Abstract
Aiming at the problem of multi-machine power balance control of long distance belt conveyor with double drum and three permanent magnet synchronous motor, the control method of speed and torque of master and slave motors of belt conveyor driven by multiple motors is analyzed. According to the properties of coaxial rigid connection and flexible connection of three motors of double drum, The power balance strategy based on fuzzy Active Disturbance Rejection Controller (ADRC) is proposed to achieve the purpose of disturbance rejection and improve the stability of the system. The simulation results show that the proposed method can solve the power imbalance problem of the system motor. Compared with the traditional PID control method, the corresponding speed of fuzzy ADRC control method is less than 300ms, the power deviation of rigid connected motor is less than 0.1kW, and the power deviation of flexible connected motor is less than 0.3kW. This method can effectively reduce the synchronization error of each motor, and has good robustness, and realize the power balance distribution among multiple motors.
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