【作者】 顾伟；

【导师】 李海量；

【作者基本信息】 上海海事大学 ， 电力电子与电力传动， 2008， 博士

【摘要】 散货港口多电机传动运输系统是一种设备运动控制与运输流程控制相结合的大型系统,该系统目前达到的总体技术水平是:PLC程控器的集散型控制网络;工艺经验的顺序控制;非系统化的故障检测。本文将模型控制、系统诊断、容错控制技术应用对象从工业领域扩展到港口运输领域,从工业过程控制系统扩展到运输流程控制系统,研究和解决散货港口多电机传动运输系统故障诊断与容错控制的理论应用和工程实际问题。本文的主要研究内容:(1)建立散货港口多电机传动运输系统的控制模型在分析散货港口多电机传动运输系统组成结构的基础上,建立基于关联协同向量的散货港口运输系统多变量控制模型,研究控制模型线性应用和非线性应用的普适性,论证散货港口运输系统控制模型的完整性、一致性、外延性。构建散货运输系统流程控制律和输送机多电机驱动系统协调控制律,验证所提出的建模方法在散货码头装卸运输系统工程应用中的可行性,解决散货港口输送机多电机传动系统动力匹配、功率分配等协调控制问题。(2)散货港口多电机传动运输系统的故障诊断在散货港口多电机传动运输系统控制模型的基础上,建立基于多变量状态监测的故障诊断模型和基于模式特征的故障诊断模型,确定二种故障诊断模型的应用范围及其局限性,实现系统化的故障检测与诊断(FDD——Fault Detect and Diagnosis)。以输煤控制系统流程故障诊断为研究对象,应用多变量状态监测的故障诊断模型,构造基本故障函数,实现流程故障的准确识别。以长距离大运量输送机失速和跑偏故障为研究对象,应用模式特征的故障诊断模型,研究输送机失速和跑偏故障的信号检测、特征提取和诊断方法。(3)散货装卸运输过程动载干扰故障的自适应检测散货装卸运输系统由于负荷剧烈波动、重载连续冲击等因素的影响,动载干扰问题十分突出。这是一类非线性、非平稳的随机干扰,它严重影响到检测信号与控制信号的可靠性与准确性,影响到运输流程和设备的正常运行。通过分析散货港口多电机传动运输系统运行过程中随机性动载干扰产生原因,提出抑制散货运输系统动载干扰的自适应滤波基本策略和方法。建立门座式卸船机起升机构动载干扰的参考模型,进行动载干扰自适应滤波,解决模型参数离线预估计算法和零速空载跟踪起重量零位等技术问题,消除门座式卸船机起升机构起制动过程的速度和加速度动载干扰,实现起重量准确检测。研究散货运输过程中大块分离物冲击载荷干扰的发生机理,根据动量原理建立大块分离物冲击载荷模型,构造自适应滤波器,通过收敛因子的自调整快速逼近递推,辩识大块分离物瞬时冲击载荷的干扰信号。(4)散货港口多电机传动运输系统的容错控制以散货港口多电机传动运输系统故障诊断为基础,融合智能容错控制方法,将主动性容错控制技术和被动性容错控制技术相结合,研究散货港口装卸运输设备和运输流程控制律重组(CRR——Control Rule Reconfiguration),提升系统的控制性能,实现安全控制与可靠控制。对于装卸运输设备故障,由径向基函数网络构造设备故障分类器(FCD——FaultClassifying Device),构建基于控制参考重置的广义主动性容错控制结构,避免控制律在线重组可能引起的控制系统完整性缺失和不稳定,重点解决输送机跑偏状态下综合纠偏及其减速减载运行的容错控制问题。对于运输流程故障,在分析流程设备的互通互用性基础上,研究基于控制律在线重组的运输流程被动性容错控制方法,通过既定调度方式和指标调度方式相结合的控制律在线调度,实现散货运输流程的容错控制。运用参数、部件、通道、设备等多种控制方式,嵌入式单片机、PLC程控器、主控工作站等多种控制层次,设计新型的散货港口多电机传动运输系统容错控制网络结构。同时,开发应用程序与数据接口,将故障诊断与容错处理应用软件作为独立的外挂程序,嵌入到港口输煤控制软件。散货港口多电机运输系统故障诊断与容错控制技术的研究,取得了十多项专利成果,填补了散货港口运输自动化领域的技术空白。论文主要创新点有:——基于多变量关联协同模型,解决散货港口多电机传动运输系统数字量与模拟量混合建模、大功率传动设备和运输网络系统控制协调问题。——通过多变量状态信息组合和变换,提取故障模式特征,解决散货港口运输系统故障诊断、输送机失速和跑偏故障诊断问题。——建立随机性动载干扰模型,通过自适应滤波,抑制门座式卸船机起升机构速度与加速度动载干扰、输送系统大块分离物冲击干扰。——构建基于径向基函数网络的故障分类器,通过控制参考变量在线重置、既定调度方式和指标调度方式相结合的控制律在线重组,有效整合现有控制网络的软硬件资源,灵活实现散货港口多电机传动运输系统容错控制。论文的研究成果对于各类散货港口运输系统具有推广价值。近年来的应用项目有:国家大型港口建设、国家重点工程、现有码头的技术改造、新港口的建设。研究成果的应用取得了可观的经济效益和社会效益,近年来成果推广新增产值每年超亿元;利税效益每年超千万元。论文的相关课题多次获得上海市、国家安监局的科技进步奖。更多还原

