Optimal Coordinated Control And Experimental Study Of Both-end Driven Belt Conveyors

Belt conveyors are the core transportation equipment for bulk materials and have been widely used in many industrial fields,which have the characteristics of wide variety of materials,large transportation volume,high transportation efficiency and low cost.With the development of China's industry,the number of high-performance large-scale belt conveyors with long distances,high belt speeds,and large throughput is increasing.To meet the high demand for production and transportation,many large belt conveyors are driven at both ends.During the operation of belt conveyors,there is a phenomenon of asynchronous speed and torque between both-end drive motors,which may damage the components of belt conveyors,reduce their service life,and even cause safety accidents.The coordinated control between the drive motors is the key to the safe and stable operation of belt conveyors.Therefore,it is of great theoretical significance and practical value to study the coordinated control methods of both-end driven belt conveyors.The main work of this thesis is summarized as follows:1.The mathematical model of both-end driven belt conveyors is established.Firstly,the Kevin-Voigt equivalent model is used to describe the viscoelasticity of conveyor belts,and the dynamic model of overall conveyor belts is established by the finite element analysis method.Secondly,the stiffness factor and the damping factor are used to describe the motion state between the both-end drive motor-reduction gearbox-coupling,and the overall mathematical model of both-end driven belt conveyors is established based on the model of vector decoupling single drive motor.Finally,the rationality of the system model is verified through simulation.2.Based on the established system model,with the goal of minimizing the speed tracking error of a single drive motor,the speed synchronization error and the q-axis current(torque)synchronization error between both-end drive motors,an optimal coordinated control method based on singular perturbation theory is proposed.Firstly,the voltage compensation component is added to the master-slave control structure to obtain the optimal coordinated control structure,At the same time,the H_?control is combined to establish the optimal coordinated controller design model.Secondly,based on the singular perturbation theory and H_?control theory,a design method of state feedback optimal coordinated controller is proposed.Thirdly,the full-order state observer is designed to reconstruct the system state to form an optimal coordinated control method based on the state observer.Finally,a simulation analysis is performed.The simulation results show that,compared with the traditional coordinated control method,the proposed method can effectively improve the speed tracking performance of both-end drive motors of belt conveyors,achieve better speed synchronization and torque synchronization,and have better robustness.It can improve the coordinated control accuracy of the system as a whole and ensure the safe and stable operation of belt conveyors.3.A dSPACE based rapid control prototype simulation experiment platform of belt conveyors is constructed,and the platform's hardware system and software system are designed.Then,a real-time experiment study is performed on this platform.The experiment results show that the overall performance of the proposed optimal coordinated control method is superior to the traditional coordinated control method.The control system has the characteristics of simple structure,high reliability and strong anti-interference ability,and has important engineering application value.The thesis has 33 figures,4 tables and 84 references.