CN1157795A - Operating mode optimization method for friction drawing system and its stochastic monitoring apparatus - Google Patents

Abstract

Based on experiments and research on frictional draw mechanism by electric or optical measurment, a comprehensive parameters power friction draw angle Y-f(X) and its safety threshold value Ya-f(XA), which can generally summerize all the known and unknown factors affecting the frictional draw mechanism X=[X1, X2,...,Xn]T, is found, accordingly the work condition optimizing method and monitor mathematical model for frictional draw system are created and dedicated random monitor device for frictional draw system is designed. The typical X chart and XA table series obtained with present invention can be used to modify Euler formula.

Description

Friction haulage system operating condition optimization method and control monitor unit at random thereof

The present invention relates to test, monitoring, optimization method and the specialized equipment thereof of friction haulage system characteristic parameter.Specifically, it relates to a kind of optimization method of friction haulage system operating condition and special use thereof control monitor unit at random.

As everyone knows: the friction haulage system of broad sense is meant with friction pair as holonomic systems such as the belt conveyer of friction trailer coupling and supporting composition, building elevator, mine friction drive hoists.

For a long time, in engineering is used, the gentle line frictional transmission formula that uses big mathematician Eulers of 18th century (Euler) to derive usually with classical way.

Euler's formula and desirable hypothesis thereof (constraint condition---Sub.) can be represented by the formula:

In following formula: S ₁With S ₂Be the tension force of heavy duty with the gentle line of unloaded side; F is a frictional traction; Because of Euler supposes hauling rope (band) is nonelastic, no quality, pure flexible thin wire, so it plays mould E _d=∞, quality q _d=0, flexure stress σ _u=0, Suppose that again the friction pair cylindrical shell is absolute rigid body, so it plays mould E _m=∞; Suppose the coefficientoffriction=Const between the friction pair again; Suppose that also friction pair is in the state of limit equilibrium of " sliding and not sliding ", so the friction angle of traction equals to enclose cornerite and is constant, i.e. γ=α=const.

Above-mentioned four desirable supposition (Sub.) make between the engineering practice of Euler's formula and friction haulage system and have formed a wide gap that is difficult to go beyond, and it is that friction haulage system operating condition benefit is low, the accident main cause of accident multiterminal.

In the last hundred years, for filling above-mentioned " wide gap ", the interest that numerous scholars revise Euler's formula does not wane so far.By retrieval as can be known: document " А. В. А Н Д р ee в И с с Л e Д о В а н И e р а ó о Т Ы Щ К И В о В Т р e н И Я К а н а Т н Ы Х П о Д Ъ e М о В, Ц И Т И y Г Л Я, М о с К В а, 1959 " report: Soviet Union scholar А. В. А н Д р ee professor в has considered that the physical dimension, planform, the section factor ratio of nominal area of section (effectively with) of friction pair and material characteristics to the influence of parameter μ and α, have derived following amendment type $\frac{S_1}{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="A9611711200211.png,A9611711200231.png"\; state="\{\{state\}\}">S</figure-callout>}}_2}=\exp \left[(\mathrm{\&alpha;}-m\frac{d}{D})K\frac{K_Z}{K_{Z\&CenterDot;M}}\mathrm{\&mu;}\right]----\left(2\right)$ In the formula, n is the relevant dimensionaless coefficient of bullet mould (E) with friction pair; D is the diameter (perhaps Dai thickness) of rope; D is friction rope roll (or tape roller) diameter; K＜1 is the relevant coefficient of section form with rope (or band); K _Z＜K _ZM≤ 1 section factor for rope (or band).

The objective of the invention is to: by electrical measurement and flash ranging friction traction Experimental Study of Mechanism, find can view influence friction traction mechanism the comprehensive parameters of many all known and X factors; Set up the monitoring math modeling of operation optimization method; The special use of development friction haulage system is control monitor unit at random.

