化液泵站的结构组成 7 Figure 2-1 Structural composition of emulsion pump station 7 图 2-2 变频恒压控制系统电气原理图 9 Figure 2-2 Electrical schematic diagram of frequency constant pressure control system 9 图 2-3 变频器连接示意图 9 Figure 2-3 Converter connection figure 9 图 2-4 乳化液泵站动力匹配控制系统工作流程图 11 Figure 2-4 Work flowchart of power matching control system for emul