CN111564992B - Control device and method for multi-motor connection - Google Patents
Control device and method for multi-motor connection Download PDFInfo
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- CN111564992B CN111564992B CN202010542219.XA CN202010542219A CN111564992B CN 111564992 B CN111564992 B CN 111564992B CN 202010542219 A CN202010542219 A CN 202010542219A CN 111564992 B CN111564992 B CN 111564992B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Abstract
The invention discloses a control device and a control method for multi-motor connection, which comprises the following steps: setting the torque given value of a main frequency converter as a speed loop PI control, setting the torque given value of a slave frequency converter as a DP communication given value, and setting the rotating speed given value of a motor through a control system; the control system calculates the average value of the rotating speed of the motor according to the estimated rotating speed of the main motor estimated by the main frequency converter and the estimated rotating speed of the slave motor estimated by the slave frequency converter, and respectively sends the set value of the rotating speed of the motor and the average value of the rotating speed of the motor to the open-loop vector speed control system of the main frequency converter and the open-loop vector torque control system of the slave frequency converter; the open-loop vector speed control system adjusts the output torque of the main frequency converter, and the open-loop vector torque control system adjusts the output torque of the slave frequency converter; the output torque of the slave frequency converter adjusts the rotating speed of the slave motor, and the output torque of the master frequency converter adjusts the rotating speed of the master motor. The invention realizes the speed stability of the cutter head driving control system.
Description
Technical Field
The invention belongs to the technical field of shield tunnel boring machine cutter head variable frequency drive control, and particularly relates to a control device and method for multi-motor connection.
Background
The shield tunneling machine cutter head frequency conversion driving system is characterized in that a plurality of motors are driven by a plurality of frequency converters in a one-to-one mode, and then the motors are rigidly connected with a gear ring of a cutter head through respective speed reducers and gears to cut the stratum in the advancing direction.
When the shield tunneling machine works, the torque and current output by all motors are required to be balanced. At present, the control of a cutter head driving system at home and abroad mostly adopts master-slave control or slip control, and a better effect can be achieved when the load is stable. However, the torque distribution of the drive shaft is unbalanced due to the difference between the motors and the gear transmission system, especially the difference between the meshing gaps between the pinion and the bull gear, or due to the soft soil. Particularly in a master-slave control system, the torsional vibration is an undamped non-damped oscillation system, and can cause overlarge torque borne by part of driving shafts for a long time, so that frequent failure of a frequency converter is caused, and the shield tunneling construction is influenced.
Disclosure of Invention
Aiming at the problem that the failure of a frequency converter is easily caused by uneven torque distribution of a driving shaft of the existing cutter head driving system, the invention provides a control device and a control method for multi-motor connection, which solve the problem of torsional vibration caused by meshing gaps of gears and realize the speed stability of the cutter head driving control system and the load balance of all motors.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a control method for multi-motor connection comprises the following steps:
s1, setting the torque setting of the main frequency converter as speed loop PI control through the main operation panel, setting the torque setting of the slave frequency converter as DP communication setting through the slave operation panel, and setting the rotating speed setting value of the motor through the control system;
s2, the control system calculates the average value of the motor speed according to the estimated speed of the main motor estimated by the main frequency converter and the estimated speed of the slave motor estimated by the slave frequency converter, and simultaneously the control system respectively sends the set value of the motor speed and the average value of the motor speed to the open-loop vector speed control system of the main frequency converter and the open-loop vector torque control system of the slave frequency converter;
s3, the open-loop vector speed control system adjusts the output torque of the main frequency converter according to the set value of the motor speed and the estimated main motor speed, and the open-loop vector torque control system adjusts the output torque of the slave frequency converter according to the average value of the motor speed and the estimated slave motor speed;
and S4, the output torque of the slave frequency converter adjusts the rotating speed of the slave motor, and the output torque of the master frequency converter adjusts the rotating speed of the master motor.
