CN109986173B - Double-motor cooperative control method and device, motor controller and wire feeding system - Google Patents
Double-motor cooperative control method and device, motor controller and wire feeding system Download PDFInfo
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- CN109986173B CN109986173B CN201910304660.1A CN201910304660A CN109986173B CN 109986173 B CN109986173 B CN 109986173B CN 201910304660 A CN201910304660 A CN 201910304660A CN 109986173 B CN109986173 B CN 109986173B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
- B23K9/1336—Driving means
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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
Abstract
The embodiment of the invention discloses a double-motor cooperative control method, a double-motor cooperative control device, a motor controller and a wire feeding system, wherein the double-motor cooperative control method comprises the following steps: acquiring a first operating parameter of a first motor and a second operating parameter of a second motor, wherein the first operating parameter comprises a first current feedback value, and the second operating parameter comprises a second current feedback value; calculating an operation offset value of the second motor according to the first current feedback value and the second current feedback value; and controlling the second motor to operate according to the first operating parameter, the operating offset value and the second operating parameter. Through the mode, the embodiment of the invention can enable the second motor and the first motor to synchronously operate, can quickly respond to load change and keeps the stability of the wire feeding system.
Description
Technical Field
The embodiment of the invention relates to the technical field of welding, in particular to a wire feeding system cooperatively controlled by double motors.
Background
Wire feeders are commonly employed in welding systems to feed welding wire to the front end of a welding torch for welding. However, in some occasions, such as shipbuilding, special vehicles and other application occasions with a large operation range, the welding operation position and the source of welding wire feeding are far away, the welding wire needs to be fed remotely, the welding wire needs to be driven to overcome large friction resistance in a path, and stable wire feeding cannot be realized only by a wire feeding motor. In this case, it is common to add a relay wire feeder or to provide a push motor at the source of the welding wire to achieve long-distance wire feeding, or to achieve medium-long-distance welding.
The existing double-motor cooperative control system adopts a mode that the two motors are driven by the same instruction, or the two motors are controlled by the difference or synchronization of the two instructions, when the loads of the two motors are inconsistent, the two motors are not synchronous easily, the wire feeding loads of the two motors cannot be adjusted in real time, and the situation that one motor does not output power when the output power of one motor is too large can occur.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing a double-motor cooperative control method, a double-motor cooperative control device, a motor controller and a wire feeding system, which can enable a second motor and a first motor to synchronously operate, can quickly respond to load change and keep the stability of the wire feeding system.
In order to achieve the purpose, the embodiment of the invention adopts the technical scheme that: in a first aspect, a dual-motor cooperative control method is provided, and is applied to a motor controller, where the motor controller is used to connect with a first motor and a second motor, and the method includes:
acquiring a first operating parameter of the first motor and a second operating parameter of the second motor, wherein the first operating parameter comprises a first current feedback value, and the second operating parameter comprises a second current feedback value;
calculating an operation offset value of the second motor according to the first current feedback value and the second current feedback value;
and controlling the second motor to operate according to the first operating parameter, the operating offset value and the second operating parameter.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second voltage feedback value;
the operating offset value is a voltage offset value, and the controlling the second motor to operate according to the first operating parameter, the operating offset value and the second operating parameter includes:
calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, and then a current target value of the second motor is output to a current loop;
the current target value and the second current feedback value are used as a difference value, the difference value is regulated by the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
or, the controlling the second motor to operate according to the first operating parameter, the operating offset value and the second operating parameter includes:
calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
and the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second speed feedback value;
the operation deviation value is a speed deviation value, and the controlling the second motor to operate according to the first operation parameter, the operation deviation value and the second operation parameter includes:
calculating a speed set value of the second motor according to the first speed feedback value or the first voltage feedback value;
calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
the speed expected value and the second speed feedback value are subjected to difference value adjustment through the speed loop, and then a current target value of the second motor is output to a current loop;
the current target value and the second current feedback value are used as a difference value, the difference value is regulated by the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
or, the controlling the second motor to operate according to the first operating parameter, the operating offset value and the second operating parameter includes:
calculating a speed set value of the second motor according to the first speed feedback value or the first voltage feedback value;
calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
and the difference value is obtained between the speed expected value and the second speed feedback value, the driving voltage of the second motor is output after the speed loop adjustment, and the second motor is controlled to operate according to the driving voltage.
In an embodiment, if the operation offset value is a current offset value, the controlling the second motor to operate according to the first operation parameter, the operation offset value and the second operation parameter includes:
calculating a current given value of the second motor according to the first current feedback value;
calculating and outputting a current target value of the second motor to a current loop according to the current given value and the current offset value;
and after the current target value and the second current feedback value are subjected to difference value, the driving voltage of the second motor is output through the current loop regulation, and the second motor is controlled to operate according to the driving voltage.
