Study On The Position Loop Optimizing System Of The Bracket Wheel Reclaimer

With the quick development of the science and technology, the Bucket WheelReclaimer (BWR) is main continuous transport equipment in the power plant, port,metallurgical industry and so on. Improving the automation degree and work efficiencywill be the main research context of the related researcher.Predictive control is a new microcomputer control algorithm, which has lots ofadvantages, such as, modeling and optimizing on-line conveniently. As the typicalalgorithm of the predictive control, Dynamic Matrix Control has many advantages, suchas, simple algorithm, little calculated amount, good robustness and so on.This paper combines PID control with predictive control algorithm, and makes themcontrol the traveling mechanisms of the BWR together, that are running, swing andpitching mechanisms. Sequentially, this can optimize and research the position, speed andacceleration of the three mechanisms. The ideal position and the higher work efficiencyare wanted to get. The work this paper has done as follows:This paper has researched the main technology parameters of the BWR deeply, suchas, force analysis, swing speed and acceleration, theoretical productivity. Then thie papersimplified the complicated BWR system to structure drawing that can express themovement mechanisms clearly. In order to set the three degrees of freedom of the BWRmotion, this paper should set up coordinate system and carry the kinematics analysis.This paper has discussed the principle of the predictive control deeply and the maincharacters of the DMC. According to the Simulink comparison result of the improved PIDcontrol, this paper checked the improved PID control can get the satisfied result easily.In the condition of much material, this paper makes the position parameter of theBWR as the control object. Then this paper uses the PID and DMC-PID in series on theBWR, and thinks the restraint condition and position error over. At last, according to theSimulink comparison result, the predictive PID can get the more satisfied result in thetrack function, stability and the robustness optimizing.