基于自抗扰的工业流水线带式输送机稳速控制

为了提高工业流水线速度的稳定性，基于自抗扰技术设计了带式输送机电机的稳速控制方案。输送机的传送带以永磁无刷直流电动机（BLDCM）带动。由于动力装置是一个多变量、强耦合的系统且传送带负载的变化具有快速性和多样性，通过自抗扰技术控制电机的转速，可以使系统具有较强的适应性和鲁棒性。为了便于研究，建立了无刷直流电动机的数学模型，将整个带式输送机系统的外部扰动和系统模型自身的不确定因素归结到要估计补偿的总和扰动项中，根据被控系统的阶数，设计电动机的自抗扰控制器（ADRC），通过Matlab/Simulink仿真平台验证了控制器的有效性。

Constant Speed Control of Belt Conveyor for Industrial Production Line Based on ADRC

In order to improve the stability of industrial production line speed,a constant speed control scheme of the belt conveyor motor is designed based on active disturbance rejection control(ADRC) technology.The conveyor belt is driven by the permanent magnet brushless DC motor (BLDCM).Since the power plant is a multivariable,strongly coupled system,and the change of the load on the conveyor belt is of quickness and diversity,the system has strong adaptability and robustness by controlling the motor speed through the ADRCT.For the convenience of the study,the mathematical model of BLDCM was established.The external disturbance of the whole belt conveyor system and the uncertain factors of the system model itself were attributed to the summation of the disturbance to be estimated and compensated,and then the ADRC of the motor was designed on the basis of the order of the controlled system,and the effectiveness of the controller was verified through the Matlab/Simulink simulation platform.