CN106059419B - A kind of permanent magnet synchronous motor parallel connection vector control scheme - Google Patents
A kind of permanent magnet synchronous motor parallel connection vector control scheme Download PDFInfo
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- CN106059419B CN106059419B CN201610472420.9A CN201610472420A CN106059419B CN 106059419 B CN106059419 B CN 106059419B CN 201610472420 A CN201610472420 A CN 201610472420A CN 106059419 B CN106059419 B CN 106059419B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
- H02P2207/055—Surface mounted magnet motors
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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
- Control Of Multiple Motors (AREA)
Abstract
A kind of permanent magnet synchronous motor parallel connection vector control scheme.Vector control technology is had been widely used in the control of induction machine, permanent magnet synchronous motor, servomotor, and traditional motor vector control system uses one motor of an inverter control.But in some use occasions, such as electric automobile, electric locomotive, fan, air-conditioning system, generally require 2 even multiple electric motors and work at the same time.The purpose of the present invention is to propose to the control program that an a kind of vector inverter drives two permanent magnet synchronous motors at the same time.Compared with prior art, the present invention has the following advantages：Existing vector control system uses one permanent magnet synchronous motors of Driven by inverter, and the present invention proposes the control program that an a kind of inverter drives two permanent magnet synchronous motors at the same time, saved the hardware cost of vector controller.Control program of the present invention controls complexity in terms of calculation amount unlike conventional vector, has practical significance to abundant permanent magnet synchronous motor vector control theory.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control technology field, more particularly to a kind of permanent magnet synchronous motor parallel connection vector
Control method, can be applied to the parallel drive control of two permanent magnet synchronous motors in fan, air-conditioning system.
Background technology
Vector control technology is had been widely used in the control of induction machine, permanent magnet synchronous motor, servomotor, tradition
Motor vector control system use one motor of an inverter control.But in some use occasions, such as electric automobile, electric power
Locomotive, fan, air-conditioning system etc., generally require 2 even multiple electric motors and work at the same time.Such as a kind of double through-flow convertible frequency air-conditioner,
Just there are two permanent magnet synchronous motors to drive two sets of through-flow fan blade wheels to work at the same time respectively in its indoor unit.
There is the vector control scheme in parallel that scholar proposes induction machine, you can share a vector controlled with multiple electric motors
The control thinking of inverter.KELECY P M in 1994 et al. are in IEEE Power Electronics Specialists
Two induction machines method in parallel for sharing an inverter is proposed in Conference.Naval engineering university Nie Zi in 2009
Tinkling of pieces of jade et al. discloses a kind of " parallel vector control system of induction motor " (application number 200910272737.8), it is proposed that two senses
The scheme for answering motor parallel to be driven by a stylobate in rotor field-oriented vector-control frequency converter, and solve two motors by
The unbalanced problem of output torque in the course of work caused by parameter difference.
Induction machine can be with parallel running, but on permanent magnet synchronous motor parallel connection vector control technology in vector control system
Do not occurred also before.