Optionally, the calculating an operation offset value of the second motor according to the first current feedback value and the second current feedback value includes:
and subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating the running deviation value of the second motor according to a preset piecewise function and the current difference value.
In a second aspect, an embodiment of the present invention further provides a dual-motor cooperative control apparatus, which is applied to a motor controller, where the motor controller is used to connect a first motor and a second motor, and the apparatus includes:
an operating parameter acquiring unit, configured to acquire a first operating parameter of the first motor and a second operating parameter of the second motor, where the first operating parameter includes a first current feedback value, and the second operating parameter includes a second current feedback value;
a comparison unit for calculating an operation offset value of the second motor according to the first current feedback value and the second current feedback value;
and the main control unit is used for controlling the second motor to operate according to the first operating parameter, the operating deviation value and the second operating parameter.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second voltage feedback value;
the operation deviation value is a voltage deviation value, and the main control unit specifically includes:
the voltage conversion unit is used for calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the voltage summing unit is used for calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
the first voltage control unit is used for making a difference value between the expected voltage value and the second voltage feedback value, and outputting a current target value of the second motor to a current loop after the voltage loop is adjusted;
the current control unit is used for making a difference between the current target value and the second current feedback value, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit specifically includes:
the voltage conversion unit is used for calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the voltage summing unit is used for calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
and the second voltage control unit is used for making a difference value between the expected voltage value and the second voltage feedback value, outputting the driving voltage of the second motor after the voltage loop regulation, and controlling the second motor to operate according to the driving voltage.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second speed feedback value;
the operation deviation value is a speed deviation value, and the main control unit specifically includes:
the speed conversion unit is used for calculating a speed given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the speed summing unit is used for calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
the first speed control unit is used for making a difference between the speed expected value and the second speed feedback value, and outputting a current target value of the second motor to a current loop after being regulated by the speed loop;
the current control unit is used for making a difference between the current target value and the second current feedback value, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit specifically includes:
the speed conversion unit is used for calculating a speed given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the speed summing unit is used for calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
and the second speed control unit is used for making a difference between the speed expected value and the second speed feedback value, outputting the driving voltage of the second motor after the speed loop adjustment, and controlling the second motor to operate according to the driving voltage.
Optionally, the main control unit specifically includes:
the current conversion unit is used for calculating a current given value of the second motor according to the first current feedback value;
the current summation unit is used for calculating and outputting a current target value of the second motor to a current loop according to the current given value and the current offset value;
and the current control unit is used for adjusting the current loop after the current target value and the second current feedback value are subjected to difference, outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
In a third aspect, an embodiment of the present invention further provides a motor controller, where the motor controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the dual-motor cooperative control method as described above.
In a fourth aspect, an embodiment of the present invention further provides a wire feeding system cooperatively controlled by two motors, where the wire feeding system includes:
a first drive device including a first motor for delivering welding wire;
a second driving device including a second motor for relaying the welding wire or for pulling the welding wire;
and the motor controller as described above, wherein the motor controller is connected to the first motor and the second motor, respectively.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the dual-motor cooperative control method of the embodiment of the invention comprises the following steps: acquiring a first operating parameter of a first motor and a second operating parameter of a second motor, wherein the first operating parameter comprises a first current feedback value, and the second operating parameter comprises a second current feedback value; calculating an operation offset value of the second motor according to the first current feedback value and the second current feedback value; the second motor is controlled to operate according to the first operating parameter, the operating deviation value and the second operating parameter, the operating deviation value is given to the second motor, the tension of the first motor and the tension of the second motor can be adjusted in real time according to the load, and the acting force of the two motors is reasonably distributed, so that the second motor and the first motor can synchronously operate, the load change can be quickly responded, and the stability of the wire feeding system is kept.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic illustration of an implementation environment to which embodiments of the invention relate;
FIG. 2 is a schematic illustration of another implementation environment to which embodiments of the invention relate;
fig. 3 is a schematic diagram of a hardware configuration of a motor controller according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a dual-motor cooperative control method according to a first embodiment of the present invention;
fig. 5 is a schematic diagram of a dual-motor cooperative control method according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of a dual-motor cooperative control method according to a third embodiment of the present invention;
fig. 7 is a schematic diagram of a dual-motor cooperative control method according to a fourth embodiment of the present invention;
fig. 8 is a schematic diagram of a dual-motor cooperative control apparatus according to a fifth embodiment of the present invention;
fig. 9 is a schematic diagram of a two-motor cooperative control apparatus according to a sixth embodiment of the present invention;
fig. 10 is a schematic view of another two-motor cooperative control apparatus provided in a sixth embodiment of the present invention;
fig. 11 is a schematic diagram of another two-motor cooperative control apparatus according to a sixth embodiment of the present invention;
fig. 12 is a schematic diagram of another two-motor cooperative control apparatus according to a sixth embodiment of the present invention;
fig. 13 is a schematic diagram of another two-motor cooperative control apparatus according to a sixth embodiment of the present invention;
fig. 14 is a schematic diagram of another two-motor cooperative control apparatus according to a seventh embodiment of the present invention.
