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編號(hào)：（ ）字 號(hào)
本科生畢業(yè)設(shè)計(jì)
采煤機(jī)牽引部設(shè)計(jì)
馬動(dòng)地 21040247
機(jī)械工程及自動(dòng)化專(zhuān)業(yè)04-2
題目：
姓名： 學(xué)號(hào)：
班級(jí)：
二〇〇八年六月
中國(guó)礦業(yè)大學(xué)畢業(yè)論文任務(wù)書(shū)
學(xué)院: 應(yīng)用技術(shù)學(xué)院 專(zhuān)業(yè)年級(jí): 機(jī)自04－2班學(xué)生姓名: 馬動(dòng)地
任務(wù)下達(dá)日期：2008年3月16日
畢業(yè)論文日期：2008年3月16日至2008年6月10日
畢業(yè)論文題目：采煤機(jī)牽引部設(shè)計(jì)
畢業(yè)論文專(zhuān)題題目：
畢業(yè)論文主要內(nèi)容和要求：
主要參數(shù)：
裝機(jī)總功率：700-900KW 截割部功率2×（300-400）KW
采高范圍：2.2-3.5m 適應(yīng)煤質(zhì)硬度：f≤4
煤層傾角：γ≤25 滾筒截深：800mm
電機(jī)轉(zhuǎn)速：1470r/min 牽引速度：0-15m/min
要求：
1、 結(jié)合采煤機(jī)總體方案的設(shè)計(jì)完成運(yùn)輸機(jī)、液壓支架的選型配套布置圖。
2、 牽引部傳動(dòng)及結(jié)構(gòu)總體設(shè)計(jì)。
3、 主要部件、組件、零件圖設(shè)計(jì)；
1) 牽引部強(qiáng)力輪齒組件圖設(shè)計(jì)；
2) 牽引部殼體（鑄件）設(shè)計(jì)；
3) 傳動(dòng)齒輪、軸的零件加工圖設(shè)計(jì)；
4、 編寫(xiě)完成牽引部殼體加工工藝；
5、 編寫(xiě)完成整機(jī)設(shè)計(jì)計(jì)算說(shuō)明書(shū)、中英文翻譯；
院長(zhǎng)簽字： 指導(dǎo)教師簽字：
摘 要 G400/900-WD 型采煤機(jī)是一種多電機(jī)驅(qū)動(dòng)，橫向布置的交流電牽引采煤 機(jī)。該機(jī)功率大，多電機(jī)橫向布置，整機(jī)結(jié)構(gòu)緊湊，采用交流變頻調(diào)速系 統(tǒng)，變頻調(diào)速采用機(jī)載式。截割電機(jī)、牽引電機(jī)等主要元部件均可從采空 區(qū)抽出，容易更換，方便維修。 牽引電機(jī)輸出的轉(zhuǎn)矩經(jīng)三級(jí)圓柱齒輪和二級(jí)行星齒輪減速器減速后， 由行星架輸出，通過(guò)驅(qū)動(dòng)輪與行走輪相嚙合，再由行走輪與工作面刮板輸 送機(jī)上的齒軌嚙合使采煤機(jī)來(lái)回行走，同時(shí)制動(dòng)軸輸出軸通過(guò)鍵與制動(dòng)器 相連，實(shí)現(xiàn)電牽引部的制動(dòng)。 左右牽引部，中間電控箱的聯(lián)結(jié)螺柱，定位銷(xiāo)，搖臂與左右電牽引部 鉸接銷(xiāo)軸四組，這些裝置將采煤機(jī)各大部件聯(lián)接成一個(gè)整體，起到緊固及 連接的作用。牽引部與行走部做成一體，使機(jī)身整體尺寸緊湊，縮小了機(jī) 身寬度。 G400/900-WD 型采煤機(jī)，操作方便，可靠性高，事故率低，開(kāi)機(jī)效率高， 可滿足高產(chǎn)高效工作面的需要。 關(guān)鍵詞：采煤機(jī)；牽引部；行走部；行星齒輪 ABSTRACT The G400/900-WD coal mining machine is more than one kind of motor- driven, crosswise arrangement alternating current hauling coal mining machine. This machine power is big, the multi-electrical machinery crosswise arrangement, the complete machine structure is compact, uses the exchange frequency conversion velocity modulation system, the frequency conversion velocity modulation uses aircraft-borne -like. Cuts the electrical machinery, the pulling motor and so on main part to be possible to extract from the worked-out section, easy to replace, facilitates the service. The pulling motor outputs torque decelerates after the third-level cylindrical gears and the second-level planet gear reduction gear, by the planet carrier outputs, with walks lining on the feet and palms of buddha meshing through the driving gear, by walks again round and on working surface scraper conveyers rack rail meshing causes the coal mining machine back and forth to walk, simultaneously the brake spindle output shaft is connected through the key and the brake, realizes the electricity hauling department brake. About the hauling department, the middle electrically controlled boxs joint stud, the positioning pin, the rocking shaft sells the axis four groups with about electricity hauling department hinge, these installments join coal mining machine various major assemblies a whole, plays the fastening and the connection role. The hauling department with walks to make a body, caused the fuselage overall size to be compact, reduced the fuselage width. The G400/900-WD coal mining machine, the ease of operation, the reliability is high, the accident rate is low, the starting efficiency is high, may satisfy the high production highly effective working surface the need. Key word: The coal mining machine； the hauling department； walks； Planet gear 目 錄 1 概述 ..........................................................................................................................1 1.1 采煤機(jī)的發(fā)展概況 ..............................................................................................1 1.2 國(guó)際上電牽引采煤機(jī)的技術(shù)發(fā)展?fàn)顩r ..............................................................1 1.3 國(guó)內(nèi)電牽引采煤機(jī)的發(fā)展?fàn)顩r ..........................................................................3 1.3.1. 