CN114189176A - Multi-motor synchronous control method and device, computer equipment and readable storage medium - Google Patents
Multi-motor synchronous control method and device, computer equipment and readable storage medium Download PDFInfo
- Publication number
- CN114189176A CN114189176A CN202111509142.7A CN202111509142A CN114189176A CN 114189176 A CN114189176 A CN 114189176A CN 202111509142 A CN202111509142 A CN 202111509142A CN 114189176 A CN114189176 A CN 114189176A
- Authority
- CN
- China
- Prior art keywords
- motor
- nth
- target
- actual
- motors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The embodiment of the application provides a multi-motor synchronous control method, a multi-motor synchronous control device, computer equipment and a readable storage medium, and relates to the technical field of electric automobile electric drive. The method comprises the steps of obtaining actual rotating speeds and feedback moments of motors in a first motor to an Nth motor, determining actual average rotating speeds of the first motor to the Nth motor according to the actual rotating speeds of the motors in the first motor to the Nth motor, determining synchronous errors and compensation moments corresponding to the motors according to the actual rotating speeds of the motors in the first motor to the Nth motor and the actual average rotating speeds, determining target moments corresponding to the motors according to the synchronous errors and the compensation moments corresponding to the motors and the feedback moments of the motors in the first motor to the Nth motor, and controlling the motors to rotate at the target rotating speeds corresponding to the target moments respectively. The synchronous and quick response operation of multiple motors can be realized by only one proportional-integral controller.
Description
Technical Field
The application relates to the technical field of electric drive of electric automobiles, in particular to a multi-motor synchronous control method, a multi-motor synchronous control device, computer equipment and a readable storage medium.
Background
At present, a driving system of a new energy automobile mostly adopts multi-power source driving, namely multi-motor synchronous control driving. For a multi-motor driving scene, accurate synchronization of a plurality of motors needs to be realized and the multi-motor driving scene is used as a driving source of a new energy automobile, so how to improve the accuracy and the parallelism of the plurality of motors becomes a problem to be solved urgently.
The multi-motor coordinated driving can comprise two control modes of independent control and master-slave control. The independent control mode is single-motor closed-loop control, control relation does not exist among the motors, and the synchronization is achieved by means of controlling accurate execution of the motors by a plurality of controllers respectively. The master-slave control is deviation coupling control, actual speed or position information fed back by one of the master motor or the slave motor is used for calculating a compensation signal according to a comparison result of the speed and the position information of the other motor, and the motion of the other motor is controlled to be consistent with that of the master motor.
However, the robustness of the independent control mode is poor, and if a certain motor in the system is disturbed, other motors cannot know the disturbance, so that the synchronism of the multi-motor coordination drive system is damaged. In addition, when a motor outputting a feedback signal has large disturbance in a master-slave control mode, another motor may be disturbed along with the disturbance, and the stability of the system is poor.
Disclosure of Invention
The purpose of the application comprises that a multi-motor synchronous control method, a multi-motor synchronous control device, computer equipment and a readable storage medium are provided, in the control process, the target rotating speed of each motor can be determined according to synchronous errors, compensation torque and feedback torque corresponding to the actual rotating speeds of a plurality of motors, and the multi-motor synchronous quick response operation is realized only through a proportional-integral controller.
The embodiment of the application can be realized as follows:
in a first aspect, an embodiment of the present application provides a method for controlling multiple motors synchronously, where the method includes:
acquiring actual rotating speeds and feedback moments of motors from a first motor to an Nth motor, wherein N is an integer greater than or equal to 2;
determining actual average rotating speeds of the first motor to the Nth motor according to the actual rotating speeds of the first motor to the Nth motor;
determining a synchronous error and a compensation torque corresponding to each motor according to the actual rotating speed and the actual average rotating speed of each motor from the first motor to the Nth motor;
and determining a target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the Nth motor, and respectively controlling each motor to rotate at a target rotating speed corresponding to the target torque.
In an optional implementation manner, the determining, according to the actual rotation speed and the actual average rotation speed of each of the first to nth motors, a synchronization error and a compensation torque corresponding to each motor includes:
subtracting the actual average rotating speed from the actual rotating speed of each of the first motor to the Nth motor, and determining the corresponding synchronous error of each motor;
and respectively inputting the synchronous error corresponding to each motor into each speed coupling proportional-integral controller module corresponding to each motor to obtain the compensation torque corresponding to each motor, which is respectively output by each speed coupling proportional-integral controller module.
In an optional implementation manner, the determining, according to the synchronization error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the nth motor, a target torque corresponding to each motor, and respectively controlling each motor to rotate at a target rotation speed corresponding to the target torque includes:
if the synchronous error corresponding to the current motor is larger than a first preset threshold value, adding the compensation torque corresponding to the current motor and the feedback torque of the current motor to obtain the target torque of the current motor;
inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque;
wherein the current motor is any one of the first motor to the Nth motor.
In an optional implementation manner, before the respectively inputting the target torques to the current motors to control the current motors to rotate at the target rotation speeds corresponding to the target torques, the method further includes:
acquiring the actual current value of the current motor;
inputting the actual current value of the current motor into a current proportional-integral controller module to obtain the corrected current value of the current motor output by the current proportional-integral controller module;
inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque, wherein the method comprises the following steps:
and inputting the target torque and a correction voltage value corresponding to the correction current value into the current motor so as to control the current motor to rotate at a target rotating speed corresponding to the target torque and the correction voltage value.
