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Underground LHD intelligent control device

Author: YinChaoZhong
Tutor: HuTianYou
School: University of Electronic Science and Technology
Course: Mechanical Manufacturing and Automation
Keywords: Ground Floor Scrapers Locus Drag Reduction Intelligent Control Simulation
CLC: TP273.5
Type: Master's thesis
Year: 2009
Downloads: 94
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Abstract


Underground LHD underground the trackless mine shipped equipment one of the mainstream models , a very wide application in underground mining work . The bucket force in the underground scraper installed operating process is very complex , and the operator can only be manipulated according to the real - time observation of judgment and experience , and therefore a big gap between the practical effect of the ideal operating efficiency . Therefore, the search for underground LHD work with artificial intelligence device automatic control technology is necessary to improve the the scrapers production efficiency and urgent . In order to improve the operational efficiency of the underground scrapers , eliminating energy waste caused by operator shovel the technical level of the loading operation , the paper focuses on the underground LHD bucketing job trajectory control problem , carry out the following work : ( 1 ) the use of multibody system dynamics and the basic principle of the virtual prototype of the the underground the scrapers working device work process kinematics , dynamics were in-depth research , underground LHD working device virtual prototype three-dimensional dynamics of multi-body system digital ADAMS dynamics simulation study model , its dynamical behavior . (2) Based on the experience and the literature given bucketing track conditions to determine the track better bucketing operations and smart drag reduction proposed in this paper is based on the minimum energy trajectory ; study based on the minimum energy trajectory smart the drag reduction shovel take control strategy , and to establish the corresponding the smart drag reduction control system . ( 3 ) analysis of the characteristics of fuzzy intelligent control and conventional PID control technology , the combination of fuzzy control and PID control technology based on to a smart drag reduction based on the minimum energy path shovel to take its control strategy , the establishment of a scraper working device parameter adaptive fuzzy PID trajectory controller . (4 ) underground LHD simulation model in Matlab / Simulink environment simulation compared to underground LHD same amount of work done at the same time , the bucket to achieve the ordinary shovel trajectory with the minimum based on intelligent drag reduction both cases the energy consumption trajectory by the force of the work apparatus and work output situation .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Computer control, computer control system
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