The content of the invention
The purpose of the present invention is to propose to the controlling party that an a kind of vector inverter drives two permanent magnet synchronous motors at the same time
Case.In vector control system induction machine can with parallel running, but on permanent magnet synchronous motor parallel connection vector control technology before
Do not occurred also.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of permanent magnet synchronous motor parallel vector control system method, includes the following steps：
A) the stator phase currents i by sampled measurements to two motor parallelsu、iv, the 3rd road stator electricity is obtained by calculating
Flow iw=-iu-iv.It is different from the vector controlled of single motor, i hereu、iv、iwIt is the stator phase currents of two motor parallels；
B) the mechanical angle θ of two motor rotor positions is respectively obtained by position detection encoderr1、θr2, calculate two
The average mechanical angle θ of a motor rotor positionr=(θr1+θr2)/2, average electrical angle θe=p θr, p is motor number of pole-pairs, to θrIt is micro-
Get the average mechanical rotational speed omega of two motorsr=d θr/dt；
C) it is different from the vector controlled of single motor, it is by average electrical angle θ hereeIt is supplied to Park conversion and its inversion
Swap-in row calculates, by two motor parallel stator phase currents iu、iv、iwConvert to obtain two by carrying out Clarke conversion and PARK
The d axis components i of motor parallel stator currentdWith q axis components iq；
D) speed ring uses PI adjustment controls, given rotating speed ωsetInputted as speed ring, described two motors are averaged machine
Tool rotational speed omegarAs loop feedback, the output of speed ring is as stator current is, d is then calculated by angle of torsion β respectively
Shaft current reference quantityWith q shaft current reference quantities
E) electric current loop uses PI adjustment controls, d, q shaft current reference quantityIt is described for the input quantity of electric current loop
D, q shaft currents component id、iqFor the feedback of electric current loop, the component of voltage V exported as d, q coordinate system of electric current loopd、Vq；
F) V of the component of voltaged、VqAccording to average electrical angle θe, α β rectangular coordinate systems are calculated by Park inverse transformations
Component of voltage Vα、Vβ；
G) the component of voltage Vα、VβThe duty cycle that six power tubes turn in power module is calculated by SVPWM；
H) two permanent magnet synchronous motors in parallel are driven to work by three-phase PWM inverter.
This method includes component is implemented as described below：Two permanent magnet synchronous motors in parallel, two motor stator current acquisitions pass
Sensor, two motor rotor position detection encoders, a motor position angle computing unit, Clarke converter units, one
A PARK converter units, a speed ring element, two electric current ring elements, a PARK inverse transformation block, a SVPWM are calculated
Unit and a three-phase PWM inverter cell mesh.
Described two permanent magnet synchronous motor winding parallels, share same three-phase PWM inverter unit.
The permanent magnet synchronous motor is the identical embedded permanent magnet synchronous motor of model or the identical durface mounted permanent magnet of model
Synchronous motor.
The permanent magnet synchronous motor is used for governing system, and two permanent magnet synchronous motor rotating speeds are equal.
In an embodiment of the present invention, permanent magnet synchronous motor parallel connection vector controlled side is demonstrated from the principle of vector controlled
The feasibility of method, when certain motor changes the load torque of application (increase reduces), in two machine windings simultaneously
In the case of connection, electromagnetic torque caused by this motor also produces corresponding change (increase reduces), thus can be true
Protect two motor synchronous operations.
Compared with prior art, the present invention has the following advantages：Existing vector control system uses a Driven by inverter
One permanent magnet synchronous motors, the present invention propose the controlling party that an a kind of inverter drives two permanent magnet synchronous motors at the same time
Case, has saved the hardware cost of vector controller.Control program of the present invention is multiple unlike conventional vector control in terms of calculation amount
It is miscellaneous.The present invention has practical significance to abundant permanent magnet synchronous motor vector control theory.
It will be become more fully apparent by following specific embodiment and with reference to attached drawing, the present invention, these attached drawings are used to explain
The embodiment of the present invention.
Brief description of the drawings
The structure chart of Fig. 1 permanent magnet synchronous motor parallel vector control systems of the present invention.
When two motor loads of Fig. 2 are equal, wherein the basic vector figure of a motor.
When two motor loads of Fig. 3 are unequal, the basic vector figure of the larger motor of load torque 1..
When two motor loads of Fig. 4 are unequal, the basic vector figure of load torque small electric machine 2..
Two motor driving loads of Fig. 5 are from static to the velocity wave form of given rotating speed.
The phase current waveform of two motor parallels of Fig. 6.
The output electromagnetic torque waveform of two motors in Fig. 7 parallel vector control systems.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, but protection scope of the present invention is not limited to following embodiments.
As a kind of embodiment, Fig. 1 is permanent magnet synchronous motor vector control system figure of the present invention, control system bag
Include：Two permanent magnet synchronous motors in parallel, two motor stator current acquisition sensors, two motor rotor position detection codings
Device, a motor position angle computing unit, a Clarke converter unit, a PARK converter unit, a speed ring element,
Two electric current ring elements, a PARK inverse transformation block, a SVPWM computing unit and three-phase PWM inverter unit etc.
