基于LSTM−PI的刮板输送机多电动机功率平衡自适应控制方法

Adaptive control method for multi-motor power balance of scraper conveyor based on LSTM-PI

  • 摘要: 针对现有刮板输送机电动机功率控制方法在不同工况下存在控制滞后、无法在线动态调节及抗干扰能力差等问题,将长短期记忆(LSTM)网络与PI控制相结合,提出了一种基于LSTM−PI的刮板输送机多电动机功率平衡自适应控制方法。该方法在传统PI控制的基础上引入LSTM网络,根据电动机电流及额定链速与实际链速的差值对电动机输出功率进行预测,将电动机功率预测值与实际值的差值进行非线性映射,实现PI控制参数的在线动态调整,通过PI控制器调整电动机的输出电磁转矩,从而实现刮板输送机多电动机功率平衡。仿真结果表明:LSTM网络能有效跟踪实际功率的变化,预测结果展现出较强的时序连续性和趋势一致性,避免了预测值的大幅波动;在启动、负载突变及负载不均衡等典型工况下,LSTM−PI控制能有效抑制链速波动与电流振荡,链速、电流波动幅值较传统PI控制分别减少了3%和4%,提高了运行稳定性;在高负载、低速重载及单侧偏载等边界工况下,LSTM−PI能更加快速、平稳地完成功率调节,抑制功率波动,提高了功率调节效率与抗干扰能力。

     

    Abstract: To address the problems of control lag, inability to perform online dynamic adjustment, and poor anti-interference ability in existing motor power control methods for scraper conveyors under different working conditions, this study combined the Long Short-Term Memory (LSTM) network with PI control and proposed an adaptive control method for multi-motor power balance of scraper conveyors based on LSTM-PI. On the basis of traditional PI control, this method introduced the LSTM network to predict motor output power based on motor current and the difference between the rated chain speed and the actual chain speed. The difference between the predicted motor power value and the actual value was used to realize online dynamic adjustment of PI control parameters through nonlinear mapping. The output electromagnetic torque of the motor was then adjusted through the PI controller, thereby achieving multi-motor power balance of the scraper conveyor. The simulation results showed that the LSTM network could effectively track changes in actual power, and the prediction results showed strong temporal continuity and trend consistency, avoiding large fluctuations in predicted values. Under typical working conditions such as start-up, sudden load change, and load imbalance, LSTM-PI control could effectively suppress chain speed fluctuation and current oscillation. The fluctuation amplitudes of chain speed and current were reduced by 3% and 4%, respectively, compared with traditional PI control, thereby improving operating stability. Under boundary working conditions such as high load, low-speed heavy load, and unilateral eccentric load, LSTM-PI could complete power regulation more quickly and smoothly, suppress power fluctuation, and improve power regulation efficiency and anti-interference ability.

     

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