CN103780165B - The method and system of electric motor starting and stopping is controlled in mechanical device - Google Patents
The method and system of electric motor starting and stopping is controlled in mechanical device Download PDFInfo
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- CN103780165B CN103780165B CN201210416130.4A CN201210416130A CN103780165B CN 103780165 B CN103780165 B CN 103780165B CN 201210416130 A CN201210416130 A CN 201210416130A CN 103780165 B CN103780165 B CN 103780165B
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Abstract
The present invention provides a kind of control method for controlling and applying in the mechanical device for carrying out operation that cooperated by two or more motors, and at least two motor operation modes in these motors are different.This method includes the different running method based at least two motors, and setting starts compensating parameter and/or stops compensating parameter；When starting at least two motor, their startup is compensated according to compensating parameter is started；And/or when stopping at least two motor, their stopping is compensated according to compensating parameter is stopped.Thus motor can be made to carry out operation to manipulating object simultaneously or stop from the operation to manipulating object.Control system corresponding with control method is also provided.
Description
Technical field
The present invention relates to the mechanical devices for the progress operation that cooperates including two or more motors, more specifically,
It is related to the technology controlled the start and stop of motor in this kind of mechanical device.
Background technology
In some mechanical devices, the cooperation of at least two motors is needed to carry out operation.In the different feelings of each motor operation speed
Under condition, while starting these motors, then the fast motor of the speed of service can faster enter operating status, be simultaneously stopped these motors,
Then the slow motor of the speed of service can faster stop.This may generate the operation object of mechanical device certain influence.
By taking peeler as an example, the power frequency motor that rod is rubbed in control with the hands just promotes the variable-frequency motor speed of rod slow than control.It is revolving
It cuts in machine stopping process, variable-frequency motor can stop quickly, therefore no longer be moved ahead by the propulsion rod of its drive, wood also accordingly stops
Only advance.But drive the power frequency motor speed for rubbing rod with the hands larger, under effect of inertia, stopping is slower, correspondingly, drives
Stranding rod also stop it is relatively slow.Accordingly, for for the peeler of power frequency motor and variable-frequency motor cooperating, in stopping process
In, it no longer will in the horizontal direction advance there is a situation where being continued to roll by the timber of rotary cutting, and cause to generate during this
Wood skin thickness is undesirable, and timber itself is thinning or even is broken.In peeler start-up course, power frequency motor opens quickly
It is dynamic, and variable-frequency motor needs a longer accelerator, this allows for wood into after horizontally advancing one period of state
Into rotation status, cause the wood skin thickness generated during starting undesirable.
Invention content
It is applied by the mutual cooperation progress operation of two or more motors in view of this, the present invention provides a kind of control
Mechanical device in control method, at least two motor operation modes in these motors are different.The control method includes base
In the different running method of at least two motor, setting starts compensating parameter and/or stops compensating parameter；Both it is being provided with
Startup compensating parameter is provided with stopping compensating parameter again in the case that：When starting at least two motor, compensated according to starting
Parameter compensates the startup of at least two motor, so that at least two motor operation simultaneously in manipulating object and is stopping
When at least two motor, the stopping of at least two motor is compensated according to stopping compensating parameter, so that described at least two
A motor is simultaneously stopped the operation to manipulating object；But in the case where being only provided with startup compensating parameter, then described in startup
When at least two motors, the startup of at least two motor is compensated according to startup compensating parameter, so that at least two electricity
Machine operation simultaneously is in manipulating object；In the case where being only provided with stopping compensating parameter, then when stopping at least two motor,
The stopping that at least two motor is compensated according to stopping compensating parameter, so that at least two motor is simultaneously stopped to operation
The operation of object.
According to an aspect of the present invention, in the control method, the different operation sides based at least two motor
It is the startup time setting startup compensating parameter based on each motor at least two motor that formula setting, which starts compensating parameter, and
It is based on each at least two motor that different running method setting based at least two motor, which stops compensating parameter,
The dwell time setting of motor stops compensating parameter.Wherein, to be arranged start compensating parameter and stop both compensating parameters or its
One of depending on specific example.
According to a further aspect of the invention, which is to start time bias parameter, stopping compensation ginseng
Number is dwell time compensating parameter.Preferably, the time of startup time bias parameter instruction and the dwell time compensating parameter
The time of instruction is identical.
Preferably, it is provided at the same time in the case of starting compensating parameter and stopping compensating parameter：Join according to compensation is started
When the startup that number compensates at least two motor is included in startup at least two motor, first start at least two electricity
Start the motor of time length in machine, and reaches in the motor starting time of the startup time length and start the instruction of time bias parameter
Time when, start and start time short motor at least two motor；And according to stop compensating parameter compensation described in extremely
When the stopping of few two motors is included in stopping at least two motor, first stop dwell time at least two motor
Long motor, and when the motor dwell time of dwell time length reaches the time of dwell time compensating parameter instruction, stop
The only short motor of dwell time at least two motor.In the case where being only provided with startup compensating parameter：According to startup
When the startup that compensating parameter compensates at least two motor is included in startup at least two motor, first described in startup at least
Start the motor of time length in two motors, and reaches in the motor starting time of the startup time length and start time bias ginseng
When the time of number instruction, starts and start time short motor at least two motor.Stop compensating parameter being only provided with
In the case of, when stopping at least two motor, first stop the motor of wherein dwell time length, and in the dwell time
When long motor dwell time reaches the time of dwell time compensating parameter instruction, stop the wherein short motor of dwell time.
