CN108712115A - A kind of bi-motor position synchronization control strategy study design - Google Patents
A kind of bi-motor position synchronization control strategy study design Download PDFInfo
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- CN108712115A CN108712115A CN201810519679.3A CN201810519679A CN108712115A CN 108712115 A CN108712115 A CN 108712115A CN 201810519679 A CN201810519679 A CN 201810519679A CN 108712115 A CN108712115 A CN 108712115A
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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
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- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a kind of designs of bi-motor position synchronization control strategy study, belong to multi-motor coordination synchronous control technique field.This control algolithm increases position ring ring synchronous with position on the basis of speed and current double closed loop.The given of the position ring is given by ramp system, including frequency is given and initial phase is given.The feedback of the position ring is the mean value of two motor institute's bringing onto load positions.The given of the synchronous ring is given by step-like manner, and the feedback of the synchronous ring is the difference of two motor institute's bringing onto load positions.As position compensation to der Geschwindigkeitkreis, a motor is positive compensation for the output of the synchronous ring, and another motor is negative compensation.The control algolithm of the present invention realizes the initial phase to two motor positions, the control of alternate position spike and rotating speed, and dynamic property is preferable.
Description
Technical field
The invention discloses a kind of designs of bi-motor position synchronization control strategy study, belong to multi-motor synchronous control technology
Field.
Background technology
Multi-motor synchronous control is one of the core technology of high rotating speed, high precision electro drive system, and application has been directed to aviation
Space flight, the multiple fields such as modern industry servo robot.The synchronous control technique of more motors be divided into mechanical synchronization control mode and
Electric synchronous control mode.Mechanical synchronization control mode refers to being used as intermediate linking by mechanical parts such as gear, chain, belts
Transmission device.This mechanical drive mode, it is complicated, and larger power attenuation is had in transmit process.Modern electricity drives
System just gradually tends to high integration, high-precision direction is developed, and mechanical synchronization control mode much can not meet this and wanted
It asks.Therefore, electric synchronous control mode is widely used.
Multi-motor synchronous control is generally divided into following a few classes：(1) stringent synchronization：Require all motors in whole service
Identical rotating speed will be kept in journey, even if system will restore synchronous rotational speed in a short period of time if disturbance；(2) etc.
Ratio synchronizes：This method of synchronization is not required for all motors and keeps identical rotating speed operation, but will be with a certain rotating speed ratio
Constant operation, i.e. ω1=k ω2；(3) difference synchronizes：As its name suggests, this method of synchronization is to maintain the rotating speed between motor two-by-two
Difference is constant, i.e. c=ω1-ω2。
The load special to Mr. Yu's class need to keep two motor institute's bringing onto load positions to carry out stable operation with a certain constant difference,
Angle is synchronized from rotating speed, the rotary speed precision of superelevation need to be depended on, however this rotary speed precision is with regard to current all position sensings
The precision of device is all extremely difficult to.In addition, the reduction ratio of the gear reducer mechanisms such as gear, ball-screw also needs strict guarantee, show
So, it is mechanically the precision that can not can guarantee this kind of intermediate gearing.
Invention content
The present invention exactly thinks and in this, it is proposed that a kind of bi-motor position synchronization control strategy so that two motors institute band is negative
The position of load is with a certain constant difference stable operation, and precision is higher, and this control algolithm is expanded to the synchronous of more motors and is controlled
System still ensures that between different motors with respective positions difference stable operation, and precision is higher.
The present invention proposes a kind of bi-motor position synchronization control strategy, on the basis of traditional speed and current double closed loop
Increase by a position ring, the position ring feedback is the mean value of both sides motor load position, and der Geschwindigkeitkreis is closed in output；Increase by one
Synchronous ring (hereinafter referred to as synchronous ring) is set, rotating speed difference ring (hereinafter referred to as slip ring) is closed in output, and the slip ring feedback is
Electric current loop is closed in the rotating speed difference of two motors, output.