In an optional implementation manner, after determining a target torque corresponding to each motor according to the synchronization error and the compensation torque corresponding to each motor and a feedback torque of each motor from the first motor to the nth motor, and respectively controlling each motor to rotate at a target rotation speed corresponding to the target torque, the method further includes:
determining target average rotating speeds of the first motor to the Nth motor according to the target rotating speeds of the first motor to the Nth motor;
and if the difference value between the target rotating speed corresponding to the first motor and the target average rotating speed is greater than or equal to a second preset threshold value, re-acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor.
In an optional embodiment, the obtaining the actual rotation speed and the feedback torque of each of the first to nth motors includes:
reading motor encoder values of the motors from the first motor to the Nth motor to obtain actual rotating speeds of the motors from the first motor to the Nth motor;
and inputting the actual rotating speed and the preset rotating speed of each of the first motor to the Nth motor to the corresponding speed proportional-integral controller module to obtain the feedback torque of each motor output by the speed proportional-integral controller module.
In an optional embodiment, the determining the actual average rotation speed of the first to nth motors according to the actual rotation speed of each of the first to nth motors includes:
adding actual rotating speeds of the first motor to the Nth motor in sequence to obtain a total actual rotating speed;
and determining the actual average rotating speed of the first motor to the Nth motor according to the ratio of the total actual rotating speed to the number of the motors.
In a second aspect, an embodiment of the present application provides a multi-motor synchronous control device, including:
the acquisition module is used for acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor, wherein N is an integer greater than or equal to 2;
the processing module is used for determining the actual average rotating speed of the first motor to the Nth motor according to the actual rotating speed of each of the first motor to the Nth motor;
the processing module is further configured to determine a synchronization error and a compensation torque corresponding to each of the first to nth motors according to the actual rotational speed and the actual average rotational speed of each of the first to nth motors;
and the processing module is further used for determining a target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the Nth motor, and respectively controlling each motor to rotate at a target rotating speed corresponding to the target torque.
The processing module is further specifically configured to subtract the actual average rotation speed from the actual rotation speed of each of the first to nth motors, and determine a synchronization error corresponding to each motor; and respectively inputting the synchronous error corresponding to each motor into each speed coupling proportional-integral controller module corresponding to each motor to obtain the compensation torque corresponding to each motor, which is respectively output by each speed coupling proportional-integral controller module.
The processing module is specifically further configured to, if the synchronization error corresponding to the current motor is greater than a first preset threshold, add the compensation torque corresponding to the current motor and the feedback torque of the current motor to obtain a target torque of the current motor; inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque; wherein the current motor is any one of the first motor to the Nth motor.
The processing module is specifically further configured to obtain an actual current value of the current motor; inputting the actual current value of the current motor into a current proportional-integral controller module to obtain the corrected current value of the current motor output by the current proportional-integral controller module; inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque, wherein the method comprises the following steps: and inputting the target torque and a correction voltage value corresponding to the correction current value into the current motor so as to control the current motor to rotate at a target rotating speed corresponding to the target torque and the correction voltage value.
The processing module is specifically further configured to determine a target average rotation speed of each of the first to nth motors according to the target rotation speed of each of the first to nth motors; and if the difference value between the target rotating speed corresponding to the first motor and the target average rotating speed is greater than or equal to a second preset threshold value, re-acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor.
The obtaining module is further specifically configured to read motor encoder values of each of the first to nth motors to obtain actual rotation speeds of each of the first to nth motors; and inputting the actual rotating speed and the preset rotating speed of each of the first motor to the Nth motor to the corresponding speed proportional-integral controller module to obtain the feedback torque of each motor output by the speed proportional-integral controller module.
The processing module is further specifically configured to add actual rotation speeds of the motors from the first motor to the nth motor in sequence to obtain a total actual rotation speed; and determining the actual average rotating speed of the first motor to the Nth motor according to the ratio of the total actual rotating speed to the number of the motors.
In a third aspect, an embodiment of the present application provides a computer device, where the computer device includes: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the computer apparatus is operating, the processor executing the machine-readable instructions to perform the steps of the multi-motor synchronous control method according to any of the preceding embodiments.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps of the multi-motor synchronous control method according to any one of the foregoing embodiments.
