基于扰动补偿的皮带传送机直驱系统互补终端滑模控制

Complementary Terminal Sliding Mode Control for Belt Conveyor Drive System Based on Disturbance Compensation

针对皮带传送机运输载荷突增时造成永磁同步电机急停,进而引发输送带断裂等安全事故的问题,提出一种基于扩展滑模观测器扰动补偿的皮带传送机直驱系统互补终端滑模控制策略。首先将广义终端滑模面与互补终端滑模面相结合,设计一种基于新型趋近律的互补终端滑模控制器,以减小稳态误差、加快响应速度;然后利用扩展滑模观测器对总扰动进行估计并补偿,减小扰动对系统的影响;再以Lyapunov验证控制器和观测器的稳定性。基于MATLAB/Simulink的仿真与基于STM32的实验平台结果表明,与互补滑模控制相比,该方法的调节时间加快了0.06s,突加负载时速度跌落值减小了26.5%,可有效提高皮带传送机直驱系统的响应速度、抗扰动能力和运行可靠性。

Aiming at the problem of sudden increase in transport load of belt conveyor causing emergency stop of permanent magnet synchronous motor,which in turn causes accidents such as belt breakage,a complementary terminal sliding mode control strategy based on disturbance compensation is proposed. First,a complementary terminal sliding mode controller based on a novel reaching law is designed by combining the generalized terminal sliding mode surface and the complementary terminal sliding mode surface to accelerate the response speed.Then,an extended sliding mode observer is used to estimate and compensate the total disturbance to reduce the impact on the system. Next,Lyapunov verifies the stability of the controller and the observer. Finally,the simulation results based on MATLAB/Simulink and the experimental results of the STM32-based platform show that the proposed method speeds up the regulation time by 0.06s and reduces the speed dip value by 26.5% when the load is suddenly added compared to the complementary sliding mode control. That is,the proposed method effectively improves the response speed,anti-disturbance capability and operational reliability of the belt conveyor direct-drive system.