Design Of Permanent Magnet Direct Drive Belt Conveyor Speed Control System Based On ADRC

Mining belt conveyor is a kind of mechanical equipment with strong conveying capacity and reliable work,which can realize long-distance,large-load,continuous transportation of coal mining,and is the core of mine mining and transportation.Although the development of mine belt conveyor has made some achievements,there are still some problems such as low efficiency,large volume,difficult load starting and slow speed response.This thesis proposes a method of using an external rotor permanent magnet synchronous motor as a direct drive drum for belt conveyors,which can effectively replace the traditional driving structure,omit the deceleration mechanism,greatly improve the transmission efficiency,and on this basis to improve.This thesis will be studied from the following aspects.Firstly,the advantages of the mining belt conveyor with the external rotor synchronous motor as the driving motor are analyzed,and the S-shaped start-up acceleration curve is determined by using the dynamic characteristics of the mining belt conveyor,which provides an important reference for the control design of the mining belt conveyor.Secondly,the mathematical model of the external rotor motor is simplified and built on the basis of coordinate transformation,By analyzing the control strategy of permanent magnet synchronous motor,and the vector control with id = 0 suitable for mine belt conveyor is selected.In order to improve the contradiction between the rapidity and overshoot of traditional PID control,the automatic disturbance rejection control is proposed.In view of the poor condition of mine,it is not easy to measure the rotor position.A sensorless rotor position estimation method named synovial film observer is proposed.Aiming at the jitter problem of improved front synovial observer,a new PLL observer is proposed to accurately predict the position information of the rotor,and combined with the compensated self-disturbance rejection control technology,the speed regulation purpose of the permanent magnet synchronous belt conveyor is achieved.Finally,in Simulink simulation software,the system model simulation of permanent magnet synchronous motor based on automatic disturbance rejection control combined with improved PLL sliding mode is constructed,and experimental verification is carried out by building an experimental platform.Simulation and experiments show that the improved control system not only meets the S-type starting speed curve.In addition,the response speed is 3/4 faster than the traditional PID control,and the speed control is almost no overshooting,the rotor position estimation is twice as accurate as the traditional synovitis observation,and the anti-disturbance ability also has a good performance,to meet the requirements of the belt conveyor low speed and large torque,the system has good robustness,and the control performance of the belt conveyor has been improved.It has good application prospect and value.