CN113890423B - 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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- CN113890423B CN113890423B CN202111145663.9A CN202111145663A CN113890423B CN 113890423 B CN113890423 B CN 113890423B CN 202111145663 A CN202111145663 A CN 202111145663A CN 113890423 B CN113890423 B CN 113890423B
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Abstract
The invention provides a multi-motor synchronous control method and device based on a virtual motor, wherein the method comprises the following steps: judging whether a first motor corresponding to the first motor parameter is synchronous with a virtual standard motor or not; when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor; judging whether the second motor corresponding to each second motor parameter is synchronous with the first motor or not; when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and the second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second motor. According to the invention, the multiple motors are synchronized through the virtual motors, so that when the motors are interfered by external load mutation and the like, the corresponding motors can be synchronized rapidly and restored to a 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 a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angular phase of the first motor; when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor; comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor; and when the first motor and the second motor are asynchronous, obtaining a second control signal according to the first motor parameter and a second motor parameter corresponding to the second motor, and sending the second control signal to a second control driver to adjust the angular phase of the second motor.
According to the method for synchronously controlling multiple motors based on the virtual motor, which is provided by the invention, according to the standard phase and the first motor parameter, a first control signal is obtained, and the method comprises the following steps: obtaining a first phase difference based on the standard phase of the virtual standard motor and the first motor parameter; gain is carried out on the first phase difference based on a PID control algorithm, and a first gain signal is obtained; performing variable parameter gain according to the first gain signal to obtain a first gain parameter; and obtaining a first voltage according to the first gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, and sending the first voltage to a first control driver as a first control signal, wherein the first motor parameter also comprises an angular speed corresponding to the first motor.
According to the multi-motor synchronous control method based on the virtual motor, the PID control algorithm is used for gaining the first phase difference, and the method comprises the following steps: acquiring a first PID parameter based on a closed loop transfer function of a control system of the first motor; and utilizing the first PID parameter to gain the first phase difference.
According to the multi-motor synchronous control method based on the virtual motor, the gain parameters are expressed as follows:
Wherein k is 10 、k 11 And k 12 Respectively represent gain parameters lambda 10 、λ 11 And lambda (lambda) 12 Respectively expressed in preset coefficients, is a positive real number,representing a first gain signal, U representing the standard voltage of the virtual standard motor, < >>Indicating the angular phase comprised by the first motor parameter, < >>Representing an angular velocity comprised by the first motor parameter;
the first voltage is expressed as:
wherein U is 1 Represents a first voltage, k 10 、k 11 And k 12 Respectively represent gain parameters, and U represents virtualThe standard voltage of the standard motor is set,indicating the angular phase comprised by the first motor parameter, < >>Representing the angular velocity comprised by the first motor parameter.
According to the method for synchronously controlling multiple motors based on the virtual motor, which is provided by the invention, according to the first motor parameter and the second motor parameter corresponding to the second motor, a second control signal is obtained, and the method comprises the following steps: obtaining a second phase difference based on the second motor parameter and the first motor parameter; gain is carried out on the second phase difference based on a PID control algorithm, and a second gain signal is obtained; performing variable parameter gain according to the second gain signal to obtain a second gain parameter; obtaining a second voltage according to the second gain parameter, the first voltage and the second motor parameter, and sending the second voltage to a second control driver as a second control signal, wherein the second motor parameter further comprises an angular speed corresponding to the second motor.
