Design And Research Of Mining Electric Shovel Simulation Test Platform

Mining shovel is one of the main equipment in open-pit mining,which is developing towards unmanned and intelligent direction.Considering the problems such as high cost and difficult experiment in the research of intelligent operation control technology on actual mining shovel equipment,a simulation experimental platform similar in structure,smaller in size and lower in power consumption is designed in this thesis under the support of "Collaborative Design and Intelligent Operation of large Mining Shovel Suitable for complex Environment" funded by National Natural Science Foundation of China.The experimental conditions can be proposed for subsequent research on trajectory planning and automatic operation of mining electric shovel excavation.First of all,according to the design requirements of mining electric shovel simulation experimental platform,referring to the mechanical structure of Taiyuan Heavy Industry WK-10 type electric shovel,using the similarity method to design the overall scheme of simulation experimental platform,complete the detailed design of the experimental platform walking mechanism,rotary mechanism,lifting mechanism,pushing mechanism and other main components,the key parts of the jib,bucket,rotary platform were analyzed by finite element;Secondly,the overall scheme design of the electrical system and the selection of the main electrical components of the mining shovel simulation test platform were completed.Based on x PC/Target rapid prototyping technology,the control program of the lower machine with automatic control,manual control,fault monitoring and alarm functions was developed.Using Lab VIEW virtual instrument technology,the upper computer monitoring software with image display,data preservation,fault alarm and other functions is developed.Thirdly,the kinematics and dynamics model of mining shovel including lifting mechanism,pushing mechanism and bucket is established,a sliding mode control method of mining shovel based on interference observer is designed,and the mining control simulation model of mining shovel is built,and the mining track tracking control simulation research is carried out under various working conditions,such as no-load mining,load mining and different mining tracks.Finally,a prototype of the mining electric shovel simulation experimental platform was built,and functional experiments such as walking,digging,turning and opening bucket of the experimental platform were completed as well as software tests of the up and down machine.Comparison experiments on the mining track tracking performance of the mining electric shovel were carried out under various working conditions,such as no-load mining,load mining and different mining tracks.The effectiveness and superiority of the sliding mode control method based on disturbance observer are verified.