Preferably, in the method for the invention, which includes power frequency motor and variable-frequency motor.
Preferably, in the method for the invention, which is peeler.
The present invention also provides a kind of mechanical devices applied in the progress operation that cooperated by two or more motors
In control system, at least two motor operation modes in these motors are different.The control system includes memory module, is used for
It stores the startup compensating parameter of the different running method setting based at least two motor and stops compensating parameter；Control mould
Block is electrically connected with each in the memory module and at least two motor respectively, and at least two motor
Startup and stopped process in, compensated according to the startup compensating parameter and/or according to the stopping compensating parameter.
The present invention also provides a kind of control method applied in peeler, the peeler includes the power frequency that rod is rubbed in control with the hands
Motor and control promote the variable-frequency motor of rod.Wherein this method includes the startup based on the power frequency motor and the variable-frequency motor
Time setting, which starts compensating parameter and/or is arranged according to the dwell time of the power frequency motor and the variable-frequency motor, stops compensation
Parameter；In the case where being not only provided with startup compensating parameter but also provided with compensating parameter is stopped, when starting the peeler, pressing
The startup that the variable-frequency motor and the power frequency motor are compensated according to startup compensating parameter, so that the variable-frequency motor and power frequency motor
Operation simultaneously is in manipulating object and when stopping the peeler, according to stopping the compensating parameter compensation variable-frequency motor and described
The stopping of power frequency motor, so that the variable-frequency motor and power frequency motor are simultaneously stopped the operation to manipulating object；Only it is being provided with
In the case of starting compensating parameter, when starting the peeler, the variable-frequency motor and institute are compensated according to compensating parameter is started
The startup of power frequency motor is stated, so that the variable-frequency motor and the operation simultaneously of power frequency motor are in manipulating object；Stop being only provided with
In the case of compensating parameter, when stopping the peeler, the variable-frequency motor and the work are compensated according to compensating parameter is stopped
The stopping of frequency motor, so that the variable-frequency motor and power frequency motor are simultaneously stopped the operation to manipulating object.
The present invention also provides a kind of control system applied in peeler, the peeler includes the power frequency that rod is rubbed in control with the hands
Motor and control promote the variable-frequency motor of rod.The control system includes memory module, for storing based on the power frequency motor and
The startup compensating parameter for starting time setting of the variable-frequency motor and the stopping compensation ginseng being arranged according to their dwell time
Number；Control module is coupled with the memory module, the power frequency motor and the variable-frequency motor respectively, and in the rotary-cut
In the startup of machine and/or stopped process, respectively according to the compensating parameter and/or the stopping compensating parameter to the power frequency electric
The startup and/or stopping of machine and the variable-frequency motor compensate.
Method and system of the present invention may make different fortune when it is set in mechanical device or peeler
Motor under line mode acts on its manipulating object and/or is simultaneously stopped the operation to manipulating object simultaneously.
Description of the drawings
Fig. 1 illustrate according to an example of the present invention apply by two or more motors cooperate carry out
The flow chart of control method in the mechanical device of operation.
The schematic diagram of section when Fig. 2 is peeler rotary-cut timber.
Fig. 3 is application according to the present invention in the flow chart of the control method of peeler.
Fig. 4 be according to an example of the present invention apply by two or more motors cooperate carry out operation
Mechanical device in control system structural schematic diagram.
Fig. 5 is application according to the present invention in the structural schematic diagram of the control system of peeler.
Specific implementation mode
Referring now to the schematic example of the attached drawing description present invention, identical drawing reference numeral indicates identical element.Hereafter
Each embodiment of description contributes to those skilled in the art to understand thoroughly the present invention, and is intended to example and unrestricted.Each member in figure
Part, component, module, the diagram of device and apparatus body are only illustrate schematicallyd there are these component, assembly units, module, device and are set
Standby ontology also shows the relativeness between them, and they non-limiting concrete shape simultaneously.
According to one embodiment of present invention, a kind of apply is provided to carry out by the mutual cooperation of two or more motors
Control method in the mechanical device of operation.If using the mechanical device of this method only there are two motor, their operation
Mode is different, and if there is more than two motors, then it is different that at least there are two the methods of operation of motor in them.The method of operation is not
Same may include running frequency is different, the speed of service is different, traffic direction is different, starts time difference, dwell time difference etc.,
In all examples of the present invention, illustrated for starting time difference and/or dwell time difference, certainly, certain
In the case of, the difference of running frequency results in the difference of the speed of service, so from saying to a certain degree, speed of service difference is then run
Frequency is also different.
In examples all herein, what term " start time " indicated be motor from starting to start to operation in operation pair
Elephant the time spent in, for example, starting the time, can be motor start order and spent to operation in manipulating object from receiving
Time.What term " dwell time " indicated is motor from starting to stop to the time spent in stopping operation in manipulating object, for example,
Dwell time, which can be motor, ceases and desist order to the time spent in stopping operation in manipulating object from receiving.
