CN113890422B - Multi-motor synchronous control method and device based on virtual motor - Google Patents
Multi-motor synchronous control method and device based on virtual motor Download PDFInfo
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- CN113890422B CN113890422B CN202111145641.2A CN202111145641A CN113890422B CN 113890422 B CN113890422 B CN 113890422B CN 202111145641 A CN202111145641 A CN 202111145641A CN 113890422 B CN113890422 B CN 113890422B
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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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Abstract
The invention provides a multi-motor synchronous control method and device based on a virtual motor, which are characterized in that at least one motor parameter obtained in advance is compared with a standard phase of the virtual standard motor, whether the motor corresponding to each motor parameter is synchronous with the virtual standard motor is judged, and the motor parameters comprise the angle phase of the corresponding motor; when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor. According to the invention, through simulation of the virtual standard motors, each motor is respectively synchronized with the virtual standard motors, so that the synchronization of multiple motors is realized, the condition that the overall output rotation speed between the multiple motors is reduced due to the increase of load is avoided, and the motors can be rapidly synchronized according to the virtual standard motors and are restored to the state before being interfered.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a multi-motor synchronous control method and device based on a virtual motor.
Background
Along with the vigorous development of control synchronization theory, computer software and hardware, the control synchronization of the motor becomes the preferred method for realizing synchronous vibration of various motor-driven large-scale vibration equipment. The traditional multi-motor synchronous control mainly aims at realizing the synchronization of a plurality of motors, and when the motors are not synchronized due to the interference of external loads and the like of vibration equipment, the traditional control system preferentially controls the synchronization of the plurality of motors, but cannot ensure that the motion state of the motors is consistent with that before the motors are interfered.
For example, due to sudden load changes, the output rotation speed of the motor is reduced, so that the motor is not synchronous with other motors, and the traditional control system only controls the motor to be synchronous with other motors, but cannot recover the output rotation speed of the motor, so that the motors are synchronous, but the rotation speed of each motor is lower than the starting rotation speed. In addition, the control system of some motors is very complicated, and the requirement on the information processing memory of the controller is very high, namely, the hardware requirement is very high, so that the manufacturing cost of the control system is high, and the control system is difficult to widely apply.
Disclosure of Invention
The invention provides a multi-motor synchronous control method and device based on a virtual motor, which are used for solving the defect that the motor cannot recover the motion state after being interfered by the outside in the prior art, realizing the synchronous motion of the multi-motor and adjusting the motion state to the state when the motor is not interfered.
The invention provides a multi-motor synchronous control method based on a virtual motor, which comprises the following steps: comparing at least one motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases corresponding to the motors; when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
According to the method for synchronously controlling the multiple motors based on the virtual motors, which is provided by the invention, according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motors, control signals are obtained, and the method comprises the following steps: obtaining a phase difference based on a standard phase of the virtual standard motor and the motor parameter; gain is carried out on the phase difference based on a PID control algorithm, and a gain signal is obtained; carrying out variable parameter gain on the gain signal to obtain gain parameters; and obtaining voltage according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, and sending the voltage as a control signal to control drivers of motors in one-to-one correspondence, wherein the motor parameter also comprises angular speed corresponding to the motors.
According to the multi-motor synchronous control method based on the virtual motor, the gain parameters are expressed as follows:
wherein k is 0 、k 1 And k 2 Respectively represent gain parameters lambda 0 、λ 1 And lambda (lambda) 2 Respectively representing preset coefficients, which are positive real numbers,represents the gain signal, U represents the standard voltage of the virtual standard motor, +.>Indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter.
According to the multi-motor synchronous control method based on the virtual motor, the voltage is expressed as:
wherein U is 1 Represents voltage, k 0 、k 1 And k 2 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter.
According to the multi-motor synchronous control method based on the virtual motor, provided by the invention, the phase difference is gained based on a PID control algorithm, and the method comprises the following steps: acquiring PID parameters based on a closed loop transfer function of a control system corresponding to at least one motor; and utilizing the PID parameters to gain the phase difference.
