A dual-motor drive system for scraper conveyor
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摘要: 目前对刮板输送机采用永磁同步电动机驱动的研究大多通过改造驱动系统的机械结构提升效率，对永磁同步电动机优化控制算法的研究较少。针对该问题，将最大转矩电流比（MTPA）控制和弱磁控制引入刮板输送机双机驱动系统中：电动机运行于额定转速以内时，采用MTPA控制，通过给定直轴电流实现单位电流最大转矩输出，以降低电动机损耗；通过弱磁控制扩大刮板输送机的调速范围，以适应不同生产负载场景，保证刮板输送机出煤量相对稳定。针对刮板输送机双机功率不平衡的问题，采用主从控制方式，将机尾电动机作为主机，机头电动机作为从机，将主机的转矩给定传输至从机的MTPA控制和弱磁控制中，实现功率平衡。在AMEsim中搭建刮板输送机有限元仿真模型，在Matlab/Simulink中搭建刮板输送机双机驱动系统仿真模型，通过AMEsim与Matlab/Simulink联合仿真验证双机驱动系统控制策略的有效性，结果表明：电动机突然加大负载后，在MTPA控制下定子电流稳定在130.1 A，而在传统矢量控制下定子电流稳定在149.2 A，在相同输出转矩下，输出定子电流越小越好，因此MTPA控制的优势比较明显；弱磁控制将电动机的调速范围从0～750 r/min扩大到0～850 r/min；主从控制方式能够使从机与主机转矩一致，实现双机功率平衡。Abstract: Current scraper conveyors with permanent magnet synchronous motors often improve their efficiency by updating the mechanical structure of their drive systems, few efforts are made to optimize the control of permanent magnet synchronous motors. This paper fills the gap by involving maximum torque per ampere (MTPA) and flux-weakening controls to improve the dual-motor drive system of scraper conveyors. Given the direct-axis current, the proposed system reduces the motor loss by adopting MTPA control to obtain the maximum torque per ampere. By using flux-weakening control to increase the speed regulation range of scraper conveyors, the coal output of a scraper conveyor can be relatively stable under various production loads. To balance the power of two motors, the proposed system applies the master-slave control that takes the rear motor as the master and the front motor as the slave, and gives the master's torque setpoint to the slave's MTPA and flux-weakening control systems. The effectiveness of the proposed system is evaluated by using AMEsim and Matlab/Simulink to simulate the scraper conveyor and its dual-motor drive system, respectively. The results show that the stator current under MTPA can be stable at 130.1 A when the motor load suddenly raised, while the stator current under traditional vector control is stable at 149.2 A. MTPA control outperforms the vector control, as the smaller stator current implies the better system when the same output torque maintained. Flux-weakening control extends the speed regulation range from 0-750 r/min to 0-850 r/min. Master-slave control maintains the same output torques of the master and the slave, leading to the balanced dual-motor power.
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图 5 刮板输送机双机驱动系统仿真模型
Figure 5. Simulation model of dual-motor drive system for scraper conveyor
图 6 AMEsim与Matlab/Simulink联合仿真接口
Figure 6. AMEsim and Matlab/Simulink co-simulation interfaces
图 7 传统矢量控制和MTPA控制下的定子三相电流
Figure 7. Stator three-phase current under traditional vector control and MTPA control
图 8 弱磁控制下电动机调速范围
Figure 8. Speed regulation range of motor under flux-weakening control
表 1 永磁同步电动机主要参数
Table 1. The main parameters of permanent magnet synchronous motor
参数 值 参数 值 额定电压/V 3 300 额定功率/kW 1 000 额定转速/(r·min−1) 750 极对数 4 Lq/mH 10.2 Ld/mH 37.9 永磁体磁链/Wb 5.7 电枢电阻/Ω 0.081 6 
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