According to the present invention, setting starts compensating parameter and stops compensating parameter, these parameters may be provided at mechanical device
In one memory module, which is, for example, a memory device or the deposit of its existing controller of the mechanical device
Device or memory etc..When starting the motor of mechanical device, the different motor of the method for operation is compensated according to compensating parameter is started
Start, so that the operation simultaneously of these motors is in manipulating object；In the case where stopping motor, transported according to compensating parameter compensation is stopped
The stopping of the different motor of line mode, so that it is simultaneously stopped the operation to manipulating object.Start compensating parameter and stops compensating
Parameter can be time parameter, such as below in conjunction with the startup time bias parameter of Fig. 1 descriptions（For brevity, it referred to hereinafter as opens
Dynamic time parameter）With dwell time compensating parameter（For brevity, referred to hereinafter as dwell time parameter）.Alternatively, start compensation
Parameter and stopping compensating parameter can also be speed parameter.Such as in electric motor starting, keep slow motor under routine high
Speed operation applies power to its manipulating object simultaneously with the motor with conventional lower speed, and after applying power to manipulating object
The motor for making the rotating speed slower replys conventional speeds；When motor stops, the speed of service of slow motor is made to improve, and
Stop accelerating after its speed is identical as the motor of speed, the case where thus making the two motors while being connected to stop signal
Under be simultaneously stopped.As an example, at least two motors include power frequency motor and variable-frequency motor in mechanical device.According to compensating parameter
Compensate can be achieved for software or hardware or its combination, also can be implemented in the existing controller of mechanical device, such as automatically controlled list
In member.Start compensating parameter and stop the setting of compensating parameter, can be carried out by the man-machine interface of the mechanical device, such as the machine
Tool device is supplied to the input interface etc. of user.It is configurable in addition, starting time parameter and stopping compensating parameter, i.e. user
It can be modified to them according to actual conditions.
In addition to be not only provided with as mentioned above start compensating parameter again provided with stopping compensating parameter the case where, can be with
Only setting starts compensating parameter or only setting stopping compensating parameter.Start compensating parameter as being only provided with, then only on startup
It is compensated according to the startup compensating parameter.Stop compensating parameter as being only provided with, is then only compensated according to the stopping when stopping
Parameter compensates.To the startup compensation of motor and both provided with startup compensating parameter when starting compensating parameter in view of being only arranged
The startup compensation being provided with again when stopping compensating parameter to motor is almost the same, and only setting stops stopping motor when compensating parameter
It is almost the same to the stopping compensation of motor when only compensation is provided with stopping compensating parameter with startup compensating parameter was not only provided with, because
This, which is hereafter based only upon not only to be provided with, starts compensating parameter but also is described provided with the case where stopping compensating parameter.
Fig. 1 illustrate according to an example of the present invention apply by two or more motors cooperate carry out
The method of operation of the flow chart of control method in the mechanical device of operation, wherein at least two motor is different.Below in conjunction with figure
1, illustrate that it is to start time parameter, and stop the case where compensating parameter is dwell time parameter to start compensating parameter.In step
100, setting starts time parameter and dwell time parameter.When startup time parameter and dwell time parameter are for example one respectively
Between section, in some examples, start time parameter instruction period it is identical as the period that dwell time parameter indicates.Start
The setting of time parameter and dwell time parameter can be arranged according to the startup time of each motor in mechanical device and dwell time, more
Specifically, it can be determined according to the dwell time difference started between time difference and each motor between each motor.If mechanical device
In, there are multiple motors, such as including first motor, the second motor, third motor and the 4th motor totally four motors, and each motor
The startup time and dwell time it is different, then three can be set gradually according to the length for starting the time for starting their startup
Time parameter, according to the length of dwell time set gradually three for stopping dwell time parameter.
In step 102, in the case where starting at least two motor, first start the motor for wherein starting time length, and
When long motor starting time reaches the time for starting time parameter instruction between on startup, startup wherein starts time short electricity
Machine.If the startup time parameter being arranged in step 100 is a period, the self-starting time electric motor starting of length starts,
When duration reaches the period for starting time parameter instruction, startup starts time short motor.For having in mechanical device
Multiple motors, such as the case where aforementioned four motor, first motor start time Ton1, the second motor starting time Ton2,
The magnitude relationship of third motor starting time Ton3 and the 4th motor starting time Ton4 are Ton1>Ton2>Ton4>When Ton3,
Startup time parameter for this four motors includes being started according to first that first motor and the second motor starting time determine
Time parameter Δ Ton1, second determined according to the startup time of the second motor and the 4th motor start time parameter Δ Ton2,
Start time dynamic parameter, Δ Ton3 according to the third that the time determines that starts of the 4th motor and third motor.Start this four motors
When, first start first motor, after continuing Δ Ton1 since its startup, start the second motor, holds since the second electric motor starting
After continuous Δ Ton2, start the 4th motor, after continuing Δ Ton3 since the 4th electric motor starting, starts third motor.Alternatively,
For aforementioned four motor time parameter can also start time longest motor the startup time be used as refer to benchmark, successively
Setting starts time parameter, i.e., using the startup time of first motor as benchmark, successively according to first motor and the second motor
Start the startup time difference of the startup time, first motor and third motor of time difference, first motor and the 4th motor to determine
Startup time parameter for starting the second motor, the 4th motor and third motor.
