CN109995295A - More motor parallel drive control methods and system - Google Patents
More motor parallel drive control methods and system Download PDFInfo
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- CN109995295A CN109995295A CN201910226499.0A CN201910226499A CN109995295A CN 109995295 A CN109995295 A CN 109995295A CN 201910226499 A CN201910226499 A CN 201910226499A CN 109995295 A CN109995295 A CN 109995295A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
- H02P2006/045—Control of current
Abstract
The present invention relates to more motor parallel drive control methods comprising step: one, speed control calculates motor group current reference value using velocity error Δ ω as input valueTwo, by motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains the reference value of motor group current controllerThree, pass through the reference value of motor group current controllerControl each motor output resultant moment Te；Four, with resultant moment TeWith disturbing moment TLDifference as the driving moment T on turntable controller, pass through driving moment T and control turntable.The present invention also provides more motor parallel drive control systems.The beneficial effects of the present invention are: this method and system compared with the prior art realizes the effective compensation to motor cogging torque and moment of friction by increasing disturbance compensation, solves the problems, such as that disturbing moment influences motor control precision.
Description
Technical field
The present invention relates to drive and control of electric machine technical field more particularly to a kind of more motor parallel drive control methods and it is
System.
Background technique
With the raising of Space-objects Observation demand, large aperture telescope comes into being, and has 8.2 than more typical telescope
The VLT, the GTC etc. of Keck and 10.4 meter of bore of 10 meters of bores of rice bore.With the increase for aperture of mirror of looking in the distance, to drive control
More stringent requirements are proposed for system, and traditional integrated permanent magnet synchronous motor is unable to satisfy more large aperture telescope control system
Driving capability requirement.Further, more permanent magnet synchronous motor parallel drives mechanism has many advantages, such as that driving moment is big, is easily achieved,
First choice as large aperture telescope driving mechanism.But more permanent magnet synchronous motor parallel drives mechanism is also not perfect in every way,
Its shortcoming is that motor cogging torque present in more permanent magnet synchronous motor concurrent control systems, moment of friction, busbar voltage line
The disturbing moments such as torque fluctuations caused by wave have seriously affected the control precision of large aperture telescope.
Summary of the invention
In view of this, the present invention provides one to solve the problems, such as that disturbing moment influences motor control precision in the prior art
The more motor parallel drive control methods of kind comprising speed control, motor group, turntable controller and turntable, more motors
Parallel drive control method includes the following steps:
Step S1, the speed control calculate motor group current reference value using velocity error Δ ω as input value
Step S2, by the motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor
The reference value of group current controller
Step S3 passes through the reference value of the motor group current controllerControl each motor output resultant moment Te；
Step S4, with the resultant moment TeWith the disturbing moment TLDifference as the driving on the turntable controller
Torque T controls the turntable by the driving moment T.
Preferably, in step sl, velocity error Δ ω is reference velocity ω*With the output speed of the turntable controller
The difference of value of feedback ω.
Preferably, the compensation current i of the disturbing momentcomBy the estimated value of disturbing momentIt is obtained divided by torque coefficient
It arrives；The estimated value of the disturbing momentIt is by the disturbance compensation device with the positional value θ of the turntable and motor group electric current control
The reference value of device processedInput is calculated.
Preferably, the torque coefficient indicates are as follows:
Wherein, p is the number of magnetic pole pairs of motor, ΨPMFor the magnetic flux of motor.
Preferably, the disturbance compensation device executes the mathematic(al) representation calculated are as follows:
Wherein, γ1And γ2Respectively speed low-pass filter coefficients, s are complex variable, and ω (s) is the variable of turntable speed,
θ (s) is the complex variable of revolving table position,For the complex variable of disturbing moment estimated value, p is the number of magnetic pole pairs of motor, ΨPMFor
The magnetic flux of motor, J are the rotary inertia of turntable,For the complex variable of the reference value of current controller.