In step S3, the method for adjusting the output torque of the master converter and the output torque of the slave converter includes the steps of:
s3.1, a speed ring PI controller of the open-loop vector speed control system calculates the output of the speed ring PI controller according to the set value of the rotating speed of the motor and the estimated rotating speed of a main motor estimated by a main frequency converter, then the speed ring PI controller respectively sends the output of the speed ring PI controller to a main torque controller and a control system of the open-loop vector speed control system, and the control system sends the output of the speed ring PI controller to a slave torque controller of the open-loop vector torque control system through a bus communication module;
s3.2, calculating the output of the torsional vibration suppression controller by the torsional vibration suppression controller of the open-loop vector torque control system according to the average value of the rotating speed of the motor and the estimated rotating speed of the slave motor estimated by the slave frequency converter;
and S3.3, the main torque controller adjusts the output torque of the main frequency converter according to the output of the speed loop PI controller, and the slave torque controller calculates the input of the slave torque controller according to the output of the speed loop PI controller and the output of the torsional vibration suppression controller so as to adjust the output torque of the slave frequency converter.
In step S3.1, the input V _ err to the speed loop PI controller is calculated as:
V_err＝V_ref-V_est；
in the formula, V _ est represents the estimated rotating speed of the main motor estimated by the main frequency converter, and V _ ref represents the given value of the rotating speed of the motor;
the calculation formula of the output T _ ref (T) of the speed loop PI controller at the time T is as follows:
T_ref(T)＝Kp*[V_err(T)+1/Ti∫V_err(t)dt]；
where Kp denotes a proportional coefficient of the speed loop PI controller, Ti denotes an integral coefficient of the speed loop PI controller, V _ err (T) denotes an input of the speed loop PI controller at time T, and ^ V _ err (T) dt denotes an integral of the input of the speed loop PI controller from the start time of the main motor to time T.
In step S3.2, the output of the torsional vibration suppression controller is calculated as:
in the formula, Δ Tx represents the output of the torsional vibration suppression controller of the xth slave frequency converter, Kc represents the suppression coefficient, V _ AV represents the average value of the rotating speed of the motor, Δ Tmin represents the minimum value of the output of the torsional vibration suppression controller, Δ Tmax represents the maximum value of the output of the torsional vibration suppression controller, and Vx _ est represents the estimated rotating speed of the xth slave frequency converter estimated from the motor;
the calculation formula of the motor rotating speed average value V _ AV is as follows:
in the formula, V _ est represents the estimated rotation speed of the master motor estimated by the master inverter, and m represents the total number of slave inverters.
The equation for the input from the torque controller, Tx _ ref, is:
Tx_ref＝T_ref-ΔTx；
in the equation, T _ ref represents an output of the speed loop PI controller.
A control device with multiple connected motors comprises a main motor and a plurality of slave motors, wherein the main motor and the slave motors are respectively connected with a gear ring of a cutter head through respective transmission devices; the bus communication module is connected with a control system which is responsible for data processing and exchange.
The open-loop vector speed control system comprises a speed loop PI controller and a master torque controller, the open-loop vector torque control system comprises a torsional vibration suppression controller and a slave torque controller, the output end of the speed loop PI controller is connected with the input end of the master torque controller, and the output end of the torsional vibration suppression controller is connected with the input end of the slave torque controller; the input end of the speed loop PI controller and the input end of the torsional vibration suppression controller are respectively connected with the control system through a bus communication module, the output end of the speed loop PI controller is connected with the input end of the slave torque controller, the output end of the master torque controller is connected with the master motor, and the output end of the slave torque controller is correspondingly connected with the slave motor.
The bus communication module comprises a DP card and a DP module, the master frequency converter and the slave frequency converter are respectively connected with the DP card correspondingly, and the DP card is connected with the control system through the DP module.