In step 104, when stopping at least two motor, first stop the wherein longer motor of dwell time, and at this
When the longer motor dwell time of dwell time reaches the time of dwell time parameter instruction, stop the wherein short electricity of dwell time
Machine.If the dwell time parameter being arranged in step 100 is a period, the motor of self-stopping technology dwell time length starts,
When duration reaches the period of dwell time parameter instruction, stop the short motor of dwell time.For having in mechanical device
Multiple motors, such as aforementioned four motor and third motor dwell time is Tsp3, the 4th motor dwell time is Tsp4, second
The case where motor dwell time is Tsp2 and first motor dwell time is Tsp1, in Tsp3>Tsp4>Tsp2>When Tsp1, it is used for
The dwell time parameter of this four motors includes the first dwell time parameter determined according to third motor and the 4th motor speed
Δ Tsp1 determines the second dwell time parameter, Δ Tsp2 according to the speed of the 4th motor and the second motor, according to the second motor and
The third dwell time parameter, Δ Tsp3 that the speed of first motor determines.When stopping these motors, first stops third motor, open certainly
After beginning stopping third motor continue for the Δ Tsp1 times, stop the 4th motor, the 4th motor of self-stopping technology starts to continue for Δ Tsp2
Afterwards, stop the second motor, the second motor of self-stopping technology starts after continue for Δ Tsp3, stops first motor.Alternatively, for upper
State four motors time parameter can also the longest motor of dwell time speed be used as refer to benchmark, when setting gradually stopping
Between parameter, i.e., using the speed of third motor as benchmark, successively according to the dwell time of the 4th motor and third motor, second electricity
The dwell time of the dwell time of machine and third motor, first motor and third motor stops the second motor, the 4th electricity to determine
The dwell time parameter of machine and third motor.
The schematic diagram of one section when Fig. 2 is peeler rotary-cut timber.As shown, the first of peeler rubs rod 10, the with the hands
Two stranding rods 11 and third are rubbed rod 12 with the hands and surrounded to be arranged by the timber 40 of rotary cutting.First, which rubs rod 10, second with the hands, rubs rod 11 and third stranding with the hands
Rod 12 is rotated in the same direction by the drive of power frequency motor 20.Each rotation for rubbing rod with the hands makes timber 40 be rotated towards opposite direction.This
In example, rubs rod 10,11 and 12 with the hands and rotate counterclockwise, timber 40 rotates clockwise.First, which rubs rod 10 and second with the hands, rubs rod 11 with the hands only around itself
Axis do rotating operation, and third rubs rod 12 with the hands while the axis rotation around itself, rod 14 can promoted to act on side shown in lower edge
It is moved to 14a.It promotes rod 14 to be driven by variable-frequency motor 22, advances along direction 14a or along the direction row opposite with direction 14a
Into this is depended in the operating condition of motor 22.It is appreciated that third stranding rod 12 under the drive for promoting rod 14 in the horizontal direction
There is traffic direction identical with rod 14 is promoted.Blade 30 is fixed on the structure that setting third rubs rod 12 with the hands, and rod 12 is rubbed with the hands with third
It is moved together along direction 14a or the direction opposite with direction 14a, but does not rub rod 12 with the hands with third and rotate.The end of blade 30 is tight
Closely connected timber, to cut wood skin in timber rotary course.Blade 30 and third have certain gap between rubbing rod 12 with the hands
So that the sawdust generated in cutting process is fallen.
It is known to those skilled in the art that being arranged just like biographies such as gearboxes between power frequency motor 20 and stranding rod 10,11 and 12
Dynamic device is arranged between variable-frequency motor 22 and propulsion rod 14 just like transmission devices such as gearboxes.About rod is promoted, can be
Screw-rod structure.In view of the structure of peeler is routine techniques, just do not add to elaborate herein.
Before illustrating each method according to the present invention and each system, first to illustrate that：Term " variable-frequency motor " refers to
Be the changeable frequency that frequency converter drives motor, conventional sense of the meaning with variable-frequency motor in this field be consistent；Term
" cooperate carry out operation " refers to these motors of mechanical device requirement where two or more motors while applying
Add power to their own manipulating object, by taking peeler as an example, two motors " cooperate and carry out operation " therein are pair
For rubbing rod with the hands and promoting rod, power frequency motor and variable-frequency motor can apply power to them simultaneously, so that the blade of peeler
It advances in the horizontal direction while direction of rotation is run, to rotary cutting timber.
Fig. 3 is application according to the present invention in the flow chart of the control method of peeler.The peeler is, for example, shown in Fig. 2
Peeler, by power frequency motor 20 control three stranding rod 10,11 and 12 rotations, pass through variable-frequency motor 22 control promote rod
14。
According to an example of the present invention, setting starts compensating parameter and stops compensating parameter, these parameters can for example be set
Set in a memory module of peeler, the memory module be, for example, the peeler a memory device or the peeler
Register or memory of some controllers etc..In the case where starting the peeler, according to start compensating parameter compensate this two
The startup of a motor, so that their operations simultaneously are in its respective manipulating object；In the case where stopping peeler, according to stopping
Compensating parameter compensates the stopping of two motors, so that they are simultaneously stopped the operation to respective manipulating object.Start compensation ginseng
Number and stopping compensating parameter can be time parameters, for example be the time in conjunction with the compensating parameter in the embodiment that Fig. 3 is described
Parameter.Alternatively, it can also be speed parameter to start compensating parameter and stop compensating parameter.Such as when electric motor starting, make routine
The slower variable-frequency motor of lower rotating speed runs to apply power simultaneously to them with the faster power frequency motor of rotating speed with higher rotating speed
The stranding rod and propulsion rod respectively controlled, while the speed of service of variable-frequency motor being made to reply compared with low-rotate speed；When motor stops, making change
The rotating speed of frequency motor improves, and stops accelerating after its rotating speed is identical as power frequency motor, so that the two motors can be same
When be connected to stop signal in the case of, be simultaneously stopped operation.As an example, multiple examples according to the present invention, join according to compensation
Number compensate can be achieved for software or hardware or its combination, also can be implemented in the existing controller of peeler, such as automatically controlled list
In member.
