CN109649956A - A kind of mine scraper conveyer driving control system - Google Patents
A kind of mine scraper conveyer driving control system Download PDFInfo
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- CN109649956A CN109649956A CN201910076080.1A CN201910076080A CN109649956A CN 109649956 A CN109649956 A CN 109649956A CN 201910076080 A CN201910076080 A CN 201910076080A CN 109649956 A CN109649956 A CN 109649956A
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- board conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
- B65G23/30—Variable-speed gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
It include two component control systems the present invention relates to a kind of mine scraper conveyer driving control system, wherein a component control system is master control system, for controlling the speed of scrapper conveyor transporter active motor, another component control system is from control system, for controlling the torque of scrapper conveyor transporter slave motor, master & slave control system, each component control system include the three-level PWM rectifier being connected in turn, super capacitor group, three-level inverter and filter to two groups of systems each other.The invention has the advantages that circuit structure is simple, it is cheap, control is easy and cost performance is high, with power electronic technique, full-digital intelligent technology, realize the efficient utilization of motor and its electric energy, with the various special operation conditions for organically combining the significantly more efficient realization scratch board conveyor of energy of super capacitor group, the effective use to regeneration energy is realized.
Description
Technical field
The present invention relates to a kind of mine scraper conveyer driving control systems, belong to the control neck of mine scraper conveyer
Domain.By combining three-level PWM rectifier, super capacitor group, three-level inverter to realize high-power mine scraper conveyer weight
Carry being absorbed and utilized for starting, synchronously control, long cable operation control and regenerating braking energy.
Background technique
With the increase of mining production quantity, the cost that mining depth is continued to increase and transported constantly rises, while tradition
Automobile Transportation mode can generate a large amount of vehicle exhaust and seriously pollute subsurface environment.It on the one hand can be saved using tape transport system
About amount transport cost, is capable of the discharge of less vehicle exhaust on the other hand so as to improve the environment of underground work, correspondingly mine
Mountain transporter also and then grows up.
The type of transporter has ribbon conveyer, platform conveyer, trolley type transporter, scratch board conveyor and other transports
Machine.Transporter with traction piece generally comprises traction piece, bearing carrier, driving device, tensioning apparatus, change course device and bearing
Part etc..With development and utilization of the motor production technology in terms of coal mining, the efficiency of coal mining is substantially increased.With people
Work mining level is higher by ten times or even hundred times compared to the efficiency of automatic and mechanical exploitation and has a surplus.Thus, automatic and mechanical
Fast development pushed the raising of people's production and living quality level.
Belt conveyor is the efficient transportation machinery for meeting coal mining enterprise's mining conveying.Compared with other Transport Machinery, band
Formula conveyer has the advantages that distance, capacity be big, continuative transport, and stable, is easily accomplished automation and concentrates control
System.For the high-efficient mine of high yield, belt conveyor has become the key equipment of efficient coal mining electromechanical integration technology and equipment.
Belt conveyer for coal mine is primarily referred to as transporting for the belt type conveyer and scraper plate of coal mining, production, transport and processing
Machine.Belt conveyor has many advantages, such as that transport capacity is strong, adapts to changeable working environment, long-distance transportation.
Mine belt conveyor cannot be only used in coal production process, it may also be used for the production of other mineral and add
Work.In terms of energy consumption, energy consumption can be effectively reduced, economic benefit is provided, it more can be energy saving than orthodox car transport
And environmental protection.In addition, have the characteristics that maintenance cost is small, maintenance is simple, the also deep favor by mining production processing enterprise.
In the production in mine although scratch board conveyor and ribbon conveyer improve conevying efficiency, but also bring some ask
Topic.Wherein, for scratch board conveyor in starting or stopping, dynamic tension is higher, and bring is that conveyer belt often slides therewith,
This will increase the relative friction forces of conveyer belt and then generates more heats, so that the safety of scratch board conveyor substantially reduces,
Scratch board conveyor is therefore seriously damaged.So carrying out speed regulation control to it there is an urgent need to which frequency conversion system to be applied to wherein
System.After scratch board conveyor movement, conveyer belt is forced to occur to vibrate to be easy to slide, and the principle of frequency converter is by changing electricity
Its frequency is adjusted in the frequency in source, can reduce the reactive loss of generation by frequency converter and greatly improve conevying efficiency.
And in ribbon conveyer, conveyer belt is an elastomer, stores a large amount of energy in static or operation.?