The beneficial effects of the embodiment of the application include:
by adopting the multi-motor synchronous control method, the multi-motor synchronous control device, the computer equipment and the readable storage medium, firstly, the actual rotating speed of each motor is taken as an influence factor, the target torque of each motor is respectively determined, the actual rotating speed of each motor is taken as a control connection parameter of each motor, and a plurality of target torques are controlled by a proportional-integral controller to be synchronously input into each motor, so that the synchronous and rapid operation of each motor is ensured. And secondly, the synchronization error of each motor is obtained from the actual average rotating speed of each motor, the target rotating speed of each motor is substantially determined by other motors together, the performance of synchronous control is better under the condition of not increasing too much feedback time, and the defect that the system is not stable enough because only one motor is used as the output of a feedback signal in the prior art is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram of a prior art independent control scheme;
FIG. 2 is a schematic diagram illustrating a master-slave control scheme in the prior art;
FIG. 3 is a schematic structural diagram of a multi-motor synchronous control method according to an embodiment of the present disclosure;
FIG. 4 is a schematic flowchart illustrating steps of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 5 is a schematic flow chart illustrating another step of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating another step of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 7 is a schematic flow chart illustrating another step of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 8 is a schematic flow chart illustrating another step of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 9 is a schematic flowchart illustrating a further step of a multi-motor synchronous control method according to an embodiment of the present application;
FIG. 10 is a graph showing the speed differentials of two motors in an independent control scheme of the prior art;
FIG. 11 is a diagram illustrating dual-motor speed differentials of a multi-motor synchronous control method according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a multi-motor synchronous control device provided in an embodiment of the present application;
fig. 13 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Icon: 101-speed proportional integral controller; 102-a current proportional-integral controller; 103-a motor; 201-first speed proportional integral controller; 202-a first current proportional-integral controller; 203-main motor; 204-nth speed proportional integral controller; 205-nth current proportional integral controller; 206-nth-1 slave motor; 3011-a first speed proportional integral controller module; 3012-a first current proportional integral controller module; 3013-a first motor; 3014-a first speed coupling proportional-integral controller module; 3021-a second speed proportional integral controller module; 3022-a second current proportional integral controller module; 3023-a second electric machine; 3024-second speed coupling proportional integral controller module; 3031-nth speed proportional integral controller module; 3032-Nth current proportional integral controller module; 3033-nth motor; 3034-nth speed coupling proportional integral controller module; 10-a multi-motor synchronous control device; 1001-acquisition module; 1002-a processing module; 2001-a processor; 2002-memory.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
For a driving system of a new energy automobile, the driving efficiency of a single-motor driving system is low in the driving process of the automobile, so that the driving with high power and high speed is difficult to realize. Therefore, the multi-motor synchronous control system becomes an important technical development direction for improving the driving efficiency of the new energy automobile.
The multi-motor coordinated driving can comprise two control modes of independent control and master-slave control. The independent control is single-motor closed-loop control, and the motors are independently controlled by the proportional-integral controllers, and the control principle of one motor 103 is taken as an example. As shown in fig. 1, the proportional-integral controller for controlling the motor 103 includes a speed proportional-integral controller 101 and a current proportional-integral controller 102, the current proportional-integral controller 102 is configured to control a current loop of the motor 103, calculate an error current according to a difference between a current at an output end of the motor 103 and a preset current value, and output a corresponding error voltage to the motor according to the error current by the current proportional-integral controller 102. The speed proportional-integral controller 101 is configured to control a speed loop of the motor 103, output a corresponding feedback torque according to a difference between a feedback rotation speed output by the motor 103 and a preset rotation speed, where the feedback torque and the error voltage together form a feedback signal to control the motor 103 to rotate at a target rotation speed. When a plurality of motors all rotate at the target rotating speed, the system achieves multi-motor synchronization.
Fig. 2 is a control schematic diagram of a master-slave control mode, in which when multiple motors are controlled to rotate in the master-slave control mode, one proportional-integral controller controls N motors to rotate synchronously. The proportional-integral controller includes a first speed proportional-integral controller 201, a first current proportional-integral controller 202 corresponding to a master motor 203, to an nth speed proportional-integral controller 204, an nth current proportional-integral controller 205 corresponding to an N-1 th slave motor 206. The current loop of each motor is controlled by the corresponding current proportional integral controller, and the error voltage corresponding to each motor is output to each motor. If the main motor 203 is used as the main motor and the other first to N-1 th slave motors 206 are used as the slave motors, the feedback rotation speeds output by the main motor 203 are respectively input to the first speed proportional-integral controller 201 to the nth speed proportional-integral controller 204, and each speed proportional-integral controller outputs a corresponding feedback torque according to the difference between the preset rotation speed and the feedback rotation speed, so as to control each motor to rotate at a target rotation speed corresponding to the feedback torque and the error voltage of each motor.
The robustness of the independent control mode shown in fig. 1 is poor, and if a certain motor in the system is disturbed, other motors cannot know the disturbance, so that the synchronism of the multi-motor coordination drive system is damaged. In the master-slave control mode shown in fig. 2, when a large disturbance occurs in the feedback rotation speed output by the first motor, the other motors may be disturbed along with the disturbance, and the stability of the system is poor.
Based on the above problems, the applicant has developed a multi-motor synchronous control method, apparatus, computer device and readable storage medium, which can use the actual rotation speed of each motor as the control link parameter between the motors, and obtain the synchronous error of each motor from the actual rotation speed of each motor, so that the target rotation speed of each motor is obtained by using other multiple motors as the feedback signal together, and the problems of synchronous control performance, fast response control performance and stability performance of the multi-motor system can be solved well.
The multi-motor synchronous control method, the multi-motor synchronous control device, the computer equipment and the readable storage medium provided by the embodiments of the present application are explained below with reference to a plurality of specific application examples.
In the application, the control mode adopted by the multi-motor coordinated drive is field-oriented control (FOC) control, which is to control the torque (current) and speed of the motor by controlling the voltage and the rotating speed of the motor. According to the control principle of the motor FOC, the inner ring is a current ring, and the outer ring is a speed ring, both of which are controlled by a proportional-integral (PI) controller. The PI controller comprises a speed coupling PI controller, a speed PI controller and a current PI controller, wherein the speed coupling PI controller is used for controlling the tracking error of the actual rotating speed of the motors, the current PI controller is used for respectively controlling the tracking error of the current of each motor, the speed PI controller can control the tracking error of the rotating speed of each motor, and the stability of motor control is adjusted through real-time feedback.
