CN110076412A - A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system - Google Patents

A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system Download PDF

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Publication number
CN110076412A
CN110076412A CN201910304656.5A CN201910304656A CN110076412A CN 110076412 A CN110076412 A CN 110076412A CN 201910304656 A CN201910304656 A CN 201910304656A CN 110076412 A CN110076412 A CN 110076412A
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CN
China
Prior art keywords
motor
electromotive force
counter electromotive
value
current
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CN201910304656.5A
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Chinese (zh)
Inventor
邓亮
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深圳市麦格米特焊接技术有限公司
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Priority to CN201910304656.5A priority Critical patent/CN110076412A/en
Publication of CN110076412A publication Critical patent/CN110076412A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/06Solder feeding devices; Solder melting pans
    • B23K3/0607Solder feeding devices
    • B23K3/063Solder feeding devices for wire feeding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/08Auxiliary devices therefor

Abstract

The embodiment of the invention discloses a kind of bi-motor cooperative control method, device, electric machine controller and wire feed systems, bi-motor cooperative control method includes: the speed feedback value or voltage feedback value for obtaining first motor, and the counter electromotive force given value of the second motor is calculated according to the speed feedback value or the voltage feedback value;After controlling the first preset duration of the second motor operating, pause the second preset duration of operating obtains the opposing electromotance feedback value of second motor in second preset duration;Second motor operation is controlled according to the counter electromotive force given value and the opposing electromotance feedback value in next first preset duration.By the above-mentioned means, the embodiment of the present invention can be such that the second motor and first motor runs simultaneously.

Description

A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system

Technical field

The present embodiments relate to welding technology fields, more particularly to a kind of bi-motor cooperative control method, device, electricity Machine controller and wire feed system.

Background technique

Welding wire is generally transported to the front end of welding torch using wire-feed motor, for welding in welding system.But in some occasions, The source of such as big application of shipbuilding, special-purpose vehicle opereating specification, weld job position and welding wire conveying farther out, needs long distance From conveying welding wire, the driving of welding wire needs to overcome biggish frictional resistance in path, and relying only on wire feeding motor at this time cannot achieve Stable wire feed.In this case, common method is to increase relaying wire-feed motor, can not only realize long-distance wire, and And relaying wire-feed motor is moved easily, working range is wider, is more suitable narrow space.

The mode that existing bi-motor cooperative control method drives two motors using the same instruction, or Person, the difference instructed by two or synchronizes and realizes the control to two motors, although wire feeding motor and relaying wire feeding motor Using with a motor, and the two control mode is identical, but single motor control method is copied directly to Double Motor Control In method, also it be easy to cause two motors asynchronous.

Summary of the invention

The embodiment of the present invention is mainly solving the technical problems that provide a kind of bi-motor cooperative control method, device, motor Controller and wire feed system can be such that the second motor and first motor runs simultaneously.

To achieve the above object, technical solution used in the embodiment of the present invention is: in a first aspect, providing a kind of bi-motor association Same control method is applied to electric machine controller, and the electric machine controller with first motor and the second motor for connecting, the side Method includes:

The speed feedback value or voltage feedback value for obtaining the first motor, according to the speed feedback value or the voltage Value of feedback calculates the counter electromotive force given value of second motor;

After controlling the first preset duration of the second motor operating, pause the second preset duration of operating is pre- described second If obtaining the opposing electromotance feedback value of second motor in duration;

It is controlled in next first preset duration according to the counter electromotive force given value and the opposing electromotance feedback value Second motor operation.

In one embodiment, the method also includes:

The current feedback values of the first motor are obtained, and obtain the current feedback values of second motor, according to institute The counter electromotive force that the current feedback values of the current feedback values and second motor of stating first motor calculate second motor is inclined Shifting value;

It is then described that second motor operation is controlled according to the counter electromotive force given value and the opposing electromotance feedback value, Include:

The anti-electricity for exporting second motor is calculated according to the counter electromotive force given value and the counter electromotive force deviant Kinetic potential desired value is to counter electromotive force ring;

The counter electromotive force desired value and the opposing electromotance feedback value are made into difference, adjusted through the counter electromotive force ring Afterwards, the current target value of second motor is exported to electric current loop;

The current feedback values of the current target value and second motor are made into difference, after electric current loop adjusting, The driving voltage for exporting second motor controls second motor operation according to the driving voltage;

Alternatively, described control the second motor fortune according to the counter electromotive force given value and the opposing electromotance feedback value Row, comprising:

The anti-electricity for exporting second motor is calculated according to the counter electromotive force given value and the counter electromotive force deviant Kinetic potential desired value is to counter electromotive force ring;

The counter electromotive force desired value and the opposing electromotance feedback value are made into difference, adjusted through the counter electromotive force ring Afterwards, the driving voltage for exporting second motor controls second motor operation according to the driving voltage.

In one embodiment, described according to the current feedback values of the first motor and the current feedback of second motor Value calculates the counter electromotive force deviant of second motor, comprising:

The current feedback values of the current feedback values of the first motor and second motor are subtracted each other, current difference is obtained Value, the counter electromotive force deviant of second motor is calculated according to preset piecewise function and the current differential.