In its starting process, if soft starting device is not added, the energy stored in conveyer belt can discharge quickly, easily form tensile wave and edge
Conveyer belt transfer out, by belt tear fracture.If not using soft start and soft stop, starting current can be very big, generally Rated motor electricity
4-7 times of stream.Electromechanics inside can be caused to be seriously worn in its starting moment and even damaged, this does not meet creation completely
The demand of one energy-efficient society.Therefore it is necessary, is done so not only using frequency control on ribbon conveyer
The space of driving device can be reduced, equipment can also be made to realize soft start, conevying efficiency had not only been improved in this way but also reduced consumption
Electricity, and saved cost.A variety of mechanical equipments are used in the production process in mine simultaneously, and Coal Transportation machine must be used
The speed change that carries out adjusting a wage scale to it to frequency converter realizes that soft start soft stop is stopped, and not only improves conevying efficiency in this way, but also saved cost.
With China's coal-mine industry high speed development, the requirement to coal mine operation is also higher and higher.Because of the ring of operation
Border is special, and what underground work made number one is safety, and the requirement of electric equipment operation is efficient, reliable.Underground work is not only
Physical fitness to miner is a stern challenge, and is also a kind of challenge for all devices of underground, it is desirable to be obtained
The use of very outstanding coal mine collection effect, all devices to hold water reforms into the most important thing.In Mine haul machine
The speed of control motor operation must be paid close attention in operational process, the speed of only stringent control motor operation could really
It protects equipment and runs intact impunity and operational efficiency.This also to its drag control equipment propose higher standard it is necessary to have compared with
Good speed regulation and control characteristic can preferably guarantee that the safety of equipment operates normally.
With the continuous development of China coal industry production automation, mine-used frequency-converter is answered underground coal mine mechanical equipment
It is low-loss to play the role of outstanding speed regulation function and saving energy, drop in.Mine-used frequency-converter has greatly in coal mine
Measure active figure.Mine-used frequency-converter conclusion integrate mainly have can remove puzzlement heavy-duty motor direct torque need height
The problem of precision；Soft start, soft stop and the process control of high power motor may be implemented；When multiple electric motors are run together
Power-balance；There is the ability of regenerative braking and energy feedback in operational process, energy conservation and the row of reduction may be implemented
It puts；Energy loss is cut down, highly-safe, equipment service life is waited so long multiple advantages.
But nowadays most mine-used frequency-converter be all using pulse width modulating technology, two level converters are via whole
After current circuit-DC circuit-inverter circuit transformation, the waveform of two level converters output is not complete sinusoidal waveform, and one
As have 3 times or more harmonic waves.Since the layout of two level converters is 6 IGBT, only with 6 road pwm pulses, its input side
There can be very big electromagnetic interference to power grid, it is possible to coal mine downhole safety production monitoring monitoring system can be created disturbances to.For scraper plate
Transporter outlet side passes through long cable there are frequency converter and powers to motor, and frequency converter output is PWM wave and long cable power supply, deposits
Outstanding problem be: first, harmonic wave reflection.Harmonic wave is extremely serious, and the number of major harmonic, harmonic current content are complicated, and
Long cable, which can form the circuit LCR, to be made to export the easy resonance of electric current, in addition the higher hamonic wave that frequency converter power electronic devices generates is to electricity
Machine and cable insulation generate very big harm, when generating transmitted wave and long range motor side voltage superposition with time-harmonic wave, motor side electricity
Pressure value voltage value, which has, increases effect, and result causes motor terminal voltage excessive, damage insulation.Conversion power supply needs to adjust
Speed, output frequency operating point are not fixed, thus there are many harmonic waves for corresponding each frequency, so harmonic wave is distributed in very wide frequency domain
It is interior, even if good filter cannot effectively filter out the harmonic wave under all secondary frequencies again.Increasingly complex is that harmonic wave presence " beats mole
Mouse " phenomenon, it may be assumed that certain harmonic wave is suppressed, and another harmonic wave is reinforced again.Such puzzlement is always the problem in the field.
Simultaneously as harmonic wave exists, when the long cable power supply of frequency converter, causes supply voltage electric current unstable, not can be effectively controlled negative
The operating condition of load.Second, frequency converter pulse-echo.Its result causes motor terminal voltage excessive, damages cable and motor insulation.