With reference to figure 3 and Fig. 2, in step 200, setting starts time parameter and dwell time parameter.Start time parameter
For example it is a period respectively with dwell time parameter.In some examples, start time parameter instruction period with stop
Only the period of time parameter instruction is identical.The setting for starting time parameter and dwell time parameter can be according to power frequency in peeler
The startup time and dwell time of motor and variable-frequency motor, more specifically, can be according to startup time difference between each motor and each
Dwell time difference between motor determines.For peeler, one of skill in the art will understand that, power frequency motor and frequency conversion
The startup time of motor depends on their own operating rate, and the faster motor of operation, the startup time is short, accordingly
Ground, dwell time are longer.And in peeler, the speed of power frequency motor is generally higher than variable-frequency motor, that is to say, that power frequency electric
The startup time of machine is shorter but dwell time is longer, and the startup time of variable-frequency motor is longer but dwell time is shorter.
In step 202, in the case where starting peeler, first start variable-frequency motor 22, and reach in its startup time and open
When the time of dynamic time parameter instruction, start power frequency motor 20.If the startup time parameter being arranged in step 200 is one
Between section, then self started frequency conversion motor 22 start, the duration reach start time parameter instruction period when, start power frequency electric
Machine 20.
In step 204, in the case where stopping peeler, first stop power frequency motor 20, and when power frequency motor 20 stops
Between reach dwell time parameter instruction time when, stop variable-frequency motor 22.If the dwell time parameter being arranged in step 200
It it is a period, then self-stopping technology power frequency motor 20 starts, and when the duration reaches the period of dwell time parameter instruction, stops
Only variable-frequency motor 22.
Startup is respectively set based on the startup time and dwell time of variable-frequency motor and power frequency motor and stops mending
Repay parameter so that when peeler starts, control variable-frequency motor 22 first and start.The startup of self frequency-changing's motor 22 starts, and continue for
After starting the time parameter specified period, that is, controls power frequency motor 20 and start.Thus successively starting the time has difference
Motor may make two motors while acting on stranding rod that it is respectively controlled and promoting rod.Specifically, power frequency motor 20 starts
While control stranding rod 10,11 and 12 operates counterclockwise, third rubs rod 12 with the hands due to promoting the effect of rod 14 along 14a
Direction operation enter normal rotary-cut flow, and promote the in due course effect of rod 14 just because of the promotion of variable-frequency motor 22.
When peeler stops, power frequency motor 20 is controlled first and is stopped, stopping since power frequency motor 20, dwell time parameter is continue for and refers to
After the period shown, that is, controls variable-frequency motor 20 and stop.Thus successively the differentiated motor of control dwell time stops, then may be used
It is simultaneously stopped to rubbing rod with the hands and promoting the control of rod, without as routine techniques, two motors start simultaneously at stopping, power frequency electric
Machine 20 is due to speed, and lasting run time is longer under effect of inertia, therefore after variable-frequency motor 22 stops still
The case where operation.
Fig. 4 be according to an example of the present invention apply by two or more motors cooperate carry out operation
Mechanical device in control system structural schematic diagram.Using in the mechanical device of the system if only there are two motor,
Their method of operation is different, and if there is more than two motors, then it is different that at least there are two the methods of operation of motor in them.
Explanation about the method for operation can be found in described above.
According to the present invention, which includes memory module and the control module that is coupled with the memory module.Store mould
The startup compensating parameter and stopping compensating parameter, the memory module of block storage setting can be independently disposed to the mechanical device
One memory device can also be register or memory of the existing controller of the mechanical device etc..When starting motor, control
Molding block compensates the startup of the different motor of the method for operation according to compensating parameter is started, so that their operations simultaneously are in operation pair
As；When stopping motor, control module compensates their stopping according to compensating parameter is stopped, so that it is simultaneously stopped to operation pair
The operation of elephant.It can be time parameter to start compensating parameter and stop compensating parameter.Alternatively, start compensating parameter and stop mending
It can also be speed parameter to repay parameter, such as in electric motor starting, and control module makes slow motor high speed under routine transport
Row applies power to be started simultaneously to its manipulating object with the motor of conventional lower speed, while its speed of service being made to return
Multiple conventional slower speed；When motor stops, control module makes the speed of service of slow motor improve, and in its speed
Stop accelerating after degree is identical with the motor of speed, in the case of thus making two motors be connected to stop signal at the same time
It is simultaneously stopped.As an example, at least two motors include power frequency motor and variable-frequency motor in mechanical device.The control module can be real
It is now software or hardware or its combination, can be both provided separately in mechanical device, and is existing for example electric with mechanical device
The controller electrical connection for controlling unit, can also be set up directly in the existing controller.For the startup compensating parameter and stopping
The setting of compensating parameter can be carried out by the man-machine interface of the mechanical device, such as the mechanical device is supplied to the input of user
Interface etc..In addition, start time parameter and stop compensating parameter being configurable, i.e., user can according to actual conditions to they into
Row modification.