The invention has the beneficial effects that:
the invention can solve the problem of torsional vibration caused by the difference of meshing gaps between a gear and a gear ring of a cutter head in a shield cutter head driving system, or the problem of unbalanced torque distribution of a driving shaft caused by soft soil, and the like, adjusts the output torque of the slave frequency converter and the output torque of the master frequency converter through the open-loop vector torque control system and the open-loop vector speed control system, further adjusts the rotating speeds of the slave motor and the master motor according to the output torque, ensures the speed stability of the cutter head driving control system and the load balance of all motors, simultaneously can also reduce the fault rate of the frequency converter, and ensures the working efficiency of the shield tunneling machine.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a control schematic diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1: a control device with multiple motor connections is shown in figure 1 and comprises a main motor and a plurality of slave motors, wherein the main motor and the slave motors are respectively connected with a gear ring of a cutter head through respective transmission devices, the cutter head is connected with a rotating shaft corresponding to the gear ring, and the rotation of the cutter head is driven through the rotation of the gear ring; the transmission device comprises a speed reducer, the main motor and the slave motor are respectively connected with corresponding gears through respective speed reducers, all the gears are meshed with the gear ring, and the gear ring is driven to rotate through the rotation of the gears; the main motor and the slave motor are both power devices, the main motor and the slave motor rotate along the same direction, and the rotating shafts of the main motor and the slave motor drive the gear ring to rotate through the rotation of the gear reducer driving gear; the main motor is connected with the bus communication module through a main frequency converter adopting an open-loop vector speed control system, the main frequency converter can monitor and estimate the rotating speed of the main motor in real time, which is not repeated in the prior art, the slave motors are connected with the bus communication module through slave frequency converters adopting an open-loop vector torque control system, the slave motors correspond to the slave frequency converters one by one, the number of the slave motors is consistent with that of the slave frequency converters, namely one slave motor is connected with one slave frequency converter, all the slave frequency converters are not directly electrically connected, and the slave frequency converters are used for monitoring and estimating the rotating speed of each slave motor; the bus communication module is connected with a control system which is responsible for data processing and exchanging, the given value of the rotating speed of the motor can be set through the control system, the control system receives the estimated rotating speeds of the main motor and the slave motor through the bus communication module and processes data, and then the control system adjusts the rotating speed of the slave motor according to the given value of the rotating speed and the estimated speed so as to enable the rotating speed of the slave motor to be consistent with the rotating speed of the main motor. The embodiment adopts open-loop vector speed control and open-loop vector torque control, and if closed-loop vector control is installed, the system is complex and the reliability is reduced in the application occasion of the shield machine.
The open-loop vector speed control system comprises a speed loop PI controller and a master torque controller, the open-loop vector torque control system comprises a torsional vibration suppression controller and a slave torque controller, the output end of the speed loop PI controller is connected with the input end of the master torque controller, and the output end of the torsional vibration suppression controller is connected with the input end of the slave torque controller; the input end of the speed loop PI controller and the input end of the torsional vibration suppression controller are respectively connected with the control system through a bus communication module, the output end of the speed loop PI controller is connected with the input end of the slave torque controller, the output end of the master torque controller is connected with the master motor, and the output end of the slave torque controller is correspondingly connected with the slave motor so as to control the corresponding slave motor through the slave torque controller. The control system sends the given value of the rotating speed and the rotating speed of the main motor estimated by the main frequency converter to the input end of the speed ring PI controller, data output by the speed ring PI controller are synchronously transmitted to the main torque controller and the slave torque controller, and the main torque controller and the slave torque controller can respectively control the output torque of the main frequency converter and the slave frequency converter so as to control the rotating speed of the main motor and the slave motor.
The bus communication module comprises a DP card and a DP module, the master frequency converter and the slave frequency converter are respectively connected with the DP card correspondingly, and the DP card is connected with the control system through the DP module. The control system interacts with the data transmission between the main frequency converter and the slave frequency converter through the format of a PROFIBUS-DP communication protocol.
In this embodiment, the number of the slave motors is seven, there is no direct electrical connection between one master frequency converter and the seven slave frequency converters, and all data exchange is completed through the control system, which facilitates the electrical layout and routing of the whole system. The control system is an electric control core device of the cutter head frequency conversion driving system, and can adopt a PLC (programmable logic controller), wherein the PLC receives an external instruction to carry out logic processing and then sends the external instruction to the main frequency converter and the auxiliary frequency converter so as to control the starting, stopping, positive and negative rotation, torque setting, speed setting and the like of the main frequency converter and the auxiliary frequency converter; and simultaneously receiving state data of the master frequency converter and the slave frequency converter, such as running state, estimated speed, electromagnetic torque, fault warning information and the like. The main frequency converter and the auxiliary frequency converter are both provided with operation panels, which can modify the parameters of the frequency converters and monitor the data of the current, the torque, the rotating speed and the like of the frequency converters.
