Bifurcation Characteristics Analysis and Control of Electromechanical Transmission System in Shearer

To reveal the mechanism of the friction torque on the system stability, the system nonlinear coupled dynamic model is established based on the Lagrange–Maxwell equation, in which the influence of electromechanical parameters and terminal load is considered. The end friction torque is selected as the bifurcation parameter, and its influence on the system stability is studied. At the same time, in order to reduce the impact of the end friction torque on the stability of the system, from the electrical point of view, the motor q-axis voltage is selected as the control variable to construct a nonlinear state feedback controller to improve the stability of the system. In the process of building the controller, the sufficient and necessary conditions for the dynamic Hopf bifurcation and the type of system bifurcation are determined, and the system controller parameters are determined. Through numerical simulation verification, it is found that the designed controller has a better control effect, which provides a reference for practical applications.