CN110995087A - Power balance control method and device for multi-motor cluster system - Google Patents
Power balance control method and device for multi-motor cluster system Download PDFInfo
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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Abstract
The invention discloses a method and a device for controlling the power balance of a multi-motor cluster system, wherein the method comprises the following steps: numbering N motors, setting the motor with the minimum number in the working motors as a main motor, and setting the rest working motors as slave motors; collecting a speed command of a driving system and speed information of a main motor, adjusting by a PI controller, and outputting torque command information Te; obtaining torque distribution scale factors Kn of each motor according to torque amplitude limiting instruction information Ta of the motor; the torque command information Te is multiplied by the torque distribution ratio Kn of each motor to be used as torque given information Td of each motor, and each motor is controlled to output a corresponding current. The invention realizes the power balance control of the multi-motor cluster system.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method and an apparatus for controlling power balance of multiple motor clusters in a drive system.
Background
With the development of industrial technology, in order to improve the production efficiency, the efficiency of the industrial production process is improved by improving the power of the electromechanical equipment. The power of large electromechanical equipment needs to be increased to provide larger driving force, a high-power motor is usually adopted and is limited by the power of a single motor, and a mode that a plurality of motors jointly act to provide the driving force is mostly adopted in industrial occasions, such as a belt conveyor, a mine hoist, a drilling winch and the like.
In the prior art, a coal mine belt conveyor is taken as an example, power is distributed among a plurality of motors by means of flexible connection of belts, and the power balance degree is poor. Some hydraulic couplers are adopted for power balance of multiple motors, the problem of poor power balance degree still exists, the control is complex, and the maintenance workload is large. In recent years, with the development of variable frequency drives, frequency converters are increasingly used in industrial applications as drive devices for motors.
The difficulty of the application occasion of controlling the multi-motor cluster by the variable frequency drive is the multi-motor power control and power distribution, if the control is improper, the output torque of the motor is abnormal, the motor is overloaded and overheated to damage, and the reliability of the system is seriously influenced.
Disclosure of Invention
The application provides a method and a device for controlling power balance of a multi-motor cluster of a drive system aiming at the defects of the prior art, and is used for solving the problem of multi-motor coordination work.
The invention provides a power balance control method for a multi-motor cluster system, which comprises the following steps: setting a master motor and a slave motor; collecting speed commands of a multi-motor integrated control unit and speed information of a main motor, adjusting by a PI controller, and outputting torque command information Te; obtaining torque distribution scale factors Kn of each motor according to the torque amplitude limiting information Ta of each motor;
and multiplying the torque command information Te by the torque distribution proportion Kn of each motor to be used as the torque given information Td of each motor, and controlling each motor to output corresponding current so as to realize the power balance control of the multi-motor cluster system.
Preferably, when the torque setting information Td received by each motor is greater than the torque limiter command information Ta of each motor, the torque command information Td is forcibly set as the torque limiter command information Ta of each motor, and each motor is controlled to output a corresponding current according to the torque limiter command information Ta.
Preferably, the setting out the master motor and the slave motor includes,
numbering N motors;
the motor with the smallest number in the working motors is set as a main motor, and the rest working motors are set as auxiliary motors.
Preferably, the master and slave motor setting method includes that the motor control unit with the minimum number S sends a host identification command, that is, the MS bit in the control word is 1; after receiving the information that MS is 1 in the control word, the motor control unit with the number greater than the minimum number S returns that the MS information bit is 0; if the motor control unit with the minimum number S receives the information that the number is greater than the MS of the motor controller with the minimum number S is 0, the identification of the master motor and the slave motor is finished.
Preferably, the torque slice command information Ta for each motor is a rated torque output value of the motor.
Preferably, the specific calculation process according to the torque distribution scale factor Kn of each motor is as follows:
setting the rated power and the rated rotating speed of each motor, and calculating the torque amplitude limiting instruction information Ta of the motors according to the rated power and the rated rotating speed;
calculating the torque distribution scale factor Kn of each motor according to the torque amplitude limiting instruction information Ta of each motor, wherein m is the number of the motors of the multi-motor group,
preferably, the torque slice command information Ta of the slave motor may be further manually set according to an operating state of the multiple motor cluster system apparatus.
