Modeling And Researching On H_∞Control Of The Belt Conveyor System

With the development of the belt conveyor towards large load, long distance and high speed, the urgent question is the dynamic analysis and the control of the belt conveyor.The paper analyses the viscoelastic properties of belt, selects Voigt model suiting to the belt by comparing kinds of viscoelasticity models and their dynamic properties. On the basis of the above analysis, this paper establishes mathematical models of the overall belt conveyor system with finite elemental method.Robust control of belt conveyor system has been studied given the disturbance and parametric uncertainties in the running of belt conveyor.1. The paper establishes mathematical models of the overall belt conveyor with the finite element analysis,and state equation by choosing appropriate state variables.2. Many external disturbance exist in the running of belt conveyor. A output feedback H∞robust controller is designed based on the problem of interference suppression. The controller can suppress interference well, and has good robust stability.3. Becanse H∞robust controller has high order. The engineering realization of the controller is very difficult. Compared with the full order control, the reduced controller through real Schur decomposition method can suppress interference well, and has good robust stability.4. Output feedback H∞robust controller is designed based on the parametric uncertainties. The simulation results show that the output feedback H∞robust controller can remain stable and meet the response of the system, when the parametric uncertainties exist in the belt conveyor.