Multi-motor coordinated control of a belt conveyor SRSD system based on WOA-Fuzzy PID

LI Chong; WANG Xiaolong; BAO Jiusheng; MA Chuanming; YIN Yan; LIU Peng; ZHANG Lei; WANG Lei

doi:10.11799/ce202601016

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.