2323 采煤機搖臂設計,采煤,搖臂,設計 外文翻譯英文翻譯Switched Reluctance Motors Drive for the Electrical Traction in ShearerAbstract—The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The system components, such as the Switched Reluctance motor, the main circuit of the power converter and the controller, were described. The control strategies of the closed-loop rotor speed control with PI algorithm and balancing the distribution of the loads with fuzzy logic algorithm were given. The tests results were also presented. It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ?10%.Keywords- switched reluctance; motor control; shearer; coalmine; electrical driveI. INTRODUCTIONThe underground surroundings of the coal mines are very execrable. One side, it is the moist, high dust and inflammable surroundings. On the other side, the space of roadway is limited since it is necessary to save the investment of exploiting coal mines so that it is difficult to maintain the equipments. In the modern coal mines, the automatization equipments could be used widely. The faults of the automatization equipments could affect the production and the benefit of the coal mines. The shearer is the mining equipment that coal could be cut from the coal wall. The traditional shearer was driven by the hydrostatic transmission system. The fault ratio of the hydrostatic transmission system is high since the fluid in hydrostatic transmission system could be polluted easily. The faults of the hydrostatic transmission system could affect the production and the benefit of the coal mines directly. The fault ratio of the motor drive system is lower than that of the hydrostatic transmission system, but it is difficult to cool the motor drive system in coal mines since the motor drive system should be installed within the flameproof enclosure for safety protection. The motor drive system is also one of the pivotal parts in the automatization equipments. The development of the novel types of the motor drive system had been attached importance to by the coal mines. The Switched Reluctance motor drive could become the main equipments for adjustable speed electrical drive system in coal mines [1], because it has the high operational reliability and the fault tolerant ability [2]. The Switched Reluctance motor drive made up of the double-salient pole Switched Reluctance motor, the unipolar power converter and the controller is firm in the motor and in the power converter. There is no brush structure in the motor and no fault of ambipolar power converter in the power converter [3][4]. The Switched Reluctance motor drive could be operated at the condition of lacked phases fault depended on the independence of each phase in the motor and the power converter [5]. There is no winding in the rotor so that there is no copper loss in the loss and there is only little iron loss in the rotor. It is easy to cool the motor since it is not necessary to cool the rotor. The shearer driven by theSwitched Reluctance motor drive had been developed. The paper presented the developed prototype.II. SYSTEM COMPONENTSThe developed Switched Reluctance motors drive for the electrical traction in shearer is a type of the double Switched