CN108173462B - Two-motor torque balance control method - Google Patents

Two-motor torque balance control method Download PDF

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CN108173462B
CN108173462B CN201711325287.5A CN201711325287A CN108173462B CN 108173462 B CN108173462 B CN 108173462B CN 201711325287 A CN201711325287 A CN 201711325287A CN 108173462 B CN108173462 B CN 108173462B
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torque
motors
flux linkage
motor
current moment
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CN108173462A (en
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仇旭东
刘慧婕
张楠
朱天成
李鑫
候俊马
王旭
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Tianjin Jinhang Computing Technology Research Institute
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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • 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
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention discloses a torque balance control method for two motors. The method does not need a feedforward link, and inherits the advantages of high response speed of direct torque control and almost no overshoot, so that the response speed of torque imbalance is improved, the adjustment work of a feedforward coefficient is avoided, the control frame is greatly simplified, and the application simplicity is improved. According to the method, multi-motor torque distribution is integrated into a direct torque control algorithm, so that the direct torque control method applied to a single motor is improved and then applied to two motors to carry out torque balance control, the problems of low response speed, complex coefficient setting and the like in the traditional method are solved, the motor torque imbalance response speed is increased, the control structure is simplified, and the method is convenient to apply.

Description

Two-motor torque balance control method
Technical Field
The invention belongs to the field of motors, and particularly relates to a two-motor torque balance control method.
Background
With the continuous development of modern industry and the continuous improvement of mechanical automation technology in China, a motor control system often requires a plurality of motors to drive one device to operate. It is ensured that the motors can operate in conjunction during the whole production process.
In order to ensure that the multiple motors can realize synchronous control, two ways are adopted: mechanical and electrical. In the initial application stage of the synchronous control technology, the mechanical synchronous control technology is widely applied to industrial automatic production. Because the motor and the transmission connection of the mechanical control mode are very reliable, the connection mode is widely applied in the initial application stage, but the defects are increasingly obvious, for example, the working states of the motors are mutually influenced, the motors have serious coupling effect, accumulated errors exist after the motors pass through multi-stage link mechanisms such as chains, gears, shafts and the like, the application range is limited, and the requirements of modern control cannot be met in some occasions.
The adoption of an electric mode to control the synchronization of multiple motors is an effective solution, and a great deal of research on the aspect is made. The multi-motor torque balance is the most important and basic research in multi-motor balance. The conventional two-motor torque balance control schematic diagram is shown in fig. 1, and it can be seen that the torque balance of the two motors is realized by using the cooperation of a feed-forward link and a PI link. This causes two problems:
1. because the traditional method utilizes the cooperation of a feedforward link and a PI link to achieve the effect of torque balance, the delay effect of the PI link causes the torque imbalance, and then the system needs to be adjusted for a period of time to achieve new balance, namely the traditional method has slower response speed;
2. the application of this method is complicated because the size of the feedforward parameter Ks used in the feedforward loop needs to be determined through multiple attempts, and an inappropriate Ks parameter may cause system instability.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a two-motor torque balance control method. The method does not need a feedforward link, and inherits the advantages of high response speed of direct torque control and almost no overshoot, so that the response speed of torque imbalance is improved, the adjustment work of a feedforward coefficient is avoided, the control frame is greatly simplified, and the application simplicity is improved.