According to the method for synchronously controlling multiple motors based on the virtual motor provided by the invention, before comparing the pre-acquired at least one motor parameter with the standard phase of the virtual standard motor, the method further comprises the following steps: at least one motor parameter after signal processing is obtained, and the motor parameter is converted into a digital signal by an analog signal after the signal processing.
The invention also provides a multi-motor synchronous control device based on the virtual motor, which comprises: the judging module is used for comparing at least one motor parameter acquired in advance with a standard phase of a virtual standard motor and judging whether the motor corresponding to each motor parameter is synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases corresponding to the motors; and the control module is used for obtaining a control signal according to the standard phase of the virtual standard motor and the motor parameter corresponding to the motor when the motor and the virtual standard motor are asynchronous, and sending the control signal to the control driver to adjust the angle phase of the corresponding motor.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the multi-motor synchronous control method based on the virtual motor are realized when the processor executes the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the virtual motor based multi-motor synchronous control method as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements the steps of a virtual motor based multi-motor synchronous control method as described in any of the above.
According to the virtual motor-based multi-motor synchronous control method and device, the control motor is synchronous with the virtual standard motor, so that the time consumed from obtaining corresponding motor parameters to calculating corresponding control signals is reduced, and the control system is more sensitive; through the simulation of virtual standard motor to make each motor synchronous with virtual standard motor respectively, thereby realize many motors synchronous, and when avoiding the motor to receive interference such as external load abrupt change, the motor can be synchronous rapidly according to virtual standard motor, and resume to the state before receiving the interference, thereby avoid the load to increase and lead to the condition that whole output rotational speed descends between the many motors, reduced the performance requirement to the host computer, make it be applicable to various many motor driving systems better, reduction in production cost.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a multi-motor synchronous control method based on a virtual motor;
fig. 2 is a schematic diagram of a multi-motor synchronous control method based on a virtual motor according to the present invention;
FIG. 3 is a schematic diagram showing the effect of the virtual motor-based multi-motor synchronous control method provided by the invention;
fig. 4 is a schematic structural diagram of a virtual motor-based multi-motor synchronous control device provided by the invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 shows a flow diagram of a method for synchronous control of multiple motors based on virtual motors according to the present invention, the method comprising:
s01, comparing at least one motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases of the corresponding motors;
and S02, when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
It should be noted that, the execution main body of the embodiment is a core control host computer, which is configured to control each corresponding motor to be synchronous with the virtual standard motor based on the obtained at least one motor parameter, so as to realize synchronous control of multiple motors. S0N in the present specification does not represent the sequence of the virtual motor-based multi-motor synchronous control method, and the virtual motor-based multi-motor synchronous control method of the present invention is described below with reference to fig. 2 in detail.
And S01, comparing at least one motor parameter acquired in advance with a standard phase of the virtual standard motor, and judging whether the motor corresponding to each motor parameter is synchronous with the virtual standard motor or not, wherein the motor parameters comprise the angle phase of the corresponding motor.
In this embodiment, for the motor parameters corresponding to each motor, comparing each motor parameter obtained in advance with the standard phase of the virtual standard motor, and if the deviation between the angular phase and the standard phase in the motor parameters meets the preset condition, synchronizing the motor with the virtual standard motor; otherwise asynchronous. It should be noted that the preset condition may be set to have a deviation equal to 0 or be a deviation conforming to an error allowable range, and the error allowable range may be determined according to actual use requirements, which is not further limited herein.
The motor parameters comprise the angular phase and the angular speed of the motor, and the angular phase of each motor is respectively compared with the standard phase of the virtual standard motor so as to control each motor to be synchronous with the virtual standard motor, thereby being convenient for knowing the actual working condition of each motor and avoiding the asynchronous phenomenon caused by phase deviation between each motor and the virtual standard motor.
In addition, the virtual standard motor is a virtual model constructed based on the actual motor and is used for simulating the work of the motor under normal conditions so as to acquire the standard phase of the virtual standard motor, and further, the standard phase is compared with the angle phase of the corresponding motor to judge whether the corresponding motor is synchronous with the virtual standard motor or not, so that the actual working condition of the corresponding motor is known, and the asynchronous phenomenon caused by phase deviation of the corresponding motor is avoided.