Part.
The permanent magnet synchronous motor parallel connection vector control method of the present invention, with traditional permanent magnet synchronous motor vector control method
Essential distinction is：
1) two permanent magnet synchronous motors are in parallel, share a three-phase PWM inverter unit.Two motors have following special
Property：The model of motor is identical (number of pole-pairs is equal, and the parameter of motor is of substantially equal), two motors rotating speed phase in the process of running
It is also of substantially equal Deng, institute's bringing onto load.
2) the stator current i in vector controlled calculatingu、iv、iwIt is the stator phase currents of two motor parallels, rather than
Single electric machine phase current.
3) in vector controlled calculating, by the average electrical angle θ of two motorseIt is supplied to Park conversion and its inversion swap-in
Row calculates.
In dq coordinate systems, the voltage equation of permanent magnet synchronous motor is：
The corresponding equation of Park inverse transformations is：
D, q axis flux linkage equations are：
Electromagnetic torque equation is：
Tem=pn(ψdiq-ψqid) (4)
In formula (1)~(4)：Vd、VqFor the component of voltage of dq axis coordinate systems；Vα、VβFor the voltage point of α β rectangular coordinate systems
Amount；id、iqFor dq shaft current components；RsFor stator resistance；Ld、LqRespectively d, q axle inductance；ψd、ψqRespectively d, q axis magnetic linkage；ψf
For permanent magnet flux linkage；ω is angular rate；pnFor motor number of pole-pairs；TemFor electromagnetic torque.
The equation of motion of motor is：
J is the rotary inertia of rotor in formula (5)；ωrFor mechanical angular speed；B is viscous damping coefficient；TLFor load
Torque.
Present invention demonstrates that the thinking of the permanent magnet synchronous motor parallel connection vector control method feasibility of the present invention is：When two electricity
In machine, when the motor of some changes the load torque of application (increase reduces), in parallel in two machine windings
In the case of, electromagnetic torque caused by this motor also produces corresponding change (increase reduces), so can ensure that two
Platform motor is run simultaneously.
For the ease of following analysis, it is assumed that this two motors be respectively motor 1. with motor 2., while might as well assume electricity
The load torque of machine 1. is bigger than the average value of two motor torques, and the load torque of motor 2. is smaller than the average value of two motor torques.
Relevant electromagnetism variable is distinguished also by increase subscript.
Formula (3) is substituted into formula (1), draws the steady-state equation of voltage：
Formula (6) is represented with polar plot, the polar plot of commonly used permanent magnet synchronous motor vector controlled at present can be obtained
As shown in Figure 2.I in Fig. 2sRepresent stator current；β represents angle of torsion；VaRepresent the terminal voltage of winding；V0Represent negligible resistance pressure
Winding terminal voltage during drop.
In Fig. 2, the direction of rotation of rotor is counter clockwise direction (CCW), as load TLDuring exacerbation, the rotor of motor 1.
Relative to motor direction of rotation can stagnant the latter angle δ, at this moment permanent magnet and d axis have an angle δ, the magnetic linkage that permanent magnet produces
ψfOne-component is all produced in d axis and q axis, copies (3) that load T can be write outLD, q the axis flux linkage equations of motor 1. during exacerbation：
D, q the shaft voltage equation of motor 1.：
It is illustrated in figure 3 load TLThe polar plot of motor 1., i during exacerbationd1、iq1Represent motor 1. dq shaft currents component；is1
Represent stator current；β1Represent angle of torsion；Va1Represent the terminal voltage of winding；V01Represent winding terminal electricity during negligible resistance pressure drop
Pressure.
As load TLDuring reduction, the rotor of motor 2. relative to motor direction of rotation can super previous angle δ, motor is 2.
