面向纠偏控制的矿用带式输送机数字孪生预测决策系统研究

Digital twin prediction and decision-making system for correction control of mine belt conveyors

  • 摘要: 针对目前矿用带式输送机运维系统对跑偏故障实时感知性差、缺乏预测性与智能化决策能力的问题,基于数字孪生五维模型设计了面向纠偏控制的矿用带式输送机数字孪生预测决策系统。构建了融合几何、物理、行为与规则的多维度高保真数字孪生模型,基于EMQX服务平台实现物理实体与虚拟实体之间的低延迟实时同步;设计了BP−PID算法,以跑偏量、跑偏速度及张力为输入,在线整定PID参数并进行纠偏控制,同时结合带式输送机运行状态数据预测跑偏趋势。以DTL−800型矿用带式输送机为控制对象搭建了实验平台,在输送带速度为0.5,1.0,1.5,2.0 m/s工况下开展对比实验,结果表明,与PID算法相比,BP−PID算法的纠偏控制响应速度平均提升33%,稳态误差降低约50%;预测性纠偏实验结果表明,该系统可预警20 min后的跑偏概率上升趋势,并在实际发生跑偏时快速诊断与定位相应托辊,并精准执行纠偏指令,实现“感知−预测−决策−执行”的自动化闭环。

     

    Abstract: To address the problems that current operation and maintenance systems for mine belt conveyors have poor real-time perception of belt deviation faults and lack predictive and intelligent decision-making capabilities, a digital twin prediction and decision-making system for correction control of mine belt conveyors was designed based on the five-dimensional digital twin model. A multidimensional high-fidelity digital twin model integrating geometry, physics, behavior, and rules was constructed, and low-latency real-time synchronization between physical and virtual entities was realized based on the EMQX service platform. A BP-PID algorithm was designed. With deviation amount, deviation speed, and tension as inputs, it tuned PID parameters online and performed correction control, while predicting the deviation trend based on operating status data of the belt conveyor. An experimental platform was built with a DTL-800 mine belt conveyor as the control object, and comparative experiments were carried out at belt speeds of 0.5, 1.0, 1.5, and 2.0 m/s. The results showed that, compared with the PID algorithm, the BP-PID algorithm improved the response speed of correction control by an average of 33% and reduced the steady-state error by about 50%. The predictive correction experiment results showed that the system could warn of an increasing trend in deviation probability 20 min later, rapidly diagnose and locate the corresponding idler when deviation actually occurred, and accurately execute correction instructions, realizing an automated closed loop of "perception-prediction-decision-execution".

     

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