Preferably, the motor group includes n motor, the motor is permanent magnet synchronous motor, by being based on busbar voltage
The motor current controller of compensation controls the motor, and the motor current controller based on generatrix voltage compensation includes d axis
PI controller and q axis PI controller, the motor current controller based on generatrix voltage compensation are able to carry out following steps:
Step S11, d axis PI controller withFor reference value and with electric current idD shaft voltage value is calculated for value of feedback
dout；Q axis PI controller withFor reference value and with electric current iqQ shaft voltage value qout is calculated for value of feedback；
D shaft voltage value dout is carried out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate system by step S12d；
Q shaft voltage value qout is subjected to generatrix voltage compensation, to obtain the voltage value v in d-q coordinate systemq；
Step S13, to the voltage value v in d-q coordinate systemdParker Park inverse transformation is carried out, to obtain in alpha-beta coordinate system
Voltage vβ；To the voltage value v in d-q coordinate systemqPark inverse transformation is carried out, to obtain the voltage v in alpha-beta coordinate systemα；
Step S14, by voltage vαWith voltage vβControl Vector Pulse Width Modulation is carried out, modulated signal is controlled to permanent magnet synchronous electric
100 three-phase voltage v of machinea、vbAnd vcAdjusting.
Preferably, in step s 11, electric current iqIt is the electrical angle θ according to permanent magnet synchronous motore, to electric current iαCarry out Park
What transformation obtained；Electric current idIt is the electrical angle θ according to permanent magnet synchronous motore, to electric current iβCarry out what Park was converted；Electric current
iαIt is the A phase current i of permanent magnet synchronous motoraIt is converted by Clarke Clarke；Electric current iβIt is the B of permanent magnet synchronous motor
Phase current ibIt is converted by Clarke.
Preferably, in step s 12, the voltage value v in d-q coordinate systemdIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor busbar voltage detection value；
In step s 12, the voltage value v in d-q coordinate systemqIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor corresponding busbar voltage detection value.
More motor parallel drive control systems based on disturbance compensation that the present invention also provides a kind of comprising speed control
Device, first arithmetic device, motor group, second arithmetic device, turntable controller, turntable, disturbance compensation device and third arithmetic unit；Described
One arithmetic unit is connect with the speed control, the motor group and the disturbance compensation device respectively, the second arithmetic device point
Do not connect with the motor group and the turntable controller, the third arithmetic unit respectively with the speed control and described turn
The connection of platform controller, the turntable are connect with the turntable controller and the disturbance compensation device respectively；
The speed control is for calculating motor group current reference value using velocity error Δ ω as input valueInstitute
First arithmetic device is stated to be used for motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor group
The reference value of current controllerThe motor group is used for the reference value according to motor group current controllerExport resultant moment
Te；The second arithmetic device is for calculating resultant moment TeWith disturbing moment TLDifference, to obtain driving moment T；The turntable control
Device processed controls the turntable movement by driving moment T；The output speed ω of the turntable controller feeds back to the third fortune
Calculate device；The third arithmetic unit is used for calculating speed error delta ω；The disturbance compensation device is used for the compensation of calculation perturbation torque
Current value icom。
Compared with the prior art the beneficial effects of the present invention are:
More motor parallel drive control methods and control system are realized by increasing the compensation of disturbing moment to more motors
The effective compensation of motor cogging torque in concurrent control system and moment of friction increases motor control precision, solves and disturb
Kinetic moment influences the problem of motor control precision.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow chart of more motor parallel drive control methods in the present invention；
Fig. 2 is the schematic diagram of more motor parallel drive control methods in the present invention；
Fig. 3 is the schematic diagram of disturbance compensation device in the present invention；
Fig. 4 is the functional block diagram of the motor current controller based on generatrix voltage compensation in the present invention.
Appended drawing reference:
1, speed control；2, first arithmetic device；3, motor group；4, second arithmetic device；
5, turntable controller；6, turntable；7, disturbance compensation device；8, third arithmetic unit；
31, motor；50, d axis PI controller；60, q axis PI controller；100, permanent magnet synchronous motor.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate each other；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In the present specification, the schematic representation of the above terms does not necessarily have to refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples with suitable
Mode combines.In addition, without conflicting with each other, those skilled in the art can be by difference described in this specification
The feature of embodiment or example and different embodiments or examples is combined.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
The present invention provides a kind of more motor parallel drive control methods, especially suitable for there are a variety of disturbance factors it is more forever
Magnetic-synchro motor parallel drive control system.It is further applicable to that there are the more permanent magnet synchronous motors of the telescope of a variety of disturbance factors
Parallel drive control system.