In one embodiment, the method also includes:

Obtain the current feedback values of second motor;

It is then described that second motor operation is controlled according to the counter electromotive force given value and the opposing electromotance feedback value, Include:

The counter electromotive force given value and the opposing electromotance feedback value are made into difference, it is defeated after the adjusting of counter electromotive force ring The current target value of second motor is to electric current loop out;

The current feedback values of the current target value and second motor are made into difference, after electric current loop adjusting, The driving voltage for exporting second motor controls second motor operation according to the driving voltage.

Optionally, after controlling the first preset duration of the second motor operating by cyclic pulse signal, pause operating Second preset duration, in 80Hz-100Hz, the range of second preset duration exists the periodic regime of the pulse signal 2.0ms-3.0ms。

Second aspect, the embodiment of the present invention also provide a kind of bi-motor Collaborative Control device, are applied to electric machine controller, institute Electric machine controller is stated for connecting with first motor and the second motor, described device includes:

Counter electromotive force converting unit, for obtaining the speed feedback value or voltage feedback value of the first motor, according to institute It states speed feedback value or the voltage feedback value calculates the counter electromotive force given value of second motor;

Counter electromotive force sampling unit, after controlling the first preset duration of the second motor operating, pause operating second Preset duration obtains the opposing electromotance feedback value of second motor in second preset duration;

Main control unit, in next first preset duration according to the counter electromotive force given value and described anti-electronic Gesture value of feedback controls second motor operation.

In one embodiment, described device further include:

Comparing unit, for obtaining the current feedback values of the first motor, and the electric current of acquisition second motor Value of feedback calculates second motor according to the current feedback values of the current feedback values of the first motor and second motor Counter electromotive force deviant;

Then the main control unit specifically includes:

Counter electromotive force sums it up unit, defeated for being calculated according to the counter electromotive force given value and the counter electromotive force deviant The counter electromotive force desired value of second motor is to counter electromotive force ring out;

First counter electromotive force main control unit, it is poor for making the counter electromotive force desired value and the opposing electromotance feedback value Value exports the current target value of second motor to electric current loop after counter electromotive force ring adjusting;

Electric current main control unit is passed through for the current feedback values of the current target value and second motor to be made difference After the electric current loop is adjusted, the driving voltage of second motor is exported, second motor is controlled according to the driving voltage Operation;

Alternatively, the main control unit specifically includes:

Counter electromotive force sums it up unit, defeated for being calculated according to the counter electromotive force given value and the counter electromotive force deviant The counter electromotive force desired value of second motor is to counter electromotive force ring out;

Second counter electromotive force main control unit, it is poor for making the counter electromotive force desired value and the opposing electromotance feedback value Value exports the driving voltage of second motor after counter electromotive force ring adjusting, according to driving voltage control Second motor operation.

In one embodiment, described device further include:

Current sampling unit, for obtaining the second current feedback values of second motor;

Then the main control unit specifically includes:

Third counter electromotive force main control unit, it is poor for making the counter electromotive force given value and the opposing electromotance feedback value Value exports the current target value of second motor to electric current loop after the adjusting of counter electromotive force ring;

Electric current main control unit is passed through for the current feedback values of the current target value and second motor to be made difference After the electric current loop is adjusted, the driving voltage of second motor is exported, second motor is controlled according to the driving voltage Operation.

The third aspect, the embodiment of the present invention also provide a kind of electric machine controller, and the electric machine controller includes:

At least one processor;And

The memory being connect at least one described processor communication;Wherein, the memory be stored with can by it is described extremely The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing Device can be used in executing bi-motor cooperative control method as described above.

The third aspect, the embodiment of the present invention also provide a kind of wire feed system of bi-motor Collaborative Control, the wire feed system Include:

Wire-feed motor, including first motor, the first motor is for transmitting welding wire;

Wire-feed motor, including the second motor are relayed, second motor transmits the welding wire for relaying;

And electric machine controller as described above, wherein the electric machine controller respectively with the first motor and described The connection of second motor.

The beneficial effect of the embodiment of the present invention is: being in contrast to the prior art, the bi-motor association of the embodiment of the present invention It include: the speed feedback value or voltage feedback value for obtaining first motor with control method, according to the speed feedback value or described Voltage feedback value calculates the counter electromotive force given value of the second motor;After controlling the first preset duration of the second motor operating, temporarily The second preset duration is stop runninged, the opposing electromotance feedback value of second motor is obtained in second preset duration;Under Second motor is controlled according to the counter electromotive force given value and the opposing electromotance feedback value in one the first preset duration Operation, the present embodiment pass through the opposing electromotance feedback value for accurately acquiring second motor, and by the way of time-slotting Second motor operation is controlled, the second motor and first motor can be made to run simultaneously.

Detailed description of the invention

One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove Non- to have special statement, composition does not limit the figure in attached drawing.

