矿井带式输送机多电动机同步控制技术

程国栋; 吴玮

doi:10.13272/j.issn.1671-251x.17831

矿井带式输送机多电动机同步控制技术

doi: 10.13272/j.issn.1671-251x.17831

程国栋¹,
吴玮²

1. 中国矿业大学徐海学院, 江苏徐州 221008;
2. 江苏建筑职业技术学院建筑智能学院, 江苏徐州 221008

基金项目:

江苏省高等学校自然科学研究面上项目(18KJD470007)；中国矿业大学徐海学院一流专业培育项目(YA2001)。

详细信息

作者简介:
程国栋(1986-)，男，江苏沛县人，讲师，硕士，研究方向为电力传动与自动控制技术，E-mail:guodongcheng1206@163.com。

中图分类号: TD634
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- 被引次数: 0
出版历程
- 收稿日期: 2021-08-27
- 修回日期: 2021-12-01
- 刊出日期: 2021-12-20

Multi-motor synchronous control technology of mine belt conveyor

CHENG Guodong¹,
WU Wei²

1. Xuhai College, China University of Mining and Technology, Xuzhou 221008, China;
2. Institute of Building Intelligence, Jiangsu Vocational Institute of Architectural Technology, Xuzhou 221008, China

摘要

摘要: 矿井长距离带式输送机采用多点驱动方式时，对距离较远的驱动点之间采用多电动机同步控制，基于传统偏差耦合控制的多电动机同步控制策略在各电动机转动惯量不同时，无法满足启动过程同步要求，且稳态受扰时的同步精度不高。针对上述问题，提出了一种改进偏差耦合控制方法。在传统偏差耦合控制的基础上增加结构简单易实现的转矩补偿器，将各电动机实际转速与所有电动机平均转速的偏差送至比例控制器进行调节，再将比例控制器输出结果作为所需的转矩补偿信号；为保证多电动机传动系统安全运行，对补偿后的各电动机输出转矩进行相同的限幅。仿真和实验结果表明，带转矩补偿器的改进偏差耦合控制在不影响系统动态响应速度的情况下，实现了不同转动惯量下多电动机在启动阶段的转速同步，稳态运行时的抗扰性能好且受到扰动后的同步精度高。
- 带式输送机 /
- 多电动机同步控制 /
- 偏差耦合控制 /
- 转矩补偿 /
- 转速同步补偿
Abstract: When the mine long-distance belt conveyor adopts multi-point driving mode, the multi-motor synchronous control is adopted between the driving points at a long distance. Moreover, the multi-motor synchronous control strategy based on the traditional relative coupling control can not meet the synchronous requirements in the starting process when the rotational inertia of each motor is different, and the synchronous precision is not high when the steady state is disturbed. In order to solve the above problems, an improved relative coupling control method is proposed. A simple structured and easily implemented torque compensator is added on the basis of the traditional relative coupling control, the deviation between the actual rotating speed of each motor and the average rotating speed of all the motors is sent to a proportional controller for adjustment, and then the output result of the proportional controller is taken as a required torque compensation signal. In order to ensure the safe operation of the multi-motor drive system, the output torque of each motor after compensation is subjected to the same amplitude limiting. The simulation and experimental results show that the improved relative coupling control with torque compensator can realize the speed synchronization of multi-motors in the starting phase under different moments of inertia without affecting the dynamic response speed of the system. The proposed method ensures the system to have good anti-disturbance performance in steady state operation and high synchronization precision after disturbance.
- belt conveyor /
- multi-motor synchronous control /
- relative coupling control /
- torque compensation /
- speed synchronization compensation

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参考文献(15)

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