Fig. 3 is a schematic structural diagram of a multi-motor synchronous control system applied to the multi-motor synchronous control method provided in the embodiment of the present application, and includes a first motor 3013, a second motor 3023 to an nth motor 3033, and for the first motor 3013, a PI controller for controlling the rotation of the first motor includes a first speed proportional-integral controller module 3011, a first current proportional-integral controller module 3012, and a first speed coupling proportional-integral controller module 3014. For the second motor 3023, the PI controller that controls the rotation thereof includes a second speed proportional-integral controller module 3021, a second current proportional-integral controller module 3022, and a second speed-coupled proportional-integral controller module 3024. For the nth motor 3033, the PI controller controlling the rotation thereof includes an nth speed proportional-integral controller module 3031, an nth current proportional-integral controller module 3032 and an nth speed coupling proportional-integral controller module 3034. Note that the PI controllers for controlling the operations of the motors are the same PI controller.
In the present application, N may be an integer greater than or equal to 2. It should be appreciated that when N is equal to 2, the nth motor 3033 and the second motor 3023 described above represent the same motor, and the nth speed proportional-integral controller module 3031, the nth current proportional-integral controller module 3032, and the nth speed coupling proportional-integral controller module 3034 refer to the second speed proportional-integral controller module 3021, the second current proportional-integral controller module 3022, and the second speed coupling proportional-integral controller module 3024, respectively.
Alternatively, the PI controller adjusts the controller scaling factor (K)p) Integral coefficient of controller (K)i) Two coefficients, the calculation formula of the PI controller can be expressed as:
wherein e (t) is an input parameter of the PI controller, u (t) is an output parameter of the PI controller, and the output parameter u (t) controls the motion of the motor. The specific values of the input parameter e (t) and the output parameter u (t) are adjusted by different control parameters of the controller, and the formula can be used for any controller module of the PI controller and used for adjusting the compensation input of the motor.
Next, the process of controlling the movement of each controller will be described by taking the first motor 3013 as an example. With reference to fig. 3, the first current proportional-integral controller module 3012 is configured to control a current loop of the first motor 3013, and calculate a correction current according to a difference between a current at an output end of the first motor 3013 and a preset current, and the first current proportional-integral controller module 3012 outputs a corresponding error voltage to the first addition point according to the correction current. The first speed coupling proportional-integral controller module 3014 and the first speed proportional-integral controller module 3011 collectively control a speed loop of the first motor 3013. The PI controller calculates a plurality of motors from the first motor 3013 to the Nth motor 3033 according to the actual rotating speed of each motorActual average rotational speed ω of the electric machine0Then, the actual rotation speeds ω and ω of the first motor 3013 are set0Subtracting to obtain the synchronization error delta omega corresponding to the first motor 30131. The first speed-coupled proportional-integral controller module 3014 is configured to adjust the synchronization error Δ ω1Conversion into a corresponding compensation torque Δ T1Outputting a first compensation torque DeltaT1To the first summing point. Meanwhile, the first Speed proportional-integral controller module 3011 is configured to output a corresponding feedback torque T according to an actual rotation Speed ω output by the first motor 3013, that is, a difference between a first feedback rotation Speed and a preset rotation Speed — ref1To the first summing point. At this time, the error voltage and the first compensation torque Δ T are added at the first addition point1And a feedback torque T1And the first motor 3013 is controlled to rotate at the target rotation speed together.
It is understood that the operation principle of the second to nth motors 3023 to 3033 is the same as that of the first motor 3013, and the description thereof is omitted here.
Fig. 4 is a flowchart of steps of a multi-motor synchronous control method provided in an embodiment of the present application, where the method is applied to a PI controller in a multi-motor synchronous control system, and the controller may include multiple sets of controller modules implemented in a software manner, where each set of controller module includes: the system comprises a speed proportional-integral controller module, a current proportional-integral controller module and a speed coupling proportional-integral controller module, wherein each group of controller modules is used for controlling the motion of a certain motor in the system. As shown in fig. 4, a multi-motor synchronous control method provided in an embodiment of the present application includes:
s401, actual rotating speeds and feedback moments of the first motor to the Nth motor are obtained, wherein N is an integer greater than or equal to 2.
Optionally, the actual rotational speed of each of the first to nth motors may be the current rotational speed of each motor before each motor performs synchronous adjustment, and the actual rotational speed of each motor may be different.
The feedback torque of each of the first to nth motors may be a feedback torque signal obtained by the PI controller according to a difference between a preset rotation speed of each motor and an actual rotation speed of each motor, and the feedback torque signal is used for correcting a rotation speed error of the motor. It can be understood that the preset rotation speed may be a rotation speed that is written into the PI controller in advance and is required to enable each motor to finally reach synchronization, and since the actual rotation speed of each motor may be different, the feedback torque of each motor may also be different.
S402, determining the actual average rotating speed of the first motor to the Nth motor according to the actual rotating speed of each of the first motor to the Nth motor.
According to the actual rotating speed of each motor, the PI controller may calculate the corresponding actual average rotating speed, and it can be understood that the actual average rotating speeds corresponding to the motors are the same value in one calculation.