The invention also provides a power balance control device of the multi-motor cluster system, which comprises a master-slave setting module, an information acquisition module, a first torque calculation module, a torque distribution scale factor calculation module, a second torque calculation module and an information release module;
the master-slave setting module is used for setting master and slave motors;
the information acquisition module is used for acquiring the speed instruction of the multi-motor comprehensive control unit and the speed information of the main motor;
the first torque calculation module is used for calculating a motor torque command by the main motor, and the torque command is obtained by carrying out PI (proportional integral) controller adjustment on a speed command of a driving system and speed information of the main motor;
the torque distribution scale factor calculation module is used for obtaining torque distribution scale factors Kn of each motor according to the torque instruction information Te and the torque amplitude limiting instruction information Ta of each motor;
the second torque calculation module is used for calculating the torque command of each motor according to the torque distribution scale factor;
the slave motor torque instruction is obtained by multiplying torque instruction information Te by torque distribution proportion Kn of each motor, and when the torque instruction information received from the motor is larger than torque amplitude limiting instruction information Ta of each motor, the torque instruction information is forcibly set as the torque amplitude limiting instruction information Ta of the motor;
and the information transmission module is used for transmitting the torque instruction information calculated by the second torque module to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
Preferably, the master-slave setting module numbers the N motors, sets the motor with the smallest number in the working motors as the master motor, and sets the rest of the working motors as the slave motors.
Preferably, the torque distribution scale factor is:
the invention has the beneficial effects that:
the invention provides a torque distribution scale factor, the power distribution scale factor is automatically adjusted according to the loading capacity of the motor, and the distribution torque is calculated according to the torque distribution scale factor, so that all the slave motors cooperatively operate according to a uniform torque instruction; the invention effectively solves the problems of multi-motor power distribution and torque distribution, realizes the power balance control of a multi-motor cluster system and the coordination control of motors with different power grades, and improves the stability of system operation and the reliability of motor operation. Furthermore, the invention also provides a method for flexibly distributing the torque according to the aging conditions of the motor and the transmission device, thereby improving the reliability of the system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. The present invention will be described in detail below with reference to the accompanying drawings and examples.
FIG. 1 is a schematic diagram of the components of a rigidly connected multi-motor cluster system;
FIG. 2 is a schematic diagram of the components of a flexibly connected multi-motor cluster system
FIG. 3 is a flowchart of a method for controlling power balance of a multi-motor cluster according to an embodiment of the present invention;
FIG. 4 is a block diagram of a vector control with a velocity loop for a host according to an embodiment of the present invention;
FIG. 5 is a block diagram of vector control of a slave according to an embodiment of the present invention;
fig. 6 is a structural diagram of a power balance control device of a multi-motor cluster system according to an embodiment of the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention more clear, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a rigidly connected multi-motor cluster system, and a multi-motor cluster driving system is composed of a load 1, a transmission device 2, a first motor 3, a second motor 4, an nth motor 5 and a braking device 6. The first motor, the second motor, the third motor and the Nth motor drive the load through the transmission device. The rotating speed transformation ratio of the transmission device is adjustable, and 1: n is a transformation ratio of 1 or more. In operation, the first electric machine and the Nth electric machine are matched, namely the multi-motor power distribution and the torque distribution.
Fig. 2 is a schematic diagram of a flexibly connected multi-motor cluster system, and a multi-motor cluster driving system is composed of a load 1, a transmission device 2, a flexible connection device 3, a speed reducer 4, a first motor 5, a second motor 6 and an nth motor 7. The first motor, the second motor, the third motor and the Nth motor drive the flexible connecting device through the speed reducer and the transmission device, and the flexible connecting device drives the load to run. The transformation ratio of the speed reducer is adjustable, and 1: n is a transformation ratio of 1 or more. The problem of matching the first motor with the Nth motor, namely multi-motor power distribution and torque distribution still exists in the operation.
The invention provides a method and a device for controlling the power balance of a multi-motor cluster system, wherein the method can be applied to a multi-motor cluster driving system shown in figures 1 and 2.
In view of the above problem, the present invention provides a method for controlling power balance of a multi-motor cluster system, as shown in fig. 3, the method includes the following steps:
step S101: setting a master motor and a slave motor;
specifically, the N motors are numbered, the motor with the minimum number in the working motors is set as a main motor, and the rest working motors are set as slave motors; the setting method of the master motor and the slave motor comprises the following steps,
the motor control unit with the minimum number S sends out a host identification command, namely the MS bit in the control word is 1; after receiving the information that MS is 1 in the control word, the motor control unit with the number greater than the minimum number S returns that the MS information bit is 0; if the motor control unit with the minimum number S receives the information that the number is greater than the MS of the motor controller with the minimum number S is 0, the identification of the master motor and the slave motor is finished.
The motor number is a unique number for identifying each motor, and the number can be set manually.