Since the motor is vibrated by the rotation of the inner eccentric mass, the position of the eccentric mass is related to the vibration amplitude of the motor. In addition, the vibration signal is periodically changed, in one period, the highest point of motor vibration is the phase 1 of the motor, the lowest point of motor vibration is the phase 2 of the motor, in the next period, the highest point of motor vibration is the phase 3 of the motor, the time between the phase 1 and the phase 3 is recorded as t, namely the time required by one rotation of the motor, and the rotating speed of the motor is 60/t revolutions/min. Because the actual motor rotates faster, only two phase positions (namely a vibration maximum position and a vibration minimum position) in the motor are needed to be positioned, so that the motor rotation speed is obtained through the time interval between the two phases, and the synchronous condition among multiple motors is judged.
In an alternative embodiment, before comparing the pre-acquired at least one motor parameter with the standard phase of the virtual standard motor, respectively, the method further comprises: at least one motor parameter after signal processing is obtained, and the motor parameter is converted into a digital signal by an analog signal after signal processing. It should be noted that, obtaining at least one motor parameter after signal processing includes: acquiring a vibration signal of at least one motor; and processing the vibration signal by using a signal processor to obtain motor parameters, wherein the motor parameters comprise the angular phase and the angular speed of the corresponding motor. The vibration signal is processed by the signal processor so as to be converted into a digital signal from an analog signal and transmitted to the core control upper computer. When the vibration signal of the motor is obtained, the sensor is used for measuring to judge the position of the eccentric block of the corresponding motor and obtain the phase change condition of each motor.
And step S02, when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
In this embodiment, the obtaining the control signal according to the standard phase of the virtual standard motor and the motor parameter corresponding to the motor includes: obtaining a phase difference based on the standard phase and motor parameters of the virtual standard motor; gain is carried out on the phase difference based on a PID control algorithm, and a gain signal is obtained; carrying out variable parameter gain on the gain signal to obtain gain parameters; according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, obtaining voltage, and sending the voltage as a control signal to control drivers of the motors in one-to-one correspondence, wherein the motor parameter also comprises the angular speed of the corresponding motor.
It should be noted that, by comparing the motor parameters of the plurality of motors with the standard phases of the virtual standard motors, whether each motor is synchronous with the virtual standard motor is further determined, so that each corresponding motor is controlled to be synchronous with the virtual standard motor according to the virtual standard motor. In addition, each motor is correspondingly connected with a control driver, so that after the corresponding control driver receives corresponding control signals, the corresponding motors are controlled according to the control signals, and each motor is controlled to be synchronous with the virtual standard motor. Specifically:
first, a phase difference is obtained based on a standard phase of a virtual standard motor and motor parameters. Note that, the standard phase of the virtual motor is recorded asThe motor parameters include the corresponding angular phase of the motor which is recorded as +.>The phase difference is recorded as
And secondly, gain is carried out on the phase difference based on a PID control algorithm, and a gain signal is obtained. In this embodiment, gain the phase difference based on the PID control algorithm includes: acquiring PID parameters based on a closed loop transfer function of a control system corresponding to at least one motor; the phase difference is gained by using the PID parameters. It should be noted that the PID parameters include a scaling factor K P Integral coefficient K I And differential coefficient K D 。
Wherein b 1 Representing the angular phase coefficient as a non-negative real number; b 2 The angular velocity coefficient is represented as a non-negative real number; b 3 Representing a control voltage coefficient, which is a positive real number; K. a represents the coefficient of calculating the proportion, the integral and the breeze, which is the PID control coefficient, and three gain coefficients of the proportion, the integral and the derivative are calculated through K, a two parameters; s represents the symbol when the formula performs the laplace transform and the symbol after the angular phase performs the laplace transform.
In addition, the gain signal is expressed as:
wherein e represents a phase difference, k P Representing the proportional gain coefficient, k I Representing the integral gain coefficient, k D Representing the coefficient of differential gain,representing the sign of differentiation of the phase difference.