D, q axis flux linkage equations：
D, q the shaft voltage equation of motor 2.：
It is illustrated in figure 4 load TLThe polar plot of motor, i during mitigationd2、iq2Represent motor 2. dq shaft currents component；is2Generation
Table stator current；β2Represent angle of torsion；Va2Represent the terminal voltage of winding；V02Represent winding terminal voltage during negligible resistance pressure drop.
The situation identical from two motor torques is different, and two motor permanent magnets are no longer overlapped with d axis in Fig. 3,4, formula (11),
(13) show that the component of voltage of two motor dq axis coordinate systems is unequal
Vd1≠Vd2, Vq1≠Vq2 (14)
But in parallel circuit, two motors share same set of SVPWM inverter circuits, are added in the end of two machine windings
Voltage Vα、VβIt is equal, can be further derived by Park inverse transformations equation (2)：
It was found from formula (9) and formula (15), when the load torque of two motors differs, the end of two machine windings is added in
Voltage Va1、Va2Terminal voltage V when identical with original two motor torquesaIt is equal：
Va=Va1=Va2 (16)
If the pressure drop of negligible resistance, the terminal voltage of two machine windings is also equal：
V0=V01=V02 (17)
Terminal voltage V based on two machine windingsa1、Va2Equal principle, analysis chart 2,3, the polar plot of 4 three kind of situation
It can draw the following conclusions：As load TLDuring exacerbation, the stator current i of Fig. 3 motors 1.s1More than the stator current i in Fig. 2s, together
When Fig. 3 motors d shaft currents i 1.d1Reduce compared with Fig. 2, q shaft currents iq1Increase compared with Fig. 2；As load TLDuring mitigation, Fig. 4
The stator current i of motor 2.s2Less than the stator current i in Fig. 2s, while the d shaft currents i of Fig. 4 motors 2.d2Subtract compared with Fig. 2
It is small, q shaft currents iq2Also reduce compared with Fig. 2.There is relational expression：
Formula (10), (12), (18) are substituted into formula (4), can obtain it is several in the case of relation between electromagnetic torque.
It can be derived from magnetic linkage formula (3), (10), (12)：
Aggregative formula (18), (19) can be derived：
Formula (20) is substituted into formula (4) to obtain：
Tem1=pn(ψd1iq1-ψq1id1)>pn(ψd2iq2-ψq2id2)=Tem2 (21)
Formula (21) proves, in parallel vector control system, when wherein motor (being set to motor here 1.) institute's band
Load torque TLDuring exacerbation, the electromagnetic torque output of this motor increases therewith；When wherein a motor (is set to motor here
2.) the load torque T of institute's bandLDuring mitigation, the electromagnetic torque output of this motor reduces therewith, each in parallel control system
Motor each has the ability of torque automatic adjustment, so as to ensure that two motors can be run simultaneously.
As the specific embodiment of the present invention, the vector control scheme in parallel of the present invention is applied to a double
Through-flow air-conditioning (model KFR-72L/BP2DN1Y-IE), the rated cooling capacity of air-conditioning is 7200W, because of the indoor unit of this air-conditioning
In just there are two permanent magnet synchronous motors to drive two through-flow fan blade wheels to work at the same time respectively, so referred to as double through-flow air-conditioning.Here
The permanent magnet synchronous motor of two same models of motor (ZKFN-30-8-2), the parameter of motor are as follows：Rated direct voltage 310V；
500~1500rpm of speed adjustable range；Number of pole-pairs pn=4；Stator resistance Rs=30 Ω；Stator d-axis inductance Ld=330mH；Stator is handed over
Axle inductance Lq=350mH；Back emf coefficient ke=80.0V/krpm.