Fig. 1 be the present embodiments relate to a kind of implementation environment schematic diagram;

Fig. 2 be the present embodiments relate to another implementation environment schematic diagram;

Fig. 3 be the present embodiments relate to electric machine controller hardware structural diagram;

Fig. 4 is a kind of schematic diagram for bi-motor cooperative control method that first embodiment of the invention provides;

Fig. 5 is the signal of the velocity variations and voltage change in the motor operation course that first embodiment of the invention provides Figure;

Fig. 6 is a kind of schematic diagram for bi-motor cooperative control method that second embodiment of the invention provides;

Fig. 7 is a kind of schematic diagram for bi-motor cooperative control method that third embodiment of the invention provides;

Fig. 8 is a kind of schematic diagram for bi-motor cooperative control method that fourth embodiment of the invention provides;

Fig. 9 is a kind of schematic diagram for bi-motor Collaborative Control device that fifth embodiment of the invention provides;

Figure 10 is a kind of schematic diagram for bi-motor Collaborative Control device that sixth embodiment of the invention provides;

Figure 11 is a kind of schematic diagram for bi-motor Collaborative Control device that seventh embodiment of the invention provides;

Figure 12 is a kind of schematic diagram for bi-motor Collaborative Control device that eighth embodiment of the invention provides.

Specific embodiment

It is described below in conjunction with attached drawing technical solution in the embodiment of the present invention, it is clear that described embodiment It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.

Term "and/or" used in this specification includes the arbitrary and all of one or more relevant listed items Combination.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element, Or there may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be with It is directly to another element or there may be one or more elements placed in the middle therebetween.

As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments It can be combined with each other at conflict.

Fig. 1 is a kind of schematic diagram for implementation environment that each embodiment of the present invention is related to, as shown in Figure 1, the implementation environment Including wire-feed motor 10, relaying wire-feed motor 20 and electric machine controller 30.

Wherein, wire-feed motor 10 includes first motor 11, First Speed encoder 12, the first current sensor 13 and the first electricity Press sample circuit 14, the First Speed encoder 12 is used to detect the speed feedback value of the first motor 11, and described first Current sensor 13 is used to detect the current feedback values of the first motor 11, and the first voltage sample circuit 14 is for detecting The voltage feedback value of the first motor 11.

It relays wire-feed motor 20 and includes the second motor 21, the second current sensor 22 and second voltage sample circuit 23, it is described Second current sensor 22 is used to detect the current feedback values of second motor 21, and the second voltage sample circuit 23 is used for Detect opposing electromotance feedback value when second motor 21 stops driving.

Electric machine controller 30 is connect with wire-feed motor 10 and relaying wire-feed motor 20 respectively, for driving first motor 11 and second Motor 21 is run simultaneously.

Wherein, when the second motor 21 works, counter electromotive force, counter electromotive force can be generated in its power supply disengagement phase It is linear with its speed, therefore, the accurate opposing electromotance feedback value for acquiring the second motor 21, so that it may accurately obtain its speed Degree, further, as the speed feedback value of the second motor 21, electric machine controller 30 is according to this speed feedback value and first The speed feedback value of motor 11 can be adjusted the speed of the second motor 21.

Also, between the voltage and speed of motor, there are corresponding relationships, based on the above principles, electric machine controller 30 can directly according to According to the speed feedback value or voltage feedback value of first motor 11 and the opposing electromotance feedback value of the second motor 21 to the second motor 21 speed is adjusted.

Specifically, electric machine controller 30 includes feedback reception module 31, control module 32 and drive module 33, feedback reception Module 31 is used to receive the current feedback of the speed feedback value of the detection of First Speed encoder 12, the detection of the first current sensor 13 Value, and export to control module 32;Control module 32 is used for according to speed preset value, speed feedback value and the first current sensor The current feedback values of 13 detections, export first control signal to drive module 33 by the way of speed outer ring, current inner loop;It drives Dynamic model block 33 is used to control first motor 11 according to first control signal and run.

Feedback reception module 31 is also used to receive the voltage feedback value of the detection of first voltage sample circuit 14, second voltage is adopted The current feedback values of opposing electromotance feedback value, the detection of the second current sensor 22 that sample circuit 23 detects, and export to control mould Block 32;Control module 32 is also used to be converted to after being computed the voltage feedback value that above-mentioned first voltage sample circuit 14 detects The counter electromotive force given value of two motors 21, according to counter electromotive force given value, opposing electromotance feedback value and the second current sensor 22 The current feedback values of detection export second control signal to drive module 33 by the way of counter electromotive force outer ring, current inner loop; Drive module 33 is also used to control the operation of the second motor 21 according to second control signal.

Make to relay the system that wire-feed motor 20 is a relay wire feed during entire wire feed, by keeping the second motor 21 wire feed rate is consistent with the wire feed rate of first motor 11, so that entire wire feed system is reliable and stable in welding process , the conditions at the arc so welded, molding is all will not be changed.