20 世紀(jì) 70 年代是我國(guó)綜合機(jī)械化采煤起步階段 ....................................3 1.3.2 .20 世紀(jì) 80 年代是我國(guó)采煤機(jī)發(fā)展的興旺時(shí)期 ........................................4 1.3.3 .20 世紀(jì) 90 年代至今是我國(guó)電牽引采煤機(jī)發(fā)展的時(shí)代 ............................5 1.4 采煤機(jī)的發(fā)展趨勢(shì) ..............................................................................................7 1.5 采煤機(jī)類(lèi)型 ..........................................................................................................7 1.6 采煤機(jī)的組成 ....................................................................................................10 1.7 電牽引采煤機(jī)的優(yōu)點(diǎn) ........................................................................................12 2 牽引部的設(shè)計(jì) ........................................................................................................14 2.1 牽引機(jī)構(gòu)傳動(dòng)系統(tǒng) ............................................................................................14 2.1.1 主要技術(shù)參數(shù) ..............................................................................................14 2.1.2 電動(dòng)機(jī)的選擇 ..............................................................................................14 2.1.3 傳動(dòng)比的分配 ..............................................................................................15 2.2 牽引部傳動(dòng)計(jì)算 ................................................................................................17 2.2.1 各級(jí)傳動(dòng)轉(zhuǎn)速、功率、轉(zhuǎn)矩 ......................................................................17 2.3 牽引部齒輪設(shè)計(jì)計(jì)算 ........................................................................................18 2.3.1 齒輪 1 和惰輪 2 的設(shè)計(jì)及強(qiáng)度效核 ..........................................................18 2.3.2 齒輪 3 和惰輪 4 的設(shè)計(jì)及強(qiáng)度效核 ..........................................................24 2.3.3 齒輪 5 和惰輪 6 的設(shè)計(jì)及強(qiáng)度效核 ..........................................................30 2.4 牽引部行星機(jī)構(gòu)的設(shè)計(jì)計(jì)算 ............................................................................35 2.4.1 行星齒輪的計(jì)算 ..........................................................................................37 2.4.2 行星輪嚙合要素驗(yàn)算 ..................................................................................49 3 軸的設(shè)計(jì)及校核 ....................................................................................................53 3.1 確定軸的最小直徑 ............................................................................................53 3.2 軸的校核 ............................................................................................................56 3.3 花鍵的強(qiáng)度校核 ................................................................................................63 3.4 軸承的校核 ........................................................................................................65 4 采煤機(jī)的使用和維護(hù) ............................................................................................67 4.1 采煤機(jī)的維護(hù) ....................................................................................................67 4.2 采煤機(jī)軸承的維護(hù)及漏油的防治 ....................................................................69 4.3 煤礦機(jī)械傳動(dòng)齒輪失效的改進(jìn)途徑 ................................................................71 5 機(jī)械密封 ................................................................................................................78 參考文獻(xiàn) ...................................................................................................................82 英文原文 ...................................................................................................................83 中文譯文 ...................................................................................................................91 致謝 ...........................................................................................................................98 第15頁(yè)
中國(guó)礦業(yè)大學(xué)2008屆畢業(yè)設(shè)計(jì)
英文原文
Switched Reluctance Motors Drive for the
Electrical Traction in Shearer
H. Chen
College of Information and Electrical Engineering
China University of Mining & Technology, Xuzhou 221008, China
chenhaocumt@tom.com