Detailed Description
Technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic diagram of an implementation environment according to various embodiments of the present invention, as shown in fig. 1, the implementation environment includes a first driving device 10, a second driving device 20, and a motor controller 30, the first driving device 10 may be a wire feeder, and the second driving device 20 may be a relay wire feeder or a push wire gun.
The first driving device 10 includes a first motor 11, a first speed encoder 12, a first current sensor 13, and a first voltage sampling circuit 14, where the first speed encoder 12 is configured to detect a speed feedback value of the first motor 11, the first current sensor 13 is configured to detect a current feedback value of the first motor 11, and the first voltage sampling circuit 14 is configured to detect a voltage feedback value of the first motor 11.
The second driving device 20 includes a second motor 21, a second current sensor 22, and a second voltage sampling circuit 23, the second current sensor 22 is configured to detect a current feedback value of the second motor 21, and the second voltage sampling circuit 23 is configured to detect a voltage feedback value of the second motor 21.
The motor controller 30 is connected to the first driving device 10 and the second driving device 20, respectively, for driving the first motor 11 and the second motor 21 to synchronously operate.
Specifically, the motor controller 30 includes a feedback receiving module 31, a control module 32 and a driving module 33, where the feedback receiving module 31 is configured to receive a speed feedback value detected by the first speed encoder 12 and a current feedback value detected by the first current sensor 13, and output the speed feedback value and the current feedback value to the control module 32; the control module 32 is configured to output a first control signal to the driving module 33 in a speed outer loop or a current inner loop manner according to the speed set value, the speed feedback value, and a current feedback value detected by the first current sensor 13; the driving module 33 is configured to control the operation of the first motor 11 according to the first control signal.
The feedback receiving module 31 is further configured to receive a voltage feedback value detected by the first voltage sampling circuit 14, a voltage feedback value detected by the second voltage sampling circuit 13, and a current feedback value detected by the second current sensor 23, and output the voltage feedback value, and the current feedback value to the control module 32; the control module 32 is further configured to convert the voltage feedback value detected by the first voltage sampling circuit 14 into a voltage set value of the second motor 21 after calculation, calculate a voltage offset value according to the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22, calculate a voltage expected value according to the voltage set value and the voltage offset value, and further output a second control signal to the driving module 33 in a voltage outer loop or current inner loop manner according to the voltage expected value, the voltage feedback value detected by the second voltage sampling circuit 23, and the current feedback value detected by the second current sensor 22; the driving module 33 is further configured to control the operation of the second motor 21 according to a second control signal.
It is understood that the control module 32 may output the second control signal by using a single voltage loop according to the expected voltage value and the voltage feedback value detected by the second voltage sampling circuit 23.
In another embodiment, as shown in fig. 2, the first driving device 10, the second driving device 20, and the first motor controller 40 and the second motor controller 50 are included, and the difference from the first embodiment is that the first driving device 10 is connected to the first motor controller 40, the second driving device 20 is connected to the second motor controller 50, and the second motor controller 50 is further connected to the first motor controller 40.
The first motor controller 40 controls the first motor 11 to operate according to a speed feedback value detected by the first speed encoder 12 and a current feedback value detected by the first current sensor 13, and transmits a current feedback value detected by the first current sensor 13 and a voltage feedback value detected by the first voltage sampling circuit 14 to the second motor controller 50.
The second motor controller 50 converts the calculated voltage feedback value into a voltage set value of the second motor 21, calculates a voltage offset value according to the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22, and controls the second motor 21 to operate according to the voltage set value, the voltage offset value, and the voltage feedback value detected by the second voltage sampling circuit 13, so as to realize synchronous operation of the second motor 21 and the first motor 11.
In the above implementation environment, the first driving device 10 may not include the first voltage sampling circuit 14, and the motor controller 30 may calculate a speed feedback value detected by the first speed encoder 12 and convert the speed feedback value into a voltage set value of the second motor 21; or the first motor controller 40 sends the speed feedback value detected by the first speed encoder 12 to the second motor controller 50, and the second motor controller 50 converts the speed feedback value detected by the first speed encoder 12 into the voltage set value of the second motor 21 after calculation.
