Beruflich Dokumente
Kultur Dokumente
3, March 2016
ksta k equals the belt tension after the drive pulley adding the
kN S B insta S A,min (1) driving force:
1 rVerb 1 rVerb
F1 F2 Fd
In the above equation following values are: (7)
kN - nominal rupture force of specified belt F1 A F2 A FdA
ksta - belt stress in steady operating condition where
SB - safety factor in steady operating condition F1 - belt tension after the drive pulley in steady operating
rVerb - loss of strength in the belt joint condition
In non-steady operating condition, including transient F1A - belt tension after the drive pulley in transient
operation, the following equation must be fulfil to reduce the operation
risks of breaking: Fd - drive force of pulley in steady operating condition
FdA - drive force of pulley in transient operation
kN In transient operation, the peripheral driving forces on the
kinsta SA (2) drive pulley(s) equal the forces required to overcome the
1 rVerb
motional resistances and the extra driving forces caused by
where the acceleration,
kinsta - belt stress in transient operation
SA - safety factors in transient operation FdA Fd Fac (8)
2mbelt
Fd CfLg mroll
mbulk (12)
As Fig. 1 illustrates, the belt tension before the drive pulley
207
IACSIT International Journal of Engineering and Technology, Vol. 8, No. 3, March 2016
According to the Newtons second law of motion, the universal mathematical expression of acceleration time, the
forces to overcome the inertia are profile coefficients are introduced, which are associated with
acceleration profiles, and the values of these coefficients are
Fac are given in Table I. Then the required minimum acceleration
a (13)
L mroll 2mbelt
mbulk time Ta,min can be presented as
V
Then substituting (9) and (12) in (13) yields the permitted Ta ,min C * (19)
maximum acceleration amax
where
S SA V - speed regulation range
F2
amax,break Cfg B (14) C* - profile coefficient
L mroll
2mbelt
mbulk SA
where Rectangular
amax,break - permitted maximum acceleration honoring the Sinusoid
belt tension rating and safety factor Deltoid
Acceleration (m/s 2)
Another constrain of permitted acceleration is the wrap Parabolic
0.04
factor which relates to the wrap angle of belt around the
pulley(s) and the coefficient of friction between belt and 0.02
pulley(s). According to Euler-Eytelwein formula [21], in
0
transient operation, the ratio between the belt tension before
4
and after the drive pulley is limited as [13], [19], [22]
Velocity (m/s)
3.5
F1 A
e (15)
F2 A
3
in which 0 10 20 30 40
- coefficient of friction between belt and drive pulley Time (s)
- wrap angle of belt around the pulley(s) Fig. 2. Acceleration profiles and velocity curves.
Otherwise, the unexpected slip between the belt and the
TABLE I: PROFILE COEFFICIENT WITH VARIOUS ACCELERATION PROFILES
drive pulley might occur and the slip always increases the
Acceleration Sinusoi
wear of belt. Combining (7) and (15) declares the permitted Rectangular Deltoid Parabolic
profile d
maximum driving force FdA,max in transient operation: Coefficient C* 1 /2 2 1.5
FdA,max e 1 F2 (16)
III. FINITE ELEMENT MODEL
Then substituting (8), (12) and (16) in (13) yields the In the above section, the method deciding the acceleration
permitted acceleration which honors the ratio between the in transient operation has been described in detail. However,
belt tension before and after drive pulley: it should be pointed out that the equations neglect the effect
of dynamics and hysteresis, and based on the practical
amax, slip
e
1 F2
Cfg (17)
experiences the demanded acceleration time is usually larger
L mroll
2mbelt
mbulk than that calculated. To analyze the belt dynamics and to
correct the demanded acceleration time, simulations are
carried out. The simulation is based on the finite element
where model.
amax,slip - permitted acceleration honoring the ratio between Belt conveyor system is a complicated system with
the belt tension before and after drive pulley thousands of components and almost every conveyor system
has its own unique layout and structure. A typical long
With regard to risks of both breaking and slipping, the belt-conveyor geometry is illustrated in Fig. 3 to help
permitted acceleration amax in transient operation equals understand the belt conveyor and the finite element model
theory.
amax min amax,break , amax, slip (18)
tail pulley belt drive pulley
208
IACSIT International Journal of Engineering and Technology, Vol. 8, No. 3, March 2016
For a large-scale belt conveyor system, the length of idler station, and the average mass of idlers per unit length is
conveyor belt is much larger than the width and thickness. In 14.86 kg; the return part is supported by one-roll idlers, and
many situations, it is eligible to analyze the belt dynamics and the average mass of idlers per unit length is 7.72kg. And
behavior with one-dimensional model [19]. And in the axial spring factor and damping factor can be obtained [26] by:
direction, the conveyor belt shows visco-elastic property.
