CN104300843A - Multi-motor synchronization control system - Google Patents
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- CN104300843A CN104300843A CN201410638354.9A CN201410638354A CN104300843A CN 104300843 A CN104300843 A CN 104300843A CN 201410638354 A CN201410638354 A CN 201410638354A CN 104300843 A CN104300843 A CN 104300843A
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Abstract
The invention provides a multi-motor synchronization control system, which comprises a host control device for controlling a host and slave control devices for controlling salves, wherein the host consists of a motor group consisting of two asynchronous motors with the same parameters, wiring terminals of the asynchronous motors are connected in parallel, and motor shafts of the asynchronous motors are rigidly connected; each slave consists of a motor group consisting of two asynchronous motors with the same parameters, wiring terminals of the asynchronous motors are connected in parallel, and motor shafts of the asynchronous motors are rigidly connected; an output shaft of the host are flexibly connected with output shafts of the slaves; the host control device and the slave control devices are used for performing centralized control and motor rotating speed estimation on the whole motor groups by adopting a speed sensor-free vector control manner; the slave control devices perform proportion integration operation on a difference of the motor torque current itref1 of the host and the motor torque current itref2 of the slaves, and adds the difference to the estimated motor rotating speed omega1 of the host and the motor slip ratio omegas2 of the slaves, and the sum is used as the synchronous speed omega for controlling the slaves.
Description
Technical field
The present invention is applied to industrial electric transmission field, relates to synchronous control system for multiple motors, particularly relates to and utilizes speed-sensorless control to carry out multi-motor synchronous control to asynchronous machine.
Background technology
The control mode of asynchronous machine has three kinds usually, that is, V/F control, speed-sensorless control and speed sensor vector control.V/F control mode is a kind of macro-control, during Synchronization Control for many motors, and main frame and little from machine difference on microcosmic; Synchronization Control ratio is easier to realize.Speed sensor vector control, because motor speed is surveyed out by code-disc etc., precision is higher, and main frame and the Synchronization Control from machine are also easy to realize.And speed-sensorless control is different from above-mentioned two kinds of control modes, motor speed is estimated by the mode of identification, and estimation precision is relevant with the parameter of electric machine, and the more accurate precision of parameter is higher, but the parameter of electric machine is difficult to accurately measure.Same model also has minute differences with the series-produced parameter of electric machine, makes the estimation of motor speed occur deviation.Therefore, when directly speed-sensorless control being applied in multi-motor synchronous control, although the frequency that each frequency converter exports is equal, speed ring due to each frequency converter is all separate, the calculating error of motor speed will be directly reflected in motor speed, cause the imbalance of power output, so that another also may in deceleration in acceleration to have in a flash one at certain, there is problems such as " are at loggerheads (motor is in motoring condition, and another motor is in generating state) ".
To this, applicant of the present invention proposes the control method that one can prevent " being at loggerheads " problem from occurring in number of patent application CN201210352226.9.Its main points connect at host computer control device and between machine control device, host computer control device is when to host computer control, the motor torque electric current of main frame and motor are estimated that rotating speed passes to from machine control device, proportional integral computing is carried out from the difference of the motor torque electric current of machine control device to main frame and the motor torque electric current from machine, try to achieve rotating speed correction, rotating speed correction and the motor of main frame are estimated that rotating speed and the motor slip ratio from machine are added, using additive value as the synchronous speed from machine, carry out vector control to from machine.Therefore, main frame and when changing from the extraneous load machine, can adjust synchronous speed in time from machine, keep synchronous, and there will not be the problem of " being at loggerheads " to occur with main frame.
Because the method needs (one to one) separately to carry out control to motor, when number of motors is more, not only cost is high for the controller of equal number, host computer control device and can become very complicated from the connection between machine control device, and any one connection is broken down, this all will be caused cannot normally to control from machine control device, Synchronization Control was lost efficacy.Further, too much connection also makes data lose in transmittance process and the possibility of distortion increases, and reduces the reliability of system.
The object of the invention is to, provide one can either make to keep synchronous from machine and main frame, can amount controller be reduced again, improve the synchronous control system for multiple motors of system reliability.