Likewise, the motor controller 30 or the second motor controller 50 controls the second motor 21 to operate according to the voltage set value, the voltage offset value, and the voltage feedback value detected by the second voltage sampling circuit 23.
In the above implementation environment, the second driving device 20 may not include the second voltage sampling circuit 23, and the second driving device 20 may further include a second speed encoder, and the motor controller 30 converts the speed feedback value detected by the first speed encoder 12 or the voltage feedback value detected by the first voltage sampling circuit 14 into the speed set value of the second motor 21 after calculation; alternatively, the first motor controller 40 sends the speed feedback value detected by the first speed encoder 12 or the voltage feedback value detected by the first voltage sampling circuit 14 to the second motor controller 50, and the second motor controller 50 converts the speed feedback value or the voltage feedback value into the speed set value of the second motor 21 after calculation.
The motor controller 30 or the second motor controller 50 further calculates a speed deviation value according to the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22, and then controls the second motor 21 to operate according to the speed set value, the speed deviation value, and the speed feedback value detected by the second speed encoder.
In the above embodiment, the first driving device 10 may not include the first speed encoder 12 and the first voltage sampling circuit 14, and the second driving device 10 may not include the second voltage sampling circuit 23, so that the motor controller 30 or the second motor controller 50 calculates and converts the current feedback value detected by the first current sensor 13 into the current set value of the second motor 21.
The motor controller 30 or the second motor controller 50 also calculates a current offset value based on the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22, and then controls the second motor 21 to operate based on the current set value, the current offset value, and the current feedback value detected by the second current sensor 22.
In the above embodiment, the control module 32 of the motor controller 30 or the second control module of the second motor controller 50 each includes a processor and a memory, and taking the motor controller 30 as an example, as shown in fig. 3, the control module 32 includes:
one or more processors 301 and a memory 302, with one processor 301 being illustrated in fig. 3.
The processor 301 and the memory 302 may be connected by a bus or other means, such as the bus connection in fig. 3.
The memory 302 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the dual-motor cooperative control method in the embodiment of the present invention. The processor 301 executes various functional applications and data processing of the control chip 42 by running the nonvolatile software program, instructions and modules stored in the memory 302, that is, implements the dual-motor cooperative control method of the embodiment of the method of the present invention.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the control module 32, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 302 may optionally include memory located remotely from the processor 301, which may be connected to the control module 32 or the second control module 32 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 302, and when executed by the one or more processors 301, perform a dual-motor cooperative control method in any of the method embodiments described below, and implement the functions of the respective modules in the apparatus embodiments described below.
Based on the above description, the embodiments of the present invention will be further explained with reference to the drawings.
Example 1
Referring to fig. 4, fig. 4 is a schematic diagram of a dual-motor cooperative control method according to an embodiment of the present invention, where the method is applied to a motor controller, and the motor controller is used to connect a first motor and a second motor, and the method includes:
step 110: and acquiring a first current feedback value, a first speed feedback value or a first voltage feedback value of the first motor, and acquiring a second current feedback value and a second voltage feedback value of the second motor.
Step 120: and calculating a voltage offset value of the second motor according to the first current feedback value and the second current feedback value.
For the motor, when the current feedback value does not exceed the rated current, the current feedback value is in direct proportion to the motor torque and can reflect the load condition of the motor, when the load is increased, the current feedback value is increased, and when the load is decreased, the current feedback value is decreased. And calculating a voltage deviation value of the second motor according to the first current feedback value and the second current feedback value, setting the voltage deviation value to the second motor, adjusting the tension of the first motor and the tension of the second motor according to the load in real time, reasonably distributing the acting force of the two motors, and avoiding the situation that one motor does not output too much force and the other motor does not output too much force.
The obtained current feedback value can be peak current or average current obtained in a sampling period, and the average current sampling has low requirement on a sampling circuit and strong anti-interference performance; the peak current sampling has higher design requirements on a sampling circuit, the interference resistance is weak, and the current real-time performance is stronger.
Preferably, calculating the voltage offset value according to the first current feedback value and the second current feedback value includes:
and subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating the voltage deviation value according to a preset piecewise function and the current difference value.
The preset piecewise function may be a linear function, for example, Volt2 ═ CurrErr × 0.1+100, and the larger the current difference is, the larger the slope of the preset piecewise function is, so that the tension between the two motors can be adjusted as soon as possible according to the load change.
