Research On Remote Drive Control System Of Mine Unmanned Locomotive

With the proposal of the concept of intelligent mine development,green,efficient and safe has become the development goal of the current coal industry.As an important auxiliary transportation equipment in the coal mine system,the electric locomotive undertakes the task of transporting minerals and personnel.The intelligent and unmanned electric locomotive can effectively reduce transportation accidents,ensure personnel safety and improve transportation efficiency.In this thesis,the permanent magnet synchronous motor is used as the driving motor,the model predictive flux control strategy based on sector subdivision is used to improve the control performance of the motor,and the remote drive control system of the mine used unmanned locomotive is built with wireless communication technology and PLC technology.Firstly,the functional requirements of the remote drive control system of the mine unmanned locomotive are analyzed,and the system structure and overall design scheme are proposed,as well as the selection of the main hardware of the system.Secondly,the mathematical model of permanent magnet synchronous motor and the principle of direct torque control strategy are introduced.In view of the problem that the inverter high-performance control motor needs parameter identification,an improved PSO algorithm is proposed to identify the parameters of PMSM,so that the inverter can identify the motor parameters with high accuracy,which is conducive to the smooth start of the motor.Then aiming at the disadvantage of large torque ripple of motor under direct torque control,the motor control strategy is studied,and a 12-MPFC strategy is proposed to control the motor.Firstly,the basic principles of model predictive control theory,MPTC strategy and MPFC strategy are described.Then the motor prediction equation is derived,and the relationship between voltage vector and torque ripple is analyzed.According to the idea of direct torque control sector division,the width of the sector is reorganized and optimized to 12,and the 12-MPFC strategy is constructed with the basic MPFC algorithm.The simulation results show that the 12-MPFC strategy is effective.Finally,based on Siemens PLC,the remote drive and control system of mine unmanned locomotive is designed.The control system applies PLC technology,wireless communication technology and frequency conversion control technology.The system is composed of control mode selection,communication module,motor control strategy module and electric locomotive control module.At the same time,a simple upper computer interface is designed to send remote operation instructions to the locomotive and visualize the locomotive running state.