Summary of the invention
Technical scheme of the present invention is, the group of motors that main frame is made up of the asynchronous machine that two or more parameter is identical is formed, in group of motors, the binding post of each asynchronous machine is connected in parallel, motor shaft is rigidly connected, the group of motors be made up of the asynchronous machine that two or more parameter is identical from machine is formed, in group of motors, the binding post of each asynchronous machine is connected in parallel, motor shaft is rigidly connected, the output shaft of main frame and flexibly connecting from adopting between the output shaft of machine, host computer control device and from machine control device, adopt speed-sensorless control mode, with group of motors entirety for object carries out centralized control and motor speed estimation.Host computer control device and connecting between machine control device, host computer control device is when main control system, by comprising, motor rises/stops, the motor status data of motor torque electric current, motor slip ratio, motor estimation rotating speed are delivered to from machine control device, proportional integral computing is carried out from the difference of the motor torque electric current of machine control device to main frame and the motor torque electric current from machine, try to achieve rotating speed correction, rotating speed correction and the motor of main frame are estimated that rotating speed and the motor slip ratio from machine are added, using additive value as the synchronous speed controlled from machine.
Because host computer control device carries out centralized control so that group of motors is overall for object with from machine control device, compared with control mode man-to-man in prior art, the quantity of controller can be reduced.The minimizing of amount controller, not only reduces cost, also reduces host computer control device and from the number of connection between machine control device, improves the reliability of system.
And main frame and when changing from the extraneous load machine, can adjust synchronous speed in time from machine, keep synchronous with main frame.
Accompanying drawing explanation
Fig. 1 is the explanation block diagram of synchronous control system for multiple motors of the present invention;
Fig. 2 is the system block diagram of host computer control device;
Fig. 3 is the system block diagram from machine control device;
Fig. 4 is from machine synchronous speed correction flow chart.
Embodiment
In the present embodiment, as shown in Figure 1, motor by main frame 1a, from machine 2a, from machine 3a, form from machine 4a, main frame 1a and from machine 2a, from machine 3a, between machine 4a, output shaft flexibly connects mutually.Main frame 1a, from machine 2a, from machine 3a, from machine 4a respectively by host computer control device 1, from machine control device 2, from machine control device 3, control from machine control device 4.The group of motors that main frame 1a is made up of two motors A, B is as shown in Figure 2 formed, and the binding post of motor A, B is connected in parallel and is connected with host computer control device 1 afterwards, and the motor shaft of motor A, B is rigidly connected.Form from the machine 2a group of motors be made up of two motors A, B as shown in Figure 3 same with main frame 1a, the binding post of two motors A, B is connected in parallel and is connected with from machine control device 2 afterwards, and the motor shaft of motor A, B is rigidly connected.From machine 3a, same with from machine 2a from machine 4a.Main frame 1a, from machine 2a, from machine 3a, all adopt from the motor machine 4a the asynchronous machine that parameter is identical, preferred same model or with batch production asynchronous machine.
Host computer control device 1 and adopt speed-sensorless control mode respectively from machine control device 2,3,4, carries out centralized control and motor speed estimation so that group of motors is overall for object.That is, be rigidly connected by two motor shafts, the motor that winding parallel connects, as a motor, carries out controlling with the electric current of group of motors and estimation to motor speed.Due to the difference in parameter between two motors, and the distribution of electric current between each motor cannot be distinguished, it has been generally acknowledged that two motors of winding parallel correctly to separate the exciting current of each motor of decoupling and torque current, that is, speed-sensorless control is the situation being not suitable for simultaneously controlling two motors.
Through the research of inventor, if winding parallel, motor shaft are rigidly connected, because the rotating speed of two motors, synchronous speed, motor slip ratio are all identical, the load of motor distributes identical, namely, motor is in identical state, and now, the electric current of each motor, torque current, exciting current there will not be larger difference.Therefore, even if the parameter of electric machine has minute differences, also can estimate the rotating speed of motor with the parameters of group of motors, and there will not be larger error.Actual use also demonstrates with group of motors entirety for object carries out speed-sensorless control, and the startup of motor and control characteristic are all in acceptable scope.