Task of the present invention is achieved in that

Set up system condition with machine monitoring optimization method math modeling with " the comprehensive characteristics parameter " that can summarize relevant friction traction such as the construction material that reflects friction haulage system, geometry, interfacial configuration, kinematic parameter, dynamical parameter, environmental factor, tau-effect mechanism total divisor, it is divided into monitoring and shows with objective function, goes the rounds to regulate and control to use the inequality constrain condition, and three cross-correlation unit parts of identification control equality constraint.The friction haulage system operating condition with machine monitoring optimization method math modeling be:

In the formula: γ and γ _A---the meritorious friction angle of traction and the safe threshold value thereof of friction pair; J _K---pilot signal; X---friction traction random character coefficient; I and i _A---the electric current and the safe threshold value thereof of dragging motor; Q and q _A---drg hydraulic pressure and safe threshold value thereof; ---the singular value of γ; J=1,2 ..., m---promote the steel cable numbering (when single-rope hoisting system and sealing-tape machine system, j=1); K _I=1,2,3,4---the no-load voltage ratio coefficient of unlike signal, its allowable value must be studied by experiment and determine; And its purpose is:

1. get the meritorious friction of the maximum of constraint condition (Sub.) under allowable angle of traction (max γ _j) as the optimization aim of monitoring, the operating condition of traction system the is reached purpose of " highly efficient and productive, energy-conservation, low consumption ": frictional traction (F=F _Max=S _1max-S ₂=f (γ j _Max)) maximum; The highest and the non-power consumption loss minimum of the capability of overload degree of utilization of traction motor, and " efficient, energy-conservation " (η=η _Max); Reduce the running frequency of traction system and member thereof and times of fatigue and prolong (the N=N in service life of member _Max), so " low consumption " (W=W _Min);

2. all the safe in operation with traction system is relevant for six constraint conditions, wherein:

g ₁(X)-and both prevented the generation of " skidding " accident, allow indivedual steel cables that promote " instantaneous skidding " to occur again, in order to tension force " automatically " balance between all steel cables of crowd, to prolong the service life of steel cable;

g ₂(X)-maximum tension that restriction promotes steel cable is no more than the K of all rope mean tensions ₂Doubly, to prevent the generation of " disconnected rope " accident;

g ₃(X) and g ₄(X)-restriction acceleration from rest (a ₁) and braking deceleration (a ₃) be not more than its anti-slip limit; In other words, restriction moment of starting and lock torque are not anti-skidding greater than the frictional traction square;

h ₁(X)-know when monitoring software and to know γ _jAviation value equaled its safe threshold value γ _AK ₃Times the time, promptly then can start accident brake at once and set up " multistage anti-skidding manipulator " in " skidding " sign when occurring, make it " anti-skidding " in possible trouble;

h ₂(X)-as the γ that finds certain section of rope (or band) _jThe singular value at angle And equal γ _jThe K of average normal value ₄Times the time, promptly occur in " weak link " when rope (or band), then the same, must drop into emergency braking and " anti-skidding manipulator " at once, in the hope of " anti-break rope (or band) " in possible trouble.

For implementing special-purpose operation optimization that operation optimization method of the present invention develops control monitor unit at random, it is made up of following four parts:

(1) parameter sensors S ₁～S _n---they constitute detection system characteristic parameter (S _i, γ _j, a _i, i, q ...) signal source.

The software and hardware of (2) storage of system features signal, demonstration, printing, processing, regulation and control usefulness---by optimization method formula (8) is that master's the software and treater, memory, read-out, the chopping machine of computing machine are main hardware formation, and it can provide the threshold value and the extreme value of system features parameter simultaneously.

(3) regulator control system operating mode feature parameter reaches the Fu of optimization of matching index---by actuating unit E ₁～E _nReach compositions such as warning device W.

(4) bus and the mouthpiece of above three parts of connection---amplify conditioning plate, analog quantity expansion board, high-speed data acquisition card etc. by small-signal and form.

