Nonlinear compound repetitive control method and device for underground coal mine transportation permanent magnet motor

CN122394435APending Publication Date: 2026-07-14CHINA UNIV OF MINING & TECH

Patent Information

Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner: CHINA UNIV OF MINING & TECH
Filing Date: 2026-06-12
Publication Date: 2026-07-14

AI Technical Summary

Technical Problem

In existing coal mine underground transportation equipment, permanent magnet synchronous motors are prone to speed fluctuations under periodic loads. Traditional repetitive control methods tend to amplify errors in the dynamic stage, and PI speed regulators are prone to overshoot and oscillation. There is a lack of highly adaptable control methods.

Method used

A nonlinear compound repetitive control method is adopted. By introducing an error gain modulation function and an integral sliding mode speed regulator at the input of the repetitive control, the error gain is adaptively adjusted. By combining nonlinear repetitive control with integral sliding mode speed regulator, a nonlinear compound repetitive control system is formed, which improves dynamic response and steady-state performance.

Benefits of technology

It effectively suppresses the speed fluctuation of the motor under periodic load, reduces overshoot and oscillation in the dynamic stage, and improves the adaptability and stability of the system under changing operating conditions. In particular, it exhibits excellent speed fluctuation suppression capability under low speed or low frequency operating conditions.

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Abstract

The application provides a kind of coal mine underground transport permanent magnet motor nonlinear compound repetitive control method and device, belong to permanent magnet synchronous motor control technical field, the method is: obtaining motor speed feedback and speed instruction and forming speed error, the speed error is input into the error gain modulation function with exponential-power compound structure, the error signal after modulation is input into the plug-in repetitive controller, to learn and compensate the repetitive disturbance caused by periodic load, form nonlinear repetitive control, while adopting integral sliding mode controller in speed loop, based on integral sliding surface and approach law generates q-axis current given signal, so as to realize the effective regulation of motor torque, and with nonlinear repetitive control constitutes nonlinear compound repetitive control structure, so that speed error monotone convergence and suppress the overshoot and oscillation in dynamic stage.The application significantly reduces the error amplification effect and the overshoot caused by integral accumulation in dynamic process while ensuring the steady-state compensation ability of repetitive control.

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