Due to winding parallel, rigidly connected two motors of motor shaft, be equivalent to the motor of two stator winding parallel connections, its equivalent electric circuit is the parallel connection of each motor equivalent electric circuit, therefore, it is possible to according to the method identical with single motor, determines the parameters of group of motors.As stator resistance, stator inductance, rotor resistance, inductor rotor, magnetizing inductance are 1/2nd of single motor, open-circuit excitation electric current, stator current, rotor current are then two times of single motor.If parameter adopts the method setting of Self-tuning System, with not being both of single motor, open-circuit excitation electric current will according to two of empty load of motor exciting current times setting, equally when other and single motor sets.Concrete control mode can refer to prior art, does not repeat them here.
Be described to main frame with from the Synchronization Control of machine below.In the following description, with main frame, replace group of motors from machine, and do not distinguish motor A and B wherein.
Fig. 2 is the system block diagram of host computer control device, as shown in Figure 2, host computer control device 1 by main frame frequency converter 1b, engine torque electric current/exciting current calculator 1c, main frame revolutional slip calculator 1d, engine speed estimation device 1e, engine speed controller 1f, engine speed pi regulator 1g, engine torque current calculator 1h, main frame exciting current calculator 1i, main frame frequency-variable controller 1j are formed.
Engine torque electric current/exciting current calculator 1c tries to achieve the torque current it1 of main frame 1a by the method for Coordinate Conversion according to the drive current (ia1, ib1, ic1) of main frame 1a, exciting current im1.
Main frame revolutional slip calculator 1d calculates the revolutional slip ω s1 of main frame 1a according to the torque current it1 of main frame 1a, exciting current im1.
Engine speed estimation device 1e calculates the estimation rotational speed omega 1 of main frame 1a according to the drive current (ia1, ib1, ic1) of main frame 1a and driving voltage (va1, vb1, vc1) by the mode of estimation.Evaluation method adopts prior art to estimate as utilized the Mathematical Modeling of motor.
Estimation rotational speed omega 1 feeds back to engine speed controller 1f.Engine speed controller 1f calculates the difference between the desired value ω ref of rotating speed and estimation rotational speed omega 1, this difference after engine speed pi regulator 1g proportional integral (PI) computing, calculates torque current itref1 by engine torque current calculator 1h as controlled quentity controlled variable.Main frame frequency-variable controller 1j is according to the synchronous speed x of the revolutional slip ω s1 of main frame 1a and estimation rotational speed omega 1 computation host 1a, integral operation is carried out to synchronous speed x and tries to achieve flux linkage position of the rotor θ, by flux linkage position of the rotor θ, carry out Coordinate Conversion to the torque current itref1 of main frame and exciting current imref1 to produce control signal and control main frame frequency converter 1b, the rotating speed of main frame and desired value ω ref are consistent.
Above, control with the rotating speed of the mode of closed loop to main frame, also can carry out closed-loop control to engine torque electric current and exciting current as required.Now, the torque current it1 of reality, exciting current im1 are fed back, input main frame frequency-variable controller 1j by torque current itref1 and exciting current imref1 and its difference as controlled quentity controlled variable.More than sketched Speedless sensor vector control technology of the present invention, control to adopt any prior art as Speedless sensor vector, its detailed description with reference to existing document, can not repeat them here.
Fig. 3 is the system block diagram from machine control device, as shown in Figure 2, from machine control device 2 by from machine frequency converter 2b, from machine torque current/exciting current calculator 2c, from machine revolutional slip calculator 2d, from machine turn count device 2e, from machine rotational speed governor 2f, from machine rotating speed pi regulator 2g, from machine torque current calculator 2h, from machine exciting current calculator 2i, form from machine frequency-variable controller 2j.Compared with the host computer control device 1 of Fig. 2, from machine control device 2 only different to existing in the process of synchronous speed from machine frequency-variable controller 2j, remainder is all identical.
Below, be only described the process of synchronous speed from machine frequency-variable controller 2j, remainder is with reference to the explanation of above host computer control device 1.