In another implementation environment, as shown in Fig. 2, including wire-feed motor 10, relaying wire-feed motor 20 and first motor control Device 40, the second electric machine controller 50, with the first implementation environment the difference is that, wire-feed motor 10 and first motor controller 40 Connection, relaying wire-feed motor 20 connect with the second electric machine controller 50, the second electric machine controller 50 also with first motor controller 40 Connection.

Wherein, first motor controller 40 is detected according to First Speed encoder 12 speed feedback value, the first electric current pass The current feedback values control first motor 11 that sensor 13 detects is run, and the Voltage Feedback that first voltage sample circuit 14 is detected Value is sent to the second electric machine controller 50;Second electric machine controller 50 is converted to the second electricity after being computed above-mentioned voltage feedback value The counter electromotive force given value of machine 21 is detected according to counter electromotive force given value, opposing electromotance feedback value and the second current sensor 22 Current feedback values control the operation of the second motor 21, to realize the synchronous operation of the second motor 21 with first motor 11.

In above-mentioned implementation environment, wire-feed motor 10 can not also include first voltage sample circuit 14, then electric machine controller 30 the speed feedback value that First Speed encoder 12 detects is computed after be converted to the counter electromotive force given value of the second motor 21; Or the speed feedback value that First Speed encoder 12 detects is sent to the second electric machine controller 50 by first motor controller 40, Second electric machine controller 50 is converted to the counter electromotive force given value of the second motor 21 after being computed above-mentioned speed feedback value.

Similarly, electric machine controller 30 or the second electric machine controller 50 are according to counter electromotive force given value, opposing electromotance feedback Value and the current feedback values of the second current sensor 22 detection control the operation of the second motor 21.

In above-mentioned implementation environment, electric machine controller 30 can also be according to the current feedback of the first current sensor 13 detection Value and the current feedback values of the second current sensor 22 detection calculate counter electromotive force deviant;Alternatively, first motor controller 40 The current feedback values that first current sensor 13 detects can also be sent to the second electric machine controller 50, the second electric machine controller 50 can also be according to the current feedback for the current feedback values and the detection of the second current sensor 22 that the first current sensor 13 detects Value calculates counter electromotive force deviant.

Further, electric machine controller 30 or 21 controller 50 of the second motor are according to counter electromotive force given value, counter electromotive force The current feedback values of deviant, opposing electromotance feedback value and the detection of the second current sensor 22 control the operation of the second motor 21.

In above-mentioned implementation environment, relaying wire-feed motor 20 can not also include the second current sensor 22, then motor control Device 30 or the second electric machine controller 50 are according to the second electricity of counter electromotive force given value and opposing electromotance feedback value control being calculated Machine 21 is run.

In above-mentioned implementation environment, the second control of the control module 32 of electric machine controller 30 or the second electric machine controller 50 Module includes processor and memory, below by taking electric machine controller 30 as an example, as shown in figure 3, control module 32 includes:

One or more processors 301 and memory 302, in Fig. 3 by taking a processor 301 as an example.

Processor 301 can be connected with memory 302 by bus or other modes, to be connected by bus in Fig. 3 For.

Memory 302 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey Sequence, non-volatile computer executable program and module, as the bi-motor cooperative control method in the embodiment of the present invention is corresponding Program instruction/module.Processor 301 by operation storage non-volatile software program in the memory 302, instruction and Module, thereby executing the various function application and data processing of control chip 42, i.e., realization embodiment of the present invention method is double Motor cooperative control method.

Memory 302 may include storing program area and storage data area, wherein storing program area can store operation system Application program required for system, at least one function;Storage data area, which can be stored, uses created number according to control module 32 According to etc..In addition, memory 302 may include high-speed random access memory, it can also include nonvolatile memory, such as extremely A few disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 302 it is optional include the memory remotely located relative to processor 301, these remote memories can pass through network connection to controlling Molding block 32 or the second control module 32.The embodiment of the network includes but is not limited to internet, intranet, local Net, mobile radio communication and combinations thereof.

One or more of modules are stored in the memory 302, when by one or more of processors When 301 execution, the bi-motor cooperative control method in following any means embodiments is executed, and realize following apparatus embodiment In modules function.

Based on foregoing description, the embodiment of the present invention is further elaborated with reference to the accompanying drawing.

Embodiment 1

Referring to Fig. 4, Fig. 4 is a kind of schematic diagram of bi-motor cooperative control method provided in an embodiment of the present invention, it is described Method is applied to electric machine controller, and the electric machine controller with first motor and the second motor for connecting, which comprises

Step 110: obtain the speed feedback value or voltage feedback value of the first motor, according to the speed feedback value or Voltage feedback value calculates the counter electromotive force given value of second motor.

When obtaining the speed feedback value of the first motor, the speed feedback value of first motor can be made linear function change Counter electromotive force given value after changing (such as Emf=0.95*Speed+300), as the second motor.

When the voltage feedback value for obtaining the first motor, which can be remake a letter after filtering Transformation of variables (such as Emf=1.2*Volt+200), the counter electromotive force given value as the second motor.