Example 2: a control method of multi-motor connection, as shown in fig. 2, comprising the steps of:
s1, setting the torque setting of the main frequency converter as speed loop PI control through the main operation panel, setting the torque setting of the slave frequency converter as DP communication setting through the slave operation panel, and setting the rotating speed setting value of the motor through the control system;
setting the torque given of the main frequency converter as a speed loop PI control for responding to the motor rotating speed given set by a control system; data between the master frequency converter and the slave frequency converter and between the control system and the control system are transmitted through DP communication, so that torque adjustment can be conveniently carried out on the slave motor connected with the slave frequency converter through the control system according to the master motor connected with the master frequency converter, and the motor rotation consistency is ensured.
S2, the control system calculates the average value of the motor speed according to the estimated speed of the main motor estimated by the main frequency converter and the estimated speed of the slave motor estimated by the slave frequency converter, and simultaneously the control system respectively sends the set value of the motor speed and the average value of the motor speed to the open-loop vector speed control system of the main frequency converter and the open-loop vector torque control system of the slave frequency converter;
the calculation formula of the motor rotating speed average value V _ AV is as follows:
in the formula, V _ est represents the estimated rotation speed of the main motor estimated by the main frequency converter, Vx _ est represents the estimated rotation speed of the slave motor estimated by the xth slave frequency converter, and m represents the total number of the slave frequency converters.
S3, the open-loop vector speed control system adjusts the output torque of the main frequency converter according to the set value of the motor speed and the estimated main motor speed, and the open-loop vector torque control system adjusts the output torque of the slave frequency converter according to the average value of the motor speed and the estimated slave motor speed;
the open-loop vector speed control system comprises a speed loop PI controller and a master torque controller, the open-loop vector torque control system comprises a torsional vibration suppression controller and a slave torque controller, the output end of the speed loop PI controller is connected with the input end of the master torque controller, and the output end of the torsional vibration suppression controller is connected with the input end of the slave torque controller; the input end of the speed loop PI controller and the input end of the torsional vibration suppression controller are respectively connected with the control system through a bus communication module, the output end of the speed loop PI controller is connected with the input end of the slave torque controller, the output end of the master torque controller is connected with the master motor, and the output end of the slave torque controller is correspondingly connected with the slave motor.
The method for adjusting the output torque of the main frequency converter and the output torque of the slave frequency converter comprises the following steps:
s3.1, calculating the output of a speed ring PI controller by the speed ring PI controller according to the set value of the rotating speed of the motor and the estimated rotating speed of the main motor estimated by a main frequency converter, then respectively sending the output of the speed ring PI controller to a main torque controller and a control system by the speed ring PI controller, and sending the output of the speed ring PI controller to a slave torque controller by the control system through a bus communication module;
firstly, calculating the input of a speed loop PI controller according to a negative feedback principle, wherein the calculation formula of the input V _ err of the speed loop PI controller is as follows:
V_err＝V_ref-V_est；
in the formula, V _ ref represents a given value of the motor rotating speed;
the calculation formula of the output T _ ref (T) of the speed loop PI controller at the time T is as follows:
T_ref(T)＝Kp*[V_err(T)+1/Ti∫V_err(t)dt]；
where Kp denotes a proportional coefficient of the speed loop PI controller, Ti denotes an integral coefficient of the speed loop PI controller, V _ err (T) denotes an input of the speed loop PI controller at time T, and;
the control principle of the speed loop PI controller is that a control deviation is formed according to a given value of the rotating speed of the motor and the estimated rotating speed of the main motor, the proportion and the integral of the control deviation are linearly combined to form an output T _ ref which is used as a control quantity, and the difference value between the given value of the rotating speed of the motor and the estimated rotating speed of the main motor can be reduced by performing torque control on the main frequency converter based on the control quantity.
