CN103532460A - Synchronous vector control method for two motor linkage systems - Google Patents
Synchronous vector control method for two motor linkage systems Download PDFInfo
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- CN103532460A CN103532460A CN201310519941.1A CN201310519941A CN103532460A CN 103532460 A CN103532460 A CN 103532460A CN 201310519941 A CN201310519941 A CN 201310519941A CN 103532460 A CN103532460 A CN 103532460A
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- phase
- motors
- coordinate system
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Abstract
The invention relates to a synchronous vector control method for two motor linkage systems. The method comprises the following steps: synchronously acquiring signals of two motors to convert coordinates; synchronously sampling external signals, and synchronously converting from a three-phase static coordinate system to a two-phase static coordinate system; observing the speed; converting from the two-phase static coordinate system to a two-phase rotating coordinate system; synchronously regulating PI; synchronously converting from the two-phase rotating coordinate system to the two-phase static coordinate system; synchronously implementing the modulation output of SVPWM. The synchronous vector control method has the following benefits: the sampling and the data processing are synchronously implemented for all signals of the two motors; the vector control of movement states of the two motors is implemented only through one algorithm without the coordination of other controllers; the synchronous vector control method can control parameters such as rotating directions, operation speeds and moment output states of the motors.
Description
Technical field
The present invention relates to Motor Control Field, particularly relate to a kind of synchronous vector control method for two motor linkage systems.
Background technology
In practical application, two linked systems that alternating current machine turns round simultaneously, it is controlled and generally adopts respectively two cover control device, between two cover control device, by the mode of certain communication, is undertaken synchronously, and this method, cannot meet real work demand sometimes.
Summary of the invention
The object of this invention is to provide a kind of synchronous vector control method for two motor linkage systems, to overcome prior art above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A synchronous vector control method for two motor linkage systems, comprises the following steps:
2) three-phase ac signal of two motors that step 1) obtained synchronously converts by same abc/ α β coordinate simultaneously, transforms to respectively the static α β of same two-phase coordinate system, obtains the electric current of two motors
,
with
,
;
3) voltage in the static α β of two-phase coordinate system according to a upper computation of Period two motors out
,
with
,
, carry out speed observation, estimate respectively the rotating speed of two motors
,
with rotor angle
,
;
4) by step 2) in the electric current of two motors obtaining
,
with
,
, according to rotor angle
,
carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained
,
with
,
;
5) by motor given rotating speed
,
with the motor speed estimating in step 3)
,
differ from, by the output of adjuster closed loop, draw
,
, as two motor torque given value of current values; By the motor speed estimating in step 3)
,
by weak magnetic controller, draw
,
, as the exciting current set-point of two motors;
6) by aforementioned torque given value of current value
,
with aforementioned currents detected value
,
poor respectively, and obtain by the output of adjuster closed loop
,
; By aforementioned exciting current set-point
,
with aforementioned currents detected value
,
poor respectively, and obtain by the output of adjuster closed loop
,
;
7) will
,
with
,
according to rotor angle
,
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
,
with
,
, the velocity estimation by these two groups of voltages for next cycle step 3); And
8) by two groups of voltages
,
with
,
carry out coordinate transform, from the static α β of same two-phase synchronous coordinate transformation, in same three phase static α β/ABC coordinate system, obtain two motors three-phase output voltage separately.
Beneficial effect of the present invention is: gather the signal of two motors simultaneously, carry out coordinate transform; External signal is sampled simultaneously, carries out the conversion that three phase static coordinate is tied to two-phase rest frame simultaneously; Carry out speed observation; Carry out the conversion that two-phase static coordinate is tied to two-phase rotating coordinate system; Carry out PI adjusting simultaneously; Two-phase rotational coordinates is tied to the conversion of two-phase rest frame simultaneously; Carry out the modulation output of SVPWM simultaneously; Data processing is sampled simultaneously, carried out simultaneously to all signals of two motors; The motion state of two motors, only carries out vector control by this algorithm, does not need other controller coordinate; Can control the parameters such as rotation direction, the speed of service and moment output state of motor.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the control flow chart of a kind of synchronous vector control method for two motor linkage systems described in the embodiment of the present invention.