Above-mentioned counter electromotive force given value is that is, voltage given value, Fig. 5 show the speed of motor in the process of running The variation of variation and corresponding voltage, it can be seen that voltage has an overshoot when speed rises and when speed decline, And the counter electromotive force given value calculated according to the speed feedback value of first motor is there is no overshooting, it is therefore, electric according to first The counter electromotive force given value that the voltage feedback value of machine calculates, variation tendency will become with the variation of the virtual voltage of the second motor Gesture is consistent, and also more can reflect the velocity variations trend of first motor.

Step 120: after control second motor operates the first preset duration, pause the second preset duration of operating, in institute State the opposing electromotance feedback value that second motor is obtained in the second preset duration.

The present embodiment acquires the counter electromotive force of the second motor in such a way that the driving to the second motor carries out secondary control again Value of feedback.Specifically, also additional that periodical arteries and veins is added other than driving the second motor according to PWM (pulse width modulation) signal The driving time that signal controls the second motor is rushed, so that after second motor operates the first preset duration, pause operating second Preset duration.

The second motor does not drive source in the second preset duration, can automated to respond to out a counter electromotive force, in this way, The opposing electromotance feedback value for being averaged and can accurately acquiring the second motor is sampled to it within the period.

When it is implemented, the periodic regime for the pulse signal being additionally added is in 80Hz- according to welding arc stablility 100Hz, the range of the second preset duration is in 2.0ms-3.0ms, for example, the second electricity of pulse signal control of 80Hz can be additionally added The driving time of machine guarantees to stop driving 2.5ms after the second motor 10ms of driving.

Step 130: anti-according to the counter electromotive force given value and the counter electromotive force in next first preset duration Feedback value controls second motor operation.

It is different from existing real-time control mode, the present embodiment controls the second motor fortune by the way of time-slotting Row, according to the counter electromotive force given value and the opposing electromotance feedback value control in the first preset duration of the second motor operating Second motor is made, stops controlling second motor in the second preset duration of the second motor pause operating.

In one embodiment, in next first preset duration, the system last time can be calculated anti-electronic As positive feedback, the opposing electromotance feedback value that last time sampling obtains is adjusted as negative-feedback through counter electromotive force ring gesture given value Afterwards, the driving voltage for exporting second motor controls second motor operation according to driving voltage.

It should be noted that in practical applications, above-mentioned steps 110 and step 120, can be pre- with first without successive point If the speed feedback value or voltage feedback value of first motor described in frequency acquisition, second motor is obtained with the second predeterminated frequency Opposing electromotance feedback value, the first predeterminated frequency and the second predeterminated frequency can be the same, can also be higher than the second predeterminated frequency.

The present embodiment controls the second motor operation by counter electromotive force control methods, wherein anti-according to the speed of first motor Feedback value or voltage feedback value calculate the counter electromotive force given value of second motor;It is additional that cyclic pulse signal control the is added The driving time of two motors, accurately to acquire the opposing electromotance feedback of second motor when second motor suspends and operates Value;According to the counter electromotive force given value and opposing electromotance feedback value control second electricity by the way of time-slotting Machine operation, the speed of service of the speed of service and first motor that can make the second motor are consistent.

Embodiment 2

Referring to Fig. 6, Fig. 6 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute The method of stating includes:

Step 210: obtain the speed feedback value or voltage feedback value of the first motor, according to the speed feedback value or The voltage feedback value calculates the counter electromotive force given value of second motor.

Step 220: obtaining the current feedback values of the first motor, and obtain the current feedback of second motor Value, calculates the anti-of second motor according to the current feedback values of the current feedback values of the first motor and second motor Electromotive force deviant.

For motor, when current feedback values are no more than rated current, current feedback values are directly proportional to Motor torque, It can reflect the loading condition on motor, when loading increase, current feedback values increase, and when loading reduction, current feedback values subtract It is small.The anti-of second motor is calculated according to the current feedback values of the current feedback values of the first motor and second motor Electromotive force deviant can adjust in real time the first electricity by giving the counter electromotive force deviant to the second motor according to load The pulling force of machine and the second motor avoids the occurrence of a motor and contributed to there is a reasonable distribution on the active force of two motors The case where another big motor is not contributed.

The current feedback values of acquisition can be the peak point current or average current obtained within a sampling period, average Current sample is of less demanding to sample circuit, and strong interference immunity;Peak point current sampling is higher to the design requirement of sample circuit, It is anti-interference weak, but electric current real-time is stronger.

Preferably scheme, according to the current feedback values of the current feedback values of the first motor and second motor Calculate the counter electromotive force deviant of second motor, comprising:

The current feedback values of the current feedback values of the first motor and second motor are subtracted each other, current difference is obtained Value, the counter electromotive force deviant of second motor is calculated according to preset piecewise function and the current differential.

Wherein, preset piecewise function can be linear function, such as Emf1=CurrErr*0.2+200 or Emf2 =CurrErr*0.25, current differential is bigger, and the slope of preset piecewise function is bigger, can be according to load variation as early as possible to two Pulling force between a motor is made adjustment.

Step 230: after control second motor operates the first preset duration, pause the second preset duration of operating, in institute State the opposing electromotance feedback value that second motor is obtained in the second preset duration.