The theoretical validation of embodiment of the present invention is to build the present invention forever by such as Fig. 1 on Matlab/Simulink platforms
The simulation model of magnetic-synchro motor parallel vector control system.The parameter of electric machine uses model (ZKFN-30-8-2) parameter, gives and turns
Fast 1200rpm, if the average output torque of two motors is 0.2Nm, turns to verify whether motor has under same rotational speed
The ability of square automatic adjustment, it is assumed that the load torque of two motors is unequal, might as well set the load torque of motor 1. as 0.22Nm,
The load torque of motor 2. is 0.18Nm.As in Fig. 5 parallel vector control systems two motor driving loads from static to given
The velocity wave form of rotating speed 1200rpm, wherein dotted line represent the velocity wave form of motor 1., and solid line represents the velocity wave form of motor 2.,
From figure 5 it can be seen that two motors are can to reach steady-state operation to given rotating speed, last two motors from static.From amplification
Speed waveform is seen, different from common control program, when the load torque of two motors is unequal, the present invention program control
The steady-state speed of every motor is even to be fluctuated above and below 1200rpm, is embodied every motor to realize synchronous operation and is constantly adjusted
Whole process.If Fig. 6 is that maximum current is from the phase current waveform started to two motor parallels of steady-state operation, starting process
2.5A, phase current magnitude during steady-state operation is 0.35A, this and one individually output 0.4Nm permanent magnet synchronous motors from start to
The phase current of stable state is identical.If Fig. 7 is the electromagnetic torque waveform that two motors export, because the load torque of motor 1. is than electricity
Machine is 2. big, from figure 7, it is seen that output electromagnetic torque of the output electromagnetic torque (dotted line representative) of motor 1. also than motor 2. is (real
Line represents) greatly, the output electromagnetic torque of motor 1. fluctuates near 0.22Nm, and the output electromagnetic torque of motor 2. is attached in 0.18Nm
Nearly fluctuation.
Analyzed, theoretically further proved in parallel vector control system, when a wherein electricity by Emulation of Electrical Machinery
The load torque T of machine institute bandLDuring exacerbation, the electromagnetic torque output of this motor increases therewith；When wherein motor institute band
Load torque TLDuring mitigation, the electromagnetic torque output of this motor reduces therewith, and each motor has in parallel control system
The ability of torque automatic adjustment, two motors have the ability of synchronous operation.
The experiment of embodiment of the present invention is divided into two steps, it is therefore an objective to contrasts the single motor vector control scheme of tradition and this
The control effect of control program described in example.The first step presses currently used method, this hair is driven respectively with two controllers
Two axial-flow fan motors in bright example air-conditioning model machine, the rotational speed setup of two motors is identical, allow two motors from
765rpm (corresponds to minimum air output), progressively raising speed to 1500rpm.On the special wind quantity test platform of indoor apparatus of air conditioner, it can remember
Two power input to machines of record and, input current and, the data such as total discharge quantity of fan；The method that second step is provided by the present invention, will
The winding parallel of two axial-flow fan motors, shares a controller to drive, equally allows two motors progressively to be risen from 765rpm
Speed arrive 1500rpm, records two power input to machines and, input current and and total discharge quantity of fan.
If table 1 is that single motor vector control scheme and the experimental data of control program as described in example of the present invention contrast.From experiment
Data using control program of the present invention as it can be seen that drive the work of two motor parallels, two power input to machines and, input current
With, and the discharge quantity of fan that indoor apparatus of air conditioner is total, it is substantially suitable with common single motor vector control scheme.Such as to
Determine at rotating speed 1500rpm, single motor vector control scheme, the actual speed of two motors is respectively 1495rpm, 1503rpm, is controlled
Device input power processed and be 63.6W, total discharge quantity of fan is 1425.0m3/h；During using control program of the present invention, two motors
Actual speed is respectively 1506rpm, 1508rpm, controller input power and be 64.5W, and total discharge quantity of fan is 1471.2m3/ h,
Since the actual speed of two motors of the present invention program is slightly larger, the input power of controller and total air output also all slightly increase,
It is also substantially suitable in terms of system effectiveness to prove two kinds of control programs.
