CN111030513A - Fault state redundancy switching control method and device for multi-motor cluster system - Google Patents
Fault state redundancy switching control method and device for multi-motor cluster system Download PDFInfo
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- CN111030513A CN111030513A CN201911386914.5A CN201911386914A CN111030513A CN 111030513 A CN111030513 A CN 111030513A CN 201911386914 A CN201911386914 A CN 201911386914A CN 111030513 A CN111030513 A CN 111030513A
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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
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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Abstract
The invention discloses a method and a device for controlling the redundant switching of the fault state of a multi-motor cluster system, wherein the method comprises the steps of carrying out power balance on the multi-motor cluster system; when the working motor has a fault, the motor is cut off from the multi-motor cluster system; if the exiting motor is the slave motor, directly recalculating the torque distribution scale factor Kn of each motor; if the exiting motor is the main motor, recalculating the torque distribution scale factor Kn of each motor after resetting the main motor; and obtaining torque command information of each motor according to the redistributed torque distribution scale factor Kn of each motor, thereby controlling the corresponding current output from the motors. The invention realizes the redundant safe operation of the multi-motor cluster system and improves the reliability of the 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 redundant switching of a fault state of a multi-motor cluster system.
Background
Industrial applicability in order to improve the production efficiency, the loading capacity is increased by adopting a multi-motor driving mode. However, as the number of motors increases, when any equipment has a problem, the operation of the system is affected, and the reliability of the system is seriously affected.
In the prior art, when equipment fails, a multi-motor driving system is stopped, the failed equipment is cut off, and then the multi-motor driving system is restarted. In the process, the cutting-off time of the fault equipment is shortened as much as possible so as to reduce the fault time of the multi-motor drive system.
When a multi-motor cluster system is applied to a continuous working system, such as steel mill and coal mine belt transportation conditions, when one motor or controller fails, if a multi-motor driving system is stopped, the production efficiency of the system is reduced, and the process control process is seriously failed, so that how to realize the automatic switching of the multi-motor driving system under the condition of individual equipment failure and realize the non-stop continuous operation of the system by using the rest equipment, namely, the realization of the redundancy switching of the multi-motor system failure state is a problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a fault state redundancy switching control method for a multi-motor cluster system
The method and device are used for solving the problem that when one motor or controller in a multi-motor cluster system has a fault, other motors can still continue to work on the premise of not breaking the power balance of the system.
The invention provides a multi-motor cluster system fault state redundancy switching control method, which comprises the following steps,
carrying out power balance control on the multi-motor cluster system;
when the working motor has a fault, the motor is cut off from the multi-motor cluster system;
if the exiting motor is the slave motor, directly recalculating the torque distribution scale factor Kn of each motor;
if the exiting motor is the main motor, recalculating the torque distribution scale factor Kn of each motor after resetting the main motor;
obtaining torque instruction information of the remaining multi-motor cluster except the fault motor according to the redistributed torque distribution scale factor Kn of each motor, thereby controlling each motor to output corresponding current;
the redundancy switching control is realized when the motor of the multi-motor cluster system is in a failure state.
Preferably, the method further comprises the steps of sending an alarm prompt when the working motor has a fault, and acquiring information of the torque distribution scale factor Kn in real time.
Preferably, the method further comprises the step of issuing the information of the fault motor and the information of the new equipment, and sending the information to the touch screen and the remote monitoring system.
Preferably, the performing power balance control on the multi-motor cluster system includes:
setting a master motor and a slave motor;
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 slave motor according to the torque command information Te and the torque amplitude limiting command information Ta of each slave motor;
multiplying the torque command information Te by the torque distribution proportion Kn of each slave motor to obtain torque given information Td of each slave motor, and controlling the slave motor to output corresponding current;
when the torque given information Td received from the motor is larger than the torque limiting instruction information Ta of the slave motor, the torque instruction information Td is forcibly set as the torque limiting instruction information Ta of the slave motor, and the corresponding current output by the slave motor is controlled according to the torque limiting instruction information Ta.
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; and if the motor control unit with the minimum number S receives the information that the number is greater than the MS (master station) of 0 sent by the motor controller, the identification of the master motor and the slave motor is finished.