Fig. 4 is from machine synchronous speed correction flow chart.Synchronous speed ω is calculated according to step as shown in Figure 4 from machine frequency-variable controller 2.
In step 1, the torque current itref1 of main frame 1a and the torque current itref2 from machine 2a is read from machine frequency-variable controller 2j, to torque current itref1 with carry out proportional integral computing from the difference of the torque current itref2 of machine 2a, try to achieve rotating speed correction amount ω.
In step 2, the estimation rotational speed omega 1 of main frame 1a and the revolutional slip ω s2 from machine 2a is read from machine frequency-variable controller 2j, be added by the estimation rotational speed omega 1 of rotating speed correction amount ω and main frame 1a with from the revolutional slip ω s2 of machine 2a, calculate the synchronous speed ω (ω 1+ ω s2+ Δ ω) from machine.
Can carry out according to host computer control device 1 and from the communication cycle between machine control device 2 from the calculating of the synchronous speed ω of machine above.After calculating from the synchronous speed ω of machine, from machine frequency-variable controller 2j according to from machine synchronous speed ω, after calculating flux linkage position of the rotor θ, produce control signal control from machine frequency converter 2b carrying out Coordinate Conversion from the torque current itref2 of machine and exciting current imref2, make to be consistent from the rotating speed of machine and desired value ω ref.
It is more than the embodiment of technical scheme of the present invention, in this embodiment, main frame and all have employed speed-sensorless control from machine, in controlling from the vector of machine, from the torque current itref1 of synchronous speed ω according to main frame 1a of machine and the torque current itref2 from machine 2a, the estimation rotational speed omega 1 of main frame 1a, calculate from the revolutional slip ω s2 of machine 2a, therefore as main frame 1a with when changing from the extraneous load machine 2a, synchronous speed can adjusted in time from machine, make to keep synchronous from machine and main frame, avoid problem generations such as being at loggerheads.Actual test also proves, technical scheme of the present invention can to make from machine with main frame smooth running, reliably.
Due to main frame 1a, from machine 2a, form from machine 3a, the group of motors that is made up of two motors respectively from machine 4a, group of motors entirety is controlled, eight motors are controlled with four controllers, as shown in Figure 1, as long as host computer control device 1 with from machine control device 2, from machine control device 3, pass with being connected from arranging three light between machine control device 4, not only reduce amount controller and reduce cost, host computer control device and also become simple from the connection between machine control device, reduce the probability broken down, improve the reliability of system.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, as long as within the spirit and principles in the present invention, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a synchronous control system for multiple motors, comprise host computer control device that main frame is controlled and to control from machine from machine control device, it is characterized in that, the group of motors that main frame is made up of the asynchronous machine that two or more parameter is identical is formed, in group of motors, the binding post of each asynchronous machine is connected in parallel, motor shaft is rigidly connected, the group of motors be made up of the asynchronous machine that two or more parameter is identical from machine is formed, in group of motors, the binding post of each asynchronous machine is connected in parallel, motor shaft is rigidly connected, the output shaft of main frame and flexibly connecting from adopting between the output shaft of machine,
Host computer control device and from machine control device, adopts speed-sensorless control mode, carries out centralized control and motor speed estimation so that group of motors is overall for object,
Host computer control device and connecting between machine control device, host computer control device is when main control system, by comprising, motor rises/stops, the motor status data of motor torque electric current, motor slip ratio, motor estimation rotating speed are delivered to from machine control device, proportional integral computing is carried out from the difference of the motor torque electric current of machine control device to main frame and the motor torque electric current from machine, try to achieve rotating speed correction, rotating speed correction and the motor of main frame are estimated that rotating speed and the motor slip ratio from machine are added, using additive value as control from synchronous speed during machine.
2. synchronous control system for multiple motors according to claim 1, is characterized in that, described main frame adopts the identical asynchronous machine of parameter with from machine, preferred same model or with series-produced asynchronous machine.
3. synchronous control system for multiple motors according to claim 2, is characterized in that, described main frame is identical with from the asynchronous machine quantity in machine.