The control monitor unit at random that the present invention developed has highly sensitive, highly reliable signal source (being made of sensitive components etc.), the stochastic signal that can pick up the operating mode comprehensive characteristics of reflection friction haulage system in real time; And its signal processor and intelligence software thereof possess three kinds of functions: monitoring shows operating mode feature parameter, analyzing stored operating mode feature data; Go the rounds the regulation and control servomechanism, make duty parameter reach optimization of matching; The monitoring safety and firing mechanism is guaranteed operating condition safety.

Utilize friction haulage system operating condition optimization method and at random control monitor unit apply a large amount of typical series of X collection of illustrative plates and the typical series of X that is accumulated _ANumerical tabular, can to Euler rub the traction ideal formula carry out comprehensive essence correction; Simultaneously, it also will be the revising of relevant " product standard ", " safety procedure ", " design regulation ", and the failure-free basic basis is provided, thus the raising of the technology management level that advances science.

The invention will be further described below with reference to accompanying drawing.

Fig. 1 friction pair scheme drawing

Fig. 2 flash ranging γ=alpha-beta ≌ 0 experiment image

Fig. 3 electrical measurement γ=alpha-beta=f (X) tests image

Fig. 4 flash ranging γ=alpha-beta=f (X) tests image

Fig. 5 electrical measurement γ=α tests image

Fig. 6 flash ranging γ=α tests image

Fig. 7 μ=f (γ) empirical curve

Fig. 8 δ=f (γ) experiment scatter diagram and matched curve thereof

-91～98 experiments diffusing point (E860, S ₂3.5)

*-101～108 experiments diffusing point (E860, S ₂7.4)

。-131～137 experiments diffusing point (E3060, S ₂7.4)

Fig. 9 rubber pairing top layer wave elastoplasticity replaces deformation mechanism experiment view (P

＝1kg/cm ²；V＝0.3m/s)

Figure 10 nylon AK-7 pairing top layer wave elastoplasticity replaces the deformation mechanism experiment

View (P=5.5kg/cm ², V=0.3m/s)

Figure 11 glass brocade human relations friction pair high temperature store flow lost efficacy and tested image (P=

5kg/cm ²，V＝15.8m/s)

The poly-charcoal acid of Figure 12 glass fat friction pair high temperature store flow lost efficacy and tested image (P=

5kg/cm ²，V＝15.8m/s)

Figure 13 Δ V pilot signal test philosophy figure

Many ropes of Figure 14 machine hoisting cable dynamic tension empirical curve

Figure 15 X=f (lnI) experiment scatter diagram and fitting a straight line thereof

91～98：E＝860，S ₂＝3.5

101～108：E＝860，S ₂＝7.4

131～137：E＝3060，S ₂＝7.4

The multistage anti-skidding manipulator scheme drawing of Figure 16

(a) (b) system's setting, (c) planar structure

Figure 17 friction haulage system is the control monitor unit block diagram at random

Among all figure: α-friction pair enclose cornerite; β-idle friction traction deposit angle; γ-meritorious friction angle of traction; S _iThe tension force of rope (or band); The hand of rotation of ω-friction pair; The length of L-rope (or band); Friction coefficient between μ-friction pair interface; The spreading rate at δ-γ angle; The X-traction coefficient that rubs; The warp tension ratio of I-heavy duty and unloaded side rope (or band); The Young's modulus of E-friction lining; The anti-skidding manipulator of the p-thrust of hydraulic actuating cylinder; CPU is a treater; RAM/ROM is a memory; CRT is a read-out; PRN is a chopping machine; BUS is a bus; S ₁～S _nBe parameter sensors; E ₁～E _nBe actuating unit; W is a warning device; A/D, D/A, I/O are mouthpiece; " SYSTEM " is friction haulage system.