Fig. 1 is the flow chart of more motor parallel drive control methods in the present invention；Fig. 2 is that more motors drive parallel in the present invention
The schematic diagram of flowing control method.As depicted in figs. 1 and 2, a kind of more motor parallel drive control methods proposed by the present invention, packet
Include following steps:
Step S1, speed control 1 calculate motor group current reference value using velocity error Δ ω as input value
Step S2, by motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor group electricity
The reference value of stream controller
Step S3 passes through the reference value of motor group current controllerControl each motor output resultant moment Te；
Step S4, with resultant moment TeWith disturbing moment TLDifference as the driving moment T on turntable controller 5, pass through drive
Kinetic moment T controls turntable 6.
Further, before executing step S1, reference velocity ω is first calculated*With the error amount of speed feedback value ω, the mistake
Difference is velocity error Δ ω.
Under the control action of driving moment T, the output speed ω of turntable controller 5 accurately follows reference velocity ω*'s
Variation.
In the present embodiment, resultant moment T is exported by motor groupe, motor group is by n motor form, and the quantity of motor is by reality
Border driving moment demand determines, carries out parallel drive control to each motor.Each motor has been equipped with motor current controller,
Each motor current controller is with the reference value of motor group current controllerEach motor power output is controlled respectively for reference
Square, each motor output torque superposition are the output resultant moment T of motor groupe.Each motor output torque can use T respectivelye1、
Te2……TenIt indicates.
Disturbance compensation device 7 is with the reference value of the positional value θ of turntable 6 and motor group current controllerFor input, calculate
To the estimated value of disturbing momentThe estimated value of disturbing momentThe compensation current of disturbing moment is obtained divided by torque coefficient
icom.Torque coefficient indicates are as follows:
Fig. 3 is the schematic diagram of disturbance compensation device in the present invention.As shown in figure 3, the principle of the disturbance compensation device 7 is based on negative
The rotary inertia and encoder position feedback data of load carry out a variety of disturbing moments of computing system, and generate a disturbance accordingly and mend
The amount of repaying, then feedback arrives the reference input of motor group current controller, to optimize final given value of current value, to reach suppression
The purpose of system disturbance processed.
Disturbance compensation device 7 executes the mathematic(al) representation calculated are as follows:
Wherein, γ1And γ2Respectively speed low-pass filter coefficients, s are complex variable, and ω (s) is the variable of turntable speed,
θ (s) is the complex variable of revolving table position,For the complex variable of disturbing moment estimated value, p is the number of magnetic pole pairs of motor 31, ΨPM
For the magnetic flux of motor 31, J is the rotary inertia of turntable,For the complex variable of the reference value of current controller.
Fig. 4 is the functional block diagram of the motor current controller based on generatrix voltage compensation in the present invention.As shown in figure 4, into
One step, the driving motor in the present embodiment is preferably permanent magnet synchronous motor, is all made of based on permanent magnet synchronous motor current controller
Control algolithm based on space vector, still, the control algolithm can be caused by the obvious effect of motor busbar voltage fluctuation
Biggish motor torque ripple, it is therefore desirable to which software compensation is carried out to busbar voltage.Current of electric based on generatrix voltage compensation
The execution following steps of controller:
Step S11, the motor current controller based on generatrix voltage compensation include d axis PI controller 50 and q axis PI control
Device 60, d axis PI controller 50 withFor reference value and with electric current idD shaft voltage value dout is calculated for value of feedback；Q axis PI control
Device 60 processed withFor reference value and with electric current iqQ shaft voltage value qout is calculated for value of feedback.
D shaft voltage value dout is carried out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate system by step S12d；
Q shaft voltage value qout is subjected to generatrix voltage compensation, to obtain the voltage value v in d-q coordinate systemq；
Step S13, to the voltage value v in d-q coordinate systemdPark inverse transformation is carried out, to obtain the voltage in alpha-beta coordinate system
vβ；To the voltage value v in d-q coordinate systemqPark inverse transformation is carried out, to obtain the voltage v in alpha-beta coordinate systemα；
Step S14, by voltage vαWith voltage vβIt carries out control Vector Pulse Width Modulation (SVPWN), modulated signal is controlled to permanent magnetism
100 three-phase voltage v of synchronous motora、vbAnd vcAdjusting.