As already mentioned, it is contemplated that when only setting starts compensating parameter to the compensation of electric motor starting be both provided with
Start compensating parameter again be provided with stop compensating parameter when it is almost the same to the compensation of electric motor starting, and only be arranged stopping compensation join
It provided with startup compensating parameter but also is provided with when stopping compensating parameter to motor stopping to the compensation of motor stopping and not only when counting
Compensate it is almost the same, therefore be based only upon here not only be provided with start compensating parameter again provided with stopping compensating parameter the case where carried out
Description.
Below in conjunction with Fig. 4, illustrate that it is to start time parameter, and stop compensating parameter and join for dwell time to start compensating parameter
Several situations.The control system includes memory module 40 and the control module 42 that is connected electrically, and control module 42 is at least readable
The data stored in memory module 40 are taken, in addition, control module 42 is electrically connected with each at least two motor, so as to
To its transmission of control signals.Memory module 40 stores the startup time parameter and dwell time parameter of setting.Start time ginseng
Number and dwell time parameter be for example a period respectively, in some examples, start time parameter instruction period with
The period of dwell time parameter instruction is identical.The setting for starting time parameter and dwell time parameter can be according in mechanical device
The startup time of each motor and dwell time setting, more specifically, can according between each motor the startup time difference and each motor
Between dwell time difference determine.If in mechanical device, there is multiple motors, such as respectively first motor, the second motor,
Three motors and the 4th motor totally four motors, and the startup time of each motor and dwell time difference, then can be according to the startup time
Length set gradually three for starting their startup time parameter, three use are set gradually according to the length of dwell time
In the dwell time parameter of stopping.
Control module 42 controls the electric motor starting for wherein starting time length first when starting at least two motor, and
When the motor starting time reaches the time for starting time parameter instruction, control wherein starts time short electric motor starting.Such as
The startup time parameter being arranged in fruit memory module 40 is a period, then self-starting starts the motor that the time is grown and starts, and holds
When the continuous time reaches the period for starting time parameter instruction, control starts time short electric motor starting.For in mechanical device
There is the case where multiple motors, such as the case where aforementioned four motor, if first motor starts time Ton1, the second electric motor starting
The magnitude relationship of time Ton2, third motor starting time Ton3 and the 4th motor starting time Ton4 are Ton1>Ton2>Ton4
>When Ton3, the startup time parameter for this four motors includes being determined according to first motor and the second motor starting time
First starts time parameter Δ Ton1, according to the second startup time parameter for starting time determination of the second motor and the 4th motor
Δ Ton2 starts time dynamic parameter, Δ Ton3 according to the third that the time determines that starts of the 4th motor and third motor.Start this
When four motors, control module 42 first controls first motor startup, after continuing Δ Ton1 starting since it, then controls the second electricity
Machine starts, and after continuing Δ Ton2 since the second electric motor starting, then controls the 4th electric motor starting, holds since the 4th electric motor starting
After continuous Δ Ton3, then control third electric motor starting.Alternatively, when the time parameter for aforementioned four motor can also start
Between longest motor the startup time be used as refer to benchmark, set gradually startup time parameter, i.e., with the startup of first motor when
Between be used as benchmark, successively according to the startup for starting time difference, first motor and the 4th motor of first motor and the second motor when
Between, startup time difference of first motor and third motor determines for starting the second motor, the 4th motor and third motor
Start time parameter.
When stopping at least two motor, the motor for controlling wherein dwell time length first stops control module 42, and
When the motor dwell time reaches the time of dwell time parameter instruction, the short motor of control wherein dwell time stops.Such as
The dwell time parameter being arranged in fruit memory module 40 is a period, then the motor of self-stopping technology dwell time length starts, and holds
When the continuous time reaches the period of dwell time parameter instruction, the short motor of control dwell time stops.For in mechanical device
There are multiple motors, such as aforementioned four motor and third motor dwell time is Tsp3, the 4th motor dwell time is Tsp4,
The case where two motor dwell times are Tsp2 and first motor dwell time is Tsp1, in Tsp3>Tsp4>Tsp2>When Tsp1, use
Include being joined according to the first dwell time that third motor and the 4th motor speed determine in the dwell time parameter of this four motors
Number Δ Tsp1, determines the second dwell time parameter, Δ Tsp2, according to the second motor according to the speed of the 4th motor and the second motor
The third dwell time parameter, Δ Tsp3 determined with the speed of first motor.When stopping these motors, control module 42 first controls
Third motor stops, and starts to stop certainly after third motor continue for the Δ Tsp1 times, controlling the 4th motor stopping, self-stopping technology the
Four motors start after continue for Δ Tsp2, then control the stopping of the second motor, and the second motor of self-stopping technology starts after continue for Δ Tsp3,
First motor stopping is controlled again.Alternatively, the time parameter for aforementioned four motor can also the longest electricity of dwell time
The speed of machine, which is used as, refers to benchmark, sets gradually dwell time parameter, i.e., using the speed of third motor as benchmark, basis successively
4th motor and the dwell time of third motor, the dwell time of the second motor and third motor, first motor and third motor
Dwell time come determine stop the second motor, the 4th motor and third motor dwell time parameter.