In an of the invention specific embodiment, it is preferred that the position ring is given as ramp signal input, contain frequency and
Initial phase gives, and the feedback of the position ring is the load-carrying location mean value of two motors institute.
In a specific embodiment of the invention, it is preferred that the synchronous ring is control motor institute's bringing onto load position with constant difference
Value stabilization is run, and output is the difference of both sides load situation, and der Geschwindigkeitkreis, wherein #1 motors are closed as position compensation signal
Just to compensate, #2 motors are negative compensation.
In a specific embodiment of the invention, it is preferred that the slip ring is as synchronous as possible in order to control motor speed, is turned
Rapid pulse is dynamic to be reduced as far as possible, and as the intermediate loop of synchronous ring and electric current loop, i.e., synchronous ring export be used as slip ring to
Fixed, the output of slip ring is given as electric current loop, and wherein #1 motor current rings are just given, and #2 current of electric is negative given.
In a specific embodiment of the invention, it is preferred that the synchronous ring output closes electric current loop as position compensation signal,
Wherein #1 motors are positive compensation, and #2 motors are negative compensation.
In a specific embodiment of the invention, it is preferred that the bi-motor position synchronization control strategy is to multi motor position
Synchronous control is still applicable in.The mean value for being fed back to n motor position feedback of position ring, #1 motors synchronize ring output and are mended as position
Signal is repaid, wherein electric current loop or der Geschwindigkeitkreis as positive compensation to #1 motors, arrive the electric current loop of #2 motors as negative compensation or turn
Fast ring；#2 motors synchronize ring output and are used as position compensation signal, wherein electric current loop or der Geschwindigkeitkreis as positive compensation to #2 motors,
Electric current loop or der Geschwindigkeitkreis as negative compensation to #3 motors；And so on, #n motors synchronize ring output and are used as position compensation signal,
Electric current loop or der Geschwindigkeitkreis wherein as positive compensation to #n motors, electric current loop or der Geschwindigkeitkreis as negative compensation to #1 motors.
A kind of advantageous effect, bi-motor Strategy For Synchronization Control proposed by the invention, can control the load situation of two motors
A constant difference stable operation is kept, and precision is high, dynamic response is good.In addition, this bi-motor Strategy For Synchronization Control is extended
Synchronous control to more motors stands good.
For allow invention features described above and advantage can be clearer and more comprehensible, special embodiment below, and coordinate institute's accompanying drawings make
Detailed description are as follows.
Description of the drawings
Fig. 1 is bi-motor position synchronization control schematic diagram；
Fig. 2 is multi motor position synchronous control schematic diagram；
Fig. 3 is bi-motor load situation synchronous control block diagram (position synchronizes ring and closes der Geschwindigkeitkreis)；
Fig. 4 is bi-motor load situation synchronous control block diagram (position synchronizes ring and closes slip ring)；
Fig. 5 is bi-motor load situation synchronous control block diagram (position synchronizes ring and closes electric current loop)；
Fig. 6 is more motor load position synchronization control block diagrams；
Fig. 7 is that bi-motor load situation synchronous control analogous diagram-position gives and feeds back waveform；
- two motor actual speed waveform of the positions Fig. 8 bi-motor load situation synchronous control analogous diagram；
Specific implementation mode
It is clearer for the purpose and technical solution that make the embodiment of the present invention, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of without creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, being bi-motor load situation synchronous control schematic diagram, powersupply system is direct current supply, direct current
Busbar voltage by inverter be reverse into alternating current be passed through motor three-phase windings give motor power supply, two motors go respectively driving make
Dynamic device operation, it is intermediate to drive load running using transmission device.
As shown in Fig. 2, being more motor load position synchronization control schematic diagrames, All Drives are by same DC bus electricity
Pressure power supply is reverse into alternating current using respective inverter and is passed through the three-phase windings of motor and powers to motor, and motor goes to drive again
Respective actuator is moved, by the respectively load running of transmission device band.
