Modeling And Optimization Control For The Operation Of Long Distance Belt Conveyors

As the main transportation equipment in the process of coal mining and utilization,belt conveyors(BCs)are developing towards the direction of high capacity,long distance,and high belt speed.Therefore,their energy consumption is increasing.By the traditional belt conveyor control method,the belt conveyor usually operates at a constant speed set point,so that the quantity of bulk material carried is often less than the design capacity of belt conveyor,which results in significant energy waste.As a result,operational optimization control for long distance BCs has attracted extensive attention.Currently,there has been research results on operational optimization control for BCs,but these results do not take into account the dynamic features of BCs and are limited to short distance BCs.The modeling for operation of BCs is an important part of the operation optimization.Therefore,this thesis investigates the modeling and optimal control for the operation of long distance BCs.The follows are the main work of this thesis:1.Mathematical model is established for the operation process of long distance belt conveyors.Firstly,a dynamic model of the bulk material is established using the mass balance principle.Then,a dynamic model of the conveyor belt is established using Newton’s second law with variable mass and the finite element analysis method.And finally,a dynamic energy model of the PMSM driven long distance belt conveyor is established based on the analysis for the dynamic features of the PMSM and the operating resistance of the belt conveyor.Based on the Luenberger load observer and the RLS algorithm,a two stage parameter identification method with waiting period is developed.2.An optimization control for the operation of long distance belt conveyors driven by digital twin is proposed.Firstly,the framework for operational optimization control driven by digital twin is established.Secondly,the allowable maximum acceleration and deceleration are computed based on a full analysis of the conveyor belt’s force at the drive pulley.Finally,a DSC optimization control method driven by digital twin is provided,a design method for belt speed set points of steady state and transient state of belt conveyor is established,and different correction strategies for different potential risks are formulated.3.Experimental research based on PLC and d SPACE is conducted.Firstly,a hardware-in-the-loop(HIL)simulation platform of the belt conveyor system is designed based on PLC and d SPACE.Secondly,the design of the HIL simulation platform is described from the two aspects of the belt conveyor monitoring system and the virtual belt conveyor system.Finally,the safety and energy saving of the operation optimization control method driven by digital twin proposed in this thesis are verified and analyzed by experimental tests.The thesis has 46 figures,6 tables and 96 references.