Research And Design Of Automatic Operation System For Reclaimer

With the proposal of "Made in China 2025",as well as the increase of human cost and the need for working environment's improving,the research on unmanned operation of Stacker-Reclaimer has been given great significance.Stacker-Reclaimers in many large bulk yards abroad have basically achieved automatic control so far,and many domestic users are implementing or planning to order automatic Stacker-Reclaimers.It can be expected that the automatic control system of Stacker-Reclaimer has a vast market demand,and the pursuing of unmanned operation and automatic control of bulk machinery is the inevitable trend of development.Relying on the automatic control of Reclaimer R3 project in Huaneng Caofeidian Coal Terminal Project,this paper develops an automatic reclaiming system with the equipment model of Reclaimer,the control strategy and software architecture of automatic Reclaimer as the main research direction,in order to achieve high efficiency and stability of automatic reclaiming operation.The main work is as followings:First of all the paper studies the principle of D-H algorithm.This paper presents an improved reclaimer 3D module based on D-H algorithm combining with the reclaimer equipment structure.A set of accurate data acquisition and positioning system is built based on the equipment model of the reclaimer,differential GPS and 3D scanning technology.The precise control and location of the reclaimer is realized and the accurate point-cloud data of stockpile is obtained.Second we do an in-depth study on the strategic model of automatic reclaimer.We have built speed-flow control model,slewing angle control model and motion trajectory control model.The main process flow is achieved such as precise position before reclaiming,steady reclaiming and dynamic display of motion trajectory.The paper analyzes the software architectur of automatic operation system of reclaimer in detail.A highly cohesive and loosely coupled software system is designed to ensure the stable and efficient operation of the automatic reclaimer.Finally we develop a simulation platform based on MATLAB,ROCKWELL software and Microsoft Visual C# for the automatic operation system for reclaimer.The system software architecture and model strategy are verified through the simulation platform.We have a reclaiming test using the traditional simple reclaimer model and the improved reclaimer model by the paper.The test shows that we can obtain a good location of the reclaimer,more accurate point-cloud data of stockpile,more precise position before reclaiming and more efficient reclaiming.