Step 240: inclined according to the counter electromotive force given value and the counter electromotive force in next first preset duration Shifting value, which calculates, exports the counter electromotive force desired value of second motor to counter electromotive force ring.

For example, in next first preset duration, the counter electromotive force given value that the system last time is calculated and is The counter electromotive force deviant that the last sampling of system obtains is added, and obtains the counter electromotive force desired value of second motor.

Step 250: the counter electromotive force desired value and the opposing electromotance feedback value being made into difference, through the counter electromotive force After ring is adjusted, the current target value of second motor is exported to electric current.

The counter electromotive force desired value and the opposing electromotance feedback value are done into PI adjusting or PID tune in counter electromotive force ring Section calculates and exports the current target value of second motor to electric current loop.

Step 260: the current feedback values of the current target value and second motor being made into difference, through the electric current loop After adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.

The current feedback values of the current target value and second motor are done into PI adjusting in electric current loop or PID is adjusted, The driving voltage for exporting second motor is calculated, second motor operation is controlled according to the driving voltage.

The present embodiment by obtaining the current feedback values of the first motor, and obtain second motor electric current it is anti- Feedback value calculates second motor according to the current feedback values of the current feedback values of the first motor and second motor Counter electromotive force deviant makes adjustment to the counter electromotive force given value given to the second motor according to counter electromotive force deviant, energy Enough pulling force for adjusting first motor and the second motor in real time according to load.

Embodiment 3

Referring to Fig. 7, Fig. 7 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute The method of stating includes step 310- step 350, wherein step 310- step 340 can refer to embodiment 2, not with above-described embodiment 2 It is with place:

Step 350 are as follows: the counter electromotive force desired value and the opposing electromotance feedback value are made into difference, through described anti-electronic After gesture ring is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.

Also that is, in step 350, directly calculating institute according to the counter electromotive force desired value and the opposing electromotance feedback value The driving voltage for stating the second motor controls second motor operation according to the driving voltage, eliminates into electric current loop Step.

Specifically, the counter electromotive force desired value system last time being calculated is obtained as positive feedback, last time sampling Opposing electromotance feedback value as negative-feedback, after the adjusting of counter electromotive force ring, export the driving voltage of second motor, according to Driving voltage controls second motor operation.

Embodiment 4

Referring to Fig. 8, Fig. 8 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute The method of stating includes:

Step 410: obtain the speed feedback value or voltage feedback value of the first motor, according to the speed feedback value or The voltage feedback value calculates the counter electromotive force given value of second motor;

Step 420: obtaining the second current feedback values of second motor.

Step 430: after control second motor operates the first preset duration, pause the second preset duration of operating, in institute State the opposing electromotance feedback value that second motor is obtained in the second preset duration.

Step 440: in next first preset duration, by the counter electromotive force given value and the opposing electromotance feedback Value makees difference, after the adjusting of counter electromotive force ring, exports the current target value of second motor to electric current loop;

Step 450: the current feedback values of the current target value and second motor being made into difference, through the electric current loop After adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.

The present embodiment and above-described embodiment 2 the difference is that, eliminate the step of calculating counter electromotive force deviant, also That is, eliminating the step of correcting to the counter electromotive force given value of the second motor, in the case where load changes, pulling force Free response distribution is carried out between first motor and the second motor.

Embodiment 5

Referring to Fig. 9, Fig. 9 is a kind of schematic device of bi-motor Collaborative Control device provided in an embodiment of the present invention, Wherein, bi-motor Collaborative Control device 500 is applied to electric machine controller, and the electric machine controller is used for and first motor and second Motor connection.

Bi-motor Collaborative Control device 500 is configured in any suitable type, the core with certain logical operation capability In piece, such as it is configured in the control chip (e.g., Fig. 1-control module shown in Fig. 3) of motor.

As shown in figure 9, device 500 includes:

Counter electromotive force converting unit 510, for obtaining the speed feedback value or voltage feedback value of the first motor, according to The speed feedback value or the voltage feedback value calculate the counter electromotive force given value of second motor;

Counter electromotive force sampling unit 520, for controlling after second motor operates the first preset duration, pause operating the Two preset durations obtain the opposing electromotance feedback value of second motor in second preset duration;

Main control unit 530, in next first preset duration according to the counter electromotive force given value and described anti- Electromotive force value of feedback controls second motor operation.

Embodiment 6

Figure 10 is a kind of schematic device of bi-motor Collaborative Control device provided in an embodiment of the present invention, with above-mentioned implementation Example 5 the difference is that, device 600 further include:

Comparing unit 640, for obtaining the current feedback values of the first motor, and the electricity of acquisition second motor Value of feedback is flowed, calculates second electricity according to the current feedback values of the current feedback values of the first motor and second motor The counter electromotive force deviant of machine;

Main control unit 630 specifically includes:

Counter electromotive force sums it up unit 631, based on according to the counter electromotive force given value and the counter electromotive force deviant It calculates and exports the counter electromotive force desired value of second motor to counter electromotive force ring;

First counter electromotive force main control unit 632 is used for the counter electromotive force desired value and the opposing electromotance feedback value Make difference, after counter electromotive force ring adjusting, exports the current target value of second motor to electric current loop;

Electric current main control unit 633, for the current feedback values of the current target value and second motor to be made difference, After electric current loop adjusting, the driving voltage of second motor is exported, according to driving voltage control second electricity Machine operation.

