带式输送机在现代散料输送领域广泛应用，其适应性强、运距长、维护简单、易于集中管理等特点使其成为采矿、选矿和发电等行业的理想选择。传统带式输送机通常采用集中式单点驱动方式，将异步电机与减速器相配合。然而，随着运输距离和运载量的增加，传统输送系统将面临输送带张力过大和速度动态调节迟钝等问题，这严重制约了长距离带式输送机的进一步发展。本研究以长距离带式输送机的驱动结构为研究对象，提出了一种由多个永磁直驱电机协调驱动的分布式永磁直驱带式运输系统，并对分布式永磁直驱带式输送机的机-电耦合模型、多电机转速协调和功率分配进行了研究。本文研究工作主要包括以下几个方面：

首先，比较了分布式永磁直驱带式输送机和传统带式输送机的驱动结构在机械结构、电机分布位置和电机外形等方面的差异。分析并建立分布式永磁直驱带式输送机中输送带的动力学模型以及永磁直驱电机的动力学模型。根据离散元模型的动力学方程推导出机械负载的动力学方程，并基于此构建了分布式永磁直驱带式输送机系统的机-电耦合模型。另外，在不同运行工况下，对比分析传统带式输送机和分布式永磁直驱带式输送机在输送带张力增量的变化曲线。

其次，针对分布式永磁直驱带式输送机多电机转速协调控制的问题，本文研究了电机之间柔性连接的特性以及负载扰动的规律。采用环形耦合控制策略解决电机之间转速不协调的问题，采用直接转矩控制策略控制电机运行，以降低输送带张力波动，仿真结果表明多电机控制策略在带式输送机上的有效性。

再次，针对轻载运行工况下分布式永磁直驱带式输送机运行能耗过高的问题，本文分析永磁电机运行效率与输出功率的关系及带式输送机在不同运行工况下物料装载情况，提出一种提高系统运行效率的多电机功率分配控制策略。首先设计电机运行数量调节函数，根据运输物料的装载率确定运行电机的数量；其次设计径向基神经网络控制器，以优化运行电机的分布位置；最后设计电机功率平滑调节曲线。仿真结果表明不同运行工况该多电机功率分配策略能有效提升带式输送机的运行效率。

最后，搭建了以5台永磁直驱电机协调驱动的分布式永磁直驱带式输送机实验平台，对本文提出的多电机转协调控制策略和多电机功率分配控制策略进行验证。实验数据不仅验证了分布式永磁直驱带式输送机的可行性，而且证明了所提出的控制策略的有效性，为长距离带式输送机的发展提供了一定的参考价值。

The belt conveyor is widely used in the field of modern bulk material transportation. Its characteristics of strong adaptability, long transportation distance, simple maintenance and easy centralized management make it an ideal choice for mining, mineral processing and power generation. The traditional belt conveyor usually adopts the centralized driving mode of asynchronous motor and reducer. With the increase of transportation distance and carrying capacity, the traditional conveying system has the problems of excessive belt tension and slow speed dynamic adjustment, which seriously restricts the further development of belt conveyor in the direction of long distance and large capacity. In this study, the driving structure of long-distance belt conveyor is taken as the research object, and a distributed permanent magnet direct-drive belt conveyor system driven by multiple permanent magnet direct-drive motors is proposed. The electromechanical coupling model, multi-motor speed coordination and power distribution of distributed permanent magnet direct-drive belt conveyor are studied. The work of this study mainly includes the following aspects.

Firstly, the differences between the driving structure of the distributed permanent magnet direct drive belt conveyor and the traditional centralized drive belt conveyor are compared in terms of mechanical structure, power source distribution and motor shape. In addition, the dynamic model of the conveyor belt in the distributed permanent magnet direct drive belt conveyor and the dynamic model of the permanent magnet direct drive motor are analyzed and established. According to the dynamic equation of the discrete element model, the dynamic equation of the mechanical load is derived, and based on this, the electromechanical coupling model of the distributed permanent magnet direct drive belt conveyor system is constructed. In addition, under different operating conditions, the variation curves of belt tension increment of traditional belt conveyor and distributed permanent magnet direct drive belt conveyor are analyzed to prove that the distributed drive structure proposed in this paper has theoretical feasibility and practical value.

Secondly, aiming at the problem of multi-motor speed coordinated control of distributed permanent magnet direct drive belt conveyor, this paper studies the characteristics of flexible connection between motors and the law of load disturbance. The ring coupling control strategy is selected to solve the problem of uncoordinated speed between motors, and the dynamic performance of the new belt conveyor system is improved. The motor direct torque control strategy is selected to control the motor operation to reduce the tension fluctuation of the conveyor belt. The simulation results show that the multi-motor control strategy is effective on the belt conveyor.

Thirdly, aiming at the problem of high energy consumption of distributed permanent magnet direct drive belt conveyor, this paper studies the relationship between permanent magnet motor efficiency and output power and the material loading of belt conveyor under different operating conditions, and proposes a multi-motor power distribution control strategy that can improve the operating efficiency of the drive system. Firstly, the adjustment function of motor running quantity is designed, and the number of running motors is determined according to the loading rate of transportation materials. Secondly, the radial basis function neural network controller is designed to optimize the distribution position of the running motor. Finally, the motor power smooth adjustment curve is designed. The simulation results show that the multi-motor power distribution strategy is effective on the belt conveyor.

Finally, the experimental platform of distributed permanent magnet direct drive belt conveyor driven by five permanent magnet direct drive motors is built to verify the multi-motor coordinated control strategy and multi-motor power distribution control strategy proposed in this paper. The experimental data not only verify the feasibility of the distributed permanent magnet direct drive belt conveyor, but also prove the effectiveness of the proposed control strategy, which provides a certain reference value for the development of long-distance belt conveyor.

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