采煤机牵引系统双电机功率平衡控制策略

Dual motor power balance control strategy for shearer traction system

随着采煤机装机功率和开采能力的提升,牵引系统控制效果及动态性能已成为影响采煤机工作稳定性的重要因素.目前,采煤机电牵引系统双电机控制策略多采用传统的主从控制,其同步性能存在滞后问题,容易导致牵引电机偏载.此外,系统在控制算法方面多采用传统PI控制,对于容易发生参数摄动及负载变化频繁的牵引系统而言,传统PI控制的控制性能不佳.为提高采煤机牵引系统驱动性能并实现牵引电机功率平衡,根据采煤机牵引系统结构,本文提出了一种基于自抗扰控制的转速主从、转矩交叉耦合控制的双电机控制策略,并对控制策略进行了仿真分析和实验研究.结果表明,本文所提出控制策略实现了牵引系统功率平衡并提升了系统的控制性能.

With the rapid development of the installed power and mining capacity,the control effect and dynamic performance of the traction system have seriously influenced the working stability of the shearer.Although the traditional master-slave control is widely applied in the dual-motor traction control of the shearer,it has caused the lagging of synchronization performance and can lead to unbalanced state of the traction system.Besides,for traction systems of the shearer which parameters are subject to perturb and load is easily to disturb,PI(proportional-integral)control may not achieve desired performance due to the structural limitation of PI controllers.To enhance the performance of traction system of the shearer and achieve the power balance of the traction dual-motor,according to the structure of traction system,a novel dual-motor control strategy based on active disturbance rejection control is proposed in this paper,which speed control adopt master-slave mode and torque control use cross-coupling model.The proposed control strategy and the traditional PI control are compared and verified by simulation and experiment.The results of simulation and experiment demonstrate that the proposed control strategy has realized the power balance of the traction motors and improved the control performance of the system.