Abstract—The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The system components, such as the Switched Reluctance motor, the main circuit of the power converter and the controller, were described. The control strategies of the closed-loop rotor speed control with PI algorithm and balancing the distribution of the loads with fuzzy logic algorithm were given. The tests results were also presented. It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ±10%
Keywords- switched reluctance; motor control; shearer; coal mine; electrical drive
I. INTRODUCTION
The underground surroundings of the coal mines are very execrable. One side, it is the moist, high dust and inflammable surroundings. On the other side, the space of roadway is limited since it is necessary to save the investment of exploiting coal mines so that it is difficult to maintain the equipments. In the modern coal mines, the automatization equipments could be used widely. The
faults of the automatization equipments could affect the production and the benefit of the coal mines. The shearer is the mining equipment that coal could be cut from the coal wall. The traditional shearer was driven by the hydrostatic transmission system. The fault ratio of the hydrostatic transmission system is high since the fluid in hydrostatic transmission system could be polluted easily. The faults of the hydrostatic transmission system could affect the production and the benefit of the coal mines directly. The fault ratio of the motor drive system is lower than that of the hydrostatic transmission system, but it is difficult to cool the motor drive system in coal mines since the motor drive system should be installed within the flameproof enclosure for safety protection. The motor drive system is also one of the pivotal parts in the automatization equipments. The development of the novel types of the motor drive system had been attached importance to by the coal mines. The Switched Reluctance motor drive could become the main equipments for adjustable speed electrical drive system in coal mines [1], because it has the high operational reliability and the fault tolerant ability [2]. The Switched Reluctance motor drive made up of the double-salient pole Switched Reluctance motor, the unipolar power converter and the controller is firm in the motor and in the power converter. There is no brush structure in the motor and no fault of ambipolar power converter in the power converter [3][4]. The Switched Reluctance motor drive could be operated at the condition of lacked phases fault depended on the independence of each phase in the motor and the power converter [5]. There is no winding in the rotor so that there is no copper loss in the loss and there is only little iron loss in the rotor. It is easy to cool the motor since it is not necessary to cool the rotor. The shearer driven by the Switched Reluctance motor drive had been developed. The paper presented the developed prototype.
II. SYSTEM COMPONENTS
The developed Switched Reluctance motors drive for the electrical traction in shearer is a type of the double Switched Reluctance motors parallel drive system. The system is made up of two Switched Reluctance motors, a control box installed the power converter and the controller. The adopted two Switched Reluctance motors are all three-phase 12/8 structure Switched Reluctance motor, which were shown in Figure 1. The two Switched Reluctance motors were packing by the explosion-proof enclosure, respectively. The rated output power of one motor is 40 KW at the rotor speed 1155 r/min, and the adjustable speed range is from 100 r/min to 1500r/min.
Figure 1.Photograph of the two three-phase 12/8 structure Switched Reluctance motor
The power converter consists of two three-phase asymmetric bridge power converter in parallel. The IGBTs were used as the main switches. Three-phase 380V AC power source was rectificated and supplied to the power converter. The main circuit of the power converter was shown in Figure 2
Figure 2. Main circuit of the power converter
. In the controller, there were the rotor position detection circuit, the commutation circuit, the current and voltage protection circuit, the main switches’ gate driver circuit and the digital controller for rotor speed closed-loop and balancing the distribution of the loads.
