大型電鏟挖掘機構優(yōu)化設計

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摘要

大型電鏟是應用于露天采礦的最主要的重型裝備。目前，中國的電鏟主要依賴于進口，研發(fā)具有自主知識產(chǎn)權的電鏟也是順應國家政策、支持中國露天采礦工業(yè)發(fā)展的必要。目前，電鏟挖掘機構的系統(tǒng)優(yōu)化尚有欠缺，本課題研究的是電鏟挖掘機構的優(yōu)化算法，通過尺寸優(yōu)化提高某新型電鏟挖掘機構的挖掘效率，降低單位產(chǎn)量的能耗。而新型的電鏟挖掘機構本課題采用了遺傳學算法對電鏟挖掘機構進行優(yōu)化，其中，算法的適應度函數(shù)的主體為電鏟的能耗，為計算電鏟的能耗，主要進行了一下研究：1.電鏟挖掘機構的工作環(huán)境的研究，包括被挖掘物料的物理性質、被挖掘物料的堆積形式，挖掘過程中的挖掘阻力，以及挖掘軌跡等；2.電鏟挖掘機構的運動學、動力學數(shù)學模型的建立，以及相應的Matlab編程。此外，遺傳學優(yōu)化算法還需明確需要優(yōu)化的對象，對于電鏟挖掘機構來說，包括部分尺寸變量以及新型的挖掘軌跡相應的變量，并將以上作為優(yōu)化變量。通過遺傳學優(yōu)化算法，本課題成功得大幅降低了某一新型電鏟挖掘機構的功耗。

關鍵詞：電鏟，挖掘機構，優(yōu)化設計，遺傳算法，新型挖掘軌跡


Optimization Design on Working Mechanism of Heavy Electric Shovel
ABSTRACT
The mining industry is the base of the economy of China, responsible for the energy resource supplement such as coal and raw minerals supplement for industry such as iron ore, aluminum ore, copper ore, etc. Especially, for traditional coal mine underground, the risk of the safety of the miners is very high, and the labor cost had grew much higher than early years. As put forward by 12th Five-year Plan, our country should shift the priority to the construction of opencast mines. However, in China, heavy mine equipment which are the most important element to make an open-pit mine profitable, are usually imported from foreign countries. And electric shovel is one of the main equipment for an open-pit mine. So the research and developing of the electric shovel not only complies with the national policy, but also is necessary to support China's open-pit mining industrial. This paper would focus on the size optimization of a new type excavating mechanism which can improve the efficiency, reducing energy consumption for per unit of production. This paper mainly focuses on the optimization design of the size and trace of the excavating mechanism with the Genetic Algorithm, the power consumption is taken as the objective function in the algorithm. To obtain the total power consumption, research below should be done: 1. the analysis and research of the excavating environment, including by the physical properties of materials, the accumulation form of the materials, the interaction between the digging tool and the soil in the process of mining, the excavating trajectory, etc. 2. The establishment of the kinetic model and dynamical model of the electric shovel work mechanism, and the corresponding program with software Matlab. To complete the optimization, this paper studies the parameters which are relevant to the excavating mechanism and trace. As an achievement, the total power consumption was cut down by 16.7% with the Genetic Algorithm.

Keywords: excavator, excavating mechanism, optimization design, genetic algorithm, new type of excavating trajectory



目 錄
第一章緒論 1
1.1研究的背景和意義 1
1.2電鏟概述與國內外研究現(xiàn)狀 2
1.3遺傳優(yōu)化算法設計 5
1.3.1電鏟挖掘機構的阻力載荷 5
1.3.2電鏟工作方式的分析以及運動學模型 5
1.3.3電鏟挖掘機構的動力學建模 6
第二章 電鏟工作過程中的阻力載荷分析 7
2.1前言 7
2.2挖掘阻力分析 7
2.2.1挖掘阻力的影響因素 7
2.2.2電鏟挖掘阻力模型 9
2.2.3挖掘阻力的計算分析 11
2.3傳統(tǒng)電鏟挖掘軌跡分析 13
2.4本章小節(jié) 15
第三章 某新型電鏟挖掘機構分析及運動學建模 16
3.1前言 16
3.2挖掘機構分析 16
3.2.1電鏟挖掘機工作模式 16
3.2.2傳統(tǒng)電鏟的局限性 18
3.2.3一種新型的三自由度電鏟挖掘機構 21
3.3挖掘機構的運動學建模 21
3.4各構件的運動學模型 25
3.5本章小節(jié) 27
第四章 挖掘機構動力學模型 28
4.1前言 28
4.2動力學方程的建立 28
4.3各構件質量、轉動慣量的確定 33
4.4動力學模型的計算 33
4.5本章小節(jié) 38
第五章 挖掘機構尺寸優(yōu)化設計 39
5.1前言 39
5.2遺傳學算法的基本內容和步驟 39
5.2.1染色體的編碼 39
5.2.2初始種群的生成 39
5.2.3適應度函數(shù)的設計 40
5.2.4基本遺傳操作 40
5.3遺傳函數(shù)算法設計 41
5.3.1優(yōu)化設計變量編碼 41
5.3.2適應度函數(shù) 44
5.3.3初始種群的生成 45
5.3.4遺傳操作參數(shù)的選擇 45
5.4優(yōu)化結果 45
5.5本章總結 52
第六章 結論 53
6.1研究成果 53
6.2研究展望 53
參考文獻 55
謝辭 57