271 Figure 2-The force curve of the drum under full load starting condition Figure 3-(a) Soft start speed curve and (b) soft stop speed curve Multi-Drive Coordination Control Strategies For the power balance problem of multi drive units of super-high-power long-distance belt conveyor, a coordinated control scheme of head three drive (2:1) and middle three drive (1:1:1) is proposed, as shown in Figure 4. The head adopts rigid master drive speed control, rigid slave torque follow and flexible slave speed follow strategies. The middle adopts flexible master drive speed control and flexible slave speed follow strategies. The precise power balance under complex working conditions is achieved, and the power balance degree is 97%. The further developed drive tension collaborative control strategy realizes the dynamic optimization of tension, improving equipment safety and stability. The control strategy is shown in Figure 5. Figure 4-Head drive (2:1) and middle drive (1:1:1)
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