For the two level converter problems, three-level converter can perfectly solve these problems.Relatively
Come in two level converters, the voltage of switching device can be cut to two due to having added a level by three-level converter
/ mono-.Because output has had more a level, du/dtValue can cut down half, so that harmonic wave of output voltage be made to cut
Subtract, and cut down the calorific value of motor significantly, reduces and the common mode of power grid is created disturbances to.These advantages are very suitable for applying in 1140V
And in the mine large capacity speed-regulating system of the above voltage.
Mining scraper machine is mainly used for the raw coal production that coal mine work area is adopted in transport, and mining scraper machine belongs to balk cargo conveyor
Tool.Traditional scratch board conveyor directly the electronic box of 1140V can be mixed to motor and soft activator is started, so that motor can be with
Normal starting and even running, as shown in Figure 1.But there are many problems for this design method: (1) on scrapper conveyor raw coal compared with
When more, startup power torque becomes larger, and needs manually to root out, inefficient；(2) there are cable loss, mine working excavation compares
It is long, longer cable is needed, causes tube voltage drop very big, starts voltage and working voltage is insufficient.(3) it is difficult to synchronously control,
It is unfavorable for the demand of actual production.(4) it will lead to the waste of electric energy when unloaded.(5) belt discontinuity is also easy to produce skidding etc.
Phenomenon damages transporter motor.For these problems, people use simple synchronous velocity control or power synchronous control in advance
System, makes it accomplish synchronously control as far as possible.But can only be solved the problems, such as under the pressure of technical restriction a part of, scratch board conveyor is still
There are high energy consumption, the problems such as inefficient and heavy-load start is difficult.
From energy conservation, flexibly, reliably, for efficient etc., traditional soft starting mode is no longer satisfied actual life
Production demand, so the method that converter technique has gradually replaced direct distribution.At present mine scraper conveyer also attempt use and
Converter technique, as shown in Figure 2.Scratch board conveyor reduces lacking for conventional electrical distribution mode using converter technique to a certain extent
Point solves the case where no-load consumption electric energy, but there is also following problems are urgently to be resolved.(1) motor cannot still be accomplished same
Step control, easy damaged scratch board conveyor.(2) 2.5 times or more motors are needed when more there are raw coal on transporter, when heavy load starting
The power supply of rated power will cause the unstable of entire power grid, influence other operations.(3) easy in braking or idle running
Cause the waste of electric energy.(4) still without solving the problems, such as that bring motor cannot normally start when discontinuity.(5) no
It can accomplish far distance control, it is still desirable to closely control, Yi Fasheng safety accident.The frequency converter timing device electricity of (6) two level
Magnetic disturbance is big, influences power grid.(7) connecting line of scrapper conveyor transporter and frequency converter, length are differed from several hundred rice to 1000 meters, no
Captain's cable power supply is transported to scrapper conveyor conducive to frequency converter, is easy to produce overvoltage, transmitted wave, damages motor and cable.(8) when
When power supply grid fluctuates, output is unstable, be easy to cause unnecessary failure.In conclusion research scratch board conveyor
Intelligent and high efficiency is that have very much prospect meaning.
Summary of the invention
To overcome the shortcomings of existing technologies, the invention proposes a kind of mine scraper conveyer driving control systems, use
Two component control systems, wherein a component control system is used to control the active motor of scrapper conveyor transporter speed, another component
Control system is used to control the slave motor of scrapper conveyor transporter torque, and two groups of master & slave controls each other pass through CAN bus communication and hand over
Data are changed, to realize that scratch board conveyor is run simultaneously.The scratch board conveyor driving control system of invention uses two group of three level
Current transformer controls active motor and slave motor respectively.The present invention provides a kind of collection power electronic technique, and remotely it is controlled in
The intelligent high-efficiency variable frequency drive control system of the whole body.The driving control system has low in cost, and ingenious in design, operation is steady
It is fixed, especially in low energy consumption, high efficiency and long-range the advantages that controlling.The technical scheme is that
A kind of mine scraper conveyer driving control system, including two component control systems, wherein a component control system
For master control system, which is used to control the speed of scratch board conveyor active motor, another component control system be from
Control system, should be used to control from control system the torque of scratch board conveyor slave motor, each component control system include according to
The secondary three-level PWM rectifier to link together, super capacitor group, three-level inverter and filter, two three-level pwms are whole
Flow the output end of the input terminal access transformer of device, wherein the output end of the filter of master control system is accessed by long cable
Active motor M1 accesses slave motor M2 by long cable from the output end of the filter of control system, and two three-level pwms are whole
Stream device, two super capacitor groups and two three-level inverters pass through CAN bus and connect with general control system, are communicated
Exchange data.