Reluctance motors parallel drive system. The system is made up of two Switched Reluctance motors, a control box installed the power converter and the controller. The adopted two Switched Reluctance motors are all three- phase 12/8 structure Switched Reluctance motor, which were shown in Figure 1. Figure 1. Photograph of the two three-phase 12/8 structure Switched Reluctance motorThe two Switched Reluctance motors were packing by the explosion-proof enclosure, respectively. The rated output power of one motor is 40 KW at the rotor speed 1155 r/min, and the adjustable speed range is from 100 r/min to 1500r/min. The power converter consists of two three-phase asymmetric bridge power converter in parallel. The IGBTs were used as the main switches. Three-phase 380V AC power source was rectificated and supplied to the power converter. The main circuit of the power converter was shown in Figure 2.In the controller, there were the rotor position detection circuit, the commutation circuit, the current and voltage protection circuit, the main switches’ gate driver circuit and the digital controller for rotor speed closed-loop and balancing the distribution of the loads.III. CONTROL STRATEGYThe two Switched Reluctance motor could all drive the shearer by the transmission outfit in the same traction guide way so that the rotor speed of the two Switched Reluctance motors could be synchronized. The closed-loop rotor speed control of the double Switched Reluctance motors parallel drive system could be implemented by PI algorithm. In the Switched Reluctance motor 1, the triggered signals of the main switches in the power converter are modulated by PWM signal, the comparison of the given rotor speed and the practical rotor speed are made and the duty ratio of PWM signal are regulated as follows,1() 1(1)()e=gfkikpknDKe?????Awhere, ng is the given rotor speed, nf is the practical rotorspeed, e is the difference of the rotor speed, is the increment 1()kD?of the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, Ki is the integral coefficient, Kp is the proportion coefficient, ek is the difference of the rotor speed at k time, ek-1 is the difference of the rotor speed at k-1 time, D1(k) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, and D1(k-1) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k-1 time.The output power of the Switched Reluctance motordrive system is approximately in proportion to theaverage DC supplied current of the power converter asfollows, where, P2 is the output power of the Switched 2inpI?Reluctance motor drive system, Iin is the average DC supplied current of the power converter. In the Switched Reluctance motor 2, the triggered signals of the main switches in the power converter are also modulated by PWM signal. The balancing the distribution of the loads between the two Switched Reluctance motors could be implemented by fuzzy logic algorithm. In the fuzzy logic regulator, there are two input control parameters, one is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and the other is the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors. The output control parameter is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2. The