CN113992067A - Torque balance control method and system for annular knitting machine and storage device - Google Patents

Torque balance control method and system for annular knitting machine and storage device Download PDF

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Publication number
CN113992067A
CN113992067A CN202111003984.5A CN202111003984A CN113992067A CN 113992067 A CN113992067 A CN 113992067A CN 202111003984 A CN202111003984 A CN 202111003984A CN 113992067 A CN113992067 A CN 113992067A
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current
loop
motor
control
permanent magnet
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朱永飞
陈向坤
窦海
杨跃国
乔闯
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Jiangsu Gaobei Electrical Equipment Co Ltd
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Jiangsu Gaobei Electrical Equipment Co Ltd
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • H02P2207/055—Surface mounted magnet motors

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention relates to the technical field of knitting machines, in particular to a torque balance control method, a torque balance control system and a torque balance control storage device for an annular knitting machine. The torque balance control method for the annular braiding machine comprises the following steps: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control; the slave motor adopts a torque control mode; the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor. By the method, torque balance control can be realized, the rotating speeds of the motors are synchronous, the stable operation of the knitting machine is ensured, and the quality and the production efficiency of the fabric are improved.

Description

Torque balance control method and system for annular knitting machine and storage device
Technical Field
The invention relates to the technical field of knitting machines, in particular to a torque balance control method, a torque balance control system and a torque balance control storage device for an annular knitting machine.
Background
The annular knitting machine has more gears, drive plates and yarn carriers, has high requirement on driving power, and can meet the requirement of uninterrupted motion only by synchronous driving of a plurality of servo motors. The motors on the braiding ring are connected through the hard shafts of the gears, so that the aim of forced synchronization of the rotating speed is fulfilled, however, due to the fact that problems of different meshing rigidity, manufacturing errors, tooth side gaps and the like exist in a gear transmission system, load moments borne by the motors are different, the braiding machine is blocked during operation, and braiding quality and production efficiency are seriously affected.
Disclosure of Invention
Therefore, a torque balance control method for the annular knitting machine is needed to be provided, so as to solve the technical problems that the clamping phenomenon occurs in the operation process of the knitting machine due to different load moments of motors of the annular knitting machine, and the knitting quality of the fabric is seriously affected. The specific technical scheme is as follows:
a torque balance control method for an annular braiding machine comprises the following steps:
the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
Further, the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control.
Further, the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000021
Figure RE-GDA0003394357910000022
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000023
Figure RE-GDA0003394357910000024
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-GDA0003394357910000025
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000026
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000027
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000028
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000029
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA00033943579100000210
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA00033943579100000211
in order to solve the technical problem, the torque balance control system of the annular knitting machine is further provided, and the specific technical scheme is as follows:
an endless loop braiding machine torque equalization control system comprising: a master motor and a slave motor;
the main motor adopts a position control mode, and the position loop, the speed loop and the current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
Further, the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control.
Further, the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000031
Figure RE-GDA0003394357910000032
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000033
Figure RE-GDA0003394357910000034
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-GDA0003394357910000035
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000036
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000037
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000038
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000041
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA0003394357910000042
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000043
in order to solve the technical problem, the storage device is further provided, and the specific technical scheme is as follows:
a storage device having stored therein a set of instructions for performing: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
Further, the set of instructions is further for performing: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control.
Further, the set of instructions is further for performing: the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000044
Figure RE-GDA0003394357910000045
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000051
Figure RE-GDA0003394357910000052
in the formula: k represents a sampling sequence number at the current moment; k +1 represents belowSampling sequence numbers at a moment; t issIs a sampling period;
Figure RE-GDA0003394357910000053
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000054
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000055
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000056
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000057
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA0003394357910000058
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000059
