Abstract: Mine electric locomotive is an important transport machine of the mine ground and underground tunnel, its working conditions are complex and has a poor operating environment. In order to improve the traction motor speed control performance and improve the system anti-disturbance and the robustness to the parameter variation, the speed controller of the control system is proposed, which uses fractional sliding mode to replace the traditional PI control. Aiming at load changes in the running process of the electric locomotive, the load torque observer is designed to observe the load torque in real-time, the observed value is integrated into the control strategy, which can improve the speed of the load mutation control. Simulation results show that the load observer can observe the load torque quickly and accurately. The sliding mode speed control with load observer has a strong anti-jamming effect on the load disturbance and effectively restrains the inherent chattering of the sliding mode control.

Key words:

Mine electric locomotive, fractional sliding mode, load observer

摘要： 矿用电机车是矿山地面与井下巷道重要运输工具，运行工况复杂、环境恶劣。为了改善电机车牵引电机速度控制性能，并提高系统抗扰性能和对参数变化的鲁棒性，提出控制系统的速度控制器用分数阶滑模代替传统PI控制，并设计了负载转矩观测器对负载转矩实时观测，将观测值融入到了控制中，提高了在负载突变时的速度控制能力。仿真实验表明，负载观测器能快速、准确的观测负载转矩，带负载观测的滑模转速控制对负载扰动有较强的抗干扰性，并有效抑制了滑模控制的固有抖振。

关键词:

"> 矿用电机车；分数阶滑模；负载观测器