S3.2, the torsional vibration suppression controller calculates the output of the torsional vibration suppression controller according to the average value of the rotating speed of the motor and the estimated rotating speed of the slave motor estimated by the slave frequency converter;
firstly, the input of the torsional vibration suppression controller is calculated according to a negative feedback principle, and the calculation formula of the input of the torsional vibration suppression controller is as follows:
Vx_err＝V_AV-Vx_est；
in the formula, Vx _ err represents the input of a torsional vibration suppression controller of the xth slave frequency converter, V _ AV represents the average value of the rotating speed of the motor, and Vx _ est represents the estimated rotating speed of the xth slave frequency converter;
the calculation formula of the output of the torsional vibration suppression controller is as follows:
where Δ Tx represents the output of the xth slave torsional vibration suppression controller, Kc represents the suppression coefficient, which can be modified by the operation panel, Δ Tmin represents the minimum value of the torsional vibration suppression controller output, and Δ Tmax represents the maximum value of the torsional vibration suppression controller output;
in the present embodiment, the two values Δ Tmin and Δ Tmax are output in percentage, and if 100%, the two values correspond to the rated torque of the motor, and can be modified by the operation panel.
S3.3, the main torque controller adjusts the output torque of the main frequency converter according to the output of the speed loop PI controller, and the slave torque controller calculates the input of the slave torque controller according to the output of the speed loop PI controller and the output of the torsional vibration suppression controller so as to adjust the output torque of the slave frequency converter;
the formula for the input Tx _ ref from torque control is:
Tx_ref＝T_ref-ΔTx；
in the formula, T _ ref represents an output of the speed loop PI control;
the main torque controller and the slave torque controller are both the existing open control technology, the output torque of the main frequency converter and the slave frequency converter can be changed along with the given input torque, the inverter adjusts the current of the control system to ensure the transmission of torque signals, the open-loop vector torque control system carries out compensation adjustment on the output torque of the slave frequency converter, and the output torque balance of the main frequency converter and the slave frequency converter can be ensured.
S4, adjusting the rotating speed of the slave motor by the output torque of the slave frequency converter, and adjusting the rotating speed of the main motor by the output torque of the main frequency converter so that the rotating speeds of the main motor and the slave motor are the same and are consistent with the set rotating speed value of the motor;
the structure of the present embodiment is the same as that of embodiment 1, and as shown in fig. 2, the master motor is M1, the corresponding inverter is INV1, and the slave motors are M2, M3, M4, M5, M6, M7, and M8, which are seven in total.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A control method for multi-motor connection is characterized by comprising the following steps:
s1, setting the torque setting of the main frequency converter as speed loop PI control through the main operation panel, setting the torque setting of the slave frequency converter as DP communication setting through the slave operation panel, and setting the rotating speed setting value of the motor through the control system;
s2, the control system calculates the average value of the motor speed according to the estimated speed of the main motor estimated by the main frequency converter and the estimated speed of the slave motor estimated by the slave frequency converter, and simultaneously the control system respectively sends the set value of the motor speed and the average value of the motor speed to the open-loop vector speed control system of the main frequency converter and the open-loop vector torque control system of the slave frequency converter;
s3, the open-loop vector speed control system adjusts the output torque of the main frequency converter according to the set value of the motor speed and the estimated main motor speed, and the open-loop vector torque control system adjusts the output torque of the slave frequency converter according to the average value of the motor speed and the estimated slave motor speed;
s4, the output torque of the slave frequency converter adjusts the rotating speed of the slave motor, and the output torque of the master frequency converter adjusts the rotating speed of the master motor;
in step S3, the method for adjusting the output torque of the master converter and the output torque of the slave converter includes the steps of:
s3.1, a speed ring PI controller of the open-loop vector speed control system calculates the output of the speed ring PI controller according to the set value of the rotating speed of the motor and the estimated rotating speed of a main motor estimated by a main frequency converter, then the speed ring PI controller respectively sends the output of the speed ring PI controller to a main torque controller and a control system of the open-loop vector speed control system, and the control system sends the output of the speed ring PI controller to a slave torque controller of the open-loop vector torque control system through a bus communication module;
s3.2, calculating the output of the torsional vibration suppression controller by the torsional vibration suppression controller of the open-loop vector torque control system according to the average value of the rotating speed of the motor and the estimated rotating speed of the slave motor estimated by the slave frequency converter;
and S3.3, the main torque controller adjusts the output torque of the main frequency converter according to the output of the speed loop PI controller, and the slave torque controller calculates the input of the slave torque controller according to the output of the speed loop PI controller and the output of the torsional vibration suppression controller so as to adjust the output torque of the slave frequency converter.
