Research On Autonomous Drive System Of Coal Mine Underground Locomotive

Due to the extremely complex working environment of the mine,the mining electric locomotive is often in a state of frequent starting,braking,acceleration and deceleration.It is very dependent on drivers therefore its level of automation is low.With the approach of the industrial information age,it is the general trend to realize the intelligent and unmanned auxiliary transportation of coal mines.Based on the locomotive driven by permanent magnet synchronous motor,this thesis proposes an autonomous driving method for electric locomotives with the dual closed-loop vector control of fuzzy PID permanent magnet synchronous motor in the variable domain domain.The autonomous drive of electric locomotives with different loads,different distances,different speeds and different slopes under different road conditions is realized,and the main research work of this thesis includes the following aspects:(1)Put forward the requirements for the autonomous drive of underground locomotives,analyze the force of the locomotives,establish the dynamics model of the locomotives under different road conditions and working conditions,and obtain the autonomous drive control method of the locomotive with different loads,distances,speeds and slopes under different road conditions.(2)Based on the coordinate transformation principle of permanent magnet synchronous motor,simplify its mathematical model.According to the dual closed-loop vector control theory of permanent magnet synchronous motor,the fuzzy PID controller of variable domain fuzzy PID is designed,and the dual closed-loop vector control system of fuzzy PID permanent magnet synchronous motor in variable domain is built,which provides a theoretical basis for subsequent simulation and experiment.(3)The dual closed-loop vector controller models of permanent magnet synchronous motor PID,fuzzy PID and fuzzy PID of variable domain are established,and the performance of permanent magnet synchronous motor under the three control methods is compared,which verifies the rationality of the dual closed-loop vector control method of fuzzy PID permanent magnet synchronous motor in variable domain fuzzy PID.The simulation model of autonomous drive of electric locomotives is established,including permanent magnet synchronous motor simulation model,electric locomotive simulation model and controller simulation model based on fuzzy PID dual closed-loop vector control in variable discourse domain.The autonomous drive process of electric locomotives under different road conditions and different working conditions is simulated,and the feasibility of the autonomous drive method of electric locomotives is verified.The displacement curves of electric locomotives under fuzzy PID and variable domain fuzzy PID control methods are compared,and the rationality of the independent drive method of electric locomotives based on fuzzy PID permanent magnet synchronous motor with variable domain is verified.(4)The independent drive test bench of electric locomotive was built,including the hardware selection and software design of the test bench,and the independent driving process of the train under different working conditions under different road conditions was simulated by the experimental bench,and the experimental results were analyzed,which verified that the double closed-loop vector control method of fuzzy PID permanent magnet synchronous motor proposed in this thesis can effectively realize the autonomous drive of underground locomotives in coal mines.This thesis has 92 figures,31 tables,and 91 references.