Embodiment 7

Figure 11 is the schematic device of another bi-motor Collaborative Control device provided in an embodiment of the present invention, with above-mentioned reality Apply example 6 the difference is that, the main control unit 730 of device 700 specifically includes:

Counter electromotive force sums it up unit 731, based on according to the counter electromotive force given value and the counter electromotive force deviant It calculates and exports the counter electromotive force desired value of second motor to counter electromotive force ring;

Second counter electromotive force main control unit 732 is used for the counter electromotive force desired value and the opposing electromotance feedback value Make difference, after counter electromotive force ring adjusting, exports the driving voltage of second motor, controlled according to the driving voltage Second motor operation.

Embodiment 8

Figure 12 is the schematic device of another bi-motor Collaborative Control device provided in an embodiment of the present invention, with above-mentioned reality Apply example 6 the difference is that, device 800 obtains the second current feedback of second motor by current sampling unit 840 Value and its main control unit 830 specifically include:

Third counter electromotive force main control unit 831 is used for the counter electromotive force given value and the opposing electromotance feedback value Make difference, after the adjusting of counter electromotive force ring, exports the current target value of second motor to electric current loop;

Electric current main control unit 832, for the current feedback values of the current target value and second motor to be made difference, After electric current loop adjusting, the driving voltage of second motor is exported, according to driving voltage control second electricity Machine operation.

It should be noted that in embodiments of the present invention, device 500- device 800 can be performed the embodiment of the present invention and be provided Bi-motor cooperative control method, have the corresponding functional module of execution method and beneficial effect.Not in the embodiment of device The technical detail of detailed description, reference can be made to bi-motor cooperative control method provided by the embodiment of the present invention.

Embodiment 9

The embodiment of the present invention provides a kind of computer program product, and the computer program product is non-volatile including being stored in Property computer readable storage medium on computer program, the computer program includes program instruction, when described program instruct When being computer-executed, the computer is made to execute bi-motor cooperative control method as described above.For example, executing above description Fig. 4-method shown in Fig. 8, realize Fig. 9-Figure 12 in modules function.

The embodiment of the present invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage medium Matter is stored with computer executable instructions, and the computer executable instructions are for making computer execute bi-motor as described above Cooperative control method.For example, executing Fig. 4-described above method shown in Fig. 8, the modules in Fig. 9-Figure 12 are realized Function.

It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit The module that part illustrates may or may not be physically separated, and the component shown as module can be or can also Not to be physical module, it can it is in one place, or may be distributed on multiple network modules.It can be according to reality Need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.

By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage All or part of the process in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete At the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as each method Embodiment process.Wherein, the storage medium can for read-only memory (Read-Only Memory, ROM) or Random access memory (RandomAccessMemory, RAM) etc..

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;At this It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have Have and is provided in details;Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill Art feature is equivalently replaced;And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution Apply the range of a technical solution.

Claims (10)