Fig. 5 is application according to the present invention in the structural schematic diagram of the control system of peeler.The peeler is, for example, Fig. 2
Shown in peeler.
According to an example of the present invention, control system includes memory module 50 and the control module that is electrically connected with the storage
52, which at least can be read the data in the memory module 50.The memory module 50 stores the startup compensation of setting
Parameter and stopping compensating parameter.The memory module 50 can be for example a memory module for being provided separately within peeler, also can example
Register or memory of the existing controller of the peeler in this way etc..In the case where starting the peeler, control module 52
The startup of the two motors is compensated according to startup compensating parameter, so that their operations simultaneously are in manipulating object；Stopping peeler
In the case of, the stopping of two motors is compensated according to stopping compensating parameter, so that they are simultaneously stopped operation.Start compensation ginseng
Number and stopping compensating parameter can be time parameters, such as will be in conjunction with the example of Fig. 5 detailed descriptions.Alternatively, start compensation ginseng
Number and stopping compensating parameter can also be speed parameter, such as in electric motor starting, and control module 52 keeps conventional lower speed slower
Variable-frequency motor run to apply power to manipulating object, together to start simultaneously at the power frequency motor of speed at a higher speed
When so that the speed of service of the variable-frequency motor is replied conventional slower speed；When motor stops, control module makes variable-frequency motor
The speed of service improves, and stops accelerating after its speed is identical as power frequency motor, so that two motors are connected at the same time
Operation is simultaneously stopped in the case of stop signal.As an example, control module 52 can realize for software or hardware or its combination,
Both it can be provided separately in peeler, and be electrically connected with the controller of the existing such as electronic control unit of the peeler, it also can be straight
It connects and is arranged in the existing controller.Setting for the startup compensating parameter and stopping compensating parameter, can pass through the rotary-cut
The man-machine interface of machine carries out, such as the peeler is supplied to the input interface etc. of user.In addition, the startup time parameter and stopping
Compensating parameter is configurable, i.e., user can modify to them according to actual conditions.
Below in conjunction with Fig. 5, illustrate that it is to stop compensation ginseng to start compensating parameter to start time parameter to stop compensating parameter
Several situations.The control system includes memory module 50 and the control module 52 that is connected electrically, and control module 52 is at least readable
Take the data stored in memory module 50.In addition, control module 52 is electrically connected with power frequency motor and variable-frequency motor respectively, with transmission
Control signal.Memory module 50 stores the startup time parameter and dwell time parameter of setting.Start time parameter and stopping
Time parameter is for example a period respectively.In some examples, start period and the dwell time of time parameter instruction
The period of parameter instruction is identical.The set-up mode one for starting the setting of time parameter and dwell time parameter and being mentioned above
It causes, repeats no more.
For control module 52 when starting rotary-cut, control first starts the variable-frequency motor startup of time length, and is opened in the motor
When the dynamic time reaches the time for starting time parameter instruction, control wherein starts time short power frequency electric motor starting.If storage
The startup time parameter being arranged in module 40 is a period, then self frequency-changing's electric motor starting starts, and the duration reaches startup
When the period of time parameter instruction, power frequency electric motor starting is controlled.Control module 52 is controlled first in the case where stopping peeler
Power frequency motor processed stops, and when self-stopping technology power frequency motor starts the duration and reaches the time of dwell time parameter instruction, control
Wherein slow variable-frequency motor stops.If the dwell time parameter being arranged in memory module 50 is a period,
From stopping power frequency motor is started, when the duration reaches the period of dwell time parameter instruction, control variable-frequency motor stops.
In conjunction with Fig. 2, when peeler starts to start, control module 52 controls the startup of variable-frequency motor 22 first, and self-starting becomes
Frequency motor 22 starts, and continue for after starting the time parameter specified period, control module 52 controls power frequency motor 20 and opens
It is dynamic.Thus successively start time differentiated motor to may make two motors while being respectively acting on stranding rod and push away that it is controlled
Into rod.Power frequency motor 20 starts control and rubs rod 10,11 and 12 with the hands while operate counterclockwise, and third rubs rod 12 with the hands due to pushing away
Into rod 14 effect along 14a direction operation enter normal rotary-cut flow, and promote rod 14 it is in due course act on just because of
The promotion of variable-frequency motor 22.When peeler starts to stop, control module 52 controls the stopping of power frequency motor 20, power frequency motor first
20 self-stopping technologies start, and after continue for the dwell time parameter specified period, control module 52 controls variable-frequency motor 20 and stops
Only.Thus successively the differentiated motor of control dwell time stops, then can be simultaneously stopped the control to rubbing rod with the hands with promoting rod, without
Can be as routine techniques, two motors start simultaneously at stopping, and power frequency motor 20 is since effect of inertia is in the stopping of variable-frequency motor 22
The case where still running later.
