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Key-Words: - Bucket wheel excavator, mathematic model, control system, constant flow, simulation
The simulation process to be automated is based
on the calculation of momentary capacity
relationship of excavation:[8]
v v
h
(1)
Q ma= 3600 0 (1 cos ( 0 ) ) p t
z
2
nc
where: h 0 is maximum cutting thickness [m]; 0 is
the cut angle [degrees]; v p is the pivoting speed;
1 Introduction
Cutting and pivoting speed control to achieve an
approximately constant flow of material excavated,
leads to maintain the power operated equipment
positioned downstream to a value close to the
nominal, is an area in which currently are made
extensive research in the world. Obtaining an
material flow with the smallest variation during the
excavation leads to advantages related to intensive
use and capacity of all machines that are part of the
technological chain
117
Q mb = k
(3)
(4)
Q
=
Q ma Q mb
m
In the simulation algorithm, the total pivoting
angle was limited to a range of values between
min and max through a nonlinear saturation type
element. To reverse the direction of rotation of the
motor that controls the pivoting arm, in the
simulation was taken into account the min ,
max imposed maximum pivotation angles. In this
ISBN: 978-1-61804-171-5
118
dr ( t ) iqs ( t )
d
r ( t ) = H m1
( t ) i ( t )
dt
ds
qr
(5)
H m2 r ( t ) H m3 M r ( t )
where:
F
1
3 z L
H m1 = p m ; H m2 = ; H m3 = ;
J
J
2 J Lr
J is the rotor inertia moment;
F is the frictions coefficient;
r is the rotor mechanical angular speed;
The simulation diagram of the engine is based on
state equations (5), model called voltage model.
Simulation is done using the Simulink-Matlab
S_Function block.
Simulation Diagram, internal structure and
program developed in Matlab is given to the
S_Function block shown in figure 4.
(6)
(10)
(7)
0 a11
A(t) =
a 31 0
0 a 31
b
B = 11
0
a13
a14 z p r ( t )
a13
a14 z p r ( t )
a 33
z p r ( t )
z p r ( t )
a 33
0 0 0
;
b11 0 0
C = I4
(9)
where:
1
1
Lm
;
a11 =
+
; a13 =
Ls L r Tr
Ts Tr
a14 =
d
) A ( t ) x ( t ) + B u ( t ) + L ( t ) ( y ( t ) y ( t ) )
x ( t=
dt
y ( t )= C x ( t )
Lm
L
1
; a 31 = m ; a 33 =
;
Ls L r
Tr
Tr
(11)
where:
b11 =
L2m
1
L
L
; Ts = s ; Tr = r ; = 1
.
Ls L r
Ls
Rs
Rr
ISBN: 978-1-61804-171-5
a11 0
0 a11
A(t) =
a 31 0
0 a 31
119
a13
a14 z p r ( t )
a13
a14 z p r ( t )
a 33
z p r ( t )
z p r ( t )
a 33
f N = 50 [ Hz ] ; z p ==
2 ; R s 0.01379 [ ] ;
0 0 0
1 0 0 0
b
; C=
B = 11
0 b11 0 0
0 1 0 0
and coefficients that define these matrixes are the
ones corresponding stator current - rotor flux.
The input, output and state vectors that define the
Luenberger estimator are:
T
u ( t ) = u ds ( t ) u qs ( t )
L r = 0.007842 [ H ] ; L m = 0.00769 [ H ] ;
N m s
.
=
J 2.9 Kg m 2 ; F = 0.05658
rad
=
x ( t ) i ds ( t ) i qs ( t ) dr ( t ) qr ( t )
y ( t ) = i ds ( t ) i qs ( t )
=
R r 0.007728 [ ] ; Ls = 0.007842 [ H ] ;
rot
;
PN = 630 [ KW ] ; U N = 6 [ kV ] ; n N = 1487
min
$y ( t ) = $i ds ( t ) $i qs ( t )
(14)
L(t) =
l 21 l 22
l 22 l 21
2 ; R s 0.0453[ ] ;
f N = 50 [ Hz ] ; z p = =
=
R r 0.0222 [ ] ; Ls = 0.0067 [ H ] ;
where:
*
l11 = (1 k ) ( a11
+ a *33 )
l12= z p r (1 k )
l 22 = l12
=
*
*
2
l 21 ( a 31 + a11 ) (1 k ) l11
L r = 0.0066 [ H ] ; L m = 0.0065[ H ] ;
N m s
.
=
J 10.8 Kg m 2 ; F = 0.004878
rad
ISBN: 978-1-61804-171-5
120
Fig. 8 Time variation of imposed flow (purple) and controlled flow (green)
Fig. 9 Time variation of imposed flow (green) and controlled flow (blue) during transient time
ISBN: 978-1-61804-171-5
121
5 Conclusion
From the diagram analysis it can be seen that the
imposed flow is equal to excavation flow with the
mention that in the transient time there is a certain
difference, this time period corresponds to the
speeding up the process to nominal motors speed.
These observations confirm the accuracy and the
correctness of the designed model.
References:
[1] Al-Bahaddly I., Energy Saving with Variable
Speed Drives in Industry Application, Proc.
WSEAS Int. Conf. on Circuits, Systems, Signal
and Telecommunication, 2007.
[2] Barbu C., Some principles design of a local
integrated sustainable renewable energetic
system, Mining Journal, Vol. 17, No.2,
Petrosani, 2011.
[3] Kubota H., Matsuse K., Nakano T., New
Adaptive Flux observer of Induction Motor for
Wide Speed range Motor Drives, in Proc. Int.
Conf. IEEE IECON, pp. 921-926, 1990.
[4] Schauder C., Adaptive Speed Identification for
Vector Control of Induction Motors without
Rotational Transducers, IEEE Trans. Ind.
Applicat., Vol.28, no.5, pp. 1054-1061, 1992.
[5] Stoicuta O., Campian H., Pana T., (2005)
Transfer Function Determination for VectorControlled
Induction
Motor
Drives,
ELECTROMOTION, Lausanne, Switzerland,
pp. 316-321.
ISBN: 978-1-61804-171-5
122