According to the method for synchronously controlling multiple motors based on the virtual motor provided by the invention, before the pre-acquired first motor parameter is compared with the standard phase of the virtual standard motor, the method further comprises the following steps: acquiring a first motor parameter after signal processing, wherein the first motor parameter is converted into a digital signal from an analog signal after the signal processing; before comparing the pre-acquired at least one second motor parameter with the first motor parameter, the method further comprises: and acquiring at least one second motor parameter subjected to signal processing, wherein the second 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 first judging module is used for comparing a first motor parameter acquired in advance with a standard phase of a virtual standard motor and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angular phase of the first motor; the first control module is asynchronous with the virtual standard motor based on the first motor, obtains a first control signal according to the standard phase and the first motor parameter, and sends the first control signal to a first control driver to adjust the angular phase of the first motor; the second judging module is used for comparing at least one second motor parameter acquired in advance with the first motor parameter respectively and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameters comprise angular phases corresponding to the second motor; and the second control module is used for obtaining a second control signal based on asynchronism of the first motor and the second motor, according to the first motor parameter and the second motor parameter corresponding to the second motor, sending the second control signal to a second control driver and adjusting the angular phase of the second 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 first motor is controlled to be synchronous with the virtual standard motor, and the second motor is controlled to be synchronous with the first motor, so that the time consumed from acquiring 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 first motor and virtual standard motor synchronous, thereby when avoiding first motor to receive interference such as external load abrupt change, first motor can be according to virtual standard motor quick synchronization, and resume to the state before receiving the interference, and second motor is according to first motor quick synchronization, and resume to the state before receiving the interference, thereby avoid the condition that the load increases and lead to whole output rotational speed to drop between the multiple motors, reduced the performance requirement to the host computer, make it be applicable to various multiple motor driving system 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 a standard phase of a virtual standard motor with a first motor parameter acquired in advance, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angular phase of the first motor;
s02, when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor;
s03, comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor;
and S04, when the first motor and the second motor are asynchronous, obtaining a second control signal according to the first motor parameter and the second motor parameter corresponding to the second motor, and sending the second control signal to a second control driver to adjust the angular phase of the second motor.
It should be noted that, the execution body of the embodiment is a core control host computer, which is configured to control the first motor to synchronize with the virtual standard motor and control the second motor to synchronize with the first motor based on the acquired first motor parameter, so as to realize multi-motor synchronous control. 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 the pre-acquired first motor parameter with a standard phase of the virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angle phase of the first motor.
In the embodiment, comparing a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and synchronizing the first motor with the virtual standard motor if the deviation of the angle phase and the standard phase in the first motor parameter meets a preset condition; 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.
In addition, the first motor parameter comprises an angular phase of the first motor, the virtual standard motor is a virtual model constructed based on the actual motor and used for simulating the work of the motor under normal conditions so as to acquire a standard phase of the virtual standard motor, and further, the standard phase is used for comparing with the angular phase of the first motor to judge whether the first motor is synchronous with the virtual standard motor or not, so that the actual working condition of the first motor is known, and the asynchronous phenomenon caused by phase deviation of the first motor is avoided.
Since the first 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 the vibration of the first motor is the phase 1 of the motor, the lowest point of the vibration of the first motor is the phase 2 of the motor, in the next period, the highest point of the vibration of the first motor is the phase 3 of the first motor, the time of the phase 1 and the phase 3 is recorded as t, namely, the time required by the first motor to rotate for one circle, and the rotating speed of the first motor is 60/t revolutions/min. Because the actual first motor rotates faster, only two phase positions (namely a vibration maximum position and a vibration minimum position) in the first motor are needed to be positioned, so that the first motor rotates at a time interval between the two phases, and the synchronous condition between the first motor and the virtual standard motor is judged.
In an alternative embodiment, before comparing the pre-acquired first motor parameter with the standard phase of the virtual standard motor, the method further comprises: acquiring a vibration signal of a first motor; and performing signal processing on the vibration signal by using a signal processor to obtain a first motor parameter. Wherein the first motor parameter includes an angular phase and an angular velocity corresponding to the first 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 first motor and obtain the phase change condition of the first motor.
Step S02, when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor.
In this embodiment, according to the standard phase and the first motor parameter, a first control signal is obtained, including: obtaining a first phase difference based on a standard phase of the virtual standard motor and a first motor parameter; gain is carried out on the first phase difference based on a PID control algorithm, and a first gain signal is obtained; carrying out variable parameter gain on the first gain signal to obtain gain parameters; according to the gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, obtaining a first voltage, sending the first voltage to the first control driver as a first control signal, wherein the first motor parameter also comprises the angular speed corresponding to the first motor. Specifically:
first, a first phase difference is obtained based on a standard phase of a virtual standard motor and a first motor parameter. Note that, the standard phase of the virtual motor is recorded asThe first motor parameter includes the corresponding angular phase of the first motor recorded as +.>The first phase difference is marked as- >
And secondly, gain is carried out on the first phase difference based on a PID control algorithm, and a first gain signal is obtained. In this embodiment, the gain of the first phase difference based on the PID control algorithm includes: acquiring a first PID parameter based on a closed loop transfer function of a control system of the first motor; the first phase difference is gained using the first PID parameter. It should be noted that the first PID parameter includes a scaling factor K P Integral coefficient K I And differential coefficient K D 。
Wherein, the control system of the virtual standard motor is closed-loop transfer function G c (s) expressed as:
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.
