Control strategy of hybrid electric high speed monorail crane based on deterministic rules

Abstract

Monorail crane, as one of the important equipment forms of underground auxiliary transportation, has a generally low running speed (full load < 2 m/s), and the traditional single power drive is difficult to meet the power and environmental requirements of monorail crane. In order to improve the driving performance of monorail crane and achieve the goal of green mine, a new distributed hybrid power drive system is proposed based on the traditional monorail crane structure. Its control strategy is established based on the deterministic rules and its modeling and simulation tests are carried out. First of all, combined with the multi section of the monorail crane structure, different power sources are set at different drive ends, and a distributed architecture is adopted as the hybrid power architecture of the high-speed monorail crane. Different working modes under the architecture are formulated to determine the energy flow direction under different modes; Secondly, in order to improve the power performance of the monorail crane and the working range of the explosion-proof diesel engine, the working mode switching logic strategy and torque distribution strategy are formulated in the face of conventional working conditions. On this basis, the deterministic rule control strategy based on the logic threshold value is designed, and the overall switching logic simulation strategy is built using MATLAB; Then, according to the actual running situation of the high-speed monorail crane, three complete machine cycle conditions are established, namely, small slope heavy load, small slope light load and large slope light load; Finally, the control strategy is imported into AMESim simulation software, and the physical model of the high-speed monorail crane distributed hybrid power system is jointly simulated. The simulation results show that the designed control strategy based on the deterministic rules can make the working points of the explosion-proof diesel engine and explosion-proof motor of the monorail crane in the high efficiency range, and make the whole machine have a good speed following performance; Under the condition of small slope and heavy load, the state of charge (SOC) consumption of the battery pack is only 17.6%, the maximum operating speed under full load reaches 3.01 m/s, and the emissions of CO, HC and NOx are reduced by 67.3%, 36.4%, 49.4% and 13.1% respectively compared with the emissions of traditional monorail cranes; Under the working condition of large slope and light load, the consumption of SOC value of the battery pack is only 13.1%, the maximum operating speed under full load reaches 2.29m/s, and the emissions of CO, HC and NOx are 70.2%, 58.1% and 41.7% lower than those of traditional monorail cranes respectively. The research results are of great significance and practical value to improve the running speed of monorail crane, enhance its transportation efficiency, and reduce exhaust emissions to improve the downhole working environment.

Keywords

• auxiliary transport
• high speed monorail crane
• distributed hybrid power
• drive system
• logic gate limit
• amesim-matlab joint simulation