block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearer was shown in Figure 3.The deviation of the average DC supplied current ofthe power converter between the two Switched Reluctance motors at the moment of ti is:12inieI??.1iie?where, ei-1 is the deviation of the average DC suppliedcurrent of the power converter between the two SwitchedReluctance motors at the moment of ti-1. The duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti is2()(1)2()iiiD????where, is the increment of the duty ratio of the PWM signal of ()i?the Switched Reluctance motor 2 at the moment of ti and D2(i-1) is the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti-1.The fuzzy logic algorithm could be expressed asfollows,if and then U~ ? ~ifEi?~CjE?~U?i = 1,2,…, m, j = 1,2, …,nwhere, E~ is the fuzzy set of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, E~C is the fuzzy set of the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and U~ is the fuzzy set of the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2.The continuous deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could be changed into the discrete amount at the interval [-5, +5], based on the equations as follows,??? []102eieINTK?AThe discrete increment of the duty ratio of PWM signal of the Switched Reluctance motor 2 at the interval [-5, +5] could be changed into the continuous amount at the interval [-1.0%, +1.0%], based on the equations as follows,12()[]0.i DDINTK??AAThere is a decision forms of the fuzzy logic algorithm based on the above principles, which was stored in the programme storage cell of the controller.While the difference of the distribution of the loads between the two Switched Reluctance motors could be got, the duty ratio of PWM signal of the Switched Reluctance motor 2 will be regulated based on the decision forms of the fuzzy logic algorithm and the distribution of the loads between the two Switched Reluctance motors could be balanced.IV. TESTED RESULTSThe developed double Switched Reluctance motors parallel drive system prototype had been tested experimentally. Table I gives the tests results, where is the relative deviation of the average DC 1?supplied current of the power converter in the Switched Reluctance motor 1, is the relative deviation of the average DC supplied 2current of the power converter in the Switched Reluctance motor 2, and, 1210%iniiiiI??????122iniiiiI?It is shown that the relative deviation of the average DC supplied current of the power converter in the SwitchedReluctance motor 1 and in the Switched Reluctance motor2 is within 0%?V. CONCLUSIONThe paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The novel type of the shearer in coal mines driven by the Switched Reluctance motors drive system contributes to reduce the fault ratio of the shearer, enhance the operational reliability of the shearer and increase the benefit of the coal mines directly. The drive type of the double Switched Reluctance motors parallel drive system could also contribute to enhance the operational reliability compared with the drive type of the single Switched Reluctance motor drive system.中文譯文開關磁阻電動機驅動電牽引采煤機摘要-本文介紹了雙開關磁阻電動機并聯(lián)傳動系統(tǒng)控制驅動電牽引采煤機。 