基于改进型LADRC的皮带机外转子永磁直驱调速控制策略的研究

Research on the permanent magnet direct drive speed regulation control strategy of the external rotor of the belt conveyor based on the improved LADRC

煤矿皮带机外转子永磁直驱控制系统中的传统的PI控制器易受到外界扰动的影响,会存在启动电机转速超调以及在随机负载扰动下电机转速和转矩脉动较大等问题,本文对转速环进行改进,通过将转速和q轴电流引入自抗扰控制器,设计滑模负载转矩观测器与线性自抗扰控制器协同控制,来观测随机负载的扰动,并对i_(q)^(*)做出相应的补偿,能进一步提高自抗扰控制策略的抗扰动能力。为了模拟实际工况,在随机负载条件下用Matlab/Simulink对控制策略进行仿真分析,结果表明所改进的控制策略能使皮带机实现良好的“s”型启动特性,相比较PI控制,能有效抑制电机转速超调、有效降低随机负载变化对转速和转矩脉动的影响,提高了皮带运输机在复杂的工况下的稳定性和可靠性。

The traditional Pi controller in the permanent magnet direct drive control system of the outer rotor of the coal mine belt conveyor is easy to be affected by the external disturbance,in this paper,the speed ring is improved by introducing the speed and q-axis current into the active disturbance rejection controller(ADRC),the torque observer of sliding mode load and linear ADRC are designed to observe the disturbance of random load and make corresponding compensation for i_(q)^(*).In order to simulate the actual working condition,the control strategy is simulated and analyzed with MATLAB/Simulink under the condition of random load.The results show that the improved control strategy can make the belt conveyor realize good“S”type start characteristic,compared with PI control,PI control can restrain the overshoot of motor speed,reduce the influence of random load change on speed and torque ripple,and improve the stability and reliability of belt conveyor under complex working conditions.