For example, in calculating PID parameters, based on the presets t=0:0.01:8, k=1:0.1:5, a=0.1:0.1:5, b 1 ＝20、b 2 ＝30、b 3 Numerical values of=50, i=1:30 and j=1:30 are defined such that num= [ b 3 *K(i)2*b 3 *K(i)*a(j)b 3 *K(i)*a(j)2]，den＝[1*b1+b 3 *K(i)b 2 +2*b 3 *K(i)*a(j)b 3 *K(i)*a(j)2]The method comprises the steps of carrying out a first treatment on the surface of the Calculate y=step (num, den, t) and find m=max (y). If m is<1.15 and m>1.00, then k=k+1; calculate (K,:) = [ K (i) a (j) m]Thereby obtaining a series of solutions of K, a and m, selecting the corresponding values of K and a based on the proportionality coefficient and the overshoot, and obtaining the proportionality K P Integral k I And differentiation k D Three gain coefficients.
And then, carrying out variable parameter gain on the gain signal to obtain gain parameters. In this embodiment, the variable parameter gain is performed on the gain signal to obtain three sets of gain parameters to be adjusted, where the three sets of gain parameters are expressed as:
wherein k is 0 、k 1 And k 2 Respectively represent gain parameters lambda 0 、λ 1 And lambda (lambda) 2 Respectively representing preset coefficients, which are positive real numbers,represents the gain signal, U represents the standard voltage of the virtual standard motor, +.>Indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter. Lambda is the sum of the values of lambda 0 、λ 1 And lambda (lambda) 2 For the parameters set in advance, setting may be performed based on actual related needs or usage scenarios, or the like.
Finally, according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, obtaining voltage, and sending the voltage as a control signal to a control driver; wherein the motor parameters further comprise the angular velocity of the corresponding motor. In this embodiment, the voltage is expressed as:
wherein U is 1 Represents voltage, k 0 、k 1 And k 2 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter.
In an alternative embodiment, the control drivers are in one-to-one correspondence with the motors, so that after the control drivers receive control signals corresponding to the motors output by the core control upper computer, each control driver transmits voltages to the corresponding motor, so that the corresponding motor adjusts the phase of the motor according to the voltages, and each motor is synchronous with the virtual standard motor.
In an alternative embodiment, the number of motors is four, the initial phase of the virtual standard motor is assumed to be 0, the initial phase of the motor 1 is assumed to be pi, the initial phase of the motor 2 is assumed to be pi, the initial phase of the motor 3 is assumed to be pi/2, the initial phase of the motor 4 is assumed to be pi/2, and based on the multi-motor synchronous control method based on the virtual motor in the embodiment, the synchronous results of the four motors are obtained.
In summary, the invention reduces the time consumption from obtaining the corresponding motor parameters to calculating the corresponding control signals by controlling each motor to synchronize with the virtual standard motor, thereby making the control system more sensitive; through the simulation of virtual standard motor to make each motor synchronous with virtual standard motor respectively, thereby realize many motors synchronous, and when avoiding the motor to receive interference such as external load abrupt change, the motor can be synchronous rapidly according to virtual standard motor, and resume to the state before receiving the interference, thereby avoid the load to increase and lead to the condition that whole output rotational speed descends between the many motors, reduced the performance requirement to the host computer, make it be applicable to various many motor driving systems better, reduction in production cost.
The following describes the multi-motor synchronous control device based on the virtual motor, and the multi-motor synchronous control device based on the virtual motor and the multi-motor synchronous control method based on the virtual motor described below can be correspondingly referred to each other.
Fig. 4 shows a schematic structural diagram of a virtual motor-based multi-motor synchronous control device according to the present invention, the device comprising:
the judging module 31 compares at least one motor parameter acquired in advance with a standard phase of the virtual standard motor, and judges whether the motor corresponding to each motor parameter is synchronous with the virtual standard motor, wherein the motor parameter comprises an angle phase of the corresponding motor;
the control module 32 obtains a control signal according to the standard phase of the virtual standard motor and the motor parameter corresponding to the motor when the motor is asynchronous with the virtual standard motor, and sends the control signal to the control driver to adjust the angular phase of the corresponding motor.