And S403, determining the synchronous error and the compensation torque corresponding to each motor according to the actual rotating speed and the actual average rotating speed of each motor from the first motor to the Nth motor.
The synchronization error of each of the first to nth motors may be obtained by comprehensively calculating the actual rotation speed and the actual average rotation speed of each motor, and the specific calculation process will be described in detail in the following embodiments. It is understood that the synchronous error value may be different for each motor, since the actual rotational speed of each motor may be different.
The compensation torque of each motor is obtained by conversion of the PI controller according to the corresponding synchronous error of each motor. Since the synchronous error value corresponding to each motor may be different, the compensation torque value of each motor may also be different.
S404, determining target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the Nth motor, and respectively controlling each motor to rotate at the target rotating speed corresponding to the target torque.
And determining the target torque input to each motor according to the compensation torque corresponding to the synchronous error of each motor and the feedback torque. Optionally, each motor can automatically adjust the relationship between the input torque and the output rotation speed within the maximum torque range, and under the condition of certain power, the lower the torque is, the higher the rotation speed of the motor is. Therefore, after the target torque of each motor is determined, each motor can adjust the actual rotating speed of each motor according to the target torque, so that the difference between the actual rotating speeds of the motors can be reduced, and the rotating speeds are more synchronous. After the adjustment process is carried out for multiple times, the rotation speed synchronization of each motor can be realized, and the rotation speed of each motor is the target rotation speed at the moment.
In the embodiment, the actual rotating speed of each motor is used as a control connection parameter of each motor, and a proportional-integral controller is used for controlling a plurality of target torques to be synchronously input into each motor, so that synchronous and rapid operation of each motor is ensured. In addition, the synchronization error of each motor is obtained from the actual average rotating speed of each motor, the target rotating speed of each motor is determined by other motors, the performance of synchronous control is better under the condition of not increasing too much feedback time, and the defect that the system is not stable enough because only one motor is used as the output of a feedback signal in the prior art is overcome.
Alternatively, as shown in fig. 5, in the step S403, the synchronization error and the compensation torque corresponding to each of the first to nth motors are determined according to the actual rotation speed and the actual average rotation speed of each of the motors, which may be implemented by the following steps S501 to S502.
S501, subtracting the actual average rotating speed from the actual rotating speed of each of the first motor to the Nth motor, and determining the corresponding synchronous error of each motor.
Optionally, after calculating the actual average rotation speed of each motor from the average rotation speed of each motor, the PI controller subtracts the actual rotation speed of each motor from the actual average rotation speed to obtain a synchronization error corresponding to each motor, so that the actual rotation speed of each motor in the system is determined by the influence of the actual rotation speeds of other motors.
Alternatively, when N is equal to 2, that is, when the PI controller adjusts the synchronization of the two motors, the synchronization error of the first motor may be obtained by subtracting the actual rotation speed of the first motor from the actual rotation speed of the second motor. Similarly, the synchronization error of the second motor can be obtained by subtracting the actual rotation speed of the second motor from the actual rotation speed of the first motor.
And S502, respectively inputting the synchronous errors corresponding to the motors into the speed coupling proportional-integral controller modules corresponding to the motors to obtain the compensation torque corresponding to the motors, which is respectively output by the speed coupling proportional-integral controller modules.
The PI controller comprises a plurality of speed coupling proportional-integral controller modules, and each speed coupling proportional-integral controller module is used for controlling the coupling rotating speed of one motor and other motors in the system. That is, after the synchronization error of each motor is obtained, the synchronization error is input into the speed coupling proportional-integral controller module corresponding to each motor, and each speed coupling proportional-integral controller module can convert the input synchronization error, that is, the rotation speed difference between the actual rotation speed and the actual average rotation speed of each corresponding motor, into the compensation torque corresponding to each motor.
According to the above embodiments, the compensation torque may represent a difference between the actual rotation speed of the motor and the actual average rotation speed, that is, a torque corresponding to the synchronization error, and is used to control the rotation speed of the motor to be closer to the average rotation speed of each motor.
It should be noted that, in order to ensure the synchronous performance of the system, the compensation torque output by each speed coupling proportional-integral controller module needs to be output synchronously.
In this embodiment, the synchronous error of each motor is determined by the difference between the actual rotating speed and the actual average rotating speed of each motor, and the compensation torque of each motor is further determined by each speed coupling proportional-integral controller module according to the synchronous error, so as to control the operation of the motor. Therefore, control relation is established among all motors through actual average rotating speed, and the problem that the stability of a system is poor due to the fact that only one motor is used as a decision factor of a feedback signal in a master-slave control mode in the prior art is solved. Furthermore, the compensation torque of each motor is synchronously output, so that the synchronism of the system is ensured.
Alternatively, as shown in fig. 6, in the step S404, the target torque corresponding to each motor is determined according to the synchronization error and the compensation torque corresponding to each motor and the feedback torque of each motor in the first to nth motors, and each motor is controlled to rotate at the target rotation speed corresponding to the target torque, which may be implemented by the following steps S601 to S602.
S601, if the synchronous error corresponding to the current motor is larger than a first preset threshold, adding the compensation torque corresponding to the current motor and the feedback torque of the current motor to obtain the target torque of the current motor.