III. CONTROL STRATEGY
The two Switched Reluctance motor could all drive the shearer by the transmission outfit in the same traction guide way so that the rotor speed of the two Switched Reluctance motors could be synchronized.
The closed-loop rotor speed control of the double Switched Reluctance motors parallel drive system could be implemented by PI algorithm. In the Switched Reluctance motor 1, the triggered signals of the main switches in the power converter are modulated by PWM signal, the comparison of the given rotor speed and the practical rotor speed are made and the duty ratio of PWM signal are regulated as follows,
where, is the given rotor speed, is the practical rotor speed, is the difference of the rotor speed, is the increment of the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, is the integral coefficient, is the proportion coefficient, ek is the difference of the rotor speed at k time, ek-1 is the difference of the rotor speed at k-1 time, D1(k) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, and D1(k-1) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k-1 time. The output power of the Switched Reluctance motor drive system is approximately in proportion to the average DC supplied current of the power converter as follows,
where, P2 is the output power of the Switched Reluctance motor drive system, Iin is the average DC supplied current of the power converter.
In the Switched Reluctance motor 2, the triggered signals of the main switches in the power converter are also modulated by PWM signal. The balancing the distribution of the loads between the two Switched Reluctance motors could be implemented by fuzzy logic algorithm. In the fuzzy logic regulator, there are two input control parameters, one is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and the other is the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors. The output control parameter is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2. The block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearer was shown in Figure 3.
Figure 3. Block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearer
The deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti is
where, Iin1 is the practical average DC supplied current of the power converter in the Switched Reluctance motor 1 at the moment of ti, Iin2 is the practical average DC supplied current of the power converter in the Switched Reluctance motor 2 at the moment of ti.
The variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti is
where, ei-1 is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti-1.
The duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti is
where, ΔD2(i) is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti and D2(i-1) is the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti-1.
The fuzzy logic algorithm could be expressed as follows,
where, E is the fuzzy set of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, EC is the fuzzy set of the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and U is the fuzzy set of the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2.
The continuous deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could be changed into the discrete amount at the interval [-5, +5], based on the equations as follows,
The continuous variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could also be changed into the discrete amount at the interval [-5, +5], based on the equations as follows,
The discrete increment of the duty ratio of PWM signal of the Switched Reluctance motor 2 at the interval [-5, +5] could be changed into the continuous amount at the interval [-1.0%, +1.0%], based on the equations as follows,
There is a decision forms of the fuzzy logic algorithm based on the above principles, which was stored in the programme storage cell of the controller.
While the difference of the distribution of the loads between the two Switched Reluctance motors could be got, the duty ratio of PWM signal of the Switched Reluctance motor 2 will be regulated based on the decision forms of the fuzzy logic algorithm and the distribution of the loads between the two Switched Reluctance motors could be balanced.
IV. TESTED RESULTS
The developed double Switched Reluctance motors parallel drive system prototype had been tested experimentally. Table I gives the tests results, where σ is the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1, σ is the relative deviation of the average DC2 supplied current of the power converter in the Switched
Reluctance motor 2, and,
TABLE I.
TESTS RESULTS OF PROTOTYPE
It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ±10% .
V. CONCLUSION
The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The novel type of the shearer in coal mines driven by the Switched Reluctance motors drive system contributes to reduce the fault ratio of the shearer, enhance the operational reliability of the shearer and increase the benefit of the coal mines directly. The drive type of the double Switched Reluctance motors parallel drive system could also contribute to enhance the operational reliability compared with the drive type of the single Switched Reluctance motor drive system.
REFERENCES
[1] H. Chen, G. Xie, “A Switched Reluctance Motor Drive System for Storage Battery Electric Vehicle in Coal Mine,” Proceedings of the 5th IFAC Symposium on Low Cost Automation, pp.95-99, Sept. 1998.