First gain signalExpressed as:
wherein e 1 Represents a first phase difference, k P1 Represents a first proportional gain coefficient, k I1 Representing a first integral gain coefficient, k D1 A first differential gain coefficient is represented and, Representing a first phase difference traceAnd (5) sign dividing.
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 according to the first gain signal to obtain a first gain parameter. In this embodiment, the variable parameter gain is performed on the first gain signal, so as to obtain three groups of first gain parameters, where the three groups of first gain parameters are expressed as:
wherein k is 10 、k 11 And k 12 Respectively represent a first gain parameter lambda 10 、λ 11 And lambda (lambda) 12 Respectively representing preset coefficients, which are positive real numbers,representing a first gain signal, U representing the standard voltage of the virtual standard motor, < >>Indicating the angular phase comprised by the first motor parameter, < >>Representing the angular velocity comprised by the first motor parameter. Lambda is the sum of the values of lambda 10 、λ 11 And lambda (lambda) 12 For the parameters set in advance, setting may be performed based on actual related needs or usage scenarios, or the like.
And finally, obtaining a first voltage according to the first gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, and sending the first voltage to the first control driver as a first control signal, wherein the first motor parameter also comprises the angular speed corresponding to the first motor. In this embodiment, the first voltage is expressed as:
wherein U is 1 Represents a first voltage, k 10 、k 11 And k 12 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the first motor parameter, < >>Representing the angular velocity comprised by the first motor parameter.
In an alternative embodiment, after the first control driver receives the first control signal, the first control driver transmits the first voltage to the first motor, so that the first motor adjusts its phase according to the first voltage, and the first motor is synchronized with the virtual standard motor.
Step S03, comparing at least one second motor parameter obtained in advance with the first motor parameter respectively, and judging whether the second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises the angle phase of the corresponding second motor.
In this embodiment, for the second motor parameters corresponding to each second motor, comparing each second motor parameter with the first motor parameter, and if the deviation of the angular phase in the second motor parameter and the first motor parameter meets the preset condition, synchronizing the second motor and the first 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.
In addition, the second motor parameters comprise the angular phase of the second motor, and the angular phase of each second motor is compared with the angular phase of the first motor respectively, so that each second motor is controlled to be synchronous with the first motor, the actual working condition of each second motor is conveniently known, and the asynchronous phenomenon caused by phase deviation between each second motor and the first motor is avoided.
In an alternative embodiment, before comparing the pre-acquired at least one second motor parameter with the first motor parameter, respectively, the method further comprises: acquiring a vibration signal of at least one second motor; and performing signal processing on the acquired vibration signals by using a signal processor to obtain second motor parameters corresponding to each second motor, wherein the second motor parameters comprise the angular phase of the second motor. Vibration information is processed by a signal processor. 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 second motor and obtain the phase change condition of the second motor; the measured vibration signal is converted from analog signal to digital signal by the signal processor and is transmitted to the core control upper computer. In addition, the first motor parameter after signal conversion in the above step can be directly obtained, so that the comparison between the first motor parameter after signal processing and the second motor parameter after signal processing can be directly utilized in the follow-up.
In an alternative embodiment, step S03 and step S01 may be performed synchronously. In other embodiments, steps S03 and S01 may also be performed asynchronously.
Step S04, when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and the second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second motor.
In this embodiment, obtaining the second control signal according to the first motor parameter and the second motor parameter corresponding to the second motor includes: obtaining a second phase difference based on the second motor parameter and the first motor parameter; gain is carried out on the second phase difference based on a PID control algorithm, and a second gain signal is obtained; performing variable parameter gain according to the second gain signal to obtain a second gain parameter; and obtaining a second voltage according to the second gain parameter, the first voltage and the second motor parameter, sending the second voltage to a second control driver as a second control signal, wherein the second motor parameter also comprises the angular speed corresponding to the second motor. Specifically:
first, a second phase difference is obtained based on the second motor parameter and the first motor parameter. In this embodiment, the angular phase of the first motor is recorded as The angular phase of the second motor is recorded as +.>The second phase difference is marked as +.>
And secondly, gain is carried out on the second phase difference based on a PID control algorithm, and a second gain signal is obtained. It should be noted that obtaining the second gain signal includes: acquiring a second PID parameter based on a closed loop transfer function of a control system of the second motor; the second phase difference is gained using the second PID parameter. The second PID parameter includes a scaling factor K P Integral coefficient K I And differential coefficient K D 。
Second gain signalExpressed as:
wherein e 2 Representing a second phase difference, k P2 Representing a second proportional gain coefficient, k I2 Representing a second integral gain coefficient, k D2 Representing a second differential gain coefficient of the gain,representing a second phase difference differential sign.
And then, carrying out variable parameter gain according to the second gain signal to obtain a second gain parameter. In this embodiment, the variable parameter gain is performed on the second gain signal, so as to obtain three groups of second gain parameters, where the three groups of second gain parameters are expressed as:
wherein k is 20 、k 21 And k 22 Respectively represent the second gain parameter lambda 20 、λ 21 And lambda (lambda) 22 Respectively representing preset coefficients, which are positive real numbers,representing a second gain signal, U 1 Representing a first voltage of the first motor, +.>Represent the firstThe two motor parameters include the angular phase, +. >Representing the angular velocity comprised by the second motor parameter. Lambda is the sum of the values of lambda 20 、λ 21 And lambda (lambda) 22 For the parameters set in advance, setting may be performed based on actual related needs or usage scenarios, or the like.
And finally, obtaining a second voltage according to the second gain parameter, the first voltage and the second motor parameter, and sending the second voltage to a second control driver as a second control signal, wherein the second motor parameter also comprises the angular speed corresponding to the second motor. In this embodiment, the second voltage is expressed as:
wherein U is 2 Represents a second voltage, k 20 、k 21 And k 22 Respectively represent gain parameters, U 1 The first voltage is represented by a first voltage,indicating the angular phase comprised by the second motor parameter, < >>Representing the angular velocity comprised by the second motor parameter.
In an alternative embodiment, step S04 and step S02 may be performed synchronously. In other embodiments, steps S04 and S02 may also be performed asynchronously.
In an alternative embodiment, if there are multiple second motors asynchronous with the first motor, the corresponding second control signals are acquired for the single second motor respectively, and the multiple second motors may acquire the corresponding control signals simultaneously, or may also be performed step by step, for example, each time the corresponding control signals are acquired for one second motor, or each time the corresponding second control signals are acquired for at least two second motors synchronously, which may be specifically defined according to the performance of the actually used control system, which is not further limited herein. In addition, the plurality of second motors may acquire corresponding control signals as described above, and will not be described herein.
In an alternative embodiment, the second control driver, after receiving the second control signal, transmits the second voltage to the second motor to cause the second motor to adjust its own phase according to the second voltage, thereby synchronizing the second motor with the first motor.
In an alternative embodiment, the number of the first motors is one, the number of the second motors is two, the initial phase of the virtual standard motor is assumed to be 0, the initial phase of the first motor is pi, the initial phase of one second motor is pi/2, the initial phase of the other second motor is pi, based on the multi-motor synchronous control method based on the virtual motors in the embodiment, the synchronous results of the three motors are obtained, and referring to fig. 3, it can be known that the method can reduce the time consumption from the acquisition of the vibration signals of the corresponding motors to the calculation of the corresponding control signals, and improve the sensitivity.
In summary, the first motor is controlled to be synchronous with the virtual standard motor, and the second motor is controlled to be synchronous with the first motor, so that the time consumed from acquiring 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 first motor and virtual standard motor synchronous, thereby when avoiding first motor to receive interference such as external load abrupt change, first motor can be according to virtual standard motor quick synchronization, and resume to the state before receiving the interference, and second motor is according to first motor quick synchronization, and resume to the state before receiving the interference, thereby avoid the condition that the load increases and lead to whole output rotational speed to drop between the multiple motors, reduced the performance requirement to the host computer, make it be applicable to various multiple motor driving system 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, which includes:
the first judging module 41 compares a first motor parameter acquired in advance with a standard phase of the virtual standard motor, and judges whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor, wherein the first motor parameter comprises an angular phase of the first motor;
the first control module 42 obtains a first control signal according to the standard phase and the first motor parameter when the first motor is asynchronous with the virtual standard motor, and sends the first control signal to the first control driver to adjust the angular phase of the first motor;
the second judging module 43 compares at least one second motor parameter obtained in advance with the first motor parameter respectively, and judges whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor;
The second control module 44 obtains a second control signal according to the first motor parameter and a second motor parameter corresponding to the second motor when the first motor and the second motor are asynchronous, and sends the second control signal to the second control driver to adjust the angular phase of the second motor.
In this embodiment, the first judging module 41 includes: the first comparison unit is used for comparing the pre-acquired first motor parameter with the standard phase of the virtual standard motor; the first judging unit judges whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not according to the comparison result of the comparison unit; wherein the first motor parameter comprises an angular phase of the first motor. It should be noted that, if the deviation between the angular phase and the standard phase in the first motor parameter meets the preset condition, the first 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.
In an alternative embodiment, the apparatus further includes a first acquisition module, specifically including: an acquisition unit that acquires a vibration signal of the first motor; and the signal processing unit is used for carrying out signal processing on the vibration signal by using the signal processor to obtain a first motor parameter, wherein the first motor parameter comprises an angular phase and an angular speed corresponding to the first 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 acquired, the sensor is used for measuring to judge the position of the eccentric block of the first motor, and the phase change condition of the first motor is obtained.
The first control module 42 includes: the first phase difference acquisition unit is used for acquiring a first phase difference based on the standard phase of the virtual standard motor and the first motor parameter; the first PID gain unit is used for gaining the first phase difference based on a PID control algorithm to obtain a first gain signal; the first variable parameter gain unit is used for carrying out variable parameter gain on the first gain signal to obtain a first gain parameter; the first voltage acquisition unit obtains a first voltage according to the first gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, and sends the first voltage to the first control driver as a first control signal, wherein the first motor parameter also comprises the angular speed corresponding to the first motor.
Specifically, the first PID gain unit includes: the first parameter acquisition unit acquires a first PID parameter based on a closed loop transfer function of a control system of the first motor; and the first gain unit is used for performing gain on the first phase difference by utilizing the first PID parameter.
The second judging module 43 includes: the second comparison unit is used for comparing the second motor parameter acquired in advance with the first motor parameter; the first judging unit judges whether the second motor corresponding to the second motor parameter is synchronous with the first motor or not according to the comparison result of the comparison unit; wherein the second motor parameter comprises an angular phase of the second motor. It should be noted that if the deviation between the angular phase of the second motor parameter and the angular phase of the first motor meets a preset condition, the second motor is synchronized with the first 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.
In an alternative embodiment, the device further includes a second acquisition module, specifically including: an acquisition unit that acquires a vibration signal of at least one second motor; and the signal processing unit is used for carrying out signal processing on the vibration signals by using the signal processor to obtain second motor parameters corresponding to each second motor, wherein the second motor parameters comprise the angular phase and the angular speed corresponding to the second 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 second motor eccentric block, and the phase change condition of the corresponding second motor is obtained.
It should be noted that the second judging module 43 and the first judging module 41 may be the same judging module or may be different judging modules, and may be specifically set according to actual design requirements, which is not limited herein.
The second control module 44 includes: the second phase difference acquisition unit is used for obtaining a second phase difference based on the second motor parameter and the first motor parameter; the second PID gain unit is used for carrying out gain on the second phase difference based on a PID control algorithm to obtain a second gain signal; the second variable parameter gain unit is used for carrying out variable parameter gain on the second gain signal to obtain a second gain parameter; the second voltage acquisition unit obtains a second voltage according to the second gain parameter, the first voltage and the second motor parameter, and sends the second voltage to the second control driver as a second control signal, wherein the second motor parameter also comprises the angular speed corresponding to the second motor.
Specifically, the second PID gain unit includes: the second parameter acquisition unit acquires a second PID parameter based on a closed loop transfer function of a control system of the second motor; and a second gain unit for performing gain on the second phase difference by using the second PID parameter. It should be noted that, in the actual design process, the second PID gain unit and the first PID gain unit may be the same gain unit.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor (processor) 51, communication interface (Communications Interface) 42, memory (memory) 53 and communication bus 54, wherein processor 51, communication interface 52, memory 53 accomplish communication with each other through communication bus 54. Processor 51 may invoke logic instructions in memory 53 to perform a virtual motor based multi-motor synchronous control method comprising: comparing a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angle phase of the first motor; when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor; comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor; when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and the second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second motor.
Further, the logic instructions in the memory 53 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 a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angle phase of the first motor; when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor; comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor; when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and the second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second 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 a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angle phase of the first motor; when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor; comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor; when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and the second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second 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 a first motor parameter acquired in advance with a standard phase of a virtual standard motor, and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angular phase of the first motor;
when the first motor and the virtual standard motor are asynchronous, a first control signal is obtained according to the standard phase and the first motor parameter, and the first control signal is sent to a first control driver to adjust the angular phase of the first motor;
Comparing at least one second motor parameter acquired in advance with the first motor parameter respectively, and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameter comprises an angular phase corresponding to the second motor;
when the first motor and the second motor are asynchronous, a second control signal is obtained according to the first motor parameter and a second motor parameter corresponding to the second motor, and the second control signal is sent to a second control driver to adjust the angular phase of the second motor;
obtaining a first control signal according to the standard phase and the first motor parameter, including:
obtaining a first phase difference based on the standard phase of the virtual standard motor and the first motor parameter;
gain is carried out on the first phase difference based on a PID control algorithm, and a first gain signal is obtained;
performing variable parameter gain according to the first gain signal to obtain a first gain parameter;
obtaining a first voltage according to the first gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, and sending the first voltage to a first control driver as a first control signal, wherein the first motor parameter also comprises an angular speed corresponding to the first motor;
The first gain parameter is expressed as:
wherein k is 10 、k 11 And k 12 Respectively represent a first gain parameter lambda 10 、λ 11 And lambda (lambda) 12 Respectively representing preset coefficients, which are positive real numbers,representing a first gain signal, U representing the standard voltage of the virtual standard motor, < >>Indicating the angular phase comprised by the first motor parameter, < >>Representing an angular velocity comprised by the first motor parameter;
the first voltage is expressed as:
wherein U is 1 Represents a first voltage, k 10 、k 11 And k 12 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the first motor parameter, < >>Representing an angular velocity comprised by the first motor parameter;
the obtaining a second control signal according to the first motor parameter and the second motor parameter corresponding to the second motor includes:
obtaining a second phase difference based on the second motor parameter and the first motor parameter;
gain is carried out on the second phase difference based on a PID control algorithm, and a second gain signal is obtained;
performing variable parameter gain according to the second gain signal to obtain a second gain parameter;
obtaining a second voltage according to the second gain parameter, the first voltage and the second motor parameter, and sending the second voltage to a second control driver as a second control signal, wherein the second motor parameter also comprises an angular speed corresponding to the second motor;
The second gain parameter is expressed as:
wherein k is 20 、k 21 And k 22 Respectively represent the second gain parameter lambda 20 、λ 21 And lambda (lambda) 22 Respectively representing preset coefficients, which are positive real numbers,representing a second gain signal, U 1 Representing a first voltage of the first motor, +.>Representing the angular phase comprised by the second motor parameter,representing an angular velocity comprised by the second motor parameter;
the second voltage is expressed as:
wherein U is 2 Represents a second voltage, k 20 、k 21 And k 22 Respectively represent gain parameters, U 1 The first voltage is represented by a first voltage,indicating the angular phase comprised by the second motor parameter, < >>Representing the angular velocity comprised by the second motor parameter.
2. The virtual motor-based multi-motor synchronous control method according to claim 1, wherein the PID-based control algorithm gains the first phase difference, comprising:
acquiring a first PID parameter based on a closed loop transfer function of a control system of the first motor;
and utilizing the first PID parameter to gain the first phase difference.
3. The virtual motor-based multi-motor synchronous control method according to claim 1, further comprising, before comparing the pre-acquired first motor parameter with a standard phase of a virtual standard motor: acquiring a first motor parameter after signal processing, wherein the first motor parameter is converted into a digital signal from an analog signal after the signal processing;
Before comparing the pre-acquired at least one second motor parameter with the first motor parameter, the method further comprises: and acquiring at least one second motor parameter subjected to signal processing, wherein the second 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 first judging module is used for comparing a first motor parameter acquired in advance with a standard phase of a virtual standard motor and judging whether the first motor corresponding to the first motor parameter is synchronous with the virtual standard motor or not, wherein the first motor parameter comprises an angular phase of the first motor;
the first control module is used for obtaining a first control signal according to the standard phase and the first motor parameter when the first motor and the virtual standard motor are asynchronous, sending the first control signal to a first control driver and adjusting the angular phase of the first motor;
the second judging module is used for comparing at least one second motor parameter acquired in advance with the first motor parameter respectively and judging whether a second motor corresponding to each second motor parameter is synchronous with the first motor or not, wherein the second motor parameters comprise angular phases corresponding to the second motor;
The second control module is used for obtaining a second control signal according to the first motor parameter and a second motor parameter corresponding to the second motor when the first motor and the second motor are asynchronous, sending the second control signal to a second control driver and adjusting the angular phase of the second motor;
the first control module includes:
the first phase difference acquisition unit is used for acquiring a first phase difference based on the standard phase of the virtual standard motor and the first motor parameter;
the first PID gain unit is used for carrying out gain on the first phase difference based on a PID control algorithm to obtain a first gain signal;
the first variable parameter gain unit is used for carrying out variable parameter gain according to the first gain signal to obtain a first gain parameter;
the first voltage acquisition unit is used for obtaining a first voltage according to the first gain parameter, the standard voltage of the virtual standard motor and the first motor parameter, and sending the first voltage to a first control driver as a first control signal, wherein the first motor parameter also comprises an angular speed corresponding to the first motor;
the first gain parameter is expressed as:
k 10 、k 11 and k 12 Respectively represent a first gain parameter lambda 10 、λ 11 And lambda (lambda) 12 Respectively representing preset coefficients, which are positive real numbers,representing a first gain signal, U representing the standard voltage of the virtual standard motor, < >>Indicating the angular phase comprised by the first motor parameter, < >>Representing an angular velocity comprised by the first motor parameter;
the first voltage is expressed as:
wherein U is 1 Represents a first voltage, k 10 、k 11 And k 12 Respectively representing gain parameters, U represents the standard voltage of the virtual standard motor,indicating the angular phase comprised by the first motor parameter, < >>Representing an angular velocity comprised by the first motor parameter;
the second control module includes:
a second phase difference acquisition unit that obtains a second phase difference based on the second motor parameter and the first motor parameter;
the second PID gain unit is used for carrying out gain on the second phase difference based on a PID control algorithm to obtain a second gain signal;
the second variable parameter gain unit is used for carrying out variable parameter gain according to the second gain signal to obtain a second gain parameter;
a second voltage acquisition unit, configured to obtain a second voltage according to the second gain parameter, the first voltage, and the second motor parameter, and send the second voltage as a second control signal to a second control driver, where the second motor parameter further includes an angular velocity corresponding to the second motor;
The second gain parameter is expressed as:
wherein k is 20 、k 21 And k 22 Respectively represent the second gain parameter lambda 20 、λ 21 And lambda (lambda) 22 Respectively representing preset coefficients, which are positive real numbers,representing a second gain signal, U 1 Representing a first voltage of the first motor, +.>Representing the angular phase comprised by the second motor parameter,representing an angular velocity comprised by the second motor parameter;
the second voltage is expressed as:
wherein U is 2 Represents a second voltage, k 20 、k 21 And k 22 Respectively represent gain parameters, U 1 The first voltage is represented by a first voltage,indicating the angular phase comprised by the second motor parameter, < >>Representing the angular velocity comprised by the second 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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