Step 130: and calculating the voltage set value of the second motor according to the first speed feedback value or the first voltage feedback value.
The voltage and the speed of each motor have a corresponding relation, and the first speed feedback value or the first voltage feedback value can be converted into a voltage given value of the second motor after being subjected to function transformation according to a voltage-speed curve of the first motor and a voltage-speed curve of the second motor.
In one embodiment, when obtaining the first Speed feedback value of the first motor, the first Speed feedback value may be converted into the voltage set value of the second motor after being converted and filtered by the first-order function Volt 1-Speed 0.95+ 300.
Step 140: and calculating and outputting the expected voltage value of the second motor to a voltage ring according to the given voltage value and the offset voltage value.
For example, the voltage desired value of the second motor is obtained by adding the voltage given value and the voltage offset value, and Volt is Volt1+ Volt 2.
Step 150: and the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, and then the current target value of the second motor is output to a current loop.
And performing PI regulation or PID regulation on the voltage expected value and the second voltage feedback value in a voltage loop, and calculating and outputting a current target value of the second motor to a current loop.
Step 160: and the current target value and the second current feedback value are subjected to difference value adjustment through the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
And performing PI regulation or PID regulation on the current target value and the second current feedback value in a current loop, calculating and outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
In the embodiment, the voltage set value given to the second motor is adjusted according to the voltage offset value, wherein the voltage offset value is obtained by calculation according to the first current feedback value of the first motor and the second current feedback value of the second motor, and the voltage set value is obtained by calculation according to the first speed feedback value or the first voltage feedback value of the first motor, so that the running speed of the second motor can be kept consistent with the running speed of the first motor, the pulling forces of the first motor and the second motor can be adjusted in real time according to the load, and the stability of the wire feeding system is kept.
Example 2
Referring to fig. 5, fig. 5 is a schematic diagram of another two-motor cooperative control method according to an embodiment of the present invention, where the method includes steps 210 to 250, where the steps 210 to 240 refer to embodiment 1, and the difference from the foregoing embodiment 1 is that:
step 250 is: and the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
That is, in step 250, the driving voltage of the second motor is directly calculated according to the voltage desired value and the second voltage feedback value, and the second motor is controlled to operate according to the driving voltage, so that the step of entering a current loop is omitted.
Specifically, the last expected voltage value obtained by the system according to the calculation is used as positive feedback, the last sampled second voltage feedback value is used as negative feedback, the driving voltage of the second motor is output after the negative feedback is adjusted by a voltage loop, and the second motor is controlled to operate according to the driving voltage.
Example 3
Referring to fig. 6, fig. 6 is a schematic diagram of another dual-motor cooperative control method according to an embodiment of the present invention, where the method includes:
step 310: and acquiring a first current feedback value, a first speed feedback value or a first voltage feedback value of the first motor, and acquiring a second current feedback value and a second speed feedback value of the second motor.
Step 320: and calculating a speed offset value of the second motor according to the first current feedback value and the second current feedback value.
Preferably, calculating the speed offset value according to the first current feedback value and the second current feedback value includes:
and subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating the speed deviation value according to a preset piecewise function and the current difference value.
The preset piecewise function may be a linear function, for example, Speed2 is 0.1 × CurrErr, and the larger the current difference is, the larger the slope of the preset piecewise function is, so that the tension between the two motors can be adjusted as soon as possible according to the load change.
Step 330: and calculating the speed set value of the second motor according to the first speed feedback value or the first voltage feedback value.
The voltage and the speed of each motor have a corresponding relation, and the first speed feedback value or the first voltage feedback value can be converted into a speed set value of the second motor after being subjected to function transformation according to a voltage-speed curve of the first motor and a voltage-speed curve of the second motor.
In one embodiment, when acquiring the first Speed feedback value of the first motor, the first Speed feedback value may be directly converted into a Speed setpoint of the second motor, Speed1 ═ Speedpush.
Step 340: and calculating and outputting a speed expected value of the second motor to a speed ring according to the speed set value and the speed offset value.
For example, the Speed setpoint and the Speed offset value are added to obtain a desired Speed value of the second motor, Speedpull 1+ Speed 2.
Step 350: and the difference value is obtained between the speed expected value and the second speed feedback value, and the current target value of the second motor is output to a current loop after the speed loop is adjusted.
And performing PI regulation or PID regulation on the speed expected value and the second speed feedback value in a speed loop, and calculating and outputting a current target value of the second motor to a current loop.
