煤炭工业规模不断扩大，物料运输距离和载荷量显著增加。传统驱动电机功率的提升虽能满足运输需求，但存在张力超限、响应慢等问题。多永磁直驱电机分布式驱动成为矿用输送机改造的潜在方向。然而，永磁直驱电机因惯量较大导致转速响应滞后，且多电机同步控制难度高。因此，本文聚焦分布式永磁直驱带式输送机，研究自抗扰控制算法及多电机转速协同控制策略。

针对永磁直驱电机惯量较大导致调速响应存在滞后的问题，分析PI控制器在电机转速响应以及抗干扰性能方面暴露出的缺陷，由于经典自抗扰控制器参数调节繁琐、难以适应复杂多变的工作环境，本文提出了一种基于改进线性自抗扰控制器的调速控制方案。运用线性自抗扰控制器能够显著优化调速性能，增强抗干扰水平，并简化参数调整流程。在此基础上，融入径向基神经网络算法，利用其非线性映射能力和快速学习特性，构建非线性映射关系，动态调整控制器参数，提高控制器对复杂工况的适应能力和响应速度，确保在不同工况下均能稳定运行。借助仿真平台，对传统PI、经典自抗扰以及改进线性自抗扰控制器的动态响应特性展开对比分析。结果表明，经过改进的线性自抗扰控制器在系统稳定性与抗扰动能力上有明显优势。

针对柔性连接多电机同步控制系统中显著的扰动问题，分析传统耦合控制在抗干扰性能方面的缺陷，提出了一种基于扩张状态观测器的多电机协同控制策略。通过线性自抗扰理论设计耦合补偿器，消除多电机系统中因耦合效应产生的转速波动与同步误差，并借助仿真平台对不同耦合模式的同步效果进行了对比分析。仿真结果表明，相邻耦合控制在同步性能方面展现出优势。为进一步验证该策略在带式输送机应用场景中的同步表现，对相邻电机间的输送带进行了抛物线建模，分析张力、长度与垂度之间的相互作用规律，并提出了一种基于相邻电机转速差的张力控制方法。在此基础上，进一步开展了张力控制仿真实验。实验结果表明，所设计的控制策略能够显著提升多电机系统的同步精度，同时有效降低输送带张力波动。

搭建实验平台、设计控制器硬件并进行验证。实验结果表明，在空载启动、满载启动及张力控制等多种工况下，五台永磁直驱电机展现出良好的跟随性与同步性能，证实了所提控制策略的有效性。该研究为永磁直驱技术在多电机分布式驱动矿用带式输送机中的应用提供了重要的理论支持与实践指导。

With the continuous expansion of the production scale of the coal industry, the material transportation distance and load increase significantly. Although the power increase of the traditional drive motor can meet the transportation demand, it is easy to cause the belt tension to exceed the design threshold, and its speed response ability is insufficient. With the multi-point drive structure, the distributed drive of multi permanent magnet direct drive motor is expected to become the key direction of the long-distance and large capacity transformation of mining belt conveyor in the future. However, the speed response of permanent magnet direct drive motor lags behind due to its large inertia, and the speed synchronization control complexity of multiple motors is high. In addition, as a flexible connecting medium, the conveyor belt makes the speed fluctuation transmit on the conveyor belt in the form of waves, resulting in significant system disturbance. Therefore, this paper focuses on the distributed permanent magnet direct drive belt conveyor, and studies the active disturbance rejection control algorithm and multi motor speed collaborative control strategy.

Aiming at the problem that the speed control response of permanent magnet direct drive motor lags due to the large inertia, the defects of PI controller in motor speed response and anti-interference performance are analyzed. Because the parameter adjustment of classical active disturbance rejection controller is cumbersome and difficult to adapt to complex and changeable working environment, a speed control scheme based on improved linear active disturbance rejection controller is proposed in this paper. The linear active disturbance rejection controller is used to effectively improve the speed response speed and anti-interference level, and simplify the parameter adjustment. On this basis, the radial basis function neural network algorithm is integrated to realize the dynamic optimization and real-time update of key parameters of the controller to deal with complex working conditions. With the help of simulation platform, the dynamic response characteristics of traditional PI, classical ADRC and improved linear ADRC are compared and analyzed. The results show that the improved linear active disturbance rejection controller has obvious advantages in system stability and anti disturbance ability.

Aiming at the significant disturbance problem in flexible connected multi motor synchronous control system, a multi motor cooperative control strategy based on extended state observer is proposed in this paper. The coupling compensator is designed by using the linear active disturbance rejection theory, and the synchronization effects of different coupling modes are compared and analyzed by using the simulation platform. The simulation results show that the adjacent coupling control has advantages in synchronization performance. In order to verify the effectiveness of this strategy for tension control, the parabolic model of the conveyor belt between adjacent motors is established in this paper, and the interaction law among tension, length and sag is analyzed, and a tension control method based on the speed difference of adjacent motors is proposed. On this basis, the tension control simulation experiment is further carried out. The experimental results show that the designed control strategy can significantly improve the synchronization accuracy of the multi motor system, and effectively reduce the belt tension fluctuation.

The experimental platform was built, and the controller hardware was designed and verified. The experimental results show that the five permanent magnet direct drive motors show good tracking and synchronization performance under various conditions, such as no-load start, full load start and tension control, which verifies the effectiveness of the proposed control strategy. The research provides important theoretical support and practical guidance for the application of permanent magnet direct drive technology in multi motor distributed drive mining belt conveyor.

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