Speed synchronization control method for multi motor drive system of belt conveyor
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摘要: 带式输送机多电动机驱动系统在生产过程中，如果发生个别电动机转速不同步现象，会造成输送带断裂及机电设备损坏，因此需要对带式输送机多电动机驱动系统进行转速协同控制。传统的偏差耦合控制方法具备较好的综合性能，但存在控制结构复杂、扩展能力差、启动及稳态运行过程中易受负载扰动导致转速偏差等问题。针对上述问题，提出一种带式输送机多电动机驱动系统转速同步控制方法。通过引入虚拟电动机，采用各电动机与虚拟电动机之间的间接耦合关系替代传统偏差耦合结构中电动机之间的直接耦合关系，简化了系统的同步补偿器模型，减小了各电动机间的同步偏差，实现了各电动机的同步控制。当电动机数量变化时，只需在虚拟电动机转速同步补偿器中加入新的转速变量即可，原系统的转速同步补偿器无需改变，增强了系统可扩展性能。分析结果表明：① 系统启动阶段，改进偏差耦合结构中刚性连接与柔性连接电动机之间具备较好的同步性能。与传统偏差耦合结构相比，刚性连接电动机之间的同步偏差减少了4.0 r/min，使启动过程中主驱动滚筒具备良好的初始动力。② 负载突变时，刚性连接电动机之间的同步偏差为1.7 r/min，刚性与柔性连接电动机之间的同步偏差平均值为14.6 r/min，比传统耦合偏差结构分别降低了5.2，31.7 r/min，可有效降低负载突变对电动机机械结构的损伤。Abstract: In the production process of a multi motor drive system of belt conveyor, if individual motor speeds are not synchronized, it can cause conveyor belt breakage and mechanical and electrical equipment damage. Therefore, it is necessary to carry out speed collaborative control on the multi motor drive system of belt conveyors. The traditional deviation coupling control method has good comprehensive performance. But it has problems such as complex control structure, poor scalability, and susceptibility to load disturbances during startup and steady-state operation, resulting in speed deviation. In order to solve the above problems, a speed synchronization control method for multi motor drive system of belt conveyor is proposed. By introducing virtual motors, and adopting indirect coupling relationships between each motor and virtual motors instead of direct coupling relationships between motors in traditional deviation coupling structures, the synchronous compensator model of the system is simplified. The synchronous error between each motor is reduced, and the synchronous control of each motor is achieved. When the number of motors changes, only new speed variables need to be added to the virtual motor speed synchronous compensator. The speed synchronous compensator of the original system does not need to be changed, enhancing the system's scalability performance. The analysis results show the following points. ① During the system startup stage, the improved deviation coupling structure has good synchronization performance between the rigid and flexible connected motors. Compared with traditional deviation coupling structures, the synchronization error between rigidly connected motors is reduced by 4.0 r/min, providing good initial power for the main drive drum during start-up. ② When the load suddenly changes, the synchronization error between rigid connected motors is 1.7 r/min. The average synchronization error between the rigid and flexible connected motors is 14.6 r/min, which is 5.2, 31.7 r/min lower than the traditional coupling deviation structure, respectively. This can effectively reduce the damage to the mechanical structure of the motor caused by the load sudden change.
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图 8 改进偏差耦合结构的跟踪偏差
Figure 8. Tracking error of the improved deviation coupling structure
表 1 PMSM主要仿真设计参数
Table 1. Main simulation design parameters of PMSM
参数 取值 Rs/Ω 2.875 Ld/mH 0.85 Lq/mH 0.85 Ψf/Wb 0.175 J/(kg·m2) 0.825×10−3 Jvir/(kg·m2) 7.425×10−3 Pn 2 TN/(r·min−1) 600 
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表 2 传统偏差耦合结构启动过程跟踪偏差
Table 2. Process tracing error of traditional deviation coupling structure initiation
偏差类型 τ1 τ2 τ3 τ12 τ13 τ23 转速/（r·min−1） 117.9 118.3 152.6 5.2 28.6 29.2
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表 3 传统偏差耦合结构负载突变过程跟踪偏差
Table 3. Traditional deviation coupling structure load mutation process trace error
偏差类型 τ1 τ2 τ3 τ12 τ13 τ23 转速（r·min−1） 109.6 110.2 157.3 6.9 45.4 47.2
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表 4 改进偏差耦合结构启动过程跟踪偏差
Table 4. Process trace error of improved deviation coupling structure initiation
偏差类型 τ1 τ2 τ3 τ12 τ13 τ23 转速/（r·min−1） 90.4 89.2 107.5 1.2 14.1 14.9
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表 5 改进偏差耦合结构负载突变过程跟踪偏差
Table 5. Improved deviation coupling structure load mutation process trace error
偏差类型 τ1 τ2 τ3 τ12 τ13 τ23 转速/（r·min−1） 85.8 84.7 101.3 1.7 14.9 14.3
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