The enforcement of friction haulage system operation optimization method must be by control monitor unit execution at random; Therefore, the present invention must seek the characteristic parameter that can summarize reflection friction traction mechanism, with as characteristic signal with machine monitoring friction haulage system optimization operating mode.

1. mechanism characteristic signal (γ) is sought

If represent the frictional traction of friction pair with F, represent its load force with Q, then the friction haulage system operating mode can be divided into following three classes by load, and its corresponding friction traction mechanism lab diagram resembles and is shown in (Fig. 2 to Fig. 6), that is:

1. unloaded (Fig. 2): F=F _Min=Q ≌ 0, γ=γ _Min≌ 0, β=β _Min≌ α;

2. often carry (Fig. 3,4): F _Max＞F=Q, γ＞0, β＞0, γ+β=α;

3. (Fig. 5,6): F overloads _Max=F＜Q, β=0, γ=γ _Max=α;

γ among the figure---be referred to as " meritorious friction angle of traction ", it is a change variable, can summarize whole quiet, the behavioral characteristics of friction traction mechanism: cooresponding at the γ angle

Within the segmental arc, there are relative displacement (ε) and friction force (F) to exist between the friction pair; When relative displacement speed (V=ε) less than its threshold value (V _A) in, F is increase situation with the growth of friction coefficient (μ), and as μ＞μ _AThe time, F is then with worsened decline the (Fig. 7) of μ; Therefore, there is the threshold value γ of " spreading rate δ=(d γ/dF)=0 " in the γ angle in expansion process _A(Fig. 8).

When the friction force (F) of top layer, friction pair interface cell cube less than in its molcohesion (R), then this sub-district, unit is elastic deformation; And when F＞R, then be plastic deformation; So, under normal load condition, (0＜γ＜α), R ≌ const, F=f (μ) ≠ const,

Top layer, arc interface can form bullet one plasticity and replace " wave distortion view " (Fig. 9,10) under the deformation mechanism.

At overload (Q＞F _Max) under the situation, owing to occurred at a high speed (V＞＞V _A) " skidding " operating mode, friction heat increases the temperature (t) on top layer, interface suddenly, and binding force (R) falls thereupon suddenly, so it is cooresponding to enclose wrap angle sigma at friction pair Arc (β=0) completely is the pure plastic deformation mechanism of mono-(Figure 11,12).

β-" idle friction deposit angle ", cooresponding at it

On arc was established, no ε and F existed, so no above-mentioned mechanism feature.

In sum, can think: characteristic parameter γ=alpha-beta=f (X) has reflected whole enchancement factors (comprising the many all known and X factors that influence operating mode feature because of X) of influence friction traction mechanism; Therefore, meritorious friction angle of traction γ and threshold value γ thereof _ABe n dimension Euclidean space-time field (E ⁿ) change variable of lining, can be represented by the formula, promptly

The present invention is " friction traction mechanism characteristic parameter γ and the threshold value γ thereof that seek of research institute by experiment _A", will be because it has following outstanding advantage (or principal character) as " copy " of friction haulage system operating mode random character pilot signal.

1. because the γ signal is to pick up between this body interface of friction pair of autorotation, it spies on what reflect is the complete procedure and true inside story (Fig. 2 to Figure 12) of friction traction mechanism; Simultaneously, it has comprehensive very widely abstract ability; So it can significantly improve (formula 4) signal to noise ratio of signal and the reliability of control monitor unit.

2. obtain " preventing trouble before it happens " because of the γ signal has measurable working condition safety, can predict traction benefit and get the threshold value γ of " getting twice the result with half the effort " _A(formula 4, Fig. 8) is so will improve the economic results in society of " operation optimization method " greatly.

2. non-mechanism characteristic signal (Δ V) grade

At present; among homemade and import friction haulage system colony; have only belt conveyer to be provided with a kind of " sealing-tape machine comprehensive protection device " that has nothing to do with friction traction mechanism, one of its function is " anti-skidding protection " (other " smog, temperature, coal piling, dustproof " protection all belongs to ripe simple and easy function).