As shown in figure 3, being bi-motor load situation synchronous control block diagram, electric current loop controls for DC bus current.Rotating speed
Ring feedback is that the actual speed of motor is calculated by detecting rotor hall sensor signal, and by rotating speed.Position ring
By detecting load situation, and using the mean value of two load situations as the feedback of position ring.Synchronous ring output is as der Geschwindigkeitkreis
Given, #1 motors are just given, and #2 motors are negative given.
As shown in figure 4, being bi-motor load situation synchronous control block diagram, synchronous ring output turns as the given of slip ring
The output of difference ring is as the given of electric current loop, and #1 motor current rings are just given, and #2 motor current rings are negative given.
As shown in figure 5, being bi-motor load situation synchronous control block diagram, synchronous ring output is given as electric current loop, wherein #
1 motor current ring is just given, and #2 motor current rings are negative given.
As shown in fig. 6, being more motor load position synchronization control block diagrams, position ring is fed back to n motor institute's bringing onto load position
Set mean value.For synchronous ring, the above-mentioned three kinds closed-loop fashions for being suitable for bi-motor load situation synchronous control are to multi- drive synchronization
Control it is same be applicable in, only give the control mode that synchronous ring closes der Geschwindigkeitkreis herein.#1 motors synchronize ring output as #1 electricity
Machine der Geschwindigkeitkreis just gives, as the negative given of #2 motors；#2 motors synchronize ring output just giving as #2 motor speed rings,
Negative as #3 motors gives, and so on, #n motors synchronism output is as the just given of #n motor speed rings, as #1 motors
It is negative given.
As shown in fig. 7, it is given with position feedback simulation waveform for bi-motor load situation synchronous control position, position is given
Surely it is given to be considered as phase, and by its sinusoidal rings, normalization obtains oscillogram as shown in the figure.Out of phase difference is given, can obtain
To the sinewave output of different amplitudes.Change initial phase respectively in 3s and 6s, it can be obtained from the figure that initial phase keep up with quickly to
It is fixed, and precision is higher.
As shown in figure 8, for the speed waveform of two motor of bi-motor load situation synchronous control, change initial phase in 3s and 6s
Position, rotating speed have a small variation, this variation be in order to change current initial phase, can be with by figure to keep up with to phase bit
Find out, dynamic response is preferable.
Although the present invention has been disclosed by way of example above, it is not intended to limit the present invention., any technical field
Middle tool usually intellectual, without departing from the spirit and scope of the present invention, when can make some changes and embellishment, thus it is of the invention
Protection domain should be defined by the scope of the appended claims.
Claims (6)
1. a kind of bi-motor position synchronization control strategy, it is characterised in that increase by a position ring on the basis of electric current der Geschwindigkeitkreis
It realizes the frequency and phase controlling to two motors, and increases by a synchronization ring to realize that two motor positions are come with a certain constant difference
Stable operation.
2. a kind of bi-motor position synchronization control strategy as described in claim 1, the position ring is to close der Geschwindigkeitkreis, position
It sets that be given as slope given, is given comprising frequency and initial phase；Position feedback is the location mean value of two motors.
3. a kind of bi-motor position synchronization control strategy as described in claim 1, the synchronization ring is as position compensation
Der Geschwindigkeitkreis is closed, wherein a motor is positive compensation, another motor is negative compensation, and synchronous ring feedback is the position of two motors
Difference.
4. a kind of bi-motor position synchronization control strategy as described in claim 1, the synchronization ring are closed as position compensation
To electric current loop, wherein a motor, as positive compensation, for another motor as negative compensation, synchronous ring feedback is the position of two motors
Set difference.
5. a kind of bi-motor position synchronization control strategy as claimed in claim 4, increases by one on the basis of the synchronization ring
Slip ring, synchronous ring are output to slip ring, and slip ring is output to electric current loop, and synchronous ring feedback is the alternate position spike letter of two motors
Number, slip ring feedback is the rotating speed difference signal of two motors.