The three-level PWM rectifier exports stable adjustable DC voltage, is supplied to three-level inverter, intelligence
The value of adjust automatically DC voltage can be changed.
When scratch board conveyor starting operation, three-level PWM rectifier first quickly charges to super capacitor group, and charging terminates
Afterwards, power supply grid coordinates parallel running in conjunction with two power supply of super capacitor group.
The regenerating braking energy storage that the active motor and slave motor of scratch board conveyor generate is realized to super capacitor group
Energy storage；Or pass through three-level PWM rectifier feedback telegram in reply net.
The general control system analyzes the sampled data of scratch board conveyor point control system, according to sampled data
Control adjustment, optimal control and fault diagnosis are carried out to the operating condition of scratch board conveyor driving point control system.
The master control system with can master & slave control each other from control system.
The invention has the advantages that circuit structure is simple, cheap, control is easy and cost performance is high, with power electronics
Technology, full-digital intelligent technology realize the efficient utilization of motor and its electric energy, and the combination with super capacitor group can be more
Add the effective various special operation conditions for realizing scratch board conveyor, realize the effective use to regeneration energy, electric motor starting moment and
Under case of heavy load, energy is replenished in time, and is extended the service life and service efficiency of motor, is avoided the shakiness of power supply grid
It is fixed.The energy stores that super capacitor group has the function of avoid the waste of the energy, realize energy conservation and environmental protection, improve entire product
Explosion insulation performance and usage safety performance.The long-range control having simultaneously largely avoids Personal Risk.
Detailed description of the invention
Fig. 1 is the schematic diagram of traditional mine scraper conveyer drive system.
Fig. 2 is the schematic diagram of traditional mine scraper conveyer Inverter Drive System.
Fig. 3 is structural schematic diagram of the invention.
Specific embodiment
The invention will now be further described with reference to specific embodiments, the advantages and features of the present invention will be with description and
It is apparent.But examples are merely exemplary for these, and it is not intended to limit the scope of the present invention in any way.Those skilled in the art
Member it should be understood that without departing from the spirit and scope of the invention can details to technical solution of the present invention and form into
Row modifications or substitutions, but these modifications and replacement are fallen within the protection scope of the present invention.
Referring to Fig. 3, the present invention relates to a kind of mine scraper conveyer driving control system, including two component control systems,
Wherein a component control system is master control system, which is used to control the speed of scratch board conveyor active motor M1,
Another component control system is that should be used to control the torque of scratch board conveyor slave motor M2 from control system from control system, this
Two component control systems master & slave control each other, each component control system include that the three-level pwm that is connected in turn is whole
Device 1, super capacitor group 2, three-level inverter 3 and filter 4 are flowed, the input terminal of two three-level PWM rectifiers 1 accesses transformation
The output end of device, wherein the output end of the filter of master control system accesses active motor M1 by long cable, from control system
Filter output end by long cable access slave motor M2, two three-level PWM rectifiers, two super capacitor groups with
And two three-level inverters pass through CAN bus and connect with general control system 5, carry out communication handshake data.Mining scraper fortune
Defeated machine driving control system refers to according to the state of detection super capacitor group according to the operating status of scrapper conveyor and operation stopping etc.
Starting intelligent high-efficiency operation is enabled, while each control system directly exchanges data, adjust automatically intelligence operation.
The three-level PWM rectifier exports stable adjustable DC voltage, is supplied to three-level inverter, intelligence
The value of adjust automatically DC voltage can be changed, be capable of the fluctuation of intelligent automatic adaptation power grid and because long cable exports bring pressure
Drop, or load change caused voltage fluctuation, the value of intelligent automatic adjustment DC voltage.Braking is in scratch board conveyor
When operating condition, it by the direct feedback grid of braking energy or can be directly stored in super capacitor group, prevent regenerating braking energy
Damage frequency changing driving system.Without additional charging resistor unit and braking resistor unit, mine scraper conveyer driving is improved
Control performance, explosion insulation performance and the reliability of control system and the efficiency for improving drive system；
When scratch board conveyor starting operation, three-level PWM rectifier first quickly charges to super capacitor group, and charging terminates
Afterwards, power supply grid coordinates parallel running in conjunction with two power supply of super capacitor group, is unlikely to export excessively high electric current and cause power grid not
Stablize, super capacitor group work at this time is in normally electric discharge operating mode.With the starting and super capacitor group of scratch board conveyor
Supply voltage gradually reduces, and three-level PWM rectifier work is while constant current operating condition and the electric discharge of super capacitor group is electric
Pressure is consistent, and is supplied to load together, realizes heavy-load start.