Step 360: and the current target value and the second current feedback value are subjected to difference value adjustment through the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
And performing PI regulation or PID regulation on the current target value and the second current feedback value in a current loop, calculating and outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
Example 4
Referring to fig. 7, fig. 7 is a schematic diagram of another two-motor cooperative control method according to an embodiment of the present invention, the method includes steps 410 to 450, where the steps 410 to 440 refer to embodiment 3, and the difference from the foregoing embodiment 3 is that:
step 450 is: and the difference value is obtained between the speed expected value and the second speed feedback value, the driving voltage of the second motor is output after the speed loop adjustment, and the second motor is controlled to operate according to the driving voltage.
That is, in step 450, the driving voltage of the second motor is directly calculated according to the desired speed value and the second speed feedback value, and the second motor is controlled to operate according to the driving voltage, so that the step of entering a current loop is omitted.
Specifically, a speed expected value obtained by the last calculation of the system is used as positive feedback, a second speed feedback value obtained by the last sampling is used as negative feedback, the driving voltage of the second motor is output after the speed feedback value is adjusted by a speed loop, and the second motor is controlled to operate according to the driving voltage.
Example 5
Referring to fig. 8, fig. 8 is a schematic diagram of another dual-motor cooperative control method provided in an embodiment of the present invention, where the method includes:
step 510: and acquiring a first current feedback value of the first motor and a second current feedback value of the second motor.
Step 520: and calculating a current offset value of the second motor according to the first current feedback value and the second current feedback value.
Preferably, calculating the current offset value according to the first current feedback value and the second current feedback value includes:
and subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating the speed deviation value according to a preset piecewise function and the current difference value.
The preset piecewise function can be a linear function, the larger the current difference is, the larger the slope of the preset piecewise function is, and the pulling force between the two motors can be adjusted as soon as possible according to load change.
Step 530: and calculating the current set value of the second motor according to the first current feedback value.
The speed and the current of each motor also have a corresponding relation, and the first current feedback value can be converted into a voltage given value of the second motor after being subjected to function transformation according to a speed-current curve of the first motor and a speed-current curve of the second motor.
Step 540: and calculating and outputting a current target value of the second motor to a current loop according to the current given value and the current offset value.
For example, the current target value of the second motor is obtained by adding the current set value and the current offset value.
Step 550: and after the current target value and the second current feedback value are subjected to difference value, the driving voltage of the second motor is output through the current loop regulation, and the second motor is controlled to operate according to the driving voltage.
And performing PI regulation or PID regulation on the current target value and the second current feedback value in a current loop, calculating and outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
Example 6
Referring to fig. 9, fig. 9 is a schematic device diagram of a two-motor cooperative control device according to an embodiment of the present invention, in which the two-motor cooperative control device 600 is applied to a motor controller, and the motor controller is used for being connected to a first motor and a second motor.
The dual-motor cooperative control apparatus 600 may be configured in any suitable type of chip with certain logic operation capability, such as a control chip (e.g., the control module shown in fig. 1-3) configured in the motor.
As shown in fig. 9, the apparatus 600 includes:
an operation parameter acquiring unit 610, configured to acquire a first operation parameter of the first motor and a second operation parameter of the second motor, where the first operation parameter includes a first current feedback value, and the second operation parameter includes a second current feedback value;
a comparing unit 620, configured to calculate an operation offset value of the second motor according to the first current feedback value and the second current feedback value;
a main control unit 630, configured to control the operation of the second motor according to the first operating parameter, the operating offset value, and the second operating parameter.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second voltage feedback value; then, the operation offset value is a voltage offset value, as shown in fig. 10, the main control unit 730 of the apparatus 700 specifically includes:
a voltage conversion unit 731 for calculating a voltage set value of the second motor according to the first speed feedback value or the first voltage feedback value;
a voltage summing unit 732 for calculating and outputting a desired voltage value of the second motor to a voltage loop according to the given voltage value and the offset voltage value;
the first voltage control unit 733, configured to take a difference between the expected voltage value and the second voltage feedback value, and output a current target value of the second motor to a current loop after being adjusted by the voltage loop;
the current control unit 734 is configured to make a difference between the current target value and the second current feedback value, and output a driving voltage of the second motor after the current loop adjustment, so as to control the second motor to operate according to the driving voltage;
alternatively, as shown in fig. 11, the main control unit 830 of the apparatus 800 specifically includes:
a voltage conversion unit 831 for calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
a voltage summing unit 832 for calculating and outputting a voltage desired value of the second motor to a voltage loop according to the voltage given value and the voltage offset value;
and the second voltage control unit 833 is configured to make a difference between the expected voltage value and the second voltage feedback value, adjust the difference by the voltage loop, output a driving voltage of the second motor, and control the second motor to operate according to the driving voltage.