The technical scheme for solving the technical problem is to provide a two-motor torque balance control method, which is characterized by comprising the following steps of:
(1) method for acquiring two-motor rotor angle theta by encoder in motorr1And thetar2Rotational speed omegar1And ωr2Setting a speed reference value
Figure GDA0002435979220000021
Obtaining reference torque value T of two motors by adopting proportional-integral controller (PI controller)1 *And T2 *；
(2) The reference torque values of the two motors are evenly distributed to obtain (T)1 *+T2 *)/2；
(3) Hall sensor obtains two motor stator voltage Udc1And Udc2Stator current
Figure GDA0002435979220000022
And
Figure GDA0002435979220000023
in the control period, the flux linkage observer and the torque observer are used to calculate the stator flux linkage of the two motors at the current moment
Figure GDA0002435979220000024
And
Figure GDA0002435979220000025
rotor flux linkage
Figure GDA0002435979220000026
And
Figure GDA0002435979220000027
torque moment
Figure GDA0002435979220000028
And
Figure GDA0002435979220000029
(3.1) flux linkage observerCalculating to obtain the stator flux linkage of the current moment
Figure GDA00024359792200000210
And
Figure GDA00024359792200000211
rotor flux linkage
Figure GDA00024359792200000212
And
Figure GDA00024359792200000213
and through stator flux linkage
Figure GDA00024359792200000214
And
Figure GDA00024359792200000215
determining the current sections of the stator flux linkages of the two motors respectively:
Figure GDA00024359792200000216
Figure GDA00024359792200000217
Figure GDA00024359792200000218
Figure GDA00024359792200000219
in the formula, Ψ1To Ψ2The rotor flux linkage amplitude values of the two motors are respectively a fixed value of each motor; l iss1And Ls2Respectively, the stator inductance;
(3.2) the torque observer calculates and obtains the torque at the current moment
Figure GDA00024359792200000220
And
Figure GDA00024359792200000221
Figure GDA00024359792200000222
Figure GDA0002435979220000031
in the formula, p1And p2The number of pole pairs of the two motors is respectively;
(4) selecting respective optimal voltage vectors according to the difference between the torque of the double motors at the current moment and the expected torque and the difference between the flux linkage at the current moment and the expected flux linkage;
(4.1) calculating the torque difference Delta T of the two motors at the current momente1And Δ Te2；
Figure GDA0002435979220000032
Figure GDA0002435979220000033
(4.2) calculating the flux linkage amplitude difference delta | psi of the two motors at the current moments1| and Δ | Ψs 2|；
Figure GDA0002435979220000034
Figure GDA0002435979220000035
In the formula, | Ψs1 *| and | Ψs2 *I is respectively the expected stator flux linkage amplitude output of the two motors;
(4.3) determining the respective optimal voltage vectors of the two motors by using a direct torque control vector selection table, specifically, determining the sections (I, II and I) of the stator flux linkage of the motorsII. IV, V, VI) and the torque difference Δ T of the electric machine at the present timeeAnd the flux linkage amplitude difference delta phi of the motor at the current momentsDetermining an optimal voltage vector;
(5) and respectively applying the two optimal voltage vectors determined in the current period in the next control period.
Compared with the prior art, the invention has the beneficial effects that: according to the method, multi-motor torque distribution is integrated into a direct torque control algorithm, so that the direct torque control method applied to a single motor is improved and then applied to two motors to carry out torque balance control, the problems of low response speed, complex coefficient setting and the like in the traditional method are solved, the motor torque imbalance response speed is increased, the control structure is simplified, and the method is convenient to apply.
(1) Faster dynamic response speed:
this advantage derives from two aspects: a. the algorithm provided by the application avoids a feedforward link in the traditional algorithm, so that the equilibrium state can be reached more quickly, and better dynamic response speed is obtained; b. the algorithm carries out torque tracking by using direct torque control, so that the advantages of high response torque speed and almost no overshoot of the direct torque control are inherited, and higher response speed can be obtained;
