多点驱动带式输送机功率平衡机制研究

Research on Power Balancing Mechanism of Multi-point Drive Belt Conveyor

针对多点驱动带式输送机功率不平衡降低输送效率及生产寿命问题,对多电机间的协调控制进行研究。对传统偏差耦合多电机协调控制结构进行了改进,增加了基于转速功率控制的同步误差补偿器,通过求取所有电机的平均转速和单台电机的转速差,利用PI控制器,同时结合每台电机的系统转速跟踪误差,反馈补偿到每台电机的控制回路进行多电机协调控制。仿真结果表明,系统可以在负载变化扰动的情况下有效降低各电机的同步误差,特别是对系统刚启动时负载不均衡导致的电机功率不平衡问题,改进结构可以有效实现多电机间的功率平衡分配。

Aiming at the problems of reducing conveying efficiency and production life caused by unbalanced power of multi-point drive belt conveyor,the coordinated control of multi-motor was studied. The traditional deviation-coupled multi-motor coordinated control structure was improved by adding a synchronous error compensator based on speed and power control. By calculating the average speed of all motors and the speed difference of one motor,the PI controller was used, and the system speed tracking error feedback of each motor was combined to compensate the control circuit of each motor to carry out the multi-motor coordinated control. The simulation results show that the system can effectively reduce the synchronization error of each motor under the disturbance of load variation,especially the unbalanced power of the motor caused by the unbalanced load when the system is just started. The improved structure can effectively realize the power balance distribution among multiple motors.