Low-order dynamical model and distributed coordinated model predictive control for multi-stage belt conveyor systems

This work studies a distributed economic model predictive control (DEMPC) approach for multi-stage belt conveyor (BC) systems based on a novel low-order model. First, the existing BC finite element dynamic model is reduced to a low-order model with five micro-element segments. In describing the speed and acceleration range of the BC, the low-order model is consistent with the original model. Then, a DEMPC method is proposed for multi-stage BC systems. In this method, the state information of the adjacent BCs is used to express the collaborative cost function for the local optimization control problem. By using the obtained method, the economic performance is improved, and the energy consumption is reduced. Finally, hardware-in-the-loop simulation tests are utilized to demonstrate the benefits of the results gained.