1. a kind of bi-motor cooperative control method, be applied to electric machine controller, which is characterized in that the electric machine controller be used for First motor is connected with the second motor, which comprises
The speed feedback value or voltage feedback value for obtaining the first motor, according to the speed feedback value or the Voltage Feedback Value calculates the counter electromotive force given value of second motor;
After controlling the first preset duration of the second motor operating, pause the second preset duration of operating, when described second is default The opposing electromotance feedback value of second motor is obtained in long;
In next first preset duration according to the counter electromotive force given value and opposing electromotance feedback value control Second motor operation.
2. the method according to claim 1, wherein the method also includes:
It obtains the current feedback values of the first motor, and obtains the current feedback values of second motor, according to described the The current feedback values of the current feedback values of one motor and second motor calculate the counter electromotive force deviant of second motor;
It is then described that second motor operation, packet are controlled according to the counter electromotive force given value and the opposing electromotance feedback value It includes:
The counter electromotive force for exporting second motor is calculated according to the counter electromotive force given value and the counter electromotive force deviant Desired value is to counter electromotive force ring;
The counter electromotive force desired value and the opposing electromotance feedback value are made into difference, it is defeated after counter electromotive force ring adjusting The current target value of second motor is to electric current loop out;
The current feedback values of the current target value and second motor are made into difference, after electric current loop adjusting, output The driving voltage of second motor controls second motor operation according to the driving voltage;
Alternatively, described control second motor operation according to the counter electromotive force given value and the opposing electromotance feedback value, Include:
The counter electromotive force for exporting second motor is calculated according to the counter electromotive force given value and the counter electromotive force deviant Desired value is to counter electromotive force ring;
The counter electromotive force desired value and the opposing electromotance feedback value are made into difference, it is defeated after counter electromotive force ring adjusting The driving voltage of second motor out controls second motor operation according to the driving voltage.
3. according to the method described in claim 2, it is characterized in that,
It is described to calculate second electricity according to the current feedback values of the first motor and the current feedback values of second motor The counter electromotive force deviant of machine, comprising:
The current feedback values of the current feedback values of the first motor and second motor are subtracted each other, current differential, root are obtained The counter electromotive force deviant of second motor is calculated according to preset piecewise function and the current differential.
4. the method according to claim 1, wherein the method also includes:
Obtain the current feedback values of second motor;
It is then described that second motor operation, packet are controlled according to the counter electromotive force given value and the opposing electromotance feedback value It includes:
The counter electromotive force given value and the opposing electromotance feedback value are made into difference, after the adjusting of counter electromotive force ring, export institute The current target value of the second motor is stated to electric current loop;
The current feedback values of the current target value and second motor are made into difference, after electric current loop adjusting, output The driving voltage of second motor controls second motor operation according to the driving voltage.
5. method according to claim 1-4, which is characterized in that
After controlling the first preset duration of the second motor operating by cyclic pulse signal, when pause operating second is default Long, the periodic regime of the pulse signal is in 80Hz-100Hz, and the range of second preset duration is in 2.0ms-3.0ms.
6. a kind of bi-motor Collaborative Control device, be applied to electric machine controller, which is characterized in that the electric machine controller be used for First motor is connected with the second motor, and described device includes:
Counter electromotive force converting unit, for obtaining the speed feedback value or voltage feedback value of the first motor, according to the speed Degree value of feedback or the voltage feedback value calculate the counter electromotive force given value of second motor;
Counter electromotive force sampling unit, after controlling the first preset duration of the second motor operating, pause operating second is default Duration obtains the opposing electromotance feedback value of second motor in second preset duration;
Main control unit, for anti-according to the counter electromotive force given value and the counter electromotive force in next first preset duration Feedback value controls second motor operation.
7. device according to claim 6, which is characterized in that described device further include:
Comparing unit, for obtaining the current feedback values of the first motor, and the current feedback of acquisition second motor Value, calculates the anti-of second motor according to the current feedback values of the current feedback values of the first motor and second motor Electromotive force deviant;
Then the main control unit specifically includes:
Counter electromotive force sums it up unit, for calculating output institute according to the counter electromotive force given value and the counter electromotive force deviant The counter electromotive force desired value of the second motor is stated to counter electromotive force ring;
First counter electromotive force main control unit, for the counter electromotive force desired value and the opposing electromotance feedback value to be made difference, After counter electromotive force ring adjusting, the current target value of second motor is exported to electric current loop;
Electric current main control unit, for the current feedback values of the current target value and second motor to be made difference, through described After electric current loop is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage;
Alternatively, the main control unit specifically includes:
Counter electromotive force sums it up unit, for calculating output institute according to the counter electromotive force given value and the counter electromotive force deviant The counter electromotive force desired value of the second motor is stated to counter electromotive force ring;
Second counter electromotive force main control unit, for the counter electromotive force desired value and the opposing electromotance feedback value to be made difference, After counter electromotive force ring adjusting, the driving voltage of second motor is exported, according to driving voltage control described the Two motor operations.
8. device according to claim 6, which is characterized in that described device further include:
Current sampling unit, for obtaining the second current feedback values of second motor;
Then the main control unit specifically includes:
Third counter electromotive force main control unit, for the counter electromotive force given value and the opposing electromotance feedback value to be made difference, After the adjusting of counter electromotive force ring, the current target value of second motor is exported to electric current loop;
Electric current main control unit, for the current feedback values of the current target value and second motor to be made difference, through described After electric current loop is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.
9. a kind of electric machine controller, which is characterized in that the electric machine controller includes:
At least one processor;And
The memory being connect at least one described processor communication;Wherein, be stored with can be by described at least one for the memory The instruction that a processor executes, described instruction is executed by least one described processor, so that at least one described processor energy It is enough in and executes bi-motor cooperative control method according to any one of claims 1 to 5.
10. a kind of wire feed system of bi-motor Collaborative Control, which is characterized in that the wire feed system includes:
Wire-feed motor, including first motor, the first motor is for transmitting welding wire;
Wire-feed motor, including the second motor are relayed, second motor transmits the welding wire for relaying;
And electric machine controller as claimed in claim 9, wherein the electric machine controller respectively with the first motor and institute State the connection of the second motor.
CN201910304656.5A 2019-04-16 2019-04-16 A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system CN110076412A (en)

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CN106891080A (en) * 2017-04-20 2017-06-27 唐山松下产业机器有限公司 The wire feed control system and method for many motors
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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US20090256515A1 (en) * 2008-04-11 2009-10-15 Minebea Co., Ltd. Method of detecting state of synchronization loss in stepping motor
CN102882447A (en) * 2012-09-10 2013-01-16 中国科学院光电技术研究所 Double-motor device on horizontal shaft of photoelectric tracking system and tracking and controlling method under synchronous driving
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