In step s 11, electric current iqIt is the electrical angle θ according to permanent magnet synchronous motor 100e, to electric current iαCarry out Park transformation
It obtains；Electric current idIt is the electrical angle θ according to permanent magnet synchronous motor 100e, to electric current iβCarry out what Park was converted.And alpha-beta
Electric current i in coordinate systemαIt is the A phase current i of permanent magnet synchronous motor 100aIt is converted by Clarke；In alpha-beta coordinate system
Electric current iβIt is the B phase current i of permanent magnet synchronous motor 100bIt is converted by Clarke.
Park transformation is Park Transformation, also translates Parker transform, English is expressed as Park's Transformation.
Clarke is transformed to Clarke transform.
In step s 11, it in order to guarantee that permanent magnet synchronous motor exports maximum torque, usesCurrent control side
Formula.
In step s 12, the voltage value v in d-q coordinate systemdIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor busbar voltage detection value.
In step s 12, the voltage value v in d-q coordinate systemqIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor corresponding busbar voltage detection value.
The invention patent is realized by designing disturbance compensation device to the motor Slot force in more motor concurrent control systems
The effective compensation of square and moment of friction, while compensation of the busbar voltage ripple to motor torque ripple is considered, it is suitable for existing
The large aperture telescope control system of more motor parallel drives of a variety of disturbance factors.
The present invention provides a kind of more motor parallel drive control systems based on disturbance compensation, which is able to carry out above-mentioned
A kind of more motor parallel drive control methods.More motor parallel drive control systems based on disturbance compensation comprising:
Speed control 1, first arithmetic device 2, motor group 3, second arithmetic device 4, turntable controller 5, turntable 6, disturbance are mended
Repay device 7 and third arithmetic unit 8.First arithmetic device 2 is connect with speed control 1, motor group 3 and disturbance compensation device 7 respectively, and second
Arithmetic unit 4 is connect with motor group 3 and turntable controller 5 respectively, third arithmetic unit 8 respectively with speed control 1 and turning table control
Device 5 connects.Turntable 6 is connect with turntable controller 5 and disturbance compensation device 7 respectively.
Speed control 1 is for calculating motor group current reference value using velocity error Δ ω as input valueFirst
Arithmetic unit 2 is used for motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor group electric current control
The reference value of device processedMotor group 3 is used for the reference value according to motor group current controllerExport resultant moment Te；Second fortune
Device 4 is calculated for calculating resultant moment TeWith disturbing moment TLDifference, to obtain driving moment T；Turntable controller 5 passes through driving force
Square T controls turntable 6 and moves.The output speed ω of turntable controller 5 feeds back to third arithmetic unit 8.Third arithmetic unit 8 is for calculating
Reference velocity ω*With the difference of the output speed ω of turntable controller 5, to obtain velocity error Δ ω.Disturbance compensation device 7 is used for
The compensation current i of calculation perturbation torquecom。
The present invention by design disturbance compensation device realize in more motor concurrent control systems motor cogging torque and
The effective compensation of moment of friction, in addition, the present invention considers compensation of the busbar voltage ripple to motor torque ripple, therefore, this
The more motor parallel drive control systems provided based on disturbance compensation are provided and more motor parallel drive control methods are suitable for
There are the large aperture telescope control systems of more motor parallel drives of a variety of disturbance factors.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (9)
1. a kind of more motor parallel drive control methods, which is characterized in that it is applied to more motor parallel drive control systems, it is described
More motor parallel drive control systems include speed control, motor group, turntable controller and turntable, and more motors drive parallel
Flowing control method includes the following steps:
Step S1, the speed control calculate motor group current reference value using velocity error Δ ω as input value
Step S2, by the motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor group electricity
The reference value of stream controller
Step S3 passes through the reference value of the motor group current controllerControl each motor output resultant moment Te；
Step S4, with the resultant moment TeWith the disturbing moment TLDifference as the driving moment on the turntable controller
T controls the turntable by the driving moment T.
2. more motor parallel drive control methods as described in claim 1, which is characterized in that in step sl, velocity error
Δ ω is reference velocity ω*With the difference of the output speed value of feedback ω of the turntable controller.
3. more motor parallel drive control methods as claimed in claim 1 or 2, which is characterized in that the benefit of the disturbing moment
Repay current value icomBy the estimated value of disturbing momentIt is obtained divided by torque coefficient；The estimated value of the disturbing momentIt is by institute
Disturbance compensation device is stated with the reference value of the positional value θ of the turntable and motor group current controllerInput is calculated.