Step S102: collecting speed commands of a multi-motor integrated control unit and speed information of a main motor, adjusting by a PI controller, and outputting torque command information Te;
specifically, the multi-motor integrated control unit is an upper-level control device for controlling the multi-motor. Fig. 4 is a block diagram of vector control with a speed loop for the host according to this embodiment. When the motor is set as a main motor, after proportional integral adjustment is carried out on a speed given quantity and a speed feedback quantity, torque command information is output and serves as the given value of a vector control link, and the vector control link controls the frequency converter to drive the motor to operate.
When the motor is set as a slave motor, the vector control link directly adopts the torque command information output by the master motor as the given value of the vector control link, and the vector control link controls the frequency converter to drive the motor to operate, as shown in fig. 5, a slave motor vector control block diagram when no speed loop does not work. The speed instruction is transmitted by a driving system in an analog quantity or communication mode and the like, and the speed information of the main motor can be acquired by an encoder.
Step S103: obtaining torque distribution scale factors Kn of each motor according to the torque amplitude limiting information Ta of each motor;
specifically, the method for calculating the torque distribution proportionality factor includes the steps of:
step S301: setting the rated power and the rated rotating speed of each motor, and calculating the torque amplitude limiting instruction information Ta of the motors according to the rated power and the rated rotating speed;
step S302: calculating the torque distribution scale factor Kn of each motor according to the torque output capacity of each motor,
Specifically, the torque limiter command information Ta of the motor is the rated torque output capacity of the motor.
Further, the torque amplitude limiting command information Ta of the motor can be further reduced according to the aging condition of the multi-motor cluster system device. In particular, the aging of the motor and the transmission can be further reduced.
And step S104, multiplying the torque command information Te by the torque distribution proportion Kn of each slave motor to serve as the torque given information Td of each slave motor, and controlling each motor to output corresponding current so as to realize the power balance control of the multi-motor cluster system.
Further, the method for controlling power balance of a multi-motor cluster system in the embodiment of the present invention further includes step S105: when the torque given information Td received by each motor is larger than the torque limiting instruction information Ta of each motor, the torque instruction information Td is forcibly set as the torque limiting instruction information Ta of each motor, and each motor is controlled to output corresponding current according to the torque limiting instruction information Ta.
Specifically, after the torque command information received by each motor multiplied by the torque distribution proportion is greater than the torque output capacity limit Ta of each motor, the torque command information is forced to be Ta and is transmitted to the vector control unit of the motor to be used as the torque command information of the vector control unit, and the motor vector control unit controls each motor to output corresponding current according to the torque limit command information.
The invention provides a power balance control device of a multi-motor cluster system, which comprises a master-slave setting module, an information acquisition module, a first torque calculation module, a torque distribution scale factor calculation module, a second torque calculation module and an information release module, wherein the master-slave setting module is used for setting the master-slave setting module and the information acquisition module;
the master-slave setting module is used for numbering the N motors and setting master and slave motors;
specifically, the master-slave setting module numbers N motors, sets the motor with the minimum number in the working motors as a master motor, and sets the rest working motors as slave motors; the motor number is a unique number for identifying each motor, and the number can be set manually.
The information acquisition module is used for acquiring the speed instruction of the multi-motor comprehensive control unit and the speed information of the main motor;
the first torque calculation module is used for calculating a motor torque command by the main motor; the torque command is obtained by performing PI controller adjustment on a speed command of a driving system and speed information of a main motor.
The torque distribution scale factor calculation module is used for obtaining torque distribution scale factors Kn of the slave motors according to the torque instruction information Te and the torque amplitude limiting instruction information Ta of the slave motors;
the second torque calculation module is used for calculating a slave motor torque instruction according to the torque distribution proportion factor;
the torque command of each motor is obtained by multiplying torque command information Te by a torque distribution ratio Kn of each slave motor, and when the torque command information received by each motor is larger than torque limit command information Ta of each motor, the torque command information is forcibly set as the torque limit command information Ta of the motor.
And the information transmission module is used for transmitting the torque instruction information calculated by the second torque module to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
The control unit of each motor receives the transmitted torque instruction information to enable each motor to output corresponding current, so that the power balance control of the multi-motor cluster system is realized.
Further, the device has the torque distribution proportion factors as follows:
the power balance control method for a multi-motor cluster system in the foregoing embodiment can be implemented by a power balance control device for a multi-motor cluster system, and the principle of the method is not described herein again.
In this embodiment, the power balance control method for the multi-motor cluster system can realize uniform torque and balanced power distribution of each motor in the multi-motor drive system, and ensure the torque synchronism of each motor in the multi-motor system. Furthermore, by adopting the multi-motor cluster power balance control method with power coordination control, the relative power balance among different power motors can be realized, namely the percentage of the output torque of each motor is the same as the percentage of the rated output torque of the motor. Furthermore, the control percentage can be different, so that the torque can be flexibly distributed according to the aging conditions of the motor and the transmission device, and the reliability of the system is improved.