【Abstract】 The multi-motor driving transport system of bulk port is a kind of large system, combining equipment motion control and transport process control. At present, the level of the system technology is: PLC distributed control network, sequencing control by operation experience, non-systematic fault detecting. In this paper, the applying field of model control, system diagnosis, tolerant control is expanded from industry to port transport. Both the engineering problems and the theories application of fault diagnosis and tolerant control are studied for the multi-motor driving transport system of bulk port. The main content of the paper are as the following:(1) Construct control model of multi-motor driving transport system of bulk port.By analyzing the structure of the multi-motor driving transport system of bulk port, the multi-variable control model of associate-cooperate vectors is constructed. The universal adaptability of linear and non-linear applications, the models features of the integrality, consistency and extension are demonstrated.The flow control rules of the transport system and the corresponding control rules of the conveyer driving system are set up. All of these prove the feasibility of the model in the transport system of bulk port. Therefore, the problems of the power matching and power distributing of the conveyer driving system are solved.(2) Fault diagnosis of multi-motor driving transport system of bulk port.According to the control model of the multi-motor driving system of bulk port, the fault diagnosis models based on multi-variable state detection and pattern characteristics are built up. The application range and localization of the models are discussed, in order to realize the fault detect and diagnosis (FDD) of the system.Taking the flow fault diagnosis of the coal transport system as the object, the model of multi-variable state detection is applied to set up basic fault functions, and to recognize the flow faults.Taking the conveyer faults of the stall and off-tracking as the object, the model of pattern characteristics is applied to study detecting the signal, extracting the characteristics, and the diagnosis method. (3) Adaptive detection of dynamic disturbing fault in bulk transport.Affected by the load fierce fluctuation and heavy-load continuous impulsion, the problem of dynamic disturbing is very evident in the transport system of bulk port. It is a non-linear and non-smooth random disturbance, which seriously affects the reliability and accuracy of the detecting and controlling signals, and the normal running of the transport process and equipment. Aiming at the random dynamic interference of the multi-motor driving transport system of bulk port, the basic strategy and method of the self-adaptive filtering are presented.The reference model of the dynamic disturbing of gantry crane hoisting mechanism is set up, and a self-adaptive filter is developed. Founding the off-line pre-estimating algorithm for the model parameters speeds up detecting on-line. When the crane is in the state of zero-speed, and zero-load, the self zero-tracking will act, and the zero drift of the detecting system can be corrected. The adaptive filtering can effectively eliminate the signals of speed and acceleration interference when the crane starts or brakes. The applying results show that the new technique has increased the accuracy of detecting lifted load.The interference mechanism of the impact load of the large separated material is studied. Based on momentum theory, an impact model of bulk matter is founded and a kind of adaptive filtering method to restrain the instantaneous impact is put forward. A self-adjusting convergence factor speeds up the approaching, and the impact interfering signal is identified.(4) Tolerant control of multi-motor driving transport system of bulk port.According to the fault diagnosis for multi-motor driving transport system of bulk port, mixing with the intelligent tolerant control method, combining the active and passive fault tolerant control technology, the control rule reconfiguration (CRR) of the transport equipment and process are studied, which improves the control performance, realizes the safety control and the reliable control of the system.Based on the radial basis function network (RBFN), an equipment fault classifying device (FCD) is proposed. The structure of generalized active tolerant control is studied by control reference variable replacement, in order to avoid non-integrality and non-stability of the system caused by the control rule reconfiguration online. In the applications, the key problem is to research the synthetic tolerant control of rectifying the deviation, slowing down and deloading in the state of the conveyer running off-tracking.By the interoperability of the flow equipment, the passive tolerant control method of the transport flow is studied. The control rule is reconfigurated online—scheduled online, in the fixed scheduling way or the index scheduling way.The new network structure of the tolerant control of the multi-motor driving transport system of bulk port is designed by many ways of control, such as parameter, components, channels, equipments and so on, and by many modes of control, such as embedded single chip, PLC, control workstation and so on. At the same time, the program and data interface of the tolerant control are developed, which are embedded into the transport control system of the coal port as an attachable program.In the research on fault diagnosis and tolerant control of the multi-motor driving transport system of bulk port, more than ten patents have been applied, which fill the technology blanks in the automatic transport of bulk port. The main contributions include:——Based on the multi-variable associate-cooperate model, the problems are solved, such as mixed-modeling of digital and analog, and corresponding control for high power multi-motor driving equipment and transport network system of bulk port.——Through grouping and mapping the multi-variable state information, the fault pattern characteristic are extracted and the fault diagnosis problems are solved, such as the process faults, the stall faults, and the off-tracking faults in the bulk transport.——The model of random dynamical interference and adaptive filter are founded. The speed and acceleration disturbing of the gantry crane, and impulsion interference of large separated materials of the transport system are cancelled.——Based on the RBFN, the fault classifying device is constructed. By the control reference variable replacement and the control rule reconfiguration, the available software and hardware resource of the transport system is utilized efficiently, and the tolerant control is realized flexibly.The research results of the thesis are of practical value to all kinds of transport system of bulk port, and have been applied to many engineering projects, including the technological reform of the existing ports and the construction of new ports. The applications of the research results have brought considerable economic benefits and social benefits—increase production value by more than one hundred million Yuan (RMB), and profits tax value over ten million Yuan (RMB) annually. The relative subjects have won the science and technology awards from the government.更多还原