基于PLC模糊控制的变频调速矿井提升机系统的研究与仿真.docx
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基于PLC模糊控制的变频调速矿井提升机系统的研究与仿真.docx
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基于PLC模糊控制的变频调速矿井提升机系统的研究与仿真
StudyandSimulationonVariableFrequencySpeed-
RegulatingSystemofMineHoistBasedonPLC
FuzzyControl
YanxiangWU
ZhanfeiTian
CollegeofEngineering,ShanghaiOceanUniversity
Shanghai,China
MinjieXue
FacultyofEngineeringandInformationTechnology,
UniversityofTechnologySydney
NSW,Australia
Abstract—BasedonthetraditionalspeedcontroltechnologyfortheMineHoistsystem,thispaperintroducesanewmethodtocontrolthespeedofACinductionmotorbycombiningthefuzzycontrollerusingtheProgrammableLogicController(PLC)andthegeneralfrequencyinverter.Theproposedmethodmakesthesystemmorereliable,stableaswellasintelligent,andisexpectedtohaveapromisingfuture.ThesimulationiscarriedoutundertheSIMULINKenvironmentinordertooptimizethesystemperformance.
Keywords—PLC;MineHoist;FuzzyControl;Simulink
I.INTRODUCTION
Nowadays,astothetimevariantofthespeedcontrolofminehoistinminingindustry,itisbecomingmorecommontocontrolthevelocityofminehoistbyjointlyusingPLCandfrequencyinverter.However,itisdifficulttobuildthemathematicalmodelforthespeedcontrollerandimplementtheautomaticcontrolbecauseofitsnonlinearcharacteristic.
Thefuzzycontroltheory,whichisanintelligentcontroltheory,solvestheproblemproperly.Fuzzycontrolisbasedonthepracticalexperienceofoperatingthecontrolobject.Theinternalstructureandmathematicalmodelofthecontrolobjectisnotnecessaryforthefuzzycontrol,whichisverybeneficialtotheautomaticcontrolofvariablefrequencyspeed-regulatingofminehoist.
Asanotherimportantelementinthecontrolsystem,PLChasstrongfunctioncommandsandcooperatesvariousfunctionalmodules,whichmakesitpossibleforPLCtosupportmanycomplicatedprocesscontrolsystems.
II.GENERALDESIGN
Thevariablefrequencyspeed-regulatingcontrolsystemofMineHoistbasedonPLCfuzzycontrolconsistsofthepowerplant,thehydraulicstation,thePLCcabinet,theconvertor,theoperationpanelandthecontrolandsupervisionsystem,asshowninfigure1.
Figure.1HardwareFrameDiagramforVariableFrequencySpeed-RegulatingSystemofMineHoist
1.Thepowerplant:
Itincludesthemainmotor,thereducer,thewindingdrum,thebrakeandthebase.Thepowerplantisresponsiblefortransportationofpeople,materialsandsupplies.
2.Thehydraulicstation:
Itprovidesdrivingforceforthehoister.Whenthebarrowstops,amechanicalbrakeresistanceisappliedtothewindingdrumthroughthehydraulicstationfollowedbytheremovalofthedirectcurrent(DC)brakeresistance.Whenthebarrowstarts,aDCbrakeresistanceisappliedtothemotor.Thenloosenthebrakestickingincaseofrolling,inordertoinsurethesystemsafetyandreliability.
3.ThePLCcabinet:
ItincludestwoPLCs.Oneofthemisservedastheprotectingsystemforthehoister,takingchargeofthelogicoperationcontrolandthefaultjudgementandtreatment;whiletheotheristhestrokecontrolsystem,inchargeofthegivingofScurvewhichisahighfunctionalspeedcurveforthehoister.SiemensS7-300isadoptedinthesystem.ItisconnectedtotheMPInetworkthroughR-485whichhasstrongeranti-interference
4.Thefrequencyconversioncabinet:
Itistheenergysupplyunitofthepowerplant.Itconvertstheinputfrequencypowerintofrequencyadjustablepowersuppliedtoalternatingcurrent(AC)motors,soastoadjustthespeedoftheACmotors.
5.Theoperationpanel:
Itisthecontrolcentralofthewholetransportsystemoftheminehoist.Theoperationpenalisresponsibleforsettingthesystem’sworkpiecepatternandcontrolpattern,issuingsystem’scontrolordersandreceivingthefeedbacksignalsfromthefrequencyconversioncabinet.Accordingly,theoperationpanelisabletocarryoutcontrolfunctionsofthehoistersuchasstarting,acceleration,smoothrunning,slowingdown,parking,emergencybrakingandetc.
6.Thecontrolandsupervisionsystem:
Variousworkparameters,workconditions,faultparametersandfaultconditionsofthehoister’stransportsystemwillbemonitoredonlinebythecontrolandsupervisionsystem,throughWINCCflexiblesoftwareofSIMATICHMIsystemwiththeconnectiontoPLCandtheuppermonitorscreenTP27.Thecontrolandsupervisionsystemcontrolsthesystemprocessesallthetimeandkeepthecontinuousrunningoftheequipment.
III.FUZZYCONTROLSYSTEM
ThetraditionalPIDcontrolwasusedinconventionalspeedregulatingcontrolsystem.Ithasthehighovershoot,longmodulationtimeandweakcontroleffect.Inordertoovercometheseshortcomings,thefuzzylogicisusedtorealizethefuzzycontrolofmotorspeed.Thusthespeedcontrolsystemwillbemoreadaptiveandrobust,andeasiertoimplementthroughcomputersoftware.