Method and system of the present invention may make different fortune when it is set in mechanical device or peeler
Motor under line mode acts on its manipulating object and/or is simultaneously stopped the operation to manipulating object simultaneously.More specifically, for
The mechanical device for including two motors may make the two motors while making when the two motors have different running method
For its manipulating object and/or it is simultaneously stopped operation to manipulating object, this mechanical device such as peeler.For including two
The mechanical device of a above motor can make each motor while act on its operation when all motors have different running method
Object and/or it is simultaneously stopped operation to manipulating object, a part of motor has a different running method wherein, and another part
In the case that motor has the identical method of operation, it may make the motor with different running method while acting on its manipulating object
And/or it is simultaneously stopped the operation to manipulating object, one of skill in the art will understand that, require all motors in mechanical device
In manipulating object and/or in the case of being simultaneously stopped to the operation of manipulating object, this part has different operation sides for operation simultaneously
The motor of formula with another part will there is the motor of the identical method of operation to act on its manipulating object simultaneously and/or stop simultaneously simultaneously
Only to the operation of manipulating object, therefore, when relevant compensating parameter, such as time parameter is arranged, need that this part can be considered not
The startup time difference and/or dwell time with the motor and the method for operation of the method for operation between identical part motor is poor.
Although in the above description in conjunction with attached drawing, disclosing specific embodiments of the present invention, art technology
Personnel are it is understood that can be deformed or be changed to disclosed specific embodiment without departing from the spirit of the invention.
The embodiment of the present invention is only used for signal and is not intended to restrict the invention.
Claims (6)
1. a kind of control method applied in the mechanical device for carrying out operation that cooperated by least two motors, wherein described
The methods of operation of at least two motors in motor is different, which is characterized in that the control method includes：
Based on the different running method of at least two motor, setting starts compensating parameter and/or stops compensating parameter；
Provided with starting compensating parameter and stopping compensating parameter, when starting at least two motor, according to
Start compensating parameter and compensate the startup of at least two motor, so that their operations simultaneously are in manipulating object, and stops institute
In the case of stating at least two motors, the stopping of at least two motor is compensated according to stopping compensating parameter, so that they are same
When stop operation to manipulating object；
Provided with compensating parameter is started, when starting at least two motor, mended according to compensating parameter is started
The startup of at least two motor is repaid, so that their operations simultaneously are in manipulating object, or provided with stopping compensating parameter
In the case of, when stopping at least two motor, the stopping of at least two motor is compensated according to stopping compensating parameter, with
Them are made to be simultaneously stopped the operation to manipulating object,
Wherein, the startup compensating parameter is to start velocity compensation parameter, and the stopping compensating parameter is to stop velocity compensation ginseng
Number, the startup velocity compensation parameter and the stopping velocity compensation parameter are arranged to：On startup, increase speed slower
The rotating speed of motor with the faster motor of rotating speed simultaneously to its manipulating object apply power, and apply power to manipulating object after
So that the slower motor of the rotating speed is replied conventional rotating speed, when stopping, the rotating speed for the slower motor that increases speed, and its rotating speed with
Stop accelerating after the faster motor of rotating speed is identical, in the case of so that the two motors is connected to stop signal at the same time while stop
Only.
2. control method as described in claim 1, which is characterized in that at least two motor includes power frequency motor and frequency conversion
Motor.
3. control method as claimed in claim 2, which is characterized in that the mechanical device is peeler.
4. a kind of control system applied in the mechanical device for carrying out operation that cooperated by least two motors, wherein described
At least two motor operation modes in motor are different, which is characterized in that the control system includes：
Memory module, for store based at least two motor different running method setting startup compensating parameter with/
Or stop compensating parameter；
Control module is electrically connected with each in the memory module and at least two motor respectively, and it is described extremely
In the startup of few two motors and/or stopped process, according to the startup compensating parameter and/or according to the stopping compensating parameter
It compensates,
Wherein, the startup compensating parameter is to start velocity compensation parameter, and the stopping compensating parameter is to stop velocity compensation ginseng
Number, the startup velocity compensation parameter and the stopping velocity compensation parameter are arranged to：On startup, increase speed slower
The rotating speed of motor with the faster motor of rotating speed simultaneously to its manipulating object apply power, and apply power to manipulating object after
So that the slower motor of the rotating speed is replied conventional rotating speed, when stopping, the rotating speed for the slower motor that increases speed, and its rotating speed with
Stop accelerating after the faster motor of rotating speed is identical, in the case of so that the two motors is connected to stop signal at the same time while stop
Only.
5. control system as claimed in claim 4, which is characterized in that at least two motor includes power frequency motor and frequency conversion
Motor.
6. control system as claimed in claim 5, which is characterized in that the mechanical device is peeler.
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| CN201210416130.4A CN103780165B (en) | 2012-10-26 | 2012-10-26 | The method and system of electric motor starting and stopping is controlled in mechanical device |
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|---|---|---|---|
| CN201210416130.4A CN103780165B (en) | 2012-10-26 | 2012-10-26 | The method and system of electric motor starting and stopping is controlled in mechanical device |
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| CN103780165B true CN103780165B (en) | 2018-07-24 |
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| CN109050506B (en) * | 2018-08-22 | 2021-03-26 | 中车株洲电力机车有限公司 | Control method, system and equipment for direct current motor of hydraulic braking system |
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