The design of its " anti-skidding protection " is: monitoring tape speed V ₄(or V ₅) and drum speed V ₀Difference Δ V=V ₄-V ₀(Figure 13);

Fricton-tight between Δ V=0-friction pair, belong to normal operating condition; V ≠ 0-has slip when Δ, must brake application stoping and anti-skidding, so available or door switch [0,1] control, promptly $\mathrm{\&Delta;V}=V_4-V_0\left[\begin{array}{c}=0\&RightArrow;0\\ \&NotEqual;0\&RightArrow;1\end{array}\right]----\left(5\right)$

Field Research is known and is known: only for implementing relevant indication, the sealing-tape machine comprehensive protection device of just having to continue to set up; But, because often misoperation occurring, it influences ordinary production, just have to its short circuit is got rid of, and make it be in the illusory status of " useless ".

Because of the anti-skidding design of sealing-tape machine comprehensive protection device has no inner link with friction traction mechanism, so there is following vice proper.

1. working as friction haulage system is in the normal operating condition (β＞0, γ＞0): the speed V of friction pair shown in (Fig. 1,13) ₁=V ₀(band and tube are in no relative displacement together Segmental arc), V ₃＜V ₀(being with from heavily loaded side) excessively to unloaded side; But, because of " interference factor " (out of roundness, pollution of the vibration of band, tube of friction pair body it " interior and outer " ...) difference, then will cause V ₅≠ V ₁, V ₄≠ V ₃, so produce an interference " velocity contrast Δ V '=V ₅-V ₁Or Δ V '=V ₄-V ₃Therefore, (5) formula should be changed into following formula, promptly

By (6) formula as can be known: in normal operating condition (β＞0), only under very rare situation (when Δ V '=0, or when disturbance velocity difference Δ V ' " on the occasion of " equal it " negative value "-(V of band tube velocity contrast of antivertex 3 just ₃-V ₀)=negative), the sealing-tape machine comprehensive protection device is just accidental can not produce misoperation; In other words, under most cases, it all can produce misoperation.It not only makes people's " false alarm "; What is worse: sudden stop not only can influence ordinary production, sometimes, and also can be excessive because of deceleration/decel, and cause the generation of " skidding " accident.

2. crash into (β=0, V in " skidding " operating mode when friction haulage system ₁≠ V ₀); though the sealing-tape machine comprehensive protection device is except that cas fortuit (Δ V '+Δ V=0); all can send the stopping-down instruction because of Δ V ≠ 0; but it can't stop the generation and the expansion of " skidding " accident; promptly " sealing-tape machine comprehensive protection device " only has the function of " surveying sliding the warning ", and do not have the ability of " anti-skidding protection ".Its reason is: by mechanism experiment as can be known, crash into " skidding " operating mode when friction pair one suffers, then its frictional interface top layer temperature rise is gathered, and becomes irreversible pure plastic deformation mechanism (Figure 11,12) immediately, impel slip velocity to raise once again, form vicious circle and start to accident and enlarge; Simultaneously, be used for skidproof safe threshold value Δ V owing to can't derive it from pilot signal Δ V _A, skid operating mode and cause trouble so Δ V sealing-tape machine comprehensive protection device just can't " prevent " friction haulage system to scurry into.

According to 1., 2. can think: the grade of Δ V pilot signal is extremely low; Therefore, Δ V sealing-tape machine comprehensive protection device does not only have the ability of " anti-skidding protection ", has the drawback that produces misoperation and influence ordinary production on the contrary, need not be for wonderful so the scene is illusory.

3. system features is identified

Control monitor unit detect to be identified and to be represented the parameter γ of friction haulage system feature and the optimization of matching situation between derived quantity and the cross-correlation parameter thereof at random, and being provides necessary precondition condition (threshold value of γ and singular value γ for the friction haulage system operation optimization _AWith

), the technological change that can be friction haulage system again point the direction (load, liner, steel cable, brake system, drag automatically controlled renovating).Therefore, the friction haulage system characterization belongs to the preliminary preparation of friction haulage system operation optimization method.