In one embodiment, the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second speed feedback value; then, the operation offset value is a speed offset value, as shown in fig. 12, the main control unit 930 of the apparatus 900 specifically includes:
a speed conversion unit 931 configured to calculate a speed given value of the second motor from the first speed feedback value or the first voltage feedback value;
a speed summing unit 932 for calculating and outputting a speed desired value of the second motor to a speed loop according to the speed set-point and the speed offset value;
a first speed control unit 933, configured to make a difference between the desired speed value and the second speed feedback value, and output a current target value of the second motor to a current loop after being adjusted by the speed loop;
the current control unit 934 is configured to make a difference between the current target value and the second current feedback value, output a driving voltage of the second motor after being adjusted by the current loop, and control the second motor to operate according to the driving voltage;
alternatively, as shown in fig. 13, the main control unit 1030 of the apparatus 1000 specifically includes:
a speed conversion unit 1031, configured to calculate a speed set value of the second motor according to the first speed feedback value or the first voltage feedback value;
a speed summing unit 1032 for calculating and outputting a speed expected value of the second motor to a speed loop according to the speed set value and the speed offset value;
and a second speed control unit 1031, configured to make a difference between the desired speed value and the second speed feedback value, adjust the difference by the speed loop, output a driving voltage of the second motor, and control the second motor to operate according to the driving voltage.
In one embodiment, the main control unit 1130 of the apparatus 1100 specifically includes:
a current conversion unit 1131, configured to calculate a current given value of the second motor according to the first current feedback value;
a current summing unit 1132, configured to calculate and output a current target value of the second motor to a current loop according to the current given value and the current offset value;
and a current control unit 1131, configured to output a driving voltage of the second motor through the current loop adjustment after a difference is made between the current target value and the second current feedback value, and control the second motor to operate according to the driving voltage.
It should be noted that, in the embodiment of the present invention, the apparatuses 600 to 1100 may execute the dual-motor cooperative control method provided in the embodiment of the present invention, and have corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiments of the apparatus, reference may be made to the dual-motor cooperative control method provided in the embodiments of the present invention.
Example 7
An embodiment of the present invention provides a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the dual-motor cooperative control method as described above. For example, the methods illustrated in fig. 4-8 described above are performed to implement the functions of the various modules in fig. 9-14.
An embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the dual-motor cooperative control method described above. For example, the methods illustrated in fig. 4-8 described above are performed to implement the functions of the various modules in fig. 9-14.
It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a Read-Only Memory (ROM) or a Random Access Memory (RAM).
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A double-motor cooperative control method is applied to a motor controller of a wire feeding system, and is characterized in that the motor controller is used for being connected with a first motor and a second motor, and the method comprises the following steps:
acquiring a first operating parameter of the first motor and a second operating parameter of the second motor, wherein the first operating parameter comprises a first current feedback value, and the second operating parameter comprises a second current feedback value;
subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating an operation deviation value of the second motor according to a preset piecewise function and the current difference value, wherein the larger the current difference value is, the larger the slope of the preset piecewise function is;
calculating a given value of the second motor according to a first operating parameter of the first motor;
and controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter.
2. The method of claim 1,
the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second voltage feedback value;
the calculating the given value of the second motor according to the first operating parameter of the first motor includes:
calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter comprises the following steps:
calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, and then a current target value of the second motor is output to a current loop;
the current target value and the second current feedback value are used as a difference value, the difference value is regulated by the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
or, the controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter includes:
calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
and the voltage expected value and the second voltage feedback value are subjected to difference value adjustment through the voltage loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
3. The method of claim 1,
the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second speed feedback value;
the calculating the given value of the second motor according to the first operating parameter of the first motor comprises:
calculating a speed set value of the second motor according to the first speed feedback value or the first voltage feedback value;
the controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter comprises the following steps:
calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
the speed expected value and the second speed feedback value are subjected to difference value adjustment through the speed loop, and then a current target value of the second motor is output to a current loop;
the current target value and the second current feedback value are used as a difference value, the difference value is regulated by the current loop, then the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
or, the controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter includes:
calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
and the difference value is obtained between the speed expected value and the second speed feedback value, the driving voltage of the second motor is output after the speed loop adjustment, and the second motor is controlled to operate according to the driving voltage.
4. The method of claim 1,
the calculating the given value of the second motor according to the first operating parameter of the first motor includes:
calculating a current given value of the second motor according to the first current feedback value;
the controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter comprises the following steps:
calculating and outputting a current target value of the second motor to a current loop according to the current given value and the current offset value;
and after the current target value and the second current feedback value are subjected to difference value, the driving voltage of the second motor is output through the current loop regulation, and the second motor is controlled to operate according to the driving voltage.
