【目的】针对机场滚筒式蛇形传送带车在大倾角坡道输送过程中出现的速度波动、附加载荷扰动明显及驱动鲁棒性不足等问题,以单电动滚筒驱动单元为对象,提出一种永磁同步电机(PMSM)参数调度与前馈—观测复合抗扰控制方法。【方法】首先,根据滚筒直径和工程输送速度范围确定中速运行工况,建立单滚筒PMSM矢量控制模型。其次,构造与坡度角相关的等效坡道负载模型,并以坡度角θ为调度变量设计速度环比例积分(PI)参数,使控制器增益能够随倾角变化自适应调整;然后,将可计算的坡道负载通过重力前馈补偿到q轴电流指令中,以减轻速度环反馈调节压力;最后,针对前馈补偿后仍存在的未知附加扰动,构建方向自适应滑模扰动观测器(SMDO)残差补偿结构,通过扰动估计偏置校正、坡向增益调节和补偿电流限幅生成有效q轴补偿电流。【结果】仿真结果表明,在0°→8°→16°→24°上坡和0°→-8°→-16°→-24°下坡变倾角工况下,参数调度磁场定向控制(FOC)相比固定参数FOC均能降低最大转速偏差,且倾角越大改善越明显;在±24°坡道条件下,重力前馈能够显著减小转速偏差并大幅降低速度环PI输出负担;在叠加未知附加扰动时,方向自适应SMDO残差补偿能够分别降低上坡阻力扰动下的转速跌落和下坡助动扰动下的转速上冲。【结论】所提参数调度与前馈—观测复合抗扰控制方法能够提高单滚筒驱动单元在变倾角及附加扰动条件下的速度保持能力,并为后续多滚筒协同控制研究提供执行层控制基础。

[Objective] To address the issues of speed fluctuation, additional load disturbance, and insufficient driving robustness in airport roller serpentine conveyor vehicles during large-inclination ramp conveying, this paper takes a single electric drum drive unit as the object and proposes a composite anti-disturbance control method based on parameter scheduling and feedforward-observer for permanent magnet synchronous motor (PMSM). [Methods] Firstly, the medium-speed operating condition was determined based on the drum diameter and the engineering conveying speed range, and a vector control model for the single-drum PMSM was established. Secondly, an equivalent ramp load model related to the slope angle was constructed, and the proportional-integral (PI) parameters of the speed loop were designed with the slope angle θ as the scheduling variable, enabling the controller gain to be adaptively adjusted with the inclination angle. Then, the calculable ramp load was compensated into the q-axis current command through gravity feedforward to reduce the feedback regulation pressure on the speed loop. Finally, for the unknown additional disturbances remaining after feedforward compensation, a residual compensation structure of a direction-adaptive sliding mode disturbance observer (SMDO) was constructed, and effective q-axis compensation current was generated through disturbance estimation bias correction, slope-direction gain adjustment, and compensation current limiting. [Results] The simulation results indicated that under the variable-inclination conditions of 0°→8°→16°→24° uphill and 0°→-8°→-16°→-24° downhill, the maximum speed deviation was reduced by the parameter-scheduled field-oriented control (FOC) compared with the fixed-parameter FOC, and the improvement became more obvious with the increase of the inclination angle. Under the condition of ±24° ramp, the speed deviation was significantly decreased and the output burden of the speed loop PI was greatly reduced by the gravity feedforward. When unknown additional disturbances were superimposed, the speed drop under uphill resistance disturbance and the speed overshoot under downhill assistance disturbance were respectively reduced by the direction-adaptive SMDO residual compensation. [Conclusion] The proposed composite anti-disturbance control method based on parameter scheduling and feedforward-observer improves the speed maintenance capability of the single-drum drive unit under variable-inclination angles and additional disturbances, and provides an executive-layer control foundation for subsequent research on multi-drum coordinated control.