Based on the visco-elastic theory, several famous dynamic Eb A
models have been built to simulate and analyze the dynamics ki (21)
Li
of conveyor belt: Maxwell model, Kevin/Voigt model,
Eb A
three-element model which Kevin/Voigt model and elastic hi (22)
element are in series [23] and five element composite Li
rheological model [24], etc. Meanwhile, these models have
already been successfully employed to study the dynamic where Li is length of ith segment and is viscous hysterics
characteristics of conveyor belt [20], [25]. coefficient, and here the viscous hysterics coefficient is set as
To analyze the conveyor dynamics in transient operation, 1.0. The friction coefficient between the drive pulley and
the belt element composite model is built as Fig. 4. In Fig. 4, the belt is 0.35, and the wrap angle of the belt on the drive
the symbols of Fi, ki, hi, ci and mi represent the equivalent pulley is 180, and the artificial friction coefficient f is 0.018.
tensile force, spring coefficient, viscous damping
coefficient Coulomb frictional coefficient and the reduced Lconv
Lc Load
mass of the ith segment, respectively. v
ki
mi
Fi+1 hi Fi Lr
ci
mT
i 2 1 1/2mTg Fig. 5. Horizontal belt conveyor lay-out [19].
n i+1 i-1
Fd B. Simulation Results
n+1 n+2 n+3 j N-1 N 1/2mTg Conveyor belt dynamics is simulated with belt fully loaded
Fig. 4. Finite element model of belt conveyor.
and in the simulation, the variable voltage and variable
frequency drive control is taken into account to ensure the
With Newtons second law, the mathematical expression acceleration curves on the drive pulley following the defined
of belt can be expressed as: acceleration profile. Here, the sinusoid acceleration profile is
applied, and during the acceleration process, the
F - KX - HX - C(M, X, F)
instantaneous acceleration equals
X= (20)
M
V t
where a t sin (23)
M - matrix of unit mass 2 Ta Ta
H - matrix of damping constants
K - matrix of elasticity constant Assuming that the secondary resistance factor C is set to
X - column vector of acceleration 1.08, the minimum safety factor SA and SB respectively equal
X - column vector of speed 5.4 and 8.0, and the original speed is 3 m/s. Then based on
X - column vector synthetic displacement (14), (17), (18) and data in Table I, the conveyor is expected
F - column vector of driving force to reach the reference speed 5m/s in 37 seconds.
C(M, X,F) - column vector of Coulomb friction. Fig. 6 illustrates the conveyor dynamics of speed in
transient operation. During the speed regulation procedure,
the head pulley speed increases smoothly and at the time
point 37 s, the head pulley reaches the desired speed. Unlike
IV. CASE STUDY
that of head pulley, at the beginning of acceleration process,
A. Over View the speed of tail pulley has only little changes. After few
seconds delay, the tail pulley starts to accelerate and at the
In this section, a long horizontal belt conveyor shown in
time point 21.6 s, the tail pulley speed overtakes the head
Fig. 5 is studied.
pulley, and at the time point 35 s, the speed of tail pulley
A five layer fabric belt EP 500/5 is employed to transport
reaches the peak 5.25 m/s. After that the speed of tail pulley
the coal from one station to another, and the distance between
begin its long period fluctuation around the demanded speed.
the two stations Lconv is 1000 m and the nominal capacity Qn
As discussed, during the transient operation, the main risks
is 2500 t/h. With Youngs modulus Eb 340.917 MPa, unit
to belt are breaking at the splicing area and slipping with the
mass mbelt 14.28 kg/m, cross-section area A 0.01235 m2 and
drive pulley. To reduce the chances of belt breaking, in
width B 1.2 m, the belt is tensioned by a 5200 kg take-up transient operation, the actual safety factor is expected to be
device. The carrying part of belt is supported by three-roll larger than the demanded, 5.4. Fig. 7 illustrates the actual
209
IACSIT International Journal of Engineering and Technology, Vol. 8, No. 3, March 2016
safety factor in transient operation. The figure shows at the simulation results. The simulation result suggests in this
time point 20 s, the actual safety factor reaches its bottom, defined case study, the required acceleration time should be
around 5.8, which is larger than the demanded. Therefore, in at least 47 seconds.
this acceleration process, the possibilities of belt breaking
caused by the unexpected tensile force are very low. 85
5.5
tail pulley
4 75
3.5
3
70
35 40 45 50 55 60
2.5
0 20 40 60 80 100 Time (s)
Time (s) Fig. 9. Maximum belt tensile force with different acceleration
Fig. 6. Speed curves in speed regulation process.
In this section, case of horizontal belt conveyor is studied.
9
Based on finite element model, the simulations are carried
SB,min=8
out with calculated acceleration time. The analyses of belt
8 dynamic behaviors implies that in transient operation, the risk
Safety factor (-)
80 V. CONCLUSION
Belt tension (kN)
210
IACSIT International Journal of Engineering and Technology, Vol. 8, No. 3, March 2016
[6] A. Mukhopadhyay, A. Chattopadhyay, R. Soni, and M. Bhattnagar, [23] G. Li, Dynamics and Design of Belt Conveyor, China Machine Press,
"Energy efficient idler for belt conveyor systems," Bulk Solids 1998.