5. The utility model provides a bi-motor cooperative control device, is applied to wire feeding system's motor controller, its characterized in that, motor controller is used for being connected with first motor and second motor, the device includes:
an operating parameter acquiring unit, configured to acquire a first operating parameter of the first motor and a second operating parameter of the second motor, where the first operating parameter includes a first current feedback value, and the second operating parameter includes a second current feedback value;
the comparison unit is used for subtracting the first current feedback value from the second current feedback value to obtain a current difference value, and calculating an operation offset value of the second motor according to a preset piecewise function and the current difference value, wherein the larger the current difference value is, the larger the slope of the preset piecewise function is;
the main control unit is used for calculating a given value of the second motor according to a first operation parameter of the first motor; and controlling the second motor to operate according to the given value of the second motor, the operation deviation value and the second operation parameter.
6. The apparatus of claim 5,
the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second voltage feedback value;
the given value of the second motor is a given voltage value, the operation deviation value is a voltage deviation value, and the main control unit specifically includes:
the voltage conversion unit is used for calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the voltage summing unit is used for calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
the first voltage control unit is used for making a difference value between the expected voltage value and the second voltage feedback value, and outputting a current target value of the second motor to a current loop after the voltage loop is adjusted;
the current control unit is used for making a difference between the current target value and the second current feedback value, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit specifically includes:
the voltage conversion unit is used for calculating a voltage given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the voltage summing unit is used for calculating and outputting a voltage expected value of the second motor to a voltage ring according to the voltage given value and the voltage offset value;
and the second voltage control unit is used for making a difference value between the expected voltage value and the second voltage feedback value, outputting the driving voltage of the second motor after the voltage loop regulation, and controlling the second motor to operate according to the driving voltage.
7. The apparatus of claim 5,
the first operating parameter further comprises a first speed feedback value or a first voltage feedback value, and the second operating parameter further comprises a second speed feedback value;
the given value of the second motor is a given speed value, the running deviation value is a speed deviation value, and the main control unit specifically comprises:
the speed conversion unit is used for calculating a speed given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the speed summing unit is used for calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
the first speed control unit is used for making a difference between the speed expected value and the second speed feedback value, and outputting a current target value of the second motor to a current loop after being regulated by the speed loop;
the current control unit is used for making a difference between the current target value and the second current feedback value, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit specifically includes:
the speed conversion unit is used for calculating a speed given value of the second motor according to the first speed feedback value or the first voltage feedback value;
the speed summing unit is used for calculating and outputting a speed expected value of the second motor to a speed ring according to the speed given value and the speed deviation value;
and the second speed control unit is used for making a difference between the speed expected value and the second speed feedback value, outputting the driving voltage of the second motor after the speed loop adjustment, and controlling the second motor to operate according to the driving voltage.
8. The apparatus of claim 5,
if the given value of the second motor is the given current value, the operation deviation value is the current deviation value, and the main control unit specifically includes:
the current conversion unit is used for calculating a current given value of the second motor according to the first current feedback value;
the current summation unit is used for calculating and outputting a current target value of the second motor to a current loop according to the current given value and the current offset value;
and the current control unit is used for adjusting the current loop after the current target value and the second current feedback value are subjected to difference, outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
9. A motor controller, characterized in that the motor controller comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the dual-motor cooperative control method of any one of claims 1 to 4.
10. A dual-motor cooperatively controlled wire feeding system, comprising:
a first drive device including a first motor for delivering welding wire;
a second driving device including a second motor for relaying the welding wire or for pulling the welding wire;
and a motor controller as claimed in claim 9, wherein the motor controller is connected to the first and second motors respectively.
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| CN110601604B (en) * | 2019-09-26 | 2020-11-17 | 重庆大学 | Multi-motor speed synchronous control system and control method thereof |
| CN110995066B (en) * | 2019-12-21 | 2021-04-13 | 中国特种设备检测研究院 | Double-servo motor control method for amusement facility track detection device |
| CN111299771B (en) * | 2020-03-23 | 2021-09-28 | 深圳市麦格米特焊接技术有限公司 | Push-pull wire motor control method, controller, control circuit and wire feeding system |
| CN111805165B (en) * | 2020-09-01 | 2020-12-08 | 北京航天新风机械设备有限责任公司 | Semi-closed cabin welding internal stay frock |
| CN112404659B (en) * | 2020-11-02 | 2022-05-31 | 深圳市瑞凌实业股份有限公司 | Welding wire feeder, welding system, control method, and storage medium |
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