Preferably, the specific calculation process of the torque distribution proportional factor Kn from 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 output capacity of each motor, wherein m is the number of the motors of the multi-motor group,
preferably, after the main motor fails, the information of the main motor identification position MS is lost, and a process of automatically searching for new main motor equipment is performed, where the process includes,
if the motor control unit with the code S +1 does not receive the information that the MS bit in the control word of the motor with the code S is 1, the motor control unit with the code S +1 sends a host identification command, namely the MS bit in the control word is 1, the motor control unit with the code larger than S +1 returns that the MS bit information bit is 0 after receiving the control word identification, and if the motor control unit with the code S +1 receives the information that the MS bit sent by the motor control unit with the code larger than S +1 is 0, new master and slave motor identification is completed.
The invention also provides a device for controlling the redundant switching of the fault state of the multi-motor cluster system, which comprises,
the system comprises an information receiving module, a power balancing module, a redundancy switching module, a master motor identification module, a slave motor identification module and a master motor selection module;
the information receiving module: the motor control unit is used for receiving fault information sent by the motor control unit;
the power balance module is used for controlling the power balance of the multi-motor cluster system;
the redundancy switching module is used for cutting off a fault motor from the multi-motor cluster system;
the master and slave motor identification modules are used for judging whether a master motor identification position MS in the information of the information receiving module is lost;
the main motor selection module is used for automatically selecting new main motor equipment according to the coding information of the rest motors of the multi-motor cluster system after the main motor exits due to faults;
the multi-motor cluster system realizes power balance control under the control of the power balance module, when the information receiving module receives that the motor fails, the redundancy switching system directly cuts the motor from the multi-motor cluster system, and meanwhile, the master and slave motor identification modules judge whether the master motor fails, if the master motor fails, the master motor selection module selects a new master motor and feeds back the information to the power balance control module, and the power balance control module performs rebalance control.
Preferably, the power balancing module 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 motor with the minimum number is set as a main motor, and the rest working motors are slave motors;
the information acquisition module is used for acquiring a speed instruction of the driving system and 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 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 second torque calculation module is used for forcibly setting the torque command information Td as the torque limiting command information Ta of the slave motor when the torque given information Td received from the slave motor is larger than the torque limiting command information Ta of the slave motor;
and the information transmission module is used for transmitting the torque instruction information of each motor to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
Preferably, the control device further comprises a torque distribution ratio factor Kn monitoring module for monitoring the change of the torque distribution ratio factor Kn.
Preferably, the system further comprises an information issuing module, which is used for issuing the fault motor information and the new equipment information and sending the fault motor information and the new equipment information to the touch screen and the remote monitoring system.
Has the advantages that: the invention provides a multi-motor fault automatic exit and redundancy switching device, which finishes the removal of a slave motor and the recalculation of a power distribution factor and finishes the removal of a main motor and the recalculation of the power distribution factor by judging the fault information of the main motor and the fault information of the slave motor, and can automatically search for a new main motor through a main motor selection module after a special main motor is removed. The device can automatically quit the multi-motor cluster when the motor or the controller of the multi-motor cluster fails, and automatically complete redundancy switching, thereby realizing the redundant safe operation of the multi-motor cluster and 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 redundant switching of a failure state of a multi-motor cluster system according to an embodiment of the present invention;
fig. 4 is a structural diagram of a failure state redundancy switching control apparatus of a multi-motor cluster system according to an embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
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 for controlling the redundant switching of the fault state of a multi-motor cluster system, which can realize the redundancy switching of the fault state of the multi-motor cluster system
The method is applied to the multi-motor cluster driving system shown in the figures 1 and 2.
The invention provides a fault state redundancy switching control method of a multi-motor cluster system, which realizes automatic quitting and redundancy switching of slave machine faults, automatic quitting of host machine faults, redundancy switching and automatic host machine updating in the multi-motor cluster system. FIG. 3 is a flow chart of a method for controlling redundant switching of a fault state in a multiple-motor cluster system
The method comprises the following steps:
step S10: carrying out power balance control on the multi-motor cluster system;
specifically, the method for realizing the power balance of the multi-motor cluster system comprises the following steps,
step S101: setting a master motor and a slave motor;
numbering the 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; 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; and if the motor control unit with the minimum number S receives the information that the number is greater than the MS (master station) of 0 sent by the motor controller, 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.