Handling, vol. 29, p. 214, 2009. [24] L. Nordell and Z. Ciozda, "Transient belt stresses during starting and
[7] A. Emadi, Energy-Efficient Electric Motors, Revised and Expanded, stopping: Elastic response simulated by finite element methods," Bulk
CRC Press, 2004. Solids Handling, vol. 4, pp. 93-98, 1984.
[8] M. Yester, "The basics and cost savings of utilizing vertical conveyor [25] P. Kulinowski, "Dynamic start-up calculations for belt conveyors with
technology," Bulk Solids Handling, vol. 17, pp. 357-368, 1997. measured torque curves of fluid couplings," Hydrodynamic Power
[9] A. Dalgleish and L. Grobler, "Measurement and verification of a motor Transmission, pp. 443-448, 2004.
sequencing controller on a conveyor belt," Energy, vol. 28, pp. 913-927, [26] H. W. Ma, D. S. Li, X. H. Zhang, and Q. H. Mao, "Dynamic Simulation
2003. Analysis of Belt Rupture for Belt Conveyor," Applied Mechanics and
[10] W. Daus, S. Koerber, and N. Becker, "Raw coal loading and belt Materials, vol. 313, pp. 1120-1124, 2013.
conveyor system at nochten opencast mine," Braunkohle, vol. 50, pp.
117-130, 1998. Daijie He was born in Jiangyou City, China in 1988. He
[11] Variable-Speed Drives for Belt-Conveyor Systems, 2000. is a PhD candidate of Delft University of Technology
[12] J. Hiltermann, G. Lodewijks, D. L. Schott, J. C. Rijsenbrij, J. A. J. M. (TUD). He received his bachelor and master degree from
Dekkers, and Y. Pang, "A methodology to predict power savings of College of Engineering and Technology, Southwest
troughed belt conveyors by speed control," Particulate Science and University, China in 2011 and 2013 respectively.
Technology, vol. 29, pp. 14-27, 2011. Awarded a scholarship under the State Scholarship
[13] Continuous Conveyors-Belt Conveyors for Loos Bulk Materials-Basics Fund, he started his PhD study in 2013. His main
for Calculation and Dimensioning, 1982. domains of interest are bulk solids handling,
[14] J. Hiltermann, Reducing the Eletrical Power Consumption of Troughed
transportation and logistics, modeling and simulation.
Belt Conveyors by Speed Control, July 4, 2008.
[15] Y. Pang and G. Lodewijks, "Improving energy efficiency in material
Yusong Pang was graduated in China with a MSc degree
transport systems by fuzzy speed control," in Proc. the 2011 3rd IEEE
International Symposium on Logistics and Industrial Informatics in electrical engineering. Since 2000 he worked at Practis
(LINDI), 2011, pp. 159-164. B.V. and Seaview B.V. in the Netherlands. After his PhD
[16] H. Lauhoff, "Belt conveyor technology-speed control on belt research of intelligent belt conveyor monitoring and
conveyors-Does it really save energy?" Bulk Solids Handling, vol. 25, control in 2007, he worked at the Advisory Group of
p. 368, 2005. Industrial Installations of Royal Haskoning, Netherlands
[17] S. Zhang and X. Xia, "A new energy calculation model of belt as a project engineer and mechanical engineer. Currently,
conveyor," in Proc. the Conference of the African Continent and he is an assistant professor in the Section of Transport
Provides a Platform for acaDemics and Industry Professionals, 2009, Engineering and Logistics, Delft University of Technology, Netherlands.
pp. 1-6. His main research interests include reliability control and sustainability
[18] L. B. Ristic and B. I. Jeftenic, "Implementation of fuzzy control to management in material transport
improve energy efficiency of variable speed bulk material
transportation," IEEE Transactions, Industrial Electronics, vol. 59, pp. Gabriel Lodewijks studied mechanical engineering at
2959-2969, 2012. Twente University and Delft University, Netherlands. He
[19] G. Lodewijks, "Dynamics of belt systems," Doctor, Delft University of obtained a master degree in 1992 and a PhD on the
Technology, Faculty of Machanical Engineering and Marine dynamics of belt systems in 1996. He is the president of
Technology, Delft University of Technology, 1996. Conveyor Experts BV, which he established in 1999. In
[20] A. Nuttall and G. Lodewijks, "Dynamics of multiple drive belt
2000, he was appointed as a professor of the Department
conveyor systems," Particle and Particle Systems Characterization,
Transport Engineering and Logistics at the Faculty of
vol. 24, pp. 365-369, 2007.
Mechanical, Maritime and Materials Engineering. From
[21] G. Kuhnert and G. Schulz, "The origins of the" rope friction equation,"
Bulk Solids Handling, vol. 15, pp. 261-264, 1995. 2002, he was appointed as the chairman of the department and the vice dean
[22] G. Lodewijks, "Non-linear dynamics of belt conveyor systems," Bulk of the faculty since 2011.
Solids Handling, vol. 17, pp. 57-68, 1997. His main interests include belt conveyor technology, automation of
transport system, material engineering and dynamics.
211