the invention has the beneficial effects that: a torque balance control method for an annular braiding machine comprises the following steps: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control; adopting a torque control mode for the slave motor; the output of the speed loop of the master motor is a given amount of current in the current loop of the slave motor. By the method, the main motor adopts a position control mode and comprises a position loop, a speed loop and a current loop, wherein the position loop and the speed loop can enable the main motor to reach a given position and a given rotating speed. The auxiliary motor adopts a torque control mode and comprises a current loop, the given quantity of the current loop is the output quantity of the speed loop of the main motor, and the torque is in direct proportion to the current, so that the output torque of the auxiliary motor is ensured to be consistent with the output torque of the main motor, that is, the torque balance control can be realized, and the phenomenon that the knitting machine is blocked due to the fact that the output torque of each motor is too large in difference, and even the machine is blocked due to the fact that the acceleration is too large in the starting stage of the knitting machine is ensured not to occur. The two control modes of the main motor and the auxiliary motor are combined, so that the output torques of the motors are consistent, and the given position and the given rotating speed can be achieved.
Drawings
FIG. 1 is a flow chart of a method for torque equalization control of a circular knitting machine according to an embodiment;
FIG. 2 is a schematic diagram of a torque balance control method for a circular knitting machine according to an embodiment;
FIG. 3 is a block diagram of an embodiment of a torque balancing control system for an endless loop knitting machine;
fig. 4 is a block diagram of a storage device according to an embodiment.
Description of reference numerals:
300. a torque balance control system of an annular knitting machine,
301. the main motor is provided with a main motor,
302. from the position of the motor,
400. a storage device.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 2, in the present embodiment, a torque balance control method for an endless weaving machine is applied to a storage device, which may be an endless weaving machine, and the endless weaving machine includes: the main motor and the slave motor are specifically explained as follows:
step S101: the main motor adopts a position control mode, and the position loop, the speed loop and the current loop of the main motor are subjected to three-loop closing control.
Step S102: the slave motor adopts a torque control mode. I.e. the slave motor contains only a current loop.
Step S103: the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
The position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control. The following detailed description is made in conjunction with fig. 2:
as shown in fig. 2, the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor; the PMSM1 is a master motor, and the PMSM2, the PMSM3 and the PMSM4 are slave motors;
Figure RE-GDA0003394357910000071
a given amount for the main motor position at the kth sampling instant,
Figure RE-GDA0003394357910000072
is the actual position of the main motor;
Figure RE-GDA0003394357910000073
outputting the output quantity of the position loop of the main motor as the speed given quantity of the speed loop;
Figure RE-GDA0003394357910000074
the output quantity of the speed loop of the main motor is used as the given quantity of the current loops of the main motor and the slave motor; kSP1Is the proportionality coefficient of the main motor position loop P controller; kVP1、KVI1Proportional and integral coefficients of a main motor speed loop PI controller are respectively;
Figure RE-GDA0003394357910000075
is an inverter switch.
In the embodiment, the position loop of the main motor adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the current loops of the main motor and the auxiliary motor both adopt the model predictive current control (FCS-MPCC) of a limited control set.
The stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000076
Figure RE-GDA0003394357910000077
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000078
Figure RE-GDA0003394357910000079
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-GDA0003394357910000081
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000082
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000083
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000084
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000085
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA0003394357910000086
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000087
a torque balance control method for an annular braiding machine comprises the following steps: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control; adopting a torque control mode for the slave motor; the output of the speed loop of the master motor is a given amount of current in the current loop of the slave motor. Wherein the position ring and the speed ring can enable the main motor to reach a given position and rotating speed. The auxiliary motor adopts a torque control mode and comprises a current loop, the given quantity of the current loop is the output quantity of the speed loop of the main motor, and the torque is in direct proportion to the current, so that the output torque of the auxiliary motor is ensured to be consistent with the output torque of the main motor, that is, the torque balance control can be realized, and the phenomenon that the knitting machine is blocked due to the fact that the output torque of each motor is too large in difference, and even the machine is blocked due to the fact that the acceleration is too large in the starting stage of the knitting machine is ensured not to occur. The two control modes of the main motor and the auxiliary motor are combined, so that the output torques of the motors are consistent, and the given position and the given rotating speed can be achieved.
Referring to fig. 2 to 3, in the present embodiment, an embodiment of a torque balance control system 300 for a circular knitting machine is as follows:
an endless loop braiding machine torque equalization control system 300, comprising: a master motor 301 and a slave motor 302;
the main motor 301 adopts a position control mode, and the position loop, the speed loop and the current loop of the main motor 301 perform three-loop closing control;
the slave motor 302 adopts a torque control mode;
the output of the speed loop of the master motor 301 is taken as the current of the current loop of the slave motor 302 by a given amount.