[2] H. Chen, X. Meng, F. Xiao, T. Su, G. Xie, “Fault tolerant control for switched reluctance motor drive,” Proceedings of the 28 Annual Conference of the IEEE Industrial Electronics Society, pp.1050-1054, Nov. 2002.
[3] R. M. Davis, W. F. Ray, R. J. Blake, “Inverter drive for switched reluctance motor：circuit and component ratings,” IEE Proc. B, vol.128, no.3, pp. 126-136, Sept. 1981.
[4] D. Liu, et al., Switched Reluctance Motor Drive. Beijing: Mechanical Industry Press, 1994.
[5] H. Chen, J. Jiang, C. Zhang, G. Xie, “Analysis of the four-phase switched reluctance motor drive under the lacking one phase fault condition,” Proceedings of IEEE 5th Asia-Pacific Conference on Circuit and Systems, pp.304-308, Dec. 2000.
中文譯文
電牽引采煤機(jī)的開(kāi)關(guān)磁阻電動(dòng)機(jī)
摘要：本章介紹了電牽引采煤機(jī)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的并聯(lián)驅(qū)動(dòng)系統(tǒng)。該系統(tǒng)由開(kāi)關(guān)磁阻電動(dòng)機(jī)，功率變換器電路和控制器組成。給出了由通過(guò)采用比例積分算法的調(diào)節(jié)轉(zhuǎn)子速度的閉環(huán)回路和模糊邏輯算法實(shí)現(xiàn)的負(fù)荷的均衡分布組成的控制策略。介紹了實(shí)驗(yàn)結(jié)果。開(kāi)關(guān)磁阻電動(dòng)機(jī)1和開(kāi)關(guān)磁阻電動(dòng)機(jī)2的功率變換器的平均直流的相對(duì)誤差為。
關(guān)鍵詞：開(kāi)關(guān)磁阻；電動(dòng)控制；采煤機(jī)；煤礦；電傳動(dòng)
Ⅰ.介紹
煤礦的地下環(huán)境是非常惡劣的。一方面由于它是潮濕的,高粉塵的,和易燃的環(huán)境。另一方面，為了節(jié)約開(kāi)采成本，巷道空間是有限，以至于設(shè)備很難維護(hù)。自動(dòng)化設(shè)備在現(xiàn)代化煤礦已經(jīng)得到廣泛應(yīng)用。自動(dòng)化設(shè)備的故障會(huì)直接影響到煤礦的產(chǎn)量和效益。采煤機(jī)是采煤的主要礦山設(shè)備。傳統(tǒng)的滾筒采煤機(jī)是通過(guò)液壓傳動(dòng)系統(tǒng)傳動(dòng)的。液壓傳動(dòng)系統(tǒng)的故障率很高，因?yàn)橐簤簜鲃?dòng)系統(tǒng)的液體很容易受環(huán)境污染。液壓傳動(dòng)系統(tǒng)的故障直接影響到煤礦的產(chǎn)量和效率。電傳動(dòng)系統(tǒng)比液壓傳動(dòng)系統(tǒng)的故障率低。但是，礦井中電機(jī)傳動(dòng)系統(tǒng)的散熱性差，是因?yàn)闉榱嗣旱V安全，電機(jī)傳動(dòng)系統(tǒng)被封裝在防爆的外殼內(nèi)。電機(jī)傳動(dòng)系統(tǒng)是自動(dòng)化設(shè)備的重要組成部分。電機(jī)傳動(dòng)系統(tǒng)的小說(shuō)類(lèi)型的發(fā)展對(duì)煤礦很重要。開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是煤礦調(diào)速傳動(dòng)系統(tǒng)的主要設(shè)備，由于它的高工作可靠性和高容錯(cuò)能力。由雙極點(diǎn)開(kāi)關(guān)磁阻電動(dòng)機(jī)，單級(jí)功率變換器和控制器組成的開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是電動(dòng)機(jī)和功率變換器的核心。電動(dòng)機(jī)沒(méi)有毛刷，功率變換器沒(méi)有雙極功率變換器的故障。開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)可以在缺相的情況下運(yùn)行，它是依靠電動(dòng)機(jī)和功率變換器相位獨(dú)立性來(lái)實(shí)現(xiàn)的。轉(zhuǎn)子上沒(méi)有繞組，以至于轉(zhuǎn)子上沒(méi)有銅損和很小的鐵損。因?yàn)椴恍枰鋮s轉(zhuǎn)子，所以很容易冷卻電動(dòng)機(jī)。由開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)的采煤機(jī)正在不斷發(fā)展。本章介紹了發(fā)展的樣機(jī)。
Ⅱ系統(tǒng)組成
