带式输送机具有运输距离长、输送量大、机械构造简单、维修方便等诸多优点，被广泛应用于煤矿生产运输中。近些年来，随着智慧矿山建设的发展，带式输送机等矿山设备也呈现出高效率、高性能、数字化和智能化的发展趋势。针对目前带式输送机存在的控制精度低，传动效率低等问题，本文以首尾双端驱动带式输送机作为控制对象，研究了两台驱动电机柔性连接情况下带式输送机的控制策略。本文的主要内容如下：

首先，分析了双端驱动带式输送机存在的功率不平衡问题。在总结双端驱动带式输送机结构特点的基础上，根据其简化模型对带式输送机的传动机理和牵引力分配问题进行了研究，详细分析了导致带式输送机功率不平衡的因素，并总结了带式输送机实现功率平衡的典型控制方法，为控制策略的改进奠定了基础。

其次，研究了永磁同步电机模糊反推控制算法。在分析传统永磁同步电机反推控制算法的基础上，为了降低电机内部参数变化和外部负载扰动的影响，基于模糊逻辑系统的万能逼近理论，设计了模糊反推控制算法。借助Matlab/Simulink仿真平台，建立了模糊反推控制算法的验证模型，验证了所设计模糊反推控制算法的控制精度和抗干扰能力。

再次，优化了基于虚拟主轴的双端驱动带式输送机功率平衡控制策略。根据带式输送机双端驱动的需求，对传统的虚拟主轴控制结构进行优化，引入转矩电流耦合环节，在保证各驱动电机转速相等的同时，利用转矩电流耦合补偿实现双端驱动带式输送机的负载均衡分配，进而实现功率平衡。通过构建双机驱动带式输送机功率平衡控制仿真模型，验证了优化后功率平衡控制策略的有效性。

最后，在理论推导与仿真研究的基础上，借助快速控制原型开发模块，成功搭建了双永磁同步电机首尾驱动的带式输送机实验平台，对所设计的控制策略进行了实验验证。实验结果表明，所设计的控制算法能够有效改进双端驱动带式输送机的功率平衡控制性能。当系统参数变化或存在外界扰动时，该系统也具有较好的控制性能和抗干扰能力。

Belt conveyors have many advantages such as long transportation distance, large conveying capacity, simple structure, convenient maintenance, strong versatility, and convenient use, and are widely used in coal mine production and transportation. In recent years, with the rapid development of smart mine construction, mining equipment such as belt conveyors has also shown a development trend of high efficiency, high performance, digitization and intelligence. Aiming at the problems of low control precision and large energy loss in the current traditional belt conveyors, this paper takes the head-to-tail double-end drive belt conveyor as the control object, and studies the control strategy of the belt conveyor under the condition of flexible connection of two drive motors. The main contents of this article are as follows:

Firstly, the power imbalance problem of double-end drive belt conveyor is analyzed. On the basis of summarizing the structural characteristics of the double-end drive belt conveyor, the transmission principle and tractive force distribution of the belt conveyor are studied according to its simplified model, the factors that cause the power imbalance of the belt conveyor are analyzed in detail, and the conclusion is drawn. The typical control scheme of the belt conveyor to achieve power balance lays the foundation for the improvement of the control strategy.

Secondly, the fuzzy reverse thrust control strategy of PMSM is designed. After analyzing the traditional reverse thrust control strategy of permanent magnet synchronous motor, in order to reduce the influence of motor internal parameter change and external load disturbance, combined with the universal approximation theory of fuzzy logic system, a fuzzy reverse thrust control strategy of permanent magnet synchronous motor is proposed. Matlab/Simulink establishes a simulation model of the fuzzy reverse thrust control system, which proves that the control strategy is superior to the traditional reverse thrust control strategy in terms of control accuracy and anti-interference performance.

Thirdly, a dual-machine power balance control strategy based on the virtual spindle is proposed. According to the requirement of double-end drive of belt conveyor, the double-machine cooperative control strategy is studied. The virtual spindle control structure is improved, and the torque-current coupling link is added. While ensuring that the rotational speeds of each motor are equal, the load balance distribution of the belt conveyor is realized through the torque-current coupling compensation, so as to realize the power balance of the belt conveyor. With the help of the Matlab/Simulink simulation model, the effectiveness of the power balance control strategy is verified.

Finally, based on theoretical derivation and simulation research, combined with the rapid control prototype module, an experimental platform of double permanent magnet synchronous motorhead and tail drive belt conveyor is built, and the control algorithm in this paper is experimentally verified and the experimental results are analyzed. The experimental results show that the control algorithm can realize the power balance of the double-drive belt conveyor, and the overall system has better anti-interference ability when the internal parameters and external environment change.