Further, the position loop of the main motor 301 adopts proportional control, the speed loop of the main motor 301 adopts proportional-integral control, the current loop of the main motor 301 adopts finite control set model prediction current control, and the current loop of the slave motor 302 adopts finite control set model prediction current control.
Further, the main motor 301 includes: a surface-mount permanent magnet synchronous motor, the slave motor 302 comprising: a surface-mounted permanent magnet synchronous motor; as shown in fig. 2, PMSM1 is a master motor 301, PMSM2, PMSM3 and PMSM4 are slave motors 302;
Figure RE-GDA0003394357910000091
a given amount for the position of main motor 301 at the kth sampling instant,
Figure RE-GDA0003394357910000092
is the actual position of the main motor 301;
Figure RE-GDA0003394357910000093
loop output for main motor 301 position as speed loop speed given quantity;
Figure RE-GDA0003394357910000094
the output quantity is the speed loop output quantity of the main motor 301, and is simultaneously taken as the current loop given quantity of the main motor 301 and the slave motor 302; kSP1The scaling factor of the controller for the main motor 301 position loop P; kVP1、KVI1Proportional and integral coefficients of the speed loop PI controller of the main motor 301 are respectively;
Figure RE-GDA0003394357910000095
is an inverter switch.
In this embodiment, the position loop of the master motor 301 adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the current loops of the master motor 301 and the slave motor 302 both adopt finite control set model predictive current control (FCS-MPCC).
The stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000096
Figure RE-GDA0003394357910000097
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000101
Figure RE-GDA0003394357910000102
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-GDA0003394357910000103
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000104
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000105
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000106
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000107
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA0003394357910000108
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000109
through the system, the position ring and the speed ring can enable the main motor to reach a given position and a given rotating speed. The auxiliary motor adopts a torque control mode and comprises a current loop, the given quantity of the current loop is the output quantity of the speed loop of the main motor, and the torque is in direct proportion to the current, so that the output torque of the auxiliary motor is ensured to be consistent with the output torque of the main motor, that is, the torque balance control can be realized, and the phenomenon that the knitting machine is blocked due to the fact that the output torque of each motor is too large in difference, and even the machine is blocked due to the fact that the acceleration is too large in the starting stage of the knitting machine is ensured not to occur. The two control modes of the main motor and the auxiliary motor are combined, so that the output torques of the motors are consistent, and the given position and the given rotating speed can be achieved.
Referring to fig. 2 and fig. 4, in the present embodiment, an embodiment of a memory device 400 is as follows:
a storage device 400 having stored therein a set of instructions for performing: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
Further, the set of instructions is further for performing: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control.
Further, the set of instructions is further for performing: the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor; as shown in fig. 2, PMSM1 is a master motor, PMSM2, PMSM3 and PMSM4 are slave motors;
Figure RE-GDA0003394357910000111
a given amount for the main motor position at the kth sampling instant,
Figure RE-GDA0003394357910000112
is the actual position of the main motor;
Figure RE-GDA0003394357910000113
outputting the output quantity of the position loop of the main motor as the speed given quantity of the speed loop;
Figure RE-GDA0003394357910000114
the output quantity of the speed loop of the main motor is used as the given quantity of the current loops of the main motor and the slave motor; kSP1Is the proportionality coefficient of the main motor position loop P controller; kVP1、KVI1Proportional and integral coefficients of a main motor speed loop PI controller are respectively;
Figure RE-GDA0003394357910000115
is an inverter switch.
In the embodiment, the position loop of the main motor adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the current loops of the main motor and the auxiliary motor both adopt the model predictive current control (FCS-MPCC) of a limited control set.
The stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000116
Figure RE-GDA0003394357910000117
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、 iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-GDA0003394357910000121
Figure RE-GDA0003394357910000122
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-GDA0003394357910000123
are each kTsD-q axis current values at time;
Figure RE-GDA0003394357910000124
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-GDA0003394357910000125
are each kTsA d-q axis voltage component at a time;
Figure RE-GDA0003394357910000126
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000127
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-GDA0003394357910000128
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-GDA0003394357910000129
executed by the instruction set stored by the above memory device 400, wherein the position loop and the speed loop enable the main motor to reach a given position and rotation speed. The auxiliary motor adopts a torque control mode and comprises a current loop, the given quantity of the current loop is the output quantity of the speed loop of the main motor, and the torque is in direct proportion to the current, so that the output torque of the auxiliary motor is ensured to be consistent with the output torque of the main motor, that is, the torque balance control can be realized, and the phenomenon that the knitting machine is blocked due to the fact that the output torque of each motor is too large in difference, and even the machine is blocked due to the fact that the acceleration is too large in the starting stage of the knitting machine is ensured not to occur. The two control modes of the main motor and the auxiliary motor are combined, so that the output torques of the motors are consistent, and the given position and the given rotating speed can be achieved.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.