(2) simpler and more convenient to apply control framework:
this advantage derives from: the feedforward link in the traditional algorithm comprises a feedforward coefficient, needs to be adjusted according to different working conditions, often needs to determine a more appropriate value after multiple attempts, and increases complexity for the application of the two-motor torque balance algorithm; the algorithm provided by the application avoids a feedforward link, and does not have the adjustment work of a feedforward coefficient, so that a control frame is greatly simplified, and the application simplicity is improved.
Drawings
FIG. 1 is a schematic diagram of a conventional torque balance control scheme for two motors;
FIG. 2 is a control schematic diagram of a two-motor torque balance control method of the present invention;
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a two-motor torque balance control method (see fig. 2, referred to as method for short), which is characterized by comprising the following steps:
(1) method for acquiring two-motor rotor angle theta by encoder in motorr1And thetar2Rotational speed omegar1And ωr2Setting a speed reference value omegar refObtaining reference torque value T of two motors by adopting proportional-integral controller (PI controller)1 *And T2 *；
(2) The reference torque values of the two motors are evenly distributed to obtain (T)1 *+T2 *)/2；
(3) Hall sensor obtains two motor stator voltage Udc1And Udc2Stator current
Figure GDA0002435979220000041
And
Figure GDA0002435979220000042
in the control period, the flux linkage observer and the torque observer are used to calculate the stator flux linkage of the two motors at the current moment
Figure GDA0002435979220000043
And
Figure GDA0002435979220000044
rotor flux linkage
Figure GDA0002435979220000045
And
Figure GDA0002435979220000046
torque moment
Figure GDA0002435979220000047
And
Figure GDA0002435979220000048
(3.1) calculating and obtaining the stator flux linkage of the current moment by a flux linkage observer
Figure GDA0002435979220000049
And
Figure GDA00024359792200000410
rotor flux linkage
Figure GDA00024359792200000411
And
Figure GDA00024359792200000412
and through stator flux linkage
Figure GDA00024359792200000413
And
Figure GDA00024359792200000414
determining the current sections of the stator flux linkages of the two motors respectively:
Figure GDA00024359792200000415
Figure GDA0002435979220000051
Figure GDA0002435979220000052
Figure GDA0002435979220000053
in the formula, Ψ1To Ψ2The rotor flux linkage amplitude values of the two motors are respectively a fixed value of each motor; l iss1And Ls2Respectively, the stator inductance;
(3.2) Torque observer calculationObtaining the torque at the current moment
Figure GDA0002435979220000054
And
Figure GDA0002435979220000055
Figure GDA0002435979220000056
Figure GDA0002435979220000057
in the formula, p1And p2The number of pole pairs of the two motors is respectively;
(4) selecting respective optimal voltage vectors according to the difference between the torque of the double motors at the current moment and the expected torque and the difference between the flux linkage at the current moment and the expected flux linkage;
(4.1) calculating the torque difference Delta T of the two motors at the current momente1And Δ Te2；
Figure GDA0002435979220000058
Figure GDA0002435979220000059
(4.2) calculating the flux linkage amplitude difference delta | psi of the two motors at the current moments1| and Δ | Ψs2|；
Figure GDA00024359792200000510
Figure GDA00024359792200000511
In the formula, | Ψs1 *| and | Ψs2 *I is respectively the expected stator flux linkage amplitude output of the two motors;
(4.3) determining the respective optimal voltage vectors of the two motors by using a direct torque control vector selection table (table 1), specifically through the sections (I, II, III, IV, V and VI) of the stator flux linkage of the motor and the torque difference value delta T of the motor at the current momenteAnd the flux linkage amplitude difference delta phi of the motor at the current momentsDetermining an optimal voltage vector; in table V000，V001，V010，V011，V100，V101，V110，V1118 voltage vectors corresponding to 8 switching states of 3 bridge arms of the two-level inverter respectively;
TABLE 1 direct torque control vector selection Table
Figure GDA0002435979220000061
(5) And respectively applying the two optimal voltage vectors determined in the current period in the next control period.
Nothing in this specification is said to apply to the prior art.