Thefuzzycontroltechnologyisahighlytheoreticalandcrosssubjecttechnologywidelysupportedbythefuzzymathematics,thecomputerscience,theartificialintelligenceandtheautomaticcontrol.Fuzzycontrolisawidelyusedintelligentcontrolmethodandparticularlyapplicabletothecomplicatednonlinearsystemwiththelargedelaytimeandstrongcoupling.Itconvertspeople’sexperienceintofuzzycontrolrulesbyimitatingthewaypeoplethinkandjudgeandsummarizingtheexperienceofcontrolexpertsandtechnician.Thefuzzycontrolisimplementedbymodulecalledfuzzycontroller
A.StructureoftheFuzzyControlSystem
ThefuzzycontrolsystemisshowninFigure2.
Figure.2StructureofFuzzyControlSystem
Atwo-dimensionalMamdanifuzzycontrollerisadopted.Intheschematic,theinputvariablesareerrorebetweentheactualspeedyofthemotorandthegivensystemrevolutionrandtheerrorvarianceratiode/dt,whiletheoutputistheinstantaneouscontrolmodifieruwhichisthevariationfortheconverter’svoltage.Theinstantaneousmodifiercanbeusedtocontroltheconverter’soutputfrequency.Inthefigure,Ke,Kecandkudenotethequantitativefactorforerrore,errorvarianceratiode/dtandcontrolmodifierurespectively.Thusatwo-input-one-outputfuzzycontrollerisdesignedforthefrequencycontrolsystem.
B.DesignoftheFuzzyController
Designoffuzzycontrolrulesisthecoreofdesignofthefuzzycontroller.Fuzzycontrolrulesareequivalenttothecorrectingdeviceorcompensatorinthetraditionalcontrolsystem.Thecorrespondinglanguagevariablesforthespeederrore,theerrorratede/dtandtheoutputcontrolvariableuareE,ECandU,respectively.Theyaredividedintofivestatesandeverystatecorrespondstoafuzzysubset,asshowninthefollowingtable.
TABLEⅠ.TableforSystemControlRules
ThelanguagevariablesusedtodescribethestateofE,ECandUare:
negativebig(NB),negativesmall(NS),zero(ZE),positivesmall(PS)andpositivebig(PB).
AsthevaluesindomainNj=[-njnj]aresymmetrical,wecantransformtheerrorofeindomain[-25,25],theerrorofde/dtindomain[-18,18]andtheerrorofuindomain[-35,35]into[-5,5]accordingtotheconversionformulagivenby:
K=2n/(b-a)
(1)
inwhichaisthelowestvalue-5andbisthehighestvalue5.Thus:
Ku=7,Ke=0.2,Kec=5/18and1/Kisthequantitativefactor.
WecangetthegeneralfuzzyimplicationrelationmatrixRforthebasicfuzzycontrollerinthefrequencyconvertersystem,basedonthe“union”operationofthe25(i=1,2,…,25)fuzzyrelation,asshownin
(2).
R=R1∪R2∪...∪R25=
(2)
“Defuzzication”isusedtoconvertthefuzzysetintosinglevalues.Oneofthemostcommonlyusedmethodsistheaveragevaluemethodinthemaximummembershipmethods,asshownin(3)inwhichj=1,2,….n,andnpointsofthemembershipsreachmaximumvalue.
(3)
c.TheOutputoftheControlledVariables
Thede-fuzzedrulesareadoptedbySiemensPLCseriestorealizefuzzycontrolfunction.Thesystemacquiresinputdatathroughananaloginputmodule,thencommandstheexecutiveunitthroughananalogoutputmodule.Thesystemwillgetthevalueoftheerrorefromthegivenspeedandtheactualspeedsampledbyencoder,thenmultiplyeandde/dtbywouldbecountedbyfuzzycontrolquantityUwhichisfixedbyEandEC,multipliedbytheproportionalfactorKu.Thenthemotorspeedcanbecontrolledbytheconvertor.Thefollowingchart(Figure3)istheflowchartforfuzzycontrolalgorithm.
Figure.3FlowChartforFuzzyControlAlgorithm
Thefuzzy-controllookuptableisthemostimportantpartinprogramdesign.Itcanberealizedasthefollowingchart,Fig.4:
Figure.4ladderdiagram(LAD)forfuzzy-controllookuptable
InFig.4,CMPisthecompareinstruction.WhentheinputrelayI1.2changesfrom0to1,thedataofthefirstoperand(VW102)willbecomparedwiththepresetdatastoredinsevenconsecutivedigitalregistersstartingfromthesecondoperand(VW110).Ifthedatainthefirstoperandisthesameasoneinthesecondoperand,thentheauxiliaryrelayM2.0inthethirdoperandwillbesetto“ON”;otherwise,itwillbe“OFF”.The25controlresultsoffuzzyrulesarestoredsequentiallyinVW60-VW84.ThedatainVW102andVW103willbecomparedwiththeelementsininputdomain(VW110-VW116)respectively.TheresultwillbeexportedtoVW100accordingtothestatelookupresultsofM2.0andM2.1.Asthecapacityofthefuzzy-controllookuptableislimited,thedesignedprogramhasaquickresponseandgoodcontrolperformance.
IV.COMPUTERSIMULATION
A.TheConnectionofFISandSIMULINK
BasedonFuzzyInferenceSystem(FIS),thefuzzycontrolsystemissimulatedthroughtheSIMULINKmoduleintheMATLABsoftware.The“FuzzyLogicController”inthe“FuzzyLogicToolbox”mustbeusedinthestructureofthesimulationmodelforfuz
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