WU Qikang，BAO Jiusheng，WANG Xu，et al. Control strategy of hybrid electric high speed monorail crane based on deterministic rules[J]. Coal Science and Technology，2023，51（S2）：240−251
. DOI: 10.13199/j.cnki.cst.2022-1586| Citation: |
WU Qikang，BAO Jiusheng，WANG Xu，et al. Control strategy of hybrid electric high speed monorail crane based on deterministic rules[J]. Coal Science and Technology，2023，51（S2）：240−251 . DOI: 10.13199/j.cnki.cst.2022-1586
|
Monorail crane, as one of the important equipment forms of underground auxiliary transportation, has a generally low running speed (full load < 2 m/s), and the traditional single power drive is difficult to meet the power and environmental requirements of monorail crane. In order to improve the driving performance of monorail crane and achieve the goal of green mine, a new distributed hybrid power drive system is proposed based on the traditional monorail crane structure. Its control strategy is established based on the deterministic rules and its modeling and simulation tests are carried out. First of all, combined with the multi section of the monorail crane structure, different power sources are set at different drive ends, and a distributed architecture is adopted as the hybrid power architecture of the high-speed monorail crane. Different working modes under the architecture are formulated to determine the energy flow direction under different modes; Secondly, in order to improve the power performance of the monorail crane and the working range of the explosion-proof diesel engine, the working mode switching logic strategy and torque distribution strategy are formulated in the face of conventional working conditions. On this basis, the deterministic rule control strategy based on the logic threshold value is designed, and the overall switching logic simulation strategy is built using MATLAB; Then, according to the actual running situation of the high-speed monorail crane, three complete machine cycle conditions are established, namely, small slope heavy load, small slope light load and large slope light load; Finally, the control strategy is imported into AMESim simulation software, and the physical model of the high-speed monorail crane distributed hybrid power system is jointly simulated. The simulation results show that the designed control strategy based on the deterministic rules can make the working points of the explosion-proof diesel engine and explosion-proof motor of the monorail crane in the high efficiency range, and make the whole machine have a good speed following performance; Under the condition of small slope and heavy load, the state of charge (SOC) consumption of the battery pack is only 17.6%, the maximum operating speed under full load reaches 3.01 m/s, and the emissions of CO, HC and NOx are reduced by 67.3%, 36.4%, 49.4% and 13.1% respectively compared with the emissions of traditional monorail cranes; Under the working condition of large slope and light load, the consumption of SOC value of the battery pack is only 13.1%, the maximum operating speed under full load reaches 2.29m/s, and the emissions of CO, HC and NOx are 70.2%, 58.1% and 41.7% lower than those of traditional monorail cranes respectively. The research results are of great significance and practical value to improve the running speed of monorail crane, enhance its transportation efficiency, and reduce exhaust emissions to improve the downhole working environment.
| [1] |
郭 宁,王方洲. 煤矿辅助运输单轨吊实践应用探析[J]. 内蒙古煤炭经济,2022(4):109−111. doi: 10.3969/j.issn.1008-0155.2022.04.038
GUO Ning,WANG Fangzhou. Probe into the practice and application of monorail crane for auxiliary transportation in coal mine[J]. Inner Mongolia Coal Economy,2022(4):109−111 doi: 10.3969/j.issn.1008-0155.2022.04.038
|
| [2] |
陈羽. 大型单轨吊驱动部设计分析[D]. 徐州:中国矿业大学,2020
CHEN Yu. Design and analysis of driving part of large monorail crane[D]. Xuzhou:China University of Mining and Technology,2020.
|
| [3] |
鲍久圣,刘 琴,葛世荣,等. 矿山运输装备智能化技术研究现状及发展趋势[J]. 智能矿山,2020,1(1):78−88.
BAO jiusheng,LIU Qin,GE Shirong,et al,ZHANG Lei. Research status and development trend of intelligent technologies for mine transportation equipment[J]. Journal of Intelligent Mine,2020,1(1):78−88.
|
| [4] |
葛世荣,鲍久圣,曹国华. 采矿运输设备与技术[M]. 北京:煤炭工业出版社,2015.
GE Shirong,BAO Jiusheng,CAO Guohua. Transportation and hoisting technology and equipment in miningp[M]. Beijing:China Coal Industry Publishing House,2015.
|
| [5] |
张延军. 单轨吊机车动力系统的研究[D]. 太原:太原理工大学,2008.
ZHANG Yanjun. Rearch on monorai crane power system[D]. Taiyuan:Taiyuan University of Technology,2008.
|
| [6] |
冯彦彪,邵俊恺,杨 珏,等. 矿用自卸车新能源技术研究现状与展望[J]. 煤炭科学技术,2023,51(S1):343−350.
FENG Yanbiao,SHAO Junkai,YANG Yu,et al. Research of energy-efficient mining truck: current status and perspectives[J]. Coal Science and Technology,2023,51(S1):343−350.
|
| [7] |
王明勇. 矿用柴电混合动力单轨吊机车的设计[J]. 机械管理开发,2019,34(10):24−26.
