【摘要】 针对传统带式输送机多电机驱动系统传动效率低、同步性差及新兴开关磁阻电机(SRM)低速转矩脉动等问题，提出了一种基于鲸鱼算法(WOA)优化模糊PID与改进偏差耦合的多电机协同控制策略。首先，设计了一种“SRM+内置式行星齿轮减速机构”一体式开关磁阻半直驱多电机系统；其次，针对带式输送机多点驱动需求，提出了一种基于WOA优化模糊PID的直接瞬时转矩控制方法，通过动态调整PID参数提升SRM的动态响应与抗扰能力，仿真结果表明：相较于传统PID与模糊PID控制，WOA优化策略在空载工况下转速超调降低至0.33%,启动电流降低20%;针对多电机协同控制需求，引入同步补偿系数与加速度补偿机制，设计了改进偏差耦合控制结构，仿真显示三台电机最大转速差由4 r/min降至3 r/min;最后，利用带式输送机双滚筒三电机半直驱试验平台开展验证性试验，得出植入新型控制策略的驱动系统在空载与带载试验中三台电机之间的最大转速差分别为3.8 r/min与3.4 r/min,验证了所设计策略的同步控制效果。更多还原

【Abstract】 To solve the problems of low transmission efficiency, poor synchronization and low-speed torque pulsation of emerging switched reluctance motor(SRM) in traditional multi-motor drive system of belt conveyor, a multi-motor cooperative control strategy based on optimized fuzzy PID and improved deviation coupling based on Whale Algorithm(WOA) is proposed.Firstly, an integrated switched reluctance semi-direct drive(SRSD) multi-motor system of SRM+built-in planetary gear reduction mechanism was designed; Secondly, a direct instantaneous torque control method based on WOA optimized fuzzy PID was proposed to improve the dynamic response and disturbance immunity of SRM by dynamically adjusting the PID parameters.The simulation results show that compared with the traditional PID and fuzzy PID control, the WOA optimized strategy reduces the speed overshoot to 0.33% and the starting current to 20% under no-load condition; Furthermore, according to the demands of multi-motor cooperative control, a new control structure with improved deviation coupling was designed by introducing synchronous compensation coefficient and acceleration compensation mechanism.The simulation shows that the maximum speed difference of the three motors decreases from 4 r/min to 3 r/min; Finally, a validation test was carried out on the semi-direct-drive test platform with two rollers and three motors of the belt conveyor, and the maximum speed difference between the three motors in the no-load and load tests of the drive system with the new control strategy was 3.8 r/min and 3.4 r/min respectively.更多还原