Claims (1)

1. A two-motor torque balance control method is characterized by comprising the following steps:
(1) method for acquiring two-motor rotor angle theta by encoder in motorr1And thetar2Rotational speed omegar1And ωr2Setting a speed reference value omegar refObtaining reference torque value T of two motors by adopting proportional-integral controller1 *And T2 *；
(2) The reference torque values of the two motors are evenly distributed to obtain (T)1 *+T2 *)/2；
(3) Hall sensor obtains two motor stator voltage Udc1And Udc2Stator current
Figure FDA0002435979210000011
And
Figure FDA0002435979210000012
in the control period, the flux linkage observer and the torque observer are used to calculate the stator flux linkage of the two motors at the current moment
Figure FDA0002435979210000013
And
Figure FDA0002435979210000014
rotor flux linkage
Figure FDA0002435979210000015
And
Figure FDA0002435979210000016
torque moment
Figure FDA0002435979210000017
And
Figure FDA0002435979210000018
(3.1) calculating and obtaining the stator flux linkage of the current moment by a flux linkage observer
Figure FDA0002435979210000019
And
Figure FDA00024359792100000110
rotor flux linkage
Figure FDA00024359792100000111
And
Figure FDA00024359792100000112
and through stator flux linkage
Figure FDA00024359792100000113
And
Figure FDA00024359792100000114
determining the current sections of the stator flux linkages of the two motors respectively:
Figure FDA00024359792100000115
Figure FDA00024359792100000116
Figure FDA00024359792100000117
Figure FDA00024359792100000118
in the formula, Ψ1To Ψ2The rotor flux linkage amplitude values of the two motors are respectively a fixed value of each motor; l iss1And Ls2Respectively, the stator inductance;
(3.2) the torque observer calculates and obtains the torque at the current moment
Figure FDA00024359792100000119
And
Figure FDA00024359792100000120
Figure FDA00024359792100000121
Figure FDA00024359792100000122
in the formula, p1And p2The number of pole pairs of the two motors is respectively;
(4) selecting respective optimal voltage vectors according to the difference between the torque of the double motors at the current moment and the expected torque and the difference between the flux linkage at the current moment and the expected flux linkage;
(4.1) calculating the torque difference Delta T of the two motors at the current momente1And Δ Te2；
Figure FDA0002435979210000021
Figure FDA0002435979210000022
(4.2) calculating the flux linkage amplitude difference delta | psi of the two motors at the current moments1| and Δ | Ψs2|；
Figure FDA0002435979210000023
Figure FDA0002435979210000024
In the formula, | Ψs1 *| and | Ψs2 *I is respectively the expected stator flux linkage amplitude output of the two motors;
(4.3) determining the respective optimal voltage vectors of the two motors by using a direct torque control vector selection table, specifically, determining the interval of the stator flux linkage of the motor and the torque difference value delta T of the motor at the current momenteAnd the flux linkage amplitude difference delta phi of the motor at the current momentsDetermining an optimal voltage vector;
(5) and respectively applying the two optimal voltage vectors determined in the current period in the next control period.
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Citations (5)

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Publication number Priority date Publication date Assignee Title
JPH04112692A (en) * 1990-08-31 1992-04-14 Fuji Electric Co Ltd Synchronized operation method for plural motors
CN101253006A (en) * 2006-08-03 2008-08-27 东芝三菱电机产业系统株式会社 Drive apparatus of electric motor for roller
CN101814876A (en) * 2010-04-19 2010-08-25 新大洋机电集团有限公司 Drive control system of double motors of rear axle of electric automobile
CN102484438A (en) * 2009-08-28 2012-05-30 日产自动车株式会社 Anomaly detection device for a permanent magnet synchronous electric motor
CN106208865A (en) * 2016-08-10 2016-12-07 天津工业大学 Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04112692A (en) * 1990-08-31 1992-04-14 Fuji Electric Co Ltd Synchronized operation method for plural motors
CN101253006A (en) * 2006-08-03 2008-08-27 东芝三菱电机产业系统株式会社 Drive apparatus of electric motor for roller
CN102484438A (en) * 2009-08-28 2012-05-30 日产自动车株式会社 Anomaly detection device for a permanent magnet synchronous electric motor
CN101814876A (en) * 2010-04-19 2010-08-25 新大洋机电集团有限公司 Drive control system of double motors of rear axle of electric automobile
CN106208865A (en) * 2016-08-10 2016-12-07 天津工业大学 Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer

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* Cited by examiner, † Cited by third party
Title
"Research on Torque Balance of Permanent-Magnet Brushless DC motor";Zhen Yuan等;《2007 International Conference on Electrical Machines and Systems (ICEMS)》;20071226;第786-788页 *
"基于矢量作用时间的新型预测转矩控制";夏长亮等;《中国电机工程学报》;20160605;第36卷(第11期);第3045-3053页 *

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