"蛇行"带式输送系统转向失稳机理及控制研究

项目名称： "蛇行"带式输送系统转向失稳机理及控制研究

项目编号： No.51304102

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 矿业工程

项目作者： 张东升

作者单位： 辽宁工程技术大学

项目金额： 25万元

中文摘要： 针对散料非直线运输、行进中运输等工况，研制新型可移动、可弯曲多点驱动的"蛇行"带式输送系统，系统机身由相互铰接的若干独立机架组成，"T"型带作为输送物料的载体。项目采用理论分析、数值模拟、实验研究和综合分析相结合的研究方法，研究"蛇行"输送系统的侧向稳定性，分析侧移距、侧翻力矩、转弯半径、输送带张力及轮胎参数等因素对侧向稳定性的影响。基于自制的实验样机，实测侧向稳定性与各因素间的变化规律；通过分岔理论、中心流定理及混沌理论，建立系统侧向稳定性非线性数学模型，确定动力源能量函数及边界条件，分析系统转向时稳态演变成临界状态的分岔特性，分析系统在非稳定转向条件下的平衡点及分岔形成规律，并估计稳定行驶区域，基于鲁棒理论，设计前馈、反馈综合控制器，通过实测和仿真验证。项目旨在分析"蛇行"带式输送系统侧向失稳的数学描述与控制，提出系统参数优化方案，具有重要的理论意义和独特的工程应用价值。

中文关键词： “蛇行”输送机；非线性建模；转向失稳；稳定行驶域；滑膜控制

英文摘要： For transportation when moving or in nonlinear route transportation of bulk material,development of new mobile, flexible belt material conveying system,Research on a new type belt conveyor -"Flexible Mobile" belt conveyor system for , the system body consists of hinged to each other and equipped with a number of racks of a wheeled undercarriage system, the "T" type tape as conveying the material carrier. Contemplated by the bifurcation theory, center manifold theorem and chaos theory analysis system steering steady state evolved into a critical state bifurcation characteristics determine the variation; Based Lyapunov stable theory formed under conditions of non-steady steering system balance point and bifurcation theory, application of secondary law to build lateral stability dynamics model to determine the power system energy function and boundary conditions, it is estimated that the region of stable traveling, and verify its correctness by simulation and measured; Considering tire parameter perturbation and lateral interference impact, construct multi-input、multi-output LFT model， based on robust theory, design feedforward and feedback integrated controller and simulation to verify the feasibility and validity.This project aims to solve system mathematical description , control and other key technical of bulk

英文关键词： "Snake walking" conveyor；Non - linear modeling；Steering instability；Stable driving range；Synovial control