6. a kind of bi-motor position synchronization control strategy as described in claim 1, expands to the synchronous control of more motors, position
Ring feedback is the location mean value of n motor, and the synchronization ring feedback of #1 motors is Δ θ1=θ1-θ2, output is as position compensation letter
Der Geschwindigkeitkreis number is closed, wherein #1 motors are positive compensation, and #2 motors are negative compensation；The synchronization ring feedback of #2 motors is Δ θ2=θ2-
θ3, export and close der Geschwindigkeitkreis as position compensation signal, wherein #2 motors are positive compensation, and #3 motors are to bear compensation, with such
It pushes away, the synchronization ring feedback of #n motors is Δ θn=θn-θ1, export as position compensation signal and close der Geschwindigkeitkreis, wherein #n motors
Just to compensate, #1 motors are negative compensation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810519679.3A CN108712115A (en) | 2018-05-21 | 2018-05-21 | A kind of bi-motor position synchronization control strategy study design |
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| CN201810519679.3A CN108712115A (en) | 2018-05-21 | 2018-05-21 | A kind of bi-motor position synchronization control strategy study design |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212814A (en) * | 2019-05-13 | 2019-09-06 | 湖北三江航天红林探控有限公司 | The load synchronous control system and control method of Dual-motors Driving |
| CN110752791A (en) * | 2019-10-28 | 2020-02-04 | 北京动力机械研究所 | Position real-time synchronous control system and method for one-driving-three actuating device |
| CN110995067A (en) * | 2019-12-11 | 2020-04-10 | 深圳市兆威机电股份有限公司 | Multi-motor synchronous driving system |
| WO2021056470A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Motor module, scanning module, distance measuring device, and control methods |
| CN112994531A (en) * | 2021-02-28 | 2021-06-18 | 杭州电子科技大学 | Dual-motor coupling control device |
| CN112994532A (en) * | 2021-04-27 | 2021-06-18 | 中国科学院宁波材料技术与工程研究所 | Integrated multi-axis synchronous motion control system and synchronous control method |
| WO2023029005A1 (en) * | 2021-09-03 | 2023-03-09 | 深圳市大疆创新科技有限公司 | Field of view control method for detection device, detection device, and mobile platform |
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| WO2008041598A1 (en) * | 2006-09-28 | 2008-04-10 | Mitsubishi Electric Corporation | Servo control device |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212814A (en) * | 2019-05-13 | 2019-09-06 | 湖北三江航天红林探控有限公司 | The load synchronous control system and control method of Dual-motors Driving |
| CN110212814B (en) * | 2019-05-13 | 2020-11-03 | 湖北三江航天红林探控有限公司 | Dual-motor driven load synchronous control system and control method |
| WO2021056470A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Motor module, scanning module, distance measuring device, and control methods |
| CN110752791A (en) * | 2019-10-28 | 2020-02-04 | 北京动力机械研究所 | Position real-time synchronous control system and method for one-driving-three actuating device |
| CN110995067A (en) * | 2019-12-11 | 2020-04-10 | 深圳市兆威机电股份有限公司 | Multi-motor synchronous driving system |
| CN110995067B (en) * | 2019-12-11 | 2021-06-25 | 深圳市兆威机电股份有限公司 | Multi-motor synchronous driving system |
| CN112994531A (en) * | 2021-02-28 | 2021-06-18 | 杭州电子科技大学 | Dual-motor coupling control device |
| CN112994532A (en) * | 2021-04-27 | 2021-06-18 | 中国科学院宁波材料技术与工程研究所 | Integrated multi-axis synchronous motion control system and synchronous control method |
| CN112994532B (en) * | 2021-04-27 | 2021-11-02 | 中国科学院宁波材料技术与工程研究所 | Integrated multi-axis synchronous motion control system and synchronous control method |
| WO2023029005A1 (en) * | 2021-09-03 | 2023-03-09 | 深圳市大疆创新科技有限公司 | Field of view control method for detection device, detection device, and mobile platform |
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Application publication date: 20181026 |