The single motor vector control scheme of table 1 and the experimental data of control program of the present invention contrast
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
- A kind of 1. permanent magnet synchronous motor parallel vector control system method, it is characterised in that include the following steps：A) the stator phase currents i by sampled measurements to two motor parallelsu、iv, the 3rd road stator current i is obtained by calculatingw =-iu-iv, here i different from the vector controlled of single motoru、iv、iwIt is the stator phase currents of two motor parallels；B) the mechanical angle θ of two motor rotor positions is respectively obtained by position detection encoderr1、θr2, calculate two electricity The average mechanical angle of machine rotor positionAverage electrical angle θe=p θr, p is motor number of pole-pairs, and time t is carried out Differential obtains the average mechanical rotational speed omega of two motorsr=d θr/dt；C) it is different from the vector controlled of single motor, it is by average electrical angle θ hereeIt is supplied to PARK conversion and its inversion swap-in Row calculates, by two motor parallel stator phase currents iu、iv、iwConvert to obtain two motors by carrying out Clarke conversion and PARK The d axis components i of stator current in paralleldWith q axis components iq；D) speed ring uses PI adjustment controls, given rotating speed ωsetInputted as speed ring, described two motor average mechanicals turn Fast ωrAs loop feedback, the output of speed ring is as stator current is, d axis electricity is then calculated by angle of torsion β respectively Flow reference quantityWith q shaft current reference quantitiesE) electric current loop uses PI adjustment controls, d, q shaft current reference quantityFor the input quantity of electric current loop, described d, q Shaft current component id、iqFor the feedback of electric current loop, the component of voltage V exported as d, q coordinate system of electric current loopd、Vq；F) V of the component of voltaged、VqAccording to average electrical angle θe, the electricity of α β rectangular coordinate systems is calculated by Park inverse transformations Press component Vα、Vβ；G) the component of voltage Vα、VβThe duty cycle that six power tubes turn in power module is calculated by SVPWM；H) two permanent magnet synchronous motors in parallel are driven to work by three-phase PWM inverter.
- 2. permanent magnet synchronous motor parallel vector control system method according to claim 1, it is characterised in that this method bag Include and component is implemented as described below：Two permanent magnet synchronous motors in parallel, two motor stator current acquisition sensors, two rotors Position detection encoder, a motor position angle computing unit, a Clarke converter unit, PARK converter units, one A speed ring element, two electric current ring elements, a PARK inverse transformation block, a SVPWM computing unit and a three-phase PWM Inverter unit part.
- 3. permanent magnet synchronous motor parallel vector control system method according to claim 2, it is characterised in that described two Permanent magnet synchronous motor winding parallel, shares same three-phase PWM inverter unit.
- 4. permanent magnet synchronous motor parallel vector control system method according to claim 2, it is characterised in that the permanent magnetism Synchronous motor is the identical embedded permanent magnet synchronous motor of model or the identical durface mounted permanent magnet synchronous motor of model.
- 5. permanent magnet synchronous motor parallel vector control system method according to claim 2, it is characterised in that the permanent magnetism Synchronous motor is used for governing system, and two permanent magnet synchronous motor rotating speeds are equal.
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| CN108880338B (en) * | 2018-07-27 | 2020-02-07 | 中车长春轨道客车股份有限公司 | Closed-loop control method for multiple mechanical parallel motors |
| DE102018124209A1 (en) * | 2018-10-01 | 2020-04-02 | Ebm-Papst Mulfingen Gmbh & Co. Kg | Multi-motor converter |
| CN109687772A (en) * | 2019-01-17 | 2019-04-26 | 武汉菲仕运动控制系统有限公司 | A kind of multi-axis synchronized control method and system |
| CN110297424B (en) * | 2019-05-31 | 2021-07-20 | 齐鲁工业大学 | Parallel PID servo motor control method for axle housing machining precision detection device |
| CN110601623B (en) * | 2019-07-30 | 2021-03-26 | 广东工业大学 | Method for reducing DC bus voltage ripple amplitude of permanent magnet synchronous motor frequency converter |
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| JP2006304462A (en) * | 2005-04-19 | 2006-11-02 | Mitsubishi Heavy Ind Ltd | Motor drive system and control method for permanent magnet motor |
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| 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 |
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