4. more motor parallel drive control methods as claimed in claim 3, which is characterized in that the torque coefficient indicates are as follows:
Wherein, p is the number of magnetic pole pairs of motor, ΨPMFor the magnetic flux of motor.
5. more motor parallel drive control methods as claimed in claim 3, which is characterized in that the disturbance compensation device executes meter
The mathematic(al) representation of calculation are as follows:
Wherein, γ1And γ2Respectively speed low-pass filter coefficients, s are complex variable, and ω (s) is the variable of turntable speed, θ (s)
For the complex variable of revolving table position,For the complex variable of disturbing moment estimated value, p is the number of magnetic pole pairs of motor, ΨPMFor motor
Magnetic flux, J be turntable rotary inertia,For the complex variable of the reference value of current controller.
6. more motor parallel drive control methods as described in claim 1, which is characterized in that the motor group includes n electricity
Machine, the motor are permanent magnet synchronous motor, control the motor, institute by the motor current controller based on generatrix voltage compensation
Stating the motor current controller based on generatrix voltage compensation includes d axis PI controller and q axis PI controller, described based on bus electricity
The motor current controller of pressure compensation is able to carry out following steps:
Step S11, d axis PI controller withFor reference value and with electric current idD shaft voltage value dout is calculated for value of feedback；Q axis
PI controller withFor reference value and with electric current iqQ shaft voltage value qout is calculated for value of feedback；
D shaft voltage value dout is carried out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate system by step S12d；By q axis
Voltage value qout carries out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate systemq；
Step S13, to the voltage value v in d-q coordinate systemdParker Park inverse transformation is carried out, to obtain the voltage in alpha-beta coordinate system
vβ；To the voltage value v in d-q coordinate systemqPark inverse transformation is carried out, to obtain the voltage v in alpha-beta coordinate systemα；
Step S14, by voltage vαWith voltage vβControl Vector Pulse Width Modulation is carried out, modulated signal is controlled to permanent magnet synchronous motor three
Phase voltage va、vbAnd vcAdjusting.
7. more motor parallel drive control methods as claimed in claim 6, which is characterized in that in step s 11, electric current iqIt is
According to the electrical angle θ of permanent magnet synchronous motore, to electric current iαCarry out what Park was converted；Electric current idIt is according to permanent magnet synchronous motor
Electrical angle θe, to electric current iβCarry out what Park was converted；Electric current iαIt is the A phase current i of permanent magnet synchronous motoraBy
What Clarke was converted；Electric current iβIt is the B phase current i of permanent magnet synchronous motorbIt is converted by Clarke Clarke.
8. more motor parallel drive control methods as described in claim 6-7 is any, which is characterized in that in step s 12, d-
Voltage value v in q coordinate systemdIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor busbar voltage detection value；
In step s 12, the voltage value v in d-q coordinate systemqIt indicates are as follows:
Wherein, vsetFor required busbar voltage, vdcFor corresponding busbar voltage detection value.
9. a kind of more motor parallel drive control systems based on disturbance compensation, which is characterized in that it includes speed control,
One arithmetic unit, motor group, second arithmetic device, turntable controller, turntable, disturbance compensation device and third arithmetic unit, first fortune
Calculate device connect respectively with the speed control, the motor group and the disturbance compensation device, the second arithmetic device respectively with
The motor group is connected with the turntable controller, the third arithmetic unit respectively with the speed control and the turntable control
Device connection processed, the turntable are connect with the turntable controller and the disturbance compensation device respectively；
The speed control is for calculating motor group current reference value using velocity error Δ ω as input valueDescribed
One arithmetic unit is used for motor group current reference valueWith the compensation current i of disturbing momentcomIt asks poor, obtains motor group electric current
The reference value of controllerThe motor group is used for the reference value according to motor group current controllerExport resultant moment Te；Institute
Second arithmetic device is stated for calculating resultant moment TeWith disturbing moment TLDifference, to obtain driving moment T；The turntable controller
The turntable movement is controlled by driving moment T；The output speed ω of the turntable controller feeds back to the third arithmetic unit；
The third arithmetic unit is used for calculating speed error delta ω；The disturbance compensation device is used for the compensation current of calculation perturbation torque
icom。
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| CN113726228A (en) * | 2021-08-30 | 2021-11-30 | 西安安凡达智能电机有限公司 | Multi-motor synchronous control method and multi-motor synchronous control system |
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