多履带行走装置机电耦合动力学及自适应控制
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1.An automatic alignment method for discharge arm of mobile crushing station based on binocular vision and fuzzy control
- 关键词：
- Mobile crushing station; discharge arm; alignment; binocular vision;fuzzy control;SPACECRAFT; SYSTEM; OPERATIONS; DOCKING
The mobile crushing station is one of the main equipment of the semi-continuous open-pit mining system. The discharge arm and the receiving equipment are manually aligned, which has the problems of long alignment time and low alignment accuracy, which affects the working efficiency of the mining system. According to the development and application of space rendezvous and docking technology at home and abroad, the advantages and disadvantages of different measurement methods are compared and analysed, and the method of applying binocular measurement technology to system positioning in the automatic alignment system of the discharge arm is determined. There are three movements in the mechanical part of the designed discharge arm alignment control system, including the rotary motion of the visual measurement mechanism and the horizontal rotation and telescopic motion of the discharge arm. According to the kinematic analysis and binocular vision measurement theory, the deviation model of the alignment control of the discharge arm is established. A binocular vision measurement and localization method based on the combination of stereo calibration and template matching is proposed, which achieves surprising measurement accuracy. An automatic alignment method of the discharge arm of the mobile crushing station is proposed based on the binocular vision and fuzzy control method. Its validity is verified by simulation and experiment. The strategy of motion decomposition is applied to the alignment system to avoid unnecessary motion of the discharge arm. The research results all show that the alignment method can achieve the angle deviation within +/- 0.5 degrees, the distance deviation within +/- 15 mm, and the test alignment time is about 5 minutes, which is better than other alignment control models; the alignment accuracy and the alignment time are improved by more than 50%. The method can control the discharge arm to complete the alignment task quickly and smoothly, which lays a foundation for the further automatic research of the discharge arm.
...2.Study on theory and methods of payload online estimation for cable shovels
- 关键词：
- Cable shovel; Payload; Online estimation; Torque balance; Kinematicmodel
Cable shovels are one of the most widely used machines in open-pit mining industry. Precise estimation of payload can effectively avoid overload and underload for each dump, significantly improve the working performance of cable shovels and reduce the maintenance costs of haul trucks. In this research, an algorithm based on static analysis for payload online estimation was established, which took hoist force, crowd force and geometrical parameters of the working device as input variables for the situation when both hoist and crowd motors were hovering during the digging process. More specifically, the torque balance function was applied for payload calculation on the basis of the kinematic model built for evaluating the length of different force arms when the dipper handle stayed in different positions. In order to verify the efficiency of the payload online estimation algorithm, six different working positions and four different fullness states of the dipper were chosen for testing. And a testing system consisting of a 1/35 scale model of cable shovel, software of LabVIEW, hardware of cRIO and multi-types of sensors was designed and set up. Testing results show that the relative error between the theoretically calculated value and the real weight of payload is averagely less than 6% when the dipper was 40% fully filled and averagely less than 3% when the fullness reached 100%, which has proved the efficiency of the payload online estimation theory and methods established in this research.
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