In the present embodiment, the judging module 31 includes: the comparison unit is used for comparing at least one motor parameter acquired in advance with a standard phase of the virtual standard motor; the judging unit judges whether the motor corresponding to the motor parameter is synchronous with the virtual standard motor according to the comparison result of the comparison unit; wherein the motor parameter comprises an angular phase of the motor. It should be noted that if the deviation between the angular phase and the standard phase in the motor parameters meets the preset condition, the motor is synchronized with the virtual standard motor; otherwise asynchronous. In addition, the preset condition may be set to have a deviation equal to 0 or a deviation corresponding to an error allowable range, which may be determined according to actual use requirements, and is not further limited herein.
The motor parameters comprise the angular phase and the angular speed of the motor, and the angular phase of each motor is respectively compared with the standard phase of the virtual standard motor so as to control each motor to be synchronous with the virtual standard motor, thereby being convenient for knowing the actual working condition of each motor and avoiding the asynchronous phenomenon caused by phase deviation between each motor and the virtual standard motor.
In addition, the virtual standard motor is a virtual model constructed based on the actual motor and is used for simulating the work of the motor under normal conditions so as to acquire the standard phase of the virtual standard motor, and further, the standard phase is compared with the angle phase of the corresponding motor to judge whether the corresponding motor is synchronous with the virtual standard motor or not, so that the actual working condition of the corresponding motor is known, and the asynchronous phenomenon caused by phase deviation of the corresponding motor is avoided.
In an alternative embodiment, the device further comprises an acquisition module for acquiring at least one motor parameter after signal processing, wherein the motor parameter is converted into a digital signal by an analog signal after the signal processing. Specifically, the acquisition module includes: an acquisition unit that acquires a vibration signal of at least one motor; and the signal processing unit is used for carrying out signal processing on the vibration signal by using the signal processor to obtain motor parameters, wherein the motor parameters comprise the angular phase and the angular speed of the corresponding motor. The vibration signal is processed by the signal processor to convert the measured vibration signal from an analog signal to a digital signal and transmit the digital signal to the core control upper computer. In addition, when the vibration signal of the motor is obtained, the sensor is used for measuring to judge the position of each motor eccentric block and obtain the phase change condition of the corresponding motor.
A control module 32 comprising: the phase difference acquisition unit is used for obtaining a phase difference based on the standard phase and motor parameters of the virtual standard motor; the PID gain unit is used for carrying out gain on the phase difference based on a PID control algorithm to obtain a gain signal; the variable parameter gain unit is used for carrying out variable parameter gain on the gain signal to obtain gain parameters; the voltage acquisition unit obtains voltage according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, and sends the voltage as a control signal to a control driver corresponding to each motor one by one, and the motor parameter also comprises the angular speed of the corresponding motor.
Specifically, the PID gain unit includes: acquiring corresponding PID parameters based on a closed loop transfer function of a control system of each motor; and the gain unit is used for gaining the phase difference corresponding to the corresponding motor by utilizing each PID parameter.
In an alternative embodiment, the control driver is in one-to-one correspondence with the motors so as to receive control signals corresponding to the motors output by the core control upper computer, and further control the corresponding motors according to the control signals, so that synchronization between the motors and the virtual standard motors is realized.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: a processor (processor) 41, a communication interface (Communications Interface) 42, a memory (memory) 43 and a communication bus 44, wherein the processor 41, the communication interface 42 and the memory 43 perform communication with each other through the communication bus 44. Processor 41 may invoke logic instructions in memory 43 to perform a virtual motor based multi-motor synchronous control method comprising: comparing at least one motor parameter obtained in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases of the corresponding motors; when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
Further, the logic instructions in the memory 43 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the virtual motor-based multi-motor synchronous control method provided by the above methods, and the method includes: comparing at least one motor parameter obtained in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases of the corresponding motors; when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the virtual motor-based multi-motor synchronous control method provided by the above methods, the method comprising: comparing at least one motor parameter obtained in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases of the corresponding motors; when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A multi-motor synchronous control method based on a virtual motor is characterized by comprising the following steps:
comparing at least one motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether motors corresponding to the motor parameters are synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases corresponding to the motors;
when the motor is asynchronous with the virtual standard motor, a control signal is obtained according to the standard phase of the virtual standard motor and the motor parameters corresponding to the motor, and the control signal is sent to a control driver to adjust the angle phase of the corresponding motor;
and obtaining a control signal according to the standard phase of the virtual standard motor and the motor parameter corresponding to the motor, wherein the control signal comprises the following components:
obtaining a phase difference based on a standard phase of the virtual standard motor and the motor parameter;
gain is carried out on the phase difference based on a PID control algorithm, and a gain signal is obtained;
carrying out variable parameter gain on the gain signal to obtain gain parameters;
obtaining voltage according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, and sending the voltage as a control signal to control drivers of motors in one-to-one correspondence, wherein the motor parameter also comprises angular speed corresponding to the motors;
the gain parameter is expressed as:
wherein k is 0 、k 1 And k 2 Respectively represent gain parameters lambda 0 、λ 1 And lambda (lambda) 2 Respectively representThe preset coefficient is a positive real number,represents the gain signal, U represents the standard voltage of the virtual standard motor, +.>Indicating the angular phase comprised by the motor parameter, +.>Representing an angular velocity included in the motor parameter;
the voltage is expressed as:
wherein U is 1 Represents voltage, k 0 、k 1 And k 2 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter.
2. The virtual motor-based multi-motor synchronous control method according to claim 1, wherein the phase difference is gained based on a PID control algorithm, comprising:
acquiring PID parameters based on a closed loop transfer function of a control system corresponding to at least one motor;
and utilizing the PID parameters to gain the phase difference.
3. The virtual motor-based multi-motor synchronous control method according to claim 1, further comprising, before said comparing the pre-acquired at least one motor parameter with a standard phase of a virtual standard motor: at least one motor parameter after signal processing is obtained, and the motor parameter is converted into a digital signal by an analog signal after the signal processing.
4. A virtual motor-based multi-motor synchronous control device, comprising:
the judging module is used for comparing at least one motor parameter acquired in advance with a standard phase of a virtual standard motor and judging whether the motor corresponding to each motor parameter is synchronous with the virtual standard motor or not, wherein the motor parameters comprise angle phases corresponding to the motors;
the control module is used for obtaining a control signal according to the standard phase of the virtual standard motor and the motor parameter corresponding to the motor when the motor and the virtual standard motor are asynchronous, and sending the control signal to a control driver to adjust the angle phase of the corresponding motor;
the control module comprises:
the phase difference acquisition unit is used for obtaining a phase difference based on the standard phase of the virtual standard motor and the motor parameter;
the PID gain unit is used for carrying out gain on the phase difference based on a PID control algorithm to obtain a gain signal;
the variable parameter gain unit is used for carrying out variable parameter gain on the gain signal to obtain a gain parameter;
the voltage acquisition unit is used for obtaining voltage according to the gain parameter, the standard voltage of the virtual standard motor and the motor parameter, and sending the voltage as a control signal to control drivers corresponding to the motors one by one, wherein the motor parameter also comprises angular speed corresponding to the motors;
the gain parameter is expressed as:
wherein k is 0 、k 1 And k 2 Respectively represent gain parameters lambda 0 、λ 1 And lambda (lambda) 2 Respectively representing preset coefficients, which are positive real numbers,represents the gain signal, U represents the standard voltage of the virtual standard motor, +.>Indicating the angular phase comprised by the motor parameter, +.>Representing an angular velocity included in the motor parameter;
the voltage is expressed as:
wherein U is 1 Represents voltage, k 0 、k 1 And k 2 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the motor parameter, +.>Indicating the angular velocity comprised by the motor parameter.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the virtual motor based multi-motor synchronous control method according to any one of claims 1 to 3 when the program is executed.
6. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the virtual motor based multi-motor synchronous control method according to any one of claims 1 to 3.
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