電牽引采煤機(jī)的開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是一個(gè)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)。這個(gè)系統(tǒng)是由兩個(gè)開(kāi)關(guān)磁阻電動(dòng)機(jī)，一個(gè)控制箱，這個(gè)控制箱是安裝在功率變換器和控制器上。采用的開(kāi)關(guān)磁阻電動(dòng)機(jī)是三相12/8結(jié)構(gòu)的開(kāi)關(guān)磁阻電動(dòng)機(jī)，如圖一所示。雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)分別包裝在防爆外殼內(nèi)。電動(dòng)機(jī)的額定功率是40KW，轉(zhuǎn)速是1155r/min，調(diào)速范圍是100r/min~1500r/min。
圖一：三相12/8結(jié)構(gòu)的開(kāi)關(guān)磁阻電動(dòng)機(jī)
功率變換器是由兩個(gè)三相不對(duì)稱(chēng)橋式變換器并列組成。IGBTs是電路的主要開(kāi)關(guān)元件。經(jīng)整流后三相交流380V電源提供給功率變換器。功率變換器的主要電路如圖二所示。
圖二：功率變換器的主要電路
控制器由轉(zhuǎn)子位置檢測(cè)電路，整流電路，電流和電壓保護(hù)電路，主要開(kāi)關(guān)的門(mén)極驅(qū)動(dòng)電路和閉環(huán)調(diào)速數(shù)字控制器和負(fù)荷均衡分配組成。
Ⅲ.控制方法
采用同一個(gè)牽引方法，雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)通過(guò)傳送設(shè)備用來(lái)驅(qū)動(dòng)采煤機(jī)，來(lái)確保雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的轉(zhuǎn)子速度同步運(yùn)行。
并聯(lián)驅(qū)動(dòng)的雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的閉環(huán)轉(zhuǎn)子調(diào)速回路可以通過(guò)比例積分算法來(lái)實(shí)現(xiàn)。在開(kāi)關(guān)磁阻電動(dòng)機(jī)1中，功率變換器主要開(kāi)關(guān)的觸發(fā)信號(hào)是通過(guò)PWM信號(hào)調(diào)制的。比較給定的轉(zhuǎn)子速度和實(shí)際的轉(zhuǎn)子速度，PWM的占空比調(diào)節(jié)如下：
其中，是給定的轉(zhuǎn)子速度，是實(shí)際的轉(zhuǎn)子速度，是轉(zhuǎn)子速度的差。在k時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī)1PWM信號(hào)占空比的增量。 是積分系數(shù)， 比例系數(shù)，轉(zhuǎn)子速度在K時(shí)間內(nèi)的差。轉(zhuǎn)子速度在K-1時(shí)間內(nèi)的差， 在k時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī)1PWM信號(hào)占空比，在k-1時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī)1PWM信號(hào)占空比。
開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)系統(tǒng)的輸出功率和功率變換器的電流成正比，如下所示：
其中，是開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)系統(tǒng)的輸出功率，功率變換器的平均直流電流。
在開(kāi)關(guān)磁阻電動(dòng)機(jī)2中，功率變換器主要開(kāi)關(guān)的觸發(fā)信號(hào)是通過(guò)PWM信號(hào)調(diào)制的。雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的負(fù)荷均衡分布是通過(guò)模糊邏輯算法來(lái)實(shí)現(xiàn)的。在模糊邏輯調(diào)節(jié)器中有兩個(gè)輸入控制參數(shù)，一個(gè)是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的功率變換器的平均電流的偏差，另一個(gè)是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的功率變換器的平均直流電流的偏差的變化。輸出控制參數(shù)是開(kāi)關(guān)磁阻電動(dòng)機(jī)2 PWM信號(hào)占空比的增量。電牽引采煤機(jī)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并列傳動(dòng)系統(tǒng)的方框圖見(jiàn)圖三所示。
圖三： 電牽引采煤機(jī)并列傳動(dòng)系統(tǒng)的方框圖
功率變換器平均直流電流在雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的偏差在時(shí)刻為：
其中，在時(shí)刻，功率變換器在開(kāi)關(guān)磁阻電動(dòng)機(jī)1中實(shí)際平均直流電流，在時(shí)刻，功率變換器在開(kāi)關(guān)磁阻電動(dòng)機(jī)2中實(shí)際平均直流.
雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)在時(shí)刻的功率變換器平均直流電流的偏差的變量為：
其中， 是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)在時(shí)刻的功率變換器平均電流的偏差。
開(kāi)關(guān)磁阻電動(dòng)機(jī)2在時(shí)的PWM信號(hào)的占空比為：
其中，在時(shí)刻的PWM信號(hào)占空比的增量，是開(kāi)關(guān)磁阻電動(dòng)機(jī)2在時(shí)刻的PWM信號(hào)的占空比。
模糊邏輯算法用以下來(lái)表示：
其中，為模糊集合開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差，為模糊集合開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差的變量，為模糊集合中開(kāi)關(guān)磁阻電動(dòng)機(jī)2 PWM信號(hào)占空比的增量。
開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差在［-５，+５］區(qū)間內(nèi)的連續(xù)偏差可以轉(zhuǎn)變?yōu)榉稚⑵?。公式如下?
開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差在區(qū)間內(nèi)的連續(xù)變量可以轉(zhuǎn)變?yōu)榉稚⒆兞俊９饺缦拢?
在區(qū)間［-５，+５］內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī)２的功率變換器ＰＷＭ信號(hào)的占空比的分散增量可以轉(zhuǎn)變?yōu)樵趨^(qū)間［-１.０％，+１.０％］內(nèi)的連續(xù)增量，公式如下：
根據(jù)上面的原理，這里是模糊邏輯算法的一個(gè)判定形式。模糊邏輯算法是存儲(chǔ)在控制器的程序存儲(chǔ)單元內(nèi)。
當(dāng)檢測(cè)到雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)負(fù)荷分配差異的時(shí)候，開(kāi)關(guān)磁阻電動(dòng)機(jī)２中的ＰＷＭ占空比將被調(diào)節(jié)，這是根據(jù)模糊邏輯算法的判定形式，從而，雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)負(fù)荷分配將會(huì)達(dá)到平衡狀態(tài)。
Ⅳ.實(shí)驗(yàn)結(jié)果
發(fā)展的雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)樣機(jī)已經(jīng)通過(guò)實(shí)驗(yàn)測(cè)量得到了。表一給出了測(cè)試結(jié)果，其中為開(kāi)關(guān)磁阻電動(dòng)機(jī)１的功率變換器的平均直流電流的相對(duì)誤差，為開(kāi)關(guān)磁阻電動(dòng)機(jī)２的功率變換器的平均直流電流的相對(duì)誤差，即：
表一：樣機(jī)的實(shí)驗(yàn)結(jié)果
該表顯示了開(kāi)關(guān)磁阻電動(dòng)機(jī)1和開(kāi)關(guān)磁阻電動(dòng)機(jī)2的功率變換器的平均直流的相對(duì)誤差為
Ⅴ．結(jié)論
本章介紹了電牽引采煤機(jī)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的并聯(lián)驅(qū)動(dòng)系統(tǒng)。開(kāi)關(guān)磁阻電動(dòng)機(jī)驅(qū)動(dòng)系統(tǒng)驅(qū)動(dòng)了礦井中的小型采煤機(jī)有助于減少采煤機(jī)的故障率，提高了采煤機(jī)的工作可靠性，直接增加了煤礦的效益。相對(duì)于單級(jí)開(kāi)關(guān)磁阻電動(dòng)機(jī)的驅(qū)動(dòng)，雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)的驅(qū)動(dòng)也有助于提高工作可靠性。
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