Claims (10)
1. A method for controlling power balance of a multi-motor cluster system is characterized by comprising the following steps:
setting a master motor and a slave motor;
collecting speed commands of a multi-motor integrated control unit and speed information of a main motor, adjusting by a PI controller, and outputting torque command information Te;
obtaining torque distribution scale factors Kn of each motor according to the torque amplitude limiting information Ta of each motor;
and multiplying the torque command information Te by the torque distribution proportion Kn of each motor to be used as the torque given information Td of each motor, and controlling each motor to output corresponding current so as to realize the power balance control of the multi-motor cluster system.
2. The method as claimed in claim 1, further comprising, when the torque command information Td received by each of the motors is greater than the torque limiter command information Ta of each of the motors, forcibly setting the torque command information Td to the torque limiter command information Ta of each of the motors, and controlling each of the motors to output the corresponding current according to the torque limiter command information Ta.
3. The power balance control method for a multiple-motor cluster system according to claim 1, wherein said setting of the master and slave motors comprises,
numbering N motors;
the motor with the smallest number in the working motors is set as a main motor, and the rest working motors are set as auxiliary motors.
4. The power balance control method of multi-motor cluster system as claimed in claim 3, wherein the master and slave motor setting method comprises the steps of the motor control unit with the minimum number S issuing a host identification command, i.e. the MS bit in the control word is 1; after receiving the information that MS is 1 in the control word, the motor control unit with the number greater than the minimum number S returns that the MS information bit is 0; if the motor control unit with the minimum number S receives the information that the number is greater than the MS of the motor controller with the minimum number S is 0, the identification of the master motor and the slave motor is finished.
5. The power balance control method according to claim 2, wherein the torque slice command information Ta for each motor is a rated torque output value of the motor.
6. The method for controlling the power balance of a multi-motor cluster system according to claim 1, wherein the specific calculation process of the torque distribution scaling factor Kn of each motor is as follows:
setting the rated power and the rated rotating speed of each motor, and calculating the torque amplitude limiting instruction information Ta of the motors according to the rated power and the rated rotating speed;
calculating the torque distribution scale factor Kn of each motor according to the torque amplitude limiting instruction information Ta of each motor, wherein m is the number of the motors of the multi-motor group,
7. the method according to claim 6, wherein the torque slice command information Ta of the slave motor is manually set according to an operating state of the multiple motor cluster system device.
8. A power balance control device of a multi-motor cluster system is characterized by comprising a master-slave setting module, an information acquisition module, a first torque calculation module, a torque distribution scale factor calculation module, a second torque calculation module and an information release module;
the master-slave setting module is used for setting master and slave motors;
the information acquisition module is used for acquiring the speed instruction of the multi-motor comprehensive control unit and the speed information of the main motor;
the first torque calculation module is used for calculating a motor torque command by the main motor, and the torque command is obtained by carrying out PI (proportional integral) controller adjustment on a speed command of a driving system and speed information of the main motor;
the torque distribution scale factor calculation module is used for obtaining torque distribution scale factors Kn of each motor according to the torque instruction information Te and the torque amplitude limiting instruction information Ta of each motor;
the second torque calculation module is used for calculating the torque command of each motor according to the torque distribution scale factor;
the torque instruction of each motor is obtained by multiplying torque instruction information Te by torque distribution proportion Kn of each motor, and when the torque instruction information received by the motor is greater than torque amplitude limiting instruction information Ta of each motor, the torque instruction information is forcibly set as the torque amplitude limiting instruction information Ta of the motor;
and the information transmission module is used for transmitting the torque instruction information calculated by the second torque module to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
9. The power balance control device of a multi-motor cluster system according to claim 8, wherein said master-slave setting module numbers N motors, sets the motor with the smallest number among the working motors as the master motor, and sets the remaining working motors as the slave motors.
10. The power balance control device of a multi-motor fleet system according to claim 9, wherein the torque distribution scaling factor is:
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Cited By (1)
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| CN112031739A (en) * | 2020-08-27 | 2020-12-04 | 江苏辰午节能科技股份有限公司 | Dual-motor driving system for petroleum drilling and control method thereof |
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Address after: No.7, Zhujiang Road, the second industrial park, Xuzhou high tech Zone, Xuzhou City, Jiangsu Province, 221116 Applicant after: Jiangsu Guochuan Electric Co.,Ltd. Address before: No.7, Zhujiang Road, the second industrial park, Xuzhou high tech Zone, Xuzhou City, Jiangsu Province, 221116 Applicant before: CHINA MINING DRIVES & AUTOMATION Co.,Ltd. |
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