When scratch board conveyor is run, active motor controls the speed of scratch board conveyor, and slave motor is Torque Control, control
The torque of scratch board conveyor；It is defeated in conjunction with the voltage stabilizing function of three-level PWM rectifier and the quasi-sine-wave of three-level inverter
Out, it by being that three-phase sine wave voltage exports after filter, is powered by cable to scratch board conveyor, that is, realizes scraper plate transport
The synchronously control of machine, while realizing long cable power supply.
The regenerating braking energy that the active motor and slave motor of the scratch board conveyor generate is stored to super capacitor
Group realizes energy storage；Or pass through three-level PWM rectifier feedback grid；Without additional discharge resistance unit, drive control is improved
Control performance, explosion insulation performance and the reliability of system and the efficiency for improving the operation that scraper plate transports.
The general control system analyzes the data of the sampling of scratch board conveyor, according to the data of sampling to three electricity
The operating condition of flat PWM rectifier and three-level inverter carries out control adjustment.
General control system is able to carry out intelligent recognition, fault diagnosis.It is logical with three-level PWM rectifier, three-level inverter
It crosses CAN bus and carries out data exchange, rationally control scratch board conveyor operation, can effectively deal with different working condition and severe
Environment makes scratch board conveyor always work in highest operational efficiency, improves its service life used.Especially in regenerative braking
During, quick storage regenerating braking energy or fast feedback regenerating braking energy, the moment of starting quickly supplement energy, energy
Enough heavy-load start scratch board conveyors, not will cause the unstable of power supply grid, also improve scratch board conveyor driving control system
Service life, energy conservation and environmental protection.The voltage stabilizing function of three-level PWM rectifier can adapt to the larger fluctuation of power grid and the mutation of load,
Guarantee scratch board conveyor reliability service.
Claims (6)
1. a kind of mine scraper conveyer driving control system, which is characterized in that including two component control systems, wherein a component
Control system is master control system, which is used to control the speed of scratch board conveyor active motor, another component control
System is that should be used to control the torque of scratch board conveyor slave motor, each component control system from control system from control system
It include the three-level PWM rectifier, super capacitor group, three-level inverter and the filter that are connected in turn, two three
The output end of the input terminal access transformer of level PWM rectifier, wherein the output end of the filter of master control system passes through length
Cable accesses active motor M1, accesses slave motor M2 from the output end of the filter of control system by long cable, and two three
Level PWM rectifier, two super capacitor groups and two three-level inverters pass through CAN bus and general control system connects
It connects, carries out communication handshake data.
2. a kind of mine scraper conveyer driving control system according to claim 1, which is characterized in that three electricity
Flat PWM rectifier exports stable adjustable DC voltage, is supplied to three-level inverter, intelligent automatic adjustment direct current
The value of pressure.
3. a kind of mine scraper conveyer driving control system according to claim 1, which is characterized in that scratch board conveyor
When starting operation, three-level PWM rectifier first quickly charges to super capacitor group, and after charging, power supply grid is in conjunction with super
Two power supply of capacitance group coordinates parallel running.
4. a kind of mine scraper conveyer driving control system according to claim 1, which is characterized in that scratch board conveyor
Active motor and the regenerating braking energy storage that generates of slave motor to super capacitor group, realize energy storage；Or pass through three level
PWM rectifier feedback telegram in reply net.
5. a kind of mine scraper conveyer driving control system according to claim 1, which is characterized in that the master control
System processed analyzes the sampled data of each point of control system of scratch board conveyor, is driven according to sampled data to scratch board conveyor
The operating condition of point control system carries out control adjustment, optimal control and fault diagnosis.
6. a kind of mine scraper conveyer driving control system according to claim 1, which is characterized in that the master control
System processed with can master & slave control each other from control system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589368A (en) * | 2019-04-23 | 2019-12-20 | 华北科技学院 | Control method for long cable of driving system of mining scraper conveyor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589368A (en) * | 2019-04-23 | 2019-12-20 | 华北科技学院 | Control method for long cable of driving system of mining scraper conveyor |
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