4. synchronous control system for multiple motors according to claim 3, is characterized in that, describedly at least comprises two groups from machine and from machine control device.
5. synchronous control system for multiple motors according to any one of claim 1 to 4, is characterized in that, host computer control device and connecting from being passed by light between machine control device, and the motor status data of main frame are delivered to from machine control device by light.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105281611A (en) * | 2015-12-03 | 2016-01-27 | 上海应鑫电气自动化有限公司 | Control algorithm suitable for driving multiple asynchronous motors through single inverter |
| CN106411223A (en) * | 2016-11-17 | 2017-02-15 | 北京航天发射技术研究所 | Alternating current asynchronous motor driving control system for rocket body support vehicle |
| CN107861414A (en) * | 2017-10-16 | 2018-03-30 | 深圳市合信自动化技术有限公司 | Realize the method and system, master controller, servo-driver that servomotor is synchronized with the movement |
| CN108183635A (en) * | 2017-12-29 | 2018-06-19 | 南京埃斯顿自动控制技术有限公司 | A kind of hypotactic motor synchronous control method |
| CN110138283A (en) * | 2019-06-27 | 2019-08-16 | 上海雷诺尔科技股份有限公司 | Multi-inverter synchronisation control means, device and system |
| CN110932235A (en) * | 2019-12-29 | 2020-03-27 | 徐州中矿大传动与自动化有限公司 | Method and device for protecting multi-motor cluster system |
| CN110932610A (en) * | 2019-12-20 | 2020-03-27 | 江苏科技大学 | Synchronous control method and system for double asynchronous motors |
| WO2023236855A1 (en) * | 2022-06-07 | 2023-12-14 | 上海能传电气有限公司 | Control circuit for realizing power balance of a plurality of synchronous motors and control method therefor |
| RU2822715C1 (en) * | 2022-06-07 | 2024-07-11 | Шанхай Нанкал Электрик Ко., Лтд. | Control circuit and control method for providing power balance of several synchronous electric motors |
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| CN105281611A (en) * | 2015-12-03 | 2016-01-27 | 上海应鑫电气自动化有限公司 | Control algorithm suitable for driving multiple asynchronous motors through single inverter |
| CN106411223A (en) * | 2016-11-17 | 2017-02-15 | 北京航天发射技术研究所 | Alternating current asynchronous motor driving control system for rocket body support vehicle |
| CN106411223B (en) * | 2016-11-17 | 2019-01-25 | 北京航天发射技术研究所 | A kind of automobile-used ACasynchronous motor drive control system of rocket body bracket |
| CN107861414A (en) * | 2017-10-16 | 2018-03-30 | 深圳市合信自动化技术有限公司 | Realize the method and system, master controller, servo-driver that servomotor is synchronized with the movement |
| CN108183635A (en) * | 2017-12-29 | 2018-06-19 | 南京埃斯顿自动控制技术有限公司 | A kind of hypotactic motor synchronous control method |
| CN110138283A (en) * | 2019-06-27 | 2019-08-16 | 上海雷诺尔科技股份有限公司 | Multi-inverter synchronisation control means, device and system |
| CN110138283B (en) * | 2019-06-27 | 2021-03-30 | 上海雷诺尔科技股份有限公司 | Multi-inverter synchronous control method, device and system |
| CN110932610A (en) * | 2019-12-20 | 2020-03-27 | 江苏科技大学 | Synchronous control method and system for double asynchronous motors |
| CN110932235A (en) * | 2019-12-29 | 2020-03-27 | 徐州中矿大传动与自动化有限公司 | Method and device for protecting multi-motor cluster system |
| WO2023236855A1 (en) * | 2022-06-07 | 2023-12-14 | 上海能传电气有限公司 | Control circuit for realizing power balance of a plurality of synchronous motors and control method therefor |
| RU2822715C1 (en) * | 2022-06-07 | 2024-07-11 | Шанхай Нанкал Электрик Ко., Лтд. | Control circuit and control method for providing power balance of several synchronous electric motors |
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Application publication date: 20150121 |