Research on coordinated control of support system of magnetoelectric hybrid suspension belt conveyor

A magnetoelectric hybrid suspension belt conveyor is introduced as a novel type of continuous transportation equipment characterized by low resistance and low energy consumption. The support system is significantly impacted by the dynamics of the conveyor belt and its connection to the suspension system, where challenges such as unknown modeling errors and coupling disturbances are often encountered, complicating the assurance of system stability. An improved magnetic circuit approach is utilized to establish the electromagnetic model of the suspension support system. Based on the assumptions of a catenary equivalent and section stability, the dynamics equations of the support system are constructed. The system incorporates self-coupling PID control technology and a cross-coupling strategy to achieve coordinated suspension. Initially, considering the distribution of the air gap magnetic field in the magnetoelectric hybrid suspension system and the differences in magnetic circuits, the electromagnetic force variations within the system are described using an improved magnetic circuit formula. This description, integrated with electromechanical relationships, forms the control equation for the electromagnetic forces in the hybrid suspension system. The entire conveyor belt is modeled under the influence of several support points, with assumptions that the material is stable and forms a consistent section across the belt. This simplification leads to a dynamics model of the support system that effectively combines rigid bodies with strings. Subsequently, based on the coupled issues of the dynamics model and the operational conditions for system synchronization, a control strategy for cross-coupled coordination based on self-coupling PID control is proposed. This strategy includes adaptive speed factors for system tracking and coordination control, with proven stability of the coordination control method. The system’s response under lateral, longitudinal, and various disturbance conditions is modeled in simulation studies using a set air gap of 30 mm. The system’s dynamic performance under static suspension and disturbances from air gaps and material loading is validated by experimental research using a suspension experimental rig. The experimental results demonstrate maximum air gap fluctuations and coordination errors of 1 mm under the respective conditions. The control performance and stability of the method are affirmed by both simulation and experimental outcomes, showcasing the feasibility for stable coordination under significant material load disturbances in practical applications.