The content that system features is identified, method, step can be with following formulistic block diagram brief overview, promptly In the formula: I---heavily loaded and unloaded side steel cable (or adhesive tape) tension force S ₁With S ₂Ratio (Figure 14); X---friction traction coefficient (Figure 15); μ---the friction coefficient (Fig. 7) between the friction pair, the spreading rate (Fig. 8) at δ---γ angle; The electric current of i---dragging motor; Q---drg oil pressure; a ₁With a ₃---acceleration from rest and braking deceleration; ---the singular value of X.

Formula (7) has indicated friction haulage system characterization content, and its method step should be as follows:

1. the characteristic parameter before and after the technological transformation of actual measurement demonstration friction haulage system provides series " feasible optimizing design scheme ";

2. according to set optimization aim, the screening and optimizing design plan, and measure the relevant feature parameters of this scheme;

3. the difference between calculated characteristics parameter and its extreme value, but quantitative forecast friction haulage system that analysis is identified is optimized technological transformation and should be obtained economic results in society.

4. optimization method modeling

Must be according to optimization method with the routine of model representation; Simultaneously, in order to realize the operation optimization purpose, and finish the mission critical of optimization method, " math modeling of friction haulage system operating condition optimization method " that the present invention is based upon on the previous experiments research basis is as follows: In the formula, j=1,2 ... m---hoisting cable numbering, m is the rope number; j _kThe input monitoring signal of control monitor unit at random; K _i=1,2,3,4---the no-load voltage ratio coefficient and the limit value allowable of a unlike signal, must study by experiment and determine; ---singular value (the threshold value γ of meritorious friction angle of traction _A, I _A, q _A---determine according to " system features evaluation ").

Setting up the aim of " friction haulage system operating condition optimization method " shown in the digital-to-analogue (8) can sum up as follows.

1. get the meritorious friction of the maximum of constraint condition (Sub.) under allowable angle of traction (max γ _j) as the optimization aim of monitoring, the operating condition of traction system the is reached purpose of " highly efficient and productive, energy-conservation, low consumption ": frictional traction maximum [F _Max=S _Max-S ₂=f (γ j _Max)] and " high yield "; Minimum and " efficient, the energy-conservation " (η=η of the highest non-power consumption loss of the capability of overload degree of utilization of traction motor _Max); Reduce the running frequency of traction system and member thereof and times of fatigue and prolong the N=N in service life of member _Max, " so low consumption " (W=W _Min), can represent by following formula: ${\mathrm{\&gamma;}}_j{\&DoubleRightArrow;\mathrm{\&gamma;}}_{j\&CenterDot;\max }\&RightArrow;\left[\begin{array}{c}F\&DoubleRightArrow;F_{\max }\\ \mathrm{\&eta;}\&DoubleRightArrow;{\mathrm{\&eta;}}_{\max }\\ N{\&DoubleRightArrow;N}_{\max }\\ W{\&DoubleRightArrow;W}_{\min }\end{array}\right]---\left(9\right)$

2. all the safe in operation with traction system is relevant for six constraint conditions, wherein:

g ₁(X)---both prevented the generation of " skidding " accident; Allow indivedual steel cables that promote " instantaneous skidding " to occur again, in order to tension force " automatically " balance between all steel cables of crowd, to prolong the service life (Figure 14) of steel cable;

g ₂(X)---the maximum tension of restriction lifting steel cable is no more than the K of all rope mean tensions ₂Doubly; To prevent the generation of " disconnected rope " accident;

g ₃(X) and g ₄(X)-restriction acceleration from rest (a ₁) and braking deceleration (a ₃) be not more than its anti-slip limit; In other words, restriction moment of starting and lock torque are not anti-skidding greater than the frictional traction square;

h ₁(X)---when the monitoring software knowledge knows that the aviation value of γ j has equaled its safe threshold value γ _AK ₃Times the time, promptly then can start accident brake at once and set up " multistage anti-skidding manipulator " (Figure 16) in " skidding " sign when occurring, with it " anti-skidding " in possible trouble;

h ₂(X)---as the γ that finds certain section of rope (or band) _jThe angle is a singular value