WANG Mingyong. Design of mine diesel electric hybrid monorail crane[J]. Mechanical management and development,2019,34(10):24−26.
|
| [8] |
刘建功,陈志辉,冯国胜,等. 油电混合动力单轨吊机车及其动力输出控制方法[P]. 中国:CN201410496468.4,2014-12-24.
LIU Jiangong,CHEN Zhihui,Feng Guosheng,et al. Oil electric hybrid monorail crane locomotive and its power output control method[P]. China:CN201410496468.4,2014-12-24.
|
| [9] |
鲍久圣,邹学耀,陈 超,等. 重型煤炭运输车分布式混合动力系统设计及控制策略[J]. 煤炭学报,2021,46(2):667−676.
BAO Jiusheng,ZOU Xueyao,CHEN Chao,et al. Design and control strategy of distributed hybrid drive system for heavy coal trucks[J]. Journal of China Coal Society,2021,46(2):667−676.
|
| [10] |
KAMAL M A S,MUKAI M,MURATA J,et al. Model predictive control of vehicles on urban roads for improved fuel economy[J]. IEEE Transactions on Control Systems Technology,2013,21(3):831−841. doi: 10.1109/TCST.2012.2198478
|
| [11] |
宋世杰,杜 麟,王双明,等. 陕北采煤沉陷区不同沉陷年限黄土坡面土壤可蚀性的变化规律[J]. 煤炭科学技术,2022,50(2):289−299.
SONG Shijie,DU Lin,WANG Shuangming,et al. Variation of soil erodibility on loess slope under various subsidence years in coal mining subsidence area located Northern Shaanxi[J]. Coal Science and Technology,2022,50(2):289−299.
|
| [12] |
李浩杰. 分布式电驱动装载机能量管理控制策略研究[D]. 长春:吉林大学,2019.
Li Haojie. Research on energy management control strategy of distributed electric drive loader[D]. Changchun:Jilin University,2019.
|
| [13] |
XUE Qicheng ,ZHANG Xin ,TENG Teng,et al. A comprehensive review on classification,energy management strategy,and control algorithm for hybrid electric vehicles[J]. Energies,2020,13(20):5355.
|
| [14] |
LYU Xueqin ,WU Yinbo ,LIAN Jie ,et al. Energy management of hybrid electric vehicles:A review of energy optimization of fuel cell hybrid power system based on genetic algorithm[J]. Energy Conversion and Management,2020,205:112474.
|
| [15] |
潘彬彬. 串联混合动力装载机能量管理控制策略及其优化研究[D]. 长春:吉林大学,2016.
PAN Binbin. Research on strategy and optimization of series hybrid loaders energy management. [D]. Changchun:Jilin University,2016.
|
| [16] |
兰 昊. 串联式混合动力装载机能量管理及其回收技术研究[D]. 长春:吉林大学,2015.
LAN Hao. Research on energy management and recovery strategy of series hybrid loader[D]. Changchun:Jilin University,2015.
|
| [17] |
宋 强,曾 普,王 红. 串联电传动履带推土机功率跟随控制策略研究[J]. 北京理工大学学报,2014,34(3):267−272.
SONG Qiang,ZENG Pu,WANG Hong. Study on power flowing control strategy of a series hybrid tracked bulldozer[J]. Transactions of Beijing Institute of Technology,2014,34(3):267−272.
|
| [18] |
RANA L B,SHRESTHA A,PHUYAL S,et al. Design and performance evaluation of series hybrid electric vehicle using backward model[J]. The Journal of Engineering,2020(11):1095−1102.
|
| [19] |
王 旭. 煤矿井下高速单轨吊分布式混合动力系统设计及控制策略研究[D]. 徐州:中国矿业大学,2021.
WANG Xu. Design and control strategy of distributed hybrid system for high-speed monorail crane in underground coal mine [D]. Xuzhou:China University of Mining and Technology,2021.
|
| [20] |
毛加宁,王绍留. 单轨吊辅助运输系统在构造复杂倾角较小缓斜煤层矿井的应用[J]. 昆明冶金高等专科学校学报,2021,37(5):20−27. doi: 10.3969/j.issn.1009-0479.2021.05.004
MAO Jianing,WANG Shaoliu. Application of monorail crane auxiliary transportation system in coal seam with complex structure and small inclination angle[J]. Journal of Kunming Metallurgy College,2021,37(5):20−27. doi: 10.3969/j.issn.1009-0479.2021.05.004
|
| 1. |
王茂森，鲍久圣，章全利，杨阳，袁晓明，阴妍，张可琨，葛世荣. 煤矿井下单轨吊无人驾驶目标识别算法与轨道接缝检测方法. 煤炭学报. 2024(S1): 457-471 .
| |
| 2. |
吕玉寒，张牧野，鲍久圣，杨阳，杨健健，王茂森. 基于UKF滤波加权C-T融合算法的无人驾驶单轨吊双标签UWB定位. 煤炭科学技术. 2024(S2): 221-235 .
本站查看
|
Supported by: Beijing Renhe Information Technology Co., Ltd. 
DownLoad: