冯高明, 周庆凯, 谭兴国.矿用电机车双电机同步控制方法研究[J].河南理工大学学报（自然科学版）,2025,44(2):128-137.

FENG G M, ZHOU Q K, TAN X.Research on dual motor synchronous control method for mining electric locomotive[J].Journal of Henan Polytechnic University(Natural Science) ,2025,44(2):128-137.

矿用电机车双电机同步控制方法研究

冯高明1,2, 周庆凯1,2, 谭兴国1

1.河南理工大学 电气工程与自动化学院，河南 焦作  454000；2.河南省智能装备直驱技术与控制国际联合实验室，河南 焦作  454000

摘要: 目的 为解决采用永磁同步电机（permanent magnet synchronous motor，PMSM）的双电机牵引矿用电机车运行时同步性能和抗干扰能力差的问题，   方法 提出一种新型积分滑模控制与改进交叉耦合控制相结合的双电机同步控制方法。首先，设计采用新型趋近率的积分滑模控制器，使系统具有良好的调速性能，并有效抑制滑模控制的抖振现象；其次，设计滑模扰动观测器，对电机受到的外部扰动进行观测和补偿，从而提高系统的抗干扰性能；然后，将传统交叉耦合控制结构中的耦合系数改进为自适应系数，以缓解稳态性能与暂态补偿效果相互矛盾的问题；最后，将新型积分滑模控制和改进的交叉耦合控制结构相结合，搭建矿用电机车双电机同步控制系统的仿真模型，通过仿真实验模拟矿用电机车运行时可能遇到的突发情况，以验证双电机同步控制方法的有效性。   结果 结果表明，系统在遭受外部负载扰动时电机转速变化较小，且系统对两台电机的参数差异不敏感，具有很好的抗干扰性和鲁棒性。在各种突发情况下，所提出的双电机同步控制方法均能使系统保持较好的同步性能。   结论 基于新型积分滑模控制和改进交叉耦合控制相结合的矿用电机车双电机同步控制方法具有良好的同步性能和抗干扰能力，对矿用电机车双电机同步控制系统优化具有重要意义。 

关键词:矿用电机车;双电机同步控制;交叉耦合控制;积分滑模控制;扰动观测器

doi:10.16186/j.cnki.1673-9787.2023030023

基金项目:国家自然科学基金资助项目（52267018）

收稿日期:2023/03/10

修回日期:2023/08/21

出版日期:2025-03-05

Research on dual motor synchronous control method for mining electric locomotive

FENG Gaoming1,2, ZHOU Qingkai1,2, TAN Xingguo1

1.School of Electrical Engineering and Automation，Henan Polytechnic University， Jiaozuo  454000， Henan， China；2.Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment， Jiaozuo  454000， Henan， China

Abstract: Objectives To solve the problem of poor synchronization performance and anti-interference ability of dual motor traction mining electric locomotives using permanent magnet synchronous motors （PMSM），   Methods a new dual motor synchronous control method that combines integral sliding mode control with improved cross coupling control was proposed. Firstly，an integral sliding mode controller with a new approach rate was designed to make the system have good speed regulation performance and effectively suppress the chattering phenomenon of sliding mode control. Secondly，a sliding mode disturbance observer was designed to observe and compensate the external disturbances of the motor，so as to improve the system's anti-interference performance. Then，the coupling coefficient in the traditional cross coupling control structure was improved to an adaptive coefficient to alleviate the contradiction between steady-state performance and transient compensation effect. Finally，the new integral sliding mode control and improved cross coupling control structure were combined to build a simulation model of the dual motor synchronous control system for mining electric locomotives. By simulating the possible unexpected situations encountered during the operation of mining electric locomotives，the effectiveness of the proposed dual motor synchronous control method was verified.   Results When the system was subjected to external load disturbances，the motor speed changed little，and the system was not sensitive to the parameter differences between the two motors，which had good anti-interference and robustness. In various emergency situations，the proposed dual motor synchronous control method could maintain good synchronization performance of the system.   Conclusions The dual motor synchronous control method for mining electric locomotives based on the combination of new integral sliding mode control and improved cross coupling control had good synchronization performance and anti-interference ability，which was of great significance for optimizing the dual motor synchronous control system of mining electric locomotives. 

Key words:mining electric locomotive;dual motor synchronous control;cross coupling control;integral sliding mode control;disturbance observer