The first preset threshold may be a maximum difference between the actual rotation speed and the average rotation speed of each motor, which is preset in the PI controller, and may be 1r/s (revolutions per second), for example.
When the synchronization error is smaller than the difference, the actual rotation speed of the current motor and the actual average rotation speed are considered to be synchronized, and the adjustment is not needed again.
When the synchronous error is larger than the difference, the actual rotating speed of the current motor needs to be further adjusted to approach the actual average rotating speed, and at the moment, the compensation torque corresponding to the synchronous error is added to the feedback torque obtained in the embodiment to obtain the target torque of the current motor.
It can be understood that, since the actual rotation speed of each motor is not necessarily greater than the actual average rotation speed, the value of the synchronization error may be a positive value or a negative value, and the directions of the corresponding compensation torques are opposite to each other. Likewise, the feedback moment may also comprise two different directions. Therefore, the target torque obtained by adding the compensation torque and the feedback torque may also include two different directions, for example, when the target torque is positive, the torque is in the same direction as the actual rotation speed of the current motor, so that the rotation speed of the current motor is increased, and when the target torque is negative, the torque is opposite to the actual rotation speed of the current motor, so that the rotation speed of the current motor is decreased.
And S602, inputting a target torque to a current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque, wherein the current motor is any one of the first motor to the Nth motor.
In the embodiment, each motor can automatically adjust the relationship between the input torque and the output rotating speed within the maximum torque range, and output the corresponding target rotating speed according to the input target torque.
The feedback torque can control the rotating speed of the motor to be closer to the preset rotating speed, the compensation torque can control the rotating speed of the motor to be closer to the actual average rotating speed, after multiple adjustments are carried out, the actual average rotating speed is equal to the preset rotating speed, namely, when the average rotating speed is reached, the system achieves multi-motor synchronization.
It will be appreciated that the control process described above is applicable to any motor in the system.
In this embodiment, the PI controller calculates a target torque according to a compensation torque and a feedback torque of a motor in the system, and inputs the target torque to the motor, so that the motor can rotate at a target rotation speed corresponding to the target torque. The double adjustment of the feedback torque and the compensation torque can keep the stability of the system and simultaneously prevent the actual rotating speed of the motor from generating large deviation due to the disturbance of a certain motor.
Alternatively, as shown in fig. 7, before the target torque is input to the current motor in the step S602 to control the current motor to rotate at the target rotation speed corresponding to the target torque, the following steps S701 to S703 are further included.
And S701, acquiring the actual current value of the current motor.
The current actual current value of the motor may be a current sampled by the PI controller through the analog-to-digital converter, and the sampling frequency may be the same as the frequency of the synchronous adjustment.
And S702, inputting the actual current value of the current motor into the current proportional-integral controller module to obtain the corrected current value of the current motor output by the current proportional-integral controller module.
The current proportional integral controller module is used for controlling a current loop of the current motor, and can obtain a corresponding correction current according to a difference value between an actual current value of the current motor sampled in the step and a preset current value preset in the current proportional integral controller module.
S703, inputting the target torque to the current motor to control the current motor to rotate at the target rotating speed corresponding to the target torque, including: and inputting the target torque and a correction voltage value corresponding to the correction current value into the current motor so as to control the current motor to rotate at a target rotating speed corresponding to the target torque and the correction voltage value.
And the speed loop control mode corresponding to the target torque is used as a supplement to the current loop control mode in the step, and the speed loop control mode and the correction voltage output by the current loop control mode jointly control the rotating speed of the motor. Alternatively, the magnitude of the target torque can be adjusted in a current magnitude mode, the target torque is used as the input of a current loop, the correction voltage corresponding to the correction current value is input into the current motor together, and the motor is controlled to rotate at the target rotating speed corresponding to the target torque and the correction voltage value.
It should be noted that, as in the above embodiment, the present motor may be any one of motors in the system.
In this embodiment, the current loop and the speed loop control the movement of the motor together, and the movement of the motor is controlled from two dimensions, so that the rotation speed of each motor is more accurate to realize synchronization.
Alternatively, as shown in fig. 8, after determining the target torque corresponding to each motor according to the synchronization error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the nth motor in the step S404, and respectively controlling each motor to rotate at the target rotation speed corresponding to the target torque, the following steps may be further included.
S801, determining target average rotating speeds of the first motor to the Nth motor according to the target rotating speeds of the first motor to the Nth motor.
And after the PI controller obtains the target rotating speed of each motor, adding the target rotating speeds of the motors, and calculating to obtain the target average rotating speed according to the ratio of the addition result to the number of the motors. It can be understood that the target average rotating speed is different in each adjustment, and the target average rotating speeds corresponding to the motors in each adjustment are the same rotating speed.
And S802, if the difference value between the target rotating speed corresponding to the first motor and the target average rotating speed is greater than or equal to a second preset threshold value, re-acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor.
The second preset threshold may be a maximum difference value that is preset in the PI controller and allowed by the current target average rotational speed of each motor and the first motor after adjustment of the current loop and the speed loop, and may be 1r/s (revolutions per second) for example.
And if the difference value between the target rotating speed of the first motor and the target average rotating speed is smaller than a second preset threshold value, the target rotating speeds of the motors are considered to be synchronous, and further adjustment is not needed. Otherwise, the target rotation speed of each motor is considered to be out of synchronization, and the PI controller re-acquires the actual rotation speed and the feedback torque of each motor from the first motor to the nth motor, that is, re-performs the current loop and speed loop feedback control process of the multi-motor synchronous control method provided in the above embodiment.