本文介紹了系統(tǒng)的各個組件，如開關磁阻電機，主電路中的功率變換器和控制器等。 這里給出了它的控制原理，它主要是用 PI算法和載荷均勻分布的模糊算法獲得信號來控制電機轉速這樣一個閉環(huán)系統(tǒng)。 這里也列出了它的測試結果。測試結果表明，在磁阻電動機 1上供應的平均直流電流于在磁阻電動機 2上的相對誤差在 10％以內。 關鍵詞：開關磁阻； 電機控制； 采煤機； 煤礦；電牽引。 1、導言地下礦井周圍的環(huán)境是相當惡劣的。 一方面，它非常潮濕和高粉塵并且屬于易燃易爆環(huán)境。 而在另一方面，井下的空間是非常有限的，因為它要節(jié)約開采礦井的投資，所以這些給井下設備的維護帶來了很大的困難。 在現代煤礦開采過程中，自動化設備得到了廣泛的使用，但是自動化設備的故障，可以影響到煤礦的正常生產和生產效益。 采煤機是可以將煤從煤壁中開采下來的采礦設備。傳統(tǒng)的采煤機是用液壓傳動系統(tǒng)驅動的，但是由于液壓系統(tǒng)中的油液很容易被污染所以導致液壓系統(tǒng)的故障率很高。液壓傳動系統(tǒng)的故障可能直接影響礦井的生產和效益。電機驅動系統(tǒng)的故障率相對液壓傳動系統(tǒng)是比較低的，但是由于電機安裝在防暴外殼中所以給電機的冷卻帶來了困難。 電機驅動系統(tǒng)也自動化設備是其中的關鍵部件，所以發(fā)展新型電動機調速系統(tǒng)一直是煤礦開采重視的問題。 開關磁阻電機驅動之所以能成為煤礦主要設備的調速電氣傳動系統(tǒng)，[1] 因為它具有較高的運行可靠性和容錯能力[2] 。 開關磁阻電機驅動由雙凸極開關磁阻電機，單極功率變換器和控制器組成，它們被固定在電機和電力變換器中。 在電機中沒有電刷結構，并且雙極功率變換器的功率變換器的故障率比較低。 開關磁阻電動機可以用在電機和功率變換器相故障少，而且每種相故障取決于其本身的情況下。開關磁阻電機中沒有繞組轉子等，所以沒有銅損的損失，只有在轉動過程中很少的鐵損。這樣開關磁阻電機就很容易冷卻了，因為它沒有必要冷卻轉子。 采煤機用的開關磁阻電機驅動已經研制成功。 文章中給出了樣機。 二、系統(tǒng)組件研制成功的驅動電牽引采煤機的開關磁阻電機驅動是一種雙重開關磁阻電動機并聯(lián)驅動的系統(tǒng)。 該系統(tǒng)是由兩個開關磁阻電動機和一個安裝功率變換器和控制器的控制箱。 通過兩個開關磁阻電動機都是三相 12 / 8結構。開關磁阻電機如圖 1所示。 兩個開關磁阻電動機都分別包在防爆外殼中。其中電機額定功率 40千瓦，額定轉速 1155轉/分鐘，調速范圍從 100轉/ 分鐘到1500r/min 。功率轉換包括兩個三相對稱橋功率轉換器并聯(lián)。 該 IGBT的則作為主開關。三相 380V交流電源被整流并供應給電源轉換器。主電路中的功率變換器如圖2所示。IGBTS 是主要使用的開關磁阻電機。在控制器中，有轉子位置檢測電路，整流電路，電壓和電流的保護電路，主開關的柵極驅動電路和閉環(huán)轉速，負荷平衡分布的數字控制器。 三 控制策略這兩個開關磁阻電機都可以在相同的牽引導軌上驅動所有采煤機的輸電裝備，因此這兩個開關磁阻電動機轉子的轉速就可以達到同步。這個以閉環(huán)系統(tǒng)控制轉速的雙重開關磁阻電動機驅動系統(tǒng)時可以采用 PI算法。 在開關磁阻電動機 1中，功率變換器中主開關的觸發(fā)信號是通過調制PWM信號來給定的，當比較給定轉速和實際轉速時，所用占空比的 PWM 信號，其規(guī)定如下： e=gfn?1() 1()kikpkDKe????A(1))在上式中，ng 表示給定的轉速， nf表示實際的速度， e表示給定和實際轉速之間的偏差， 表示開關磁阻電動機 1在 K時刻時 PWM信號占空比的變化()k量，Ki 表示積分系數，Kp 是比例系數，ek 表示在 k時刻時轉子轉速的差值，ek－1 表示在 k－1 時刻時轉子轉速的差別，D1(k) 表示 k時刻時開關磁阻電機 1上 PWM的占空比，D1(K-1)表示 k－1 時刻時開關磁阻電機 1上 PWM的占空比。開關磁阻電動機調速系統(tǒng)的輸出功率是與所供應的直流電流成比例的，其轉換關系如下： 在此式中，P2 是開關磁阻電動機調速系統(tǒng)的輸出功2inpI?率， 表示電源轉換器所供應的直流電流的平均值。inI圖 2 主電路中的功率轉換器在開關磁阻電動機 2 中，電源轉換中主開關的觸發(fā)信號也是通過 PWM信號所給定的。 這兩開關磁阻電動機可以通過模糊邏輯算法來平衡其所承受的載荷。在模糊邏輯算法的調節(jié)中，有兩個輸入控制參數，一個是電力轉換器供應這兩個開關磁阻電動機的直流電流平均值之間的偏差，另一個是電力轉換器供應這兩個開關磁阻電動機的直流電流平均值之間偏差的變化。 輸出參數是開關磁阻電動機 2的 PWM信號占空比的增量。在圖 3的方框圖中給出了電牽引采煤機中雙重開關磁阻電動機的并聯(lián)驅動系統(tǒng)。在 Ti時刻電力轉換器供應給這兩個開關磁阻電動機的直流電流的平均值的偏差為： ： 12inieI??.1iie??上式中，ei-1 表示在 ti－1 時刻電力轉換器供應給這兩個磁阻電動機開關的平均直流電流的偏差。在 ti時刻開關磁阻電機 2的 PWM信號的占空比為：2()(1)2()iiiD????上式中， 表示在 ti時刻時開關磁阻電機 2的 PWM信號占空比的增量， 表示在 ti－1 時刻時開關磁阻電機 2的 PWM信號的占空比。()i圖 3 電采煤機中的雙磁阻開關并聯(lián)系統(tǒng)方塊圖這種模糊邏輯算法可以表示成如下形式：if and then U~ ? ~ifEi?~CjE?~U?i = 1,2,…, m, j = 1,2, …,n上式中， 表示電源轉換器供應給這一對開關磁阻電動機的平均直流電流的偏差的模糊值， 表示電源轉換器供應給這兩個開關磁阻電動機的平均直流~電流偏差的變化的模糊值， 表示開關磁阻電動機 2的 PWM信號占空比增量的~U模糊值。電力轉換器供應給這兩個開關磁阻電動機的平均直流電流之間的連續(xù)偏差可以在區(qū)間[ -5 ，+5 ]的范圍內變化，其理論根據如下：[eiINTK?A102e在區(qū)間[-5 ，+5] 范圍內，開關磁阻電動機 2的 PWM信號占空比的離散增量可以表示成在區(qū)間[-1.0%, +1.0%]內的連續(xù)變化，其理論根據如下： 12()[]i DINTK??AA0.D基于上述原則模糊邏輯算法就形成了既定形式，這將被儲存在控制器的存儲空間中。當這兩個開關磁阻電動機之間負載有差異時，基于模糊邏輯算法的既定形式開關磁阻電機 2的 PWM信號的占空比能夠得到調整，從而這兩個開關磁阻電動機上的負載便可以達到平衡。 四、測試結果研制成功的雙開關磁阻電機并聯(lián)驅動系統(tǒng)樣機已經進行了測試實驗。 表一給出了測試結果，其中 是開關磁阻電動機 1中，供應給電源轉換開關的平均1?直流電流相對誤差， 是開關磁阻電動機 2中，供應給電源轉換開關的平均直2流電流相對誤差。測試結果表明，磁阻開關電動機中供給電源轉換開關的電流偏差在 之10%?內。五、結論文中描述了電牽引采煤用的雙開關磁阻電動機并聯(lián)傳動系統(tǒng)。 在礦區(qū)使用的開關磁阻電動機調速系統(tǒng)驅動的新型采煤機大大降低了采煤機的故障率，提高采煤機的運行可靠性能直接提高煤礦的經濟效益。 驅動型的雙重開關磁阻電動機并聯(lián)驅動系統(tǒng)相比驅動型的單一開關磁阻電動機調速系統(tǒng)也有助于提高運行可靠性。