Claims (9)

1. A torque balance control method for an annular braiding machine is characterized by comprising the following steps:
the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
2. The endless braiding machine torque balance control method of claim 1, wherein the position loop of the master motor is proportional controlled, the speed loop of the master motor is proportional-integral controlled, the current loop of the master motor is predictive current controlled using a finite control set model, and the current loop of the slave motor is predictive current controlled using a finite control set model.
3. The endless braiding machine torque equalization control method of claim 1, wherein the main motor comprises: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000011
Figure RE-FDA0003394357900000012
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-FDA0003394357900000013
Figure RE-FDA0003394357900000014
in the formula: k represents a sampling sequence number at the current moment; k +1 represents the next timeCarving sampling serial numbers; t issIs a sampling period;
Figure RE-FDA0003394357900000015
are each kTsD-q axis current values at time;
Figure RE-FDA0003394357900000016
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-FDA0003394357900000021
are each kTsA d-q axis voltage component at a time;
Figure RE-FDA0003394357900000022
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000023
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-FDA0003394357900000024
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000025
4. an endless loop braiding machine torque equalization control system, comprising: a master motor and a slave motor;
the main motor adopts a position control mode, and the position loop, the speed loop and the current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
5. The endless braiding machine torque equalization control system of claim 4, wherein the position loop of the master motor uses proportional control, the speed loop of the master motor uses proportional-integral control, the current loop of the master motor uses finite control set model predictive current control, and the current loop of the slave motor uses finite control set model predictive current control.
6. The endless braiding machine torque equalization control system of claim 4, wherein the main motor comprises: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000026
Figure RE-FDA0003394357900000031
in the formula: l isSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-FDA0003394357900000032
Figure RE-FDA0003394357900000033
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-FDA0003394357900000034
are each kTsD-q axis current values at time;
Figure RE-FDA0003394357900000035
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-FDA0003394357900000036
are each kTsA d-q axis voltage component at a time;
Figure RE-FDA0003394357900000037
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000038
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-FDA0003394357900000039
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-FDA00033943579000000310
7. a storage device having a set of instructions stored therein, the set of instructions being operable to perform: the method comprises the following steps that a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor are subjected to three-loop closing control;
the slave motor adopts a torque control mode;
the output of the speed loop of the master motor is taken as the current given amount of the current loop of the slave motor.
8. The storage device of claim 7, wherein the set of instructions is further configured to perform: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts limited control set model prediction current control, and the current loop of the slave motor adopts limited control set model prediction current control.
9. The storage device of claim 7, wherein the set of instructions is further configured to perform: the main motor includes: surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;
the stator current state equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000041
Figure RE-FDA0003394357900000042
in the formula：LSIs a stator inductance; rSIs a stator resistor; u. ofd、uqD-q axis voltage components, respectively; i.e. id、iqD-q axis current components, respectively; psifIs a permanent magnet flux linkage; omegaeIs the rotor electrical angular velocity;
and (3) discretizing the formulas (1) to (2) by adopting a forward Euler formula respectively to obtain a d-q axis current prediction formula at the next sampling moment:
Figure RE-FDA0003394357900000043
Figure RE-FDA0003394357900000044
in the formula: k represents a sampling sequence number at the current moment; k +1 represents a sampling sequence number at the next moment; t issIs a sampling period;
Figure RE-FDA0003394357900000045
are each kTsD-q axis current values at time;
Figure RE-FDA0003394357900000046
are respectively (k +1) TsD-q axis current prediction values at the moment;
Figure RE-FDA0003394357900000047
are each kTsA d-q axis voltage component at a time;
Figure RE-FDA0003394357900000048
is kTsThe rotor electrical angular velocity at a time;
the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor under a d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000049
in the formula: k is a radical ofτIs a torque coefficient;
Figure RE-FDA0003394357900000051
in the formula: p is the number of pole pairs;
the motion equation of the permanent magnet synchronous motor under the d-q axis coordinate system is as follows:
Figure RE-FDA0003394357900000052
CN202111003984.5A 2021-08-30 2021-08-30 Torque balance control method and system for annular knitting machine and storage device Pending CN113992067A (en)

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