Optionally, in this embodiment, a difference between a target rotation speed and a target average rotation speed of any one of the second to nth motors may also be compared with a second preset threshold, so as to determine whether to execute the multi-motor synchronous control method provided in this embodiment again.
In this embodiment, whether the result of the above-mentioned motor rotation speed adjustment is synchronized is determined by comparing the difference between the target rotation speed of the first motor and the target average rotation speed with a second preset threshold, so as to further determine whether the multi-motor synchronization control method provided in this embodiment of the present application needs to be executed again. The mode can add a guarantee to the feedback control mode of the current loop and the speed loop, and finally the rotating speed of each motor can be ensured to be accurately synchronized.
Optionally, in step S401, acquiring the actual rotation speed and the feedback torque of each of the first to nth motors includes:
and reading the motor encoder values of the motors from the first motor to the Nth motor to obtain the actual rotating speeds of the motors from the first motor to the Nth motor.
The motor encoder is a sensor installed at the output end of the motor and used for measuring the rotating speed of the motor. In the embodiment of the application, the PI controller obtains the actual rotating speed of each motor by reading the numerical value of the motor encoder of each motor. The motor encoder may be a photoelectric encoder or a magnetoelectric encoder, and certainly, is not limited thereto.
The target rotational speed of each motor may be obtained by reading the value of the motor encoder on each motor by the PI controller.
And inputting the actual rotating speed and the preset rotating speed of each of the first motor to the Nth motor into the corresponding speed proportional-integral controller module to obtain the feedback torque of each motor output by the speed proportional-integral controller module.
The speed proportional integral controller module is a software module controlled by a PI controller, and the number of the speed proportional integral controller modules can be N, and the speed proportional integral controller modules respectively correspond to the speed rings for controlling the N motors. Each speed proportional-integral controller module may be a linear controller module, and is configured to form a deviation, that is, a feedback torque, according to a difference between an input actual rotation speed of each motor and a preset rotation speed, and apply the feedback torque to each corresponding motor to control the controlled motor.
In the embodiment, the actual rotating speed of each motor is obtained through the motor encoder, and the feedback torque of each motor is obtained through the speed proportional-integral controller module, so that the rotating speed and the feedback value of the motor can be more accurately obtained.
Alternatively, as shown in fig. 9, in the step S402, the actual average rotation speeds of the first to nth motors are determined according to the actual rotation speeds of the first to nth motors, which may be implemented by the following steps S901 to S902.
And S901, adding the actual rotating speeds of the first motor to the Nth motor in sequence to obtain a total actual rotating speed.
S902, determining the actual average rotating speed of the first motor to the Nth motor according to the ratio of the total actual rotating speed to the number of the motors.
And the actual average rotating speeds of the first motor to the Nth motor are obtained by adding the actual rotating speeds of the motors and then dividing the sum by the number of the motors.
It is understood that the actual rotational speed and the actual average rotational speed are both positive values.
In this embodiment, the corresponding actual average rotational speed is calculated from the actual rotational speeds of the motors. The actual average rotating speed links the speed rings for controlling the motors, reduces the influence of the disturbance of a certain motor in the system on other motors, and increases the stability of the system.
The following describes advantageous effects of the multi-motor synchronous control method provided by the embodiment of the present application with respect to the prior art by taking an example of controlling the operation of two motors. Fig. 10 shows a variation of a difference between two motor torques on the ordinate with an increase in time on the abscissa when two motors are controlled to operate in an independent control manner according to the prior art. Fig. 11 shows a change of a difference between two motor torques indicated by an ordinate and a time indicated by an abscissa when two motors are controlled to operate in the multi-motor synchronous control method according to the embodiment of the present application. Wherein the time unit of the abscissa is seconds(s) and the moment unit of the ordinate is newton meters (N · m).
It can be seen that, when the two motors are controlled to operate independently by the independent control method in the prior art shown in fig. 10, the difference of the torques of the two motors is disturbed greatly, and it is difficult to maintain the synchronous state with a small error for a long time. In contrast, the multi-motor synchronous control method provided by the embodiment of the present application shown in fig. 11 controls two motors to operate in a speed coupling manner, and the torque difference of the two motors is smaller. And is more stable.
Referring to fig. 12, an embodiment of the present application provides a multi-motor synchronous control device 10, as shown in fig. 12, the device includes:
the acquiring module 1001 is used for acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor, wherein N is an integer greater than or equal to 2;
the processing module 1002 is configured to determine actual average rotational speeds of the first to nth motors according to the actual rotational speeds of the first to nth motors;
the processing module 1002 is further configured to determine a synchronization error and a compensation torque corresponding to each of the first to nth motors according to an actual rotation speed and an actual average rotation speed of each of the first to nth motors;
the processing module 1002 is further configured to determine a target torque corresponding to each motor according to the synchronization error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the nth motor, and respectively control each motor to rotate at a target rotation speed corresponding to the target torque.
The processing module 1002 is further specifically configured to subtract the actual average rotation speed from the actual rotation speed of each of the first to nth motors, so as to determine a synchronization error corresponding to each motor; and respectively inputting the synchronous error corresponding to each motor into each speed coupling proportional-integral controller module corresponding to each motor to obtain the compensation torque corresponding to each motor, which is respectively output by each speed coupling proportional-integral controller module.