And equal γ _jThe K of aviation value ₄Times the time, promptly occur in " weak link " when rope (or band), then the same, must drop into emergency braking and " anti-skidding manipulator " at once, in the hope of " anti-break rope (or band) " in possible trouble.

5. control monitor unit constitutes at random

For system features being identified (formula 7) and system condition optimization method (formula 8) put into practice, this " control monitor unit at random " must constitute (Figure 17) by following four parts:

1. survey friction haulage system (" SYSTEM ") characteristic parameter (S _i, γ _j, a _i, i, q ...) signal source---by how much, motion, dynamical parameter sensor S ₁～S _NDeng composition.

2. the storage of system features signal, demonstration, printing, processing, regulation and control software and hardware---software is main programming with the described optimization method monitoring digital modeling of claim 1 (8); Hardware is main bearing by treater (CPU), memory (RAM/ROM), telltale (CRT), the chopping machine (PRN) of Intel406i Industrial Control Computer; They can provide the threshold value and the extreme value (γ of system features parameter simultaneously _A, i _A, Q _A..., γ _Max, i _Max, q _Max...).

3. regulator control system operating mode feature parameter reaches the Fu of optimization of matching index---by actuating unit E ₁～E _NReach compositions such as warning device W.

The bus (BUS) of three parts and corresponding interface part more than 4. connecting (A/D, D/A ... the I/O card)---amplify conditioning plate (PCLD by small-signal ... 779), analog quantity expansion board (PCLD-774), high-speed data acquisition card compositions such as (PCL-818H).

6. the correction of Euler's formula

Application of aforementioned operation optimization experimental study of the present invention obtains " X collection of illustrative plates " and " X _ANumerical tabular ", and consider in idle friction traction deposit segmental arc Within (Fig. 1) zerofriction force exist, can get following Euler's amendment type:

If still consider the policy of " Safety first, precaution crucial ", the minor that then can obtain formula (10) again is as follows:

Comparison expression (1,2) and (10,11) are as can be known:

1. formula (2) belongs to " multiple-factor (m, d, D, K, K _z) " amendment type, it " single-factor " amendment type (as, only consider the amendment type that the specific pressure P between the friction pair derives the influence of μ) more near engineering reality, the effect of filling " wide gap " is bigger.But should indicate, up to now, authoritative document, high teaching material still prolong with the Euler's formula before 200 years, trace it to its cause: one is how cumbersome because of revising; Two because of the difficult mensuration of correction factor; Three fill and lead up far away because of " wide gap ".

2. " wide gap " filled out in formula (10,11) attempt to the greatest extent, makes amendment type rise to qualitative change by quantitative change; For this reason, it has considered to influence the total divisor X=[X of parameter μ γ ₁, X ₂... X _n] ^TSimultaneously, it all is considered as the whole parameters in the amendment type change variable of total divisor X.Formula (11) is different from formula (10) part, only is the safe threshold value X with X _AReplace X, so can guarantee the enforcement of " Safety first, precaution crucial " policy.

3. the present invention's Euler's amendment type (10,11) of deriving is a product of applying " friction haulage system operating condition optimization method and control monitor unit " at random thereof; Wherein X and X _ADetermine, also depend on the present invention and apply the data that is accumulated.Especially in today of computing machine great development, walk " with the road of machine monitoring optimizations ", be solve engineering answer in " shortcut " of an existing numerous and diverse difficult problem (as friction pair anti-skidding).