2. A method of controlling a multi-motor connection according to claim 1, characterized in that in step S3.1 the input V _ err of the speed loop PI controller is calculated as:
V_err＝V_ref-V_est；
in the formula, V _ est represents the estimated rotating speed of the main motor estimated by the main frequency converter, and V _ ref represents the given value of the rotating speed of the motor;
the calculation formula of the output T _ ref (T) of the speed loop PI controller at the time T is as follows:
T_ref(T)＝Kp*[V_err(T)+1/Ti∫V_err(t)dt]；
where Kp denotes a proportional coefficient of the speed loop PI controller, Ti denotes an integral coefficient of the speed loop PI controller, V _ err (T) denotes an input of the speed loop PI controller at time T, and ^ V _ err (T) dt denotes an integral of the input of the speed loop PI controller from the start time of the main motor to time T.
3. A method of controlling multiple motor connections according to claim 1 or 2, characterised in that in step S3.2 the calculation formula of the output of the torsional vibration damping controller is:
in the formula, Δ Tx represents the output of the torsional vibration suppression controller of the xth slave frequency converter, Kc represents the suppression coefficient, V _ AV represents the average value of the rotating speed of the motor, Δ Tmin represents the minimum value of the output of the torsional vibration suppression controller, Δ Tmax represents the maximum value of the output of the torsional vibration suppression controller, and Vx _ est represents the estimated rotating speed of the xth slave frequency converter estimated from the motor;
the calculation formula of the motor rotating speed average value V _ AV is as follows:
in the formula, V _ est represents the estimated rotation speed of the master motor estimated by the master inverter, and m represents the total number of slave inverters.
4. The control method of multi-motor connection according to claim 3, wherein the calculation formula of the input Tx _ ref from the torque controller is:
Tx_ref＝T_ref-ΔTx；
in the equation, T _ ref represents an output of the speed loop PI controller.
5. The control device of the control method of multi-motor connection according to any one of claims 1, 2, 4, comprising a master motor and a plurality of slave motors, said master motor and slave motors being connected to the ring gear of the cutter head through respective transmission means, respectively, wherein said master motor is connected to the bus communication module through a master frequency converter using an open-loop vector speed control system, the slave motors are connected to the bus communication module through slave frequency converters using an open-loop vector torque control system, and the slave motors correspond to the slave frequency converters one by one; the bus communication module is connected with a control system which is responsible for data processing and exchange.
6. The multi-motor connected control device according to claim 5, wherein the open-loop vector speed control system comprises a speed loop PI controller and a master torque controller, the open-loop vector torque control system comprises a torsional vibration suppression controller and a slave torque controller, an output end of the speed loop PI controller is connected with an input end of the master torque controller, and an output end of the torsional vibration suppression controller is connected with an input end of the slave torque controller; the input end of the speed loop PI controller and the input end of the torsional vibration suppression controller are respectively connected with the control system through a bus communication module, the output end of the speed loop PI controller is connected with the input end of the slave torque controller, the output end of the master torque controller is connected with the master motor, and the output end of the slave torque controller is correspondingly connected with the slave motor.
7. The control device of claim 5 or 6, wherein the bus communication module comprises a DP card and a DP module, the master frequency converter and the slave frequency converter are respectively connected with the DP card, and the DP card is connected with the control system through the DP module.
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| CN114337383A (en) * | 2021-11-30 | 2022-04-12 | 中国船舶重工集团公司第七一一研究所 | Multi-motor parallel drive control system and control method thereof |
| CN114320328A (en) * | 2022-01-05 | 2022-04-12 | 中铁工程装备集团有限公司 | Shield tunneling machine start-stop control method and device |
| CN115347818A (en) * | 2022-08-15 | 2022-11-15 | 三一石油智能装备有限公司 | Motor control method and system and multi-motor synchronous driving device |
| CN116317709B (en) * | 2023-05-23 | 2023-09-12 | 深圳弘远电气有限公司 | Multi-motor torque synchronous driving control method and system for shield tunneling machine |
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