Furthermore, when a working motor fails, the master motor and the slave motor are automatically reset for the motor which normally works.
Step S102: and acquiring a speed command of a driving system and speed information of a main motor, carrying out PI (proportional integral) controller adjustment on the speed command and the motor speed, and outputting torque command information Te.
Specifically, when the main motor is set, the speed given quantity and the speed feedback quantity are subjected to proportional integral adjustment, 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.
Step S103: obtaining torque distribution proportion Kn of each slave motor according to the torque command information Te and the torque amplitude limiting command information Ta of each slave motor;
specifically, the method of calculating the torque distribution ratio Kn includes the steps of:
step S1031: 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 S1032: calculating the torque distribution scale factor Kn of each motor according to the torque output capacity of each motor, wherein m is the number of the motors of the multi-motor group,
specifically, the torque limiter instruction information Ta of the slave motor is the rated torque output capacity of the motor, and the torque limiter instruction information Ta of the slave motor can be further reduced according to the aging conditions of the motor and the transmission.
And step S104, multiplying the torque command information Te by the torque distribution ratio Kn of each slave motor to obtain the torque given information Td of each slave motor, and controlling the slave motor to output corresponding current.
Step S105: when the torque given information Td received from the motor is larger than the torque limiting instruction information Ta of the slave motor, the torque instruction information Td is forcibly set as the torque limiting instruction information Ta of the slave motor, and the corresponding current output by the slave motor is controlled according to the torque limiting instruction information Ta.
Specifically, after the torque command information received from the motor multiplied by the torque distribution proportion is greater than the torque output capacity limit Ta of each sub-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 the motor to output corresponding current according to the torque limit command information.
Step S20: when the working motor has a fault, the motor is cut off from the multi-motor cluster system;
when any motor fails, the motor control unit controls the power supply control cabinet to be disconnected, the motor quits working, and the corresponding motor number quits the multi-motor cluster system.
Step S30: if the exiting motor is the slave motor, directly recalculating the torque distribution scale factor Kn of each motor;
the slave motor sends a stop running status word to the master motor control unit while exiting the system and sends a fault message to the master motor control unit. The main motor control unit eliminates the failed motor and recalculates the torque distribution scale factor Kn of each motor.
Step S40: if the exiting motor is the main motor, recalculating the torque distribution scale factor Kn of each motor after resetting the main motor;
specifically, the method for updating the host includes the following steps:
if the motor control unit with the code of S +1 does not receive the information that the MS bit in the control word of the motor with the code of S is 1, the motor control unit with the code of S +1 sends a host identification command, namely the MS bit in the control word is 1, and after receiving the control word identification, the motor control unit with the code of S +1 returns that the MS bit information bit is 0, and if the motor control unit with the code of S +1 receives the information that the MS bit sent by the motor control unit with the code of S +1 is 0, new master and slave motor identification is completed. And the new master motor is set to be analogized from small to large according to the codes until the master and slave machine identifications are completed. And after the identification of the master and slave machines is finished, recalculating the torque distribution scale factor Kn of each motor.
Step S50: obtaining torque instruction information of the remaining multi-motor cluster except the fault motor according to the redistributed torque distribution scale factor Kn of each motor, thereby controlling each motor to output corresponding current;
the concrete implementation of the redistributed motor torque distribution proportionality factors Kn refers to step S10. Through the steps, the redundancy switching control of the multi-motor cluster system is realized when the motor is in a fault state.
Step S60: when the working motor has faults, an alarm prompt is sent out, and information of torque distribution scale factors Kn is collected in real time.
The step reminds the working motor in the system of the occurrence of faults on one hand and reminds the stability performance of the power balance of the system to be checked and verified on the other hand. The information of the torque distribution scale factor Kn is collected in real time, and can be timely obtained when the information of the scale factor Kn is monitored to change, so that the correctness of the redundancy switching control is further verified in the case of a fault state.
The collection and alarm of the fault alarm information can also be realized by other conventional manners, which are not described herein.
Step S70: and issuing the fault motor information and the new equipment information, and sending the fault motor information and the new equipment information to the touch screen and the remote monitoring system. Specifically, the main motor sends the information of the fault motor and the information of the new multi-machine system equipment to the multi-machine comprehensive control unit, and the multi-machine comprehensive control unit issues the information to the touch screen and the remote monitoring system.