Claims (2)

1. friction haulage system operating condition optimization method is characterized in that: it is divided into monitoring and shows with objective function, touring regulation and control with inequality constrain and identification control with three cross-correlation unit of equality constraint, so its math modeling is

In the formula: γ and γ _A---the meritorious friction angle of traction and the safe threshold value thereof of friction pair; J _K---pilot signal; X---friction traction coefficient; I and i _A---the electric current and the safe threshold value thereof of dragging motor; Q and q _A---drg hydraulic pressure and safe threshold value thereof;

---the singular value of γ; J=1,2 ..., m---promote the steel cable numbering (when single-rope hoisting system and sealing-tape machine system, j=1); K _I=1,2,3,4---the no-load voltage ratio coefficient of unlike signal, its allowable value must be studied by experiment and determine; And its purpose is:

1. get the meritorious friction of the maximum of constraint condition (Sub.) under allowable angle of traction (max γ _j) as the optimization aim of monitoring, the operating condition of traction system the is reached purpose of " highly efficient and productive, energy-conservation, low consumption ": frictional traction (F=F _Max=S _1max-S ₂=f (γ _Jmax)) maximum; The highest and the non-power consumption loss minimum of the capability of overload degree of utilization of traction motor, and " efficient, energy-conservation " (η=η _Max); Reduce the running frequency of traction system and member thereof and times of fatigue and prolong (the N=N in service life of member _Max), so " low consumption " (W=W _Min);

2. all the safe in operation with traction system is relevant for six constraint conditions, wherein:

g ₁(X)-and both prevented the generation of " skidding " accident, allow indivedual steel cables that promote " instantaneous skidding " to occur again, in order to tension force " automatically " balance between all steel cables of crowd, to prolong the service life of steel cable;

g ₂(X)-maximum tension that restriction promotes steel cable is no more than the K of all rope mean tensions ₂Doubly, to prevent the generation of " disconnected rope " accident;

g ₃(X) and g ₄(X)-restriction acceleration from rest (a ₁) and braking deceleration (a ₃) be not more than its anti-slip limit; In other words, restriction moment of starting and lock torque are not anti-skidding greater than the frictional traction square;

h ₁(X)-know when monitoring software and to know γ _jAviation value equaled its safe threshold value γ _AK ₃Times the time, promptly then can start accident brake at once and set up " multistage anti-skidding manipulator " in " skidding " sign when occurring, make it " anti-skidding " in possible trouble;

h ₂(X)-as the γ that finds certain section of rope (or band) _jThe singular value at angle

And equal γ _jThe K of average normal value ₄Times the time, promptly occur in " weak link " when rope (or band), then the same, must drop into emergency braking and " anti-skidding manipulator " at once, in the hope of " anti-break rope (or band) " in possible trouble.

2. be the control monitor unit at random of having implemented the described method customized design of claim 1, it is characterized in that:

1. survey friction haulage system (SYSTEM) characteristic parameter (S _i, γ _j, a _i, i, q ...) signal source---by how much, motion, dynamical parameter sensor S.1～S.n etc. forms;

2. the storage of system features signal, demonstration, printing, processing, regulation and control software and hardware---software is main programming with the described optimization method monitoring of claim 1 digital-to-analogue; Hardware is main bearing by the treater (CPU) of Intel406i Industrial Control Computer, memory (RAM/ROM), telltale (CRT), chopping machine (PRN) etc.; They can provide the threshold value and the extreme value (γ of system features parameter simultaneously _A, i _A, q _A..., γ _Max, i _Max, q _Min...);

3. regulator control system operating mode feature parameter reaches the Fu of optimization of matching index---by actuating unit E.1～E.n and warning device W etc. form;

The bus (BUS) of three parts and the corresponding interface spare more than 4. connecting (A/D, D/A ..., the I/O card)---amplify conditioning plate (PCLD-779), analog quantity expansion board (PCLD-774), high-speed data acquisition card (PCL-818H) etc. by small-signal and form.

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