Fuzzy Active Disturbance Rejection Deviation Coupled Multi Motor Control Strategy for Permanent Magnet Direct Driving Belt Conveyors

doi:10.3969/j.issn.1004-132X.2024.11.019

Abstract

Abstract: In response to the problems of low transmission efficiency, high power consumption, poor performance in heavy load starting, and asynchronous operations of multiple motors in the traditional asynchronous motor driving system of belt conveyors in coal mines, a multi-motor permanent magnet direct driving belt conveyor was proposed based on the fuzzy active disturbance rejection deviation coupling control strategy. Then, the simulation tests of fuzzy active disturbance rejection deviation coupling control strategy and the on-site industrial tests of underground transportation groove belt conveyor were carried out, and the results show that compared with traditional master-slave control, the multi motor permanent magnet direct driving system of the belt conveyors based on fuzzy PI active disturbance rejection deviation coupling control strategy has a maximum speed difference of only 0.04% among multi motors under rated loads, and a maximum synchronization performance improvement of 99.7%. In the on-site dynamic coal dropping tests, the maximum asynchronous speed is only 2%, which may meet the zero speed heavy load starting requirements of long distance and heavy duty belt conveyors, significantly improving the synchronization performance and anti-interference ability of the multi motor driving system of belt conveyor.

Key words: , belt conveyor, permanent magnet direct driving, fuzzy active disturbance rejection, deviation coupling, electromechanical coupling dynamics

摘要： 针对煤矿井下带式输送机传统异步电机驱动系统存在的传动效率低、耗电量高、重载启动性能差以及多电机运行不同步等问题，提出了基于模糊自抗扰偏差耦合控制策略的多电机永磁直驱带式输送机。在此基础上开展了模糊自抗扰偏差耦合控制策略仿真试验与井下运输顺槽带式输送机现场工业性试验，结果表明：相较于传统主从控制，基于模糊PI自抗扰偏差耦合控制策略的带式输送机多电机永磁直驱系统，在额定负载下多台电机之间的最大转速不同步度最小仅为0.04%，同步性能最大可提高99.7%；而在现场动态落煤工况试验中，最大转速不同步度仅为2%，能够满足长距离重载带式输送机的零速重载启动要求，可显著提高带式输送机多电机驱动系统的同步性能与抗干扰能力。

关键词: 带式输送机, 永磁直驱, 模糊自抗扰, 偏差耦合, 机电耦合动力学

CLC Number:

TH222
TM351

ZHANG Lei1, BAO Jiusheng1, HAO Jianwei1, YANG Xiaolin2, YIN Yan1, WEI Chunji1, WANG Lei1, GE Shirong3. Fuzzy Active Disturbance Rejection Deviation Coupled Multi Motor Control Strategy for Permanent Magnet Direct Driving Belt Conveyors[J]. China Mechanical Engineering, 2024, 35(11): 2071-2081.

张磊1, 鲍久圣1, 郝建伟1, 杨小林2, 阴妍1, 魏春基1, 王雷1, 葛世荣3. 永磁直驱带式输送机模糊自抗扰偏差耦合多电机控制策略[J]. 中国机械工程, 2024, 35(11): 2071-2081.

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