As shown in fig. 4, the embodiment provides a fault state redundancy switching apparatus of a multi-motor cluster system, which can be used to execute a multi-motor fault automatic exit and redundancy switching control method. As shown in fig. 4, the protection device for a multi-motor cluster drive system specifically includes: the system comprises an information receiving module, a power balancing module, a redundancy switching module, a master motor identification module, a slave motor identification module and a master motor selection module;
the information receiving module: the motor control unit is used for receiving fault information sent by the motor control unit;
the power balance module is used for controlling the power balance of the multi-motor cluster system;
the redundancy switching module is used for cutting off a fault motor from the multi-motor cluster system;
the master and slave motor identification modules are used for judging whether a master motor identification position MS in the information of the information receiving module is lost;
and the main motor selection module is used for automatically selecting new main motor equipment according to the coding information of the rest motors of the multi-motor cluster system after the main motor exits due to faults.
The multi-motor cluster system realizes power balance control under the control of the power balance module, when the information receiving module receives that the motor fails, the redundancy switching system directly cuts the motor from the multi-motor cluster system, and meanwhile, the master and slave motor identification modules judge whether the master motor fails, if the master motor fails, the master motor selection module selects a new master motor and feeds back the information to the power balance control module, and the power balance control module performs rebalance control.
The power balancing module in the apparatus includes,
the device 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 motor with the minimum number is set as a main motor, and the rest working motors are slave motors;
the information acquisition module is used for acquiring a speed instruction of the driving system and 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 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 second torque calculation module is used for forcibly setting the torque command information Td as the torque limiting command information Ta of the slave motor when the torque given information Td received from the slave motor is larger than the torque limiting command information Ta of the slave motor;
and the information transmission module is used for transmitting the torque instruction information of each motor to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
Further, the torque distribution scale factor is: wherein m is the number of the motors of the multi-motor cluster,
further, the torque limiter command information Ta of the slave motor is a rated torque output capacity of the motor.
Further, the device also comprises a torque distribution proportion factor Kn monitoring module which is used for monitoring the change of the torque distribution proportion factor Kn.
Further, the master and slave motor identification modules and the master motor selection module may be disposed in the master-slave setting module.
Further, the device also comprises an information issuing module which is used for issuing the fault motor information and the new equipment information and sending the fault motor information and the new equipment information to the touch screen and the remote monitoring system.
The above-described method for controlling switching of the fault state redundancy of the multi-motor cluster system according to the embodiment can be implemented by a method for controlling switching of the fault state redundancy of the multi-motor cluster system, and the detailed description of the principle of the method is omitted here.
According to the fault state redundancy switching control method and device for the multi-motor cluster system, provided by the embodiment of the invention, the removal of the slave motor and the recalculation of the power distribution factor are completed through the judgment of the fault information of the master motor and the fault information of the slave motor, and the removal of the master motor and the recalculation of the power distribution factor are completed, and after the special master motor is removed, the device can automatically find a new master motor through the master motor selection module. The device can automatically quit the multi-motor cluster when the motor or the controller of the multi-motor cluster fails, and automatically complete redundancy switching, thereby realizing the redundant safe operation of the multi-motor cluster and improving the reliability of the system.
Claims (11)
1. A redundant switching control method for the fault state of a multi-motor cluster system is characterized by comprising the following steps,
carrying out power balance control on the multi-motor cluster system;
when the working motor has a fault, the motor is cut off from the multi-motor cluster system;
if the exiting motor is the slave motor, directly recalculating the torque distribution scale factor Kn of each motor;
if the exiting motor is the main motor, recalculating the torque distribution scale factor Kn of each motor after resetting the main motor;
obtaining torque instruction information of the remaining multi-motor cluster except the fault motor according to the redistributed torque distribution scale factor Kn of each motor, thereby controlling each motor to output corresponding current;
the redundancy switching control is realized when the motor of the multi-motor cluster system is in a failure state.
2. The method for controlling redundant switching between failure states in a multi-motor cluster system according to claim 1, further comprising sending an alarm prompt and collecting information on torque distribution scaling factor Kn in real time when a failure occurs in a working motor.
3. The method for controlling redundant switching of a fault state in a multiple motor cluster system according to claim 1, further comprising issuing information on a faulty motor and information on new equipment to the touch screen and the remote monitoring system.