Embodiment
As shown in Figure 1, the control flow chart of a kind of synchronous vector control method for two motor linkage systems described in the embodiment of the present invention, controls for the synchronous vector of two alternating current machine linked systems, and the AC controling signal of motor 2 is three-phase currents
,
,
, respectively motor 1 and motor 2 are controlled:
The three-phase current of motor 1
,
,
three-phase current with motor 2
,
,
by same abc/ α β coordinate, synchronously convert simultaneously, the three-phase current of two motors is transformed to respectively to the static α β of same two-phase coordinate system, obtain the electric current of motor 1
,
electric current with motor 2
,
;
According to the voltage of the motor 1 in a upper computation of Period static α β of two-phase coordinate system out
,
voltage with motor 2
,
, carry out speed observation, estimate the rotating speed of two motors
,
with rotor angle
,
, by two electric currents
,
with
,
, according to angle
with
, carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained
,
with
,
;
Meanwhile, by given rotating speed
,
with estimation rotating speed
,
differ from, by the output of adjuster closed loop, obtain
,
, as two motor torque given value of current values; Simultaneously estimation rotating speed
,
by weak magnetic controller, obtain
,
, as two motor excitation given value of current values.Accordingly, aforementioned currents is given
,
detect with aforementioned currents
,
poor respectively, by the output of adjuster closed loop, obtain
,
;
By aforementioned currents set-point
,
with aforementioned currents detected value
,
poor respectively, by the output of adjuster closed loop, obtain
,
.Will
,
with
,
according to rotor angle
,
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
,
with
,
, these two groups of voltages carry out velocity estimation for next cycle;
Carry out again coordinate transform, from the static α β of same two-phase synchronous coordinate transformation, in same three phase static α β/ABC coordinate system, obtain two motors three-phase output voltage separately.
The present invention only uses 1 cover control algolithm, two motors is carried out to vector control simultaneously; The parameter of two motors is all saved, receive after action command, control the motion of these two motors simultaneously.
All signals are sampled simultaneously, carry out coordinate transform simultaneously.When controlling, external signal is sampled simultaneously, carries out the conversion that three phase static coordinate is tied to two-phase rest frame simultaneously; Carry out speed observation simultaneously; Carry out the conversion that two-phase static coordinate is tied to two-phase rotating coordinate system simultaneously; Carry out PI adjusting simultaneously; Two-phase rotational coordinates is tied to the conversion of two-phase rest frame simultaneously; Carry out the modulation output of SVPWM simultaneously.
The motion state of two motors, only by this algorithm, coordinated, do not need to coordinate by other controller, a kind of synchronous vector control method for two motor linkage systems of the present invention can be done move toward one another or motion in the same way according to application requirements, and controls motor in the different speeds of service and moment output state.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but do any variation in its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection scope of the present invention.
Claims (3)
1. for a synchronous vector control method for two motor linkage systems, it is characterized in that, comprise the following steps:
2) three-phase ac signal of two motors that step 1) obtained synchronously converts by same abc/ α β coordinate simultaneously, transforms to respectively the static α β of same two-phase coordinate system, obtains the electric current of two motors
,
with
,
;
3) voltage in the static α β of two-phase coordinate system according to a upper computation of Period two motors out
,
with
,
, carry out speed observation, estimate respectively the rotating speed of two motors
,
with rotor angle
,
;
4) by step 2) in the electric current of two motors obtaining
,
with
,
, according to rotor angle
,
carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained
,
with
,
;
5) by motor given rotating speed
,
with the motor speed estimating in step 3)
,
differ from, by the output of adjuster closed loop, draw
,
, as two motor torque given value of current values; By the motor speed estimating in step 3)
,
by weak magnetic controller, draw
,
, as the exciting current set-point of two motors; And
6) by aforementioned torque given value of current value
,
with aforementioned currents detected value
,
poor respectively, and obtain by the output of adjuster closed loop
,
; By aforementioned exciting current set-point
,
with aforementioned currents detected value
,
poor respectively, and obtain by the output of adjuster closed loop
,
.
2. a kind of synchronous vector control method for two motor linkage systems according to claim 1, is characterized in that, further comprising the steps:
Will
,
with
,
according to rotor angle
,
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
,
with
,
, the velocity estimation by these two groups of voltages for next cycle step 3).
3. a kind of synchronous vector control method for two motor linkage systems according to claim 2, is characterized in that, further comprising the steps:
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CN201310519941.1A CN103532460A (en) | 2013-10-29 | 2013-10-29 | Synchronous vector control method for two motor linkage systems |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101707463A (en) * | 2009-11-10 | 2010-05-12 | 中国人民解放军海军工程大学 | Parallel vector control system of induction motor |
CN101931352A (en) * | 2010-07-14 | 2010-12-29 | 中国人民解放军海军航空工程学院 | Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof |
CN202085117U (en) * | 2011-06-21 | 2011-12-21 | 杭州电子科技大学 | All-digital AC servo drive for double motors |
JP2012005262A (en) * | 2010-06-17 | 2012-01-05 | Honda Motor Co Ltd | Load controller |
-
2013
- 2013-10-29 CN CN201310519941.1A patent/CN103532460A/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101707463A (en) * | 2009-11-10 | 2010-05-12 | 中国人民解放军海军工程大学 | Parallel vector control system of induction motor |
JP2012005262A (en) * | 2010-06-17 | 2012-01-05 | Honda Motor Co Ltd | Load controller |
CN101931352A (en) * | 2010-07-14 | 2010-12-29 | 中国人民解放军海军航空工程学院 | Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof |
CN202085117U (en) * | 2011-06-21 | 2011-12-21 | 杭州电子科技大学 | All-digital AC servo drive for double motors |
Non-Patent Citations (1)
Title |
---|
朱洪志等: "同轴联接双电机驱动系统建模及仿真", 《电机与控制应用》 * |
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