4. The method for controlling redundant switching between failure states of multiple motor clusters according to claim 1, wherein the performing power balance control on the multiple motor cluster system comprises:
setting a master motor and a slave motor;
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 slave motor according to the torque command information Te and the torque amplitude limiting command information Ta of each slave motor;
multiplying the torque command information Te by the torque distribution proportion Kn of each slave motor to obtain torque given information Td of each slave motor, and controlling the slave motor to output corresponding current;
when the torque given information Td received from the motor is larger than the torque limiting instruction information Ta of the slave motor, the torque instruction information Td is forcibly set as the torque limiting instruction information Ta of the slave motor, and the corresponding current output by the slave motor is controlled according to the torque limiting instruction information Ta.
5. The multi-motor cluster fault state redundancy switch control method of claim 4,
the method for setting the master motor and the slave motor comprises the steps that a motor control unit with the minimum number S sends a host identification command, namely an MS bit in a 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; and if the motor control unit with the minimum number S receives the information that the number is greater than the MS (master station) of 0 sent by the motor controller, the identification of the master motor and the slave motor is finished.
6. The method for controlling redundancy switching between failure states of multiple motor clusters according to claim 1 or 4, wherein the specific calculation process of distributing the scaling factor Kn from the torque 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 output capacity of each motor, wherein m is the number of the motors of the multi-motor group,
7. the method for controlling redundant switching between failure states in a multi-motor cluster system according to claim 1, wherein when the master motor fails, the MS information of the identification bit of the master motor is lost, and the process of automatically searching for new master motor equipment is performed, the process includes,
if the motor control unit with the code S +1 does not receive the information that the MS bit in the control word of the motor with the code S is 1, the motor control unit with the code S +1 sends a host identification command, namely the MS bit in the control word is 1, the motor control unit with the code larger than S +1 returns that the MS bit information bit is 0 after receiving the control word identification, and if the motor control unit with the code S +1 receives the information that the MS bit sent by the motor control unit with the code larger than S +1 is 0, new master and slave motor identification is completed.
8. A multi-motor cluster system fault state redundancy switching control device is characterized in that the device comprises,
the system comprises an information receiving module, a power balancing module, a redundancy switching module, a master motor identification module, a slave motor identification module and a master motor selection module;
the information receiving module is used for receiving fault information sent by the motor control unit;
the power balance module is used for controlling the power balance of the multi-motor cluster system;
the redundancy switching module is used for cutting off a fault motor from the multi-motor cluster system;
the master and slave motor identification modules are used for judging whether a master motor identification position MS in the information of the information receiving module is lost;
the main motor selection module is used for automatically selecting new main motor equipment according to the coding information of the rest motors of the multi-motor cluster system after the main motor exits due to faults;
the multi-motor cluster system realizes power balance control under the control of the power balance module, when the information receiving module receives that the motor fails, the redundancy switching system directly cuts the motor from the multi-motor cluster system, and meanwhile, the master and slave motor identification modules judge whether the master motor fails, if the master motor fails, the master motor selection module selects a new master motor and feeds back the information to the power balance control module, and the power balance control module performs rebalance control.
9. The multi-motor cluster fault state redundancy switching control device is characterized in that the power balancing module comprises a plurality of switching modules,
the device 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 motor with the minimum number is set as a main motor, and the rest working motors are slave motors;
the information acquisition module is used for acquiring a speed instruction of the driving system and 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 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 second torque calculation module is used for forcibly setting the torque command information Td as the torque limiting command information Ta of the slave motor when the torque given information Td received from the slave motor is larger than the torque limiting command information Ta of the slave motor;
and the information transmission module is used for transmitting the torque instruction information of each motor to the control unit corresponding to each motor and controlling the frequency converter to output corresponding current.
10. The multiple-motor cluster fault state redundancy switching control device according to claim 9, further comprising a torque distribution scaling factor Kn monitoring module for monitoring a change in the torque distribution scaling factor Kn.
11. The multi-motor cluster fault state redundancy switching control device according to claim 9, further comprising an information issuing module for issuing information of faulty motors and information of new devices, and sending the information to the touch screen and the remote monitoring system.
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| CN (1) | CN111030513A (en) |
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