The processing module 1002 is further specifically configured to, if the synchronization error corresponding to the current motor is greater than a first preset threshold, add the compensation torque corresponding to the current motor and the feedback torque of the current motor to obtain a target torque of the current motor; inputting the target torque to a current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque; wherein, the current motor is any one of the first motor to the Nth motor.
The processing module 1002 is further specifically configured to obtain an actual current value of the current motor; inputting the actual current value of the current motor into a current proportional-integral controller module to obtain the corrected current value of the current motor output by the current proportional-integral controller module; inputting the target torque into the current motor to control the current motor to rotate at the target rotating speed corresponding to the target torque, and the method comprises the following steps: and inputting the target torque and a correction voltage value corresponding to the correction current value into the current motor so as to control the current motor to rotate at a target rotating speed corresponding to the target torque and the correction voltage value.
The processing module 1002 is further specifically configured to determine target average rotation speeds of the first to nth motors according to the target rotation speeds of the first to nth motors; and if the difference value between the target rotating speed corresponding to the first motor and the target average rotating speed is larger than or equal to a second preset threshold value, the actual rotating speed and the feedback torque of each of the first motor to the Nth motor are obtained again.
The obtaining module 1001 is further specifically configured to read motor encoder values of the motors from the first motor to the nth motor, and obtain actual rotation speeds of the motors from the first motor to the nth motor; and inputting the actual rotating speed and the preset rotating speed of each of the first motor to the Nth motor into the corresponding speed proportional-integral controller module to obtain the feedback torque of each motor output by the speed proportional-integral controller module.
The processing module 1002 is further specifically configured to add actual rotation speeds of the first to nth motors in sequence to obtain a total actual rotation speed; and determining the actual average rotating speeds of the first motor to the Nth motor according to the ratio of the total actual rotating speed to the number of the motors.
Optionally, referring to fig. 13, the present embodiment further provides a computer device, where the computer device includes: a processor 2001, a memory 2002, and a bus, wherein the memory 2002 stores machine-readable instructions executable by the processor 2001, and when the computer device is operated, the processor 2001 communicates with the memory 2002 through the bus, and the processor 2001 executes the machine-readable instructions to perform the steps of the multi-motor synchronous control method in the foregoing embodiment.
The memory 2002, processor 2001, and bus elements are electrically coupled to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The data processing means of the multi-motor synchronous control system includes at least one software functional module which can be stored in the memory 2002 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the computer device. The processor 2001 is used to execute executable modules stored in the memory 2002, such as software functional modules and computer programs included in a data processing apparatus of the multi-motor synchronous control system.
The Memory 2002 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A multi-motor synchronous control method is characterized by comprising the following steps:
acquiring actual rotating speeds and feedback moments of motors from a first motor to an Nth motor, wherein N is an integer greater than or equal to 2;
determining actual average rotating speeds of the first motor to the Nth motor according to the actual rotating speeds of the first motor to the Nth motor;
determining a synchronous error and a compensation torque corresponding to each motor according to the actual rotating speed and the actual average rotating speed of each motor from the first motor to the Nth motor;
and determining a target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the Nth motor, and respectively controlling each motor to rotate at a target rotating speed corresponding to the target torque.
2. The multi-motor synchronous control method according to claim 1, wherein the determining of the synchronous error and the compensation torque corresponding to each motor according to the actual rotation speed and the actual average rotation speed of each motor from the first motor to the nth motor comprises:
subtracting the actual average rotating speed from the actual rotating speed of each of the first motor to the Nth motor, and determining the corresponding synchronous error of each motor;
and respectively inputting the synchronous error corresponding to each motor into each speed coupling proportional-integral controller module corresponding to each motor to obtain the compensation torque corresponding to each motor, which is respectively output by each speed coupling proportional-integral controller module.
3. The multi-motor synchronous control method according to claim 1, wherein the determining target torques corresponding to the motors according to the synchronous errors and the compensation torques corresponding to the motors and the feedback torques of the motors from the first motor to the nth motor and controlling the motors to rotate at target rotating speeds corresponding to the target torques respectively comprises:
if the synchronous error corresponding to the current motor is larger than a first preset threshold value, adding the compensation torque corresponding to the current motor and the feedback torque of the current motor to obtain the target torque of the current motor;
inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque;
wherein the current motor is any one of the first motor to the Nth motor.
4. The multi-motor synchronous control method according to claim 3, wherein before the target torques are respectively input to the current motors to control the current motors to rotate at the target rotation speeds corresponding to the target torques, the method further comprises:
acquiring the actual current value of the current motor;
inputting the actual current value of the current motor into a current proportional-integral controller module to obtain the corrected current value of the current motor output by the current proportional-integral controller module;
inputting the target torque to the current motor to control the current motor to rotate at a target rotating speed corresponding to the target torque, wherein the method comprises the following steps:
and inputting the target torque and a correction voltage value corresponding to the correction current value into the current motor so as to control the current motor to rotate at a target rotating speed corresponding to the target torque and the correction voltage value.
5. The multi-motor synchronous control method according to claim 1, wherein after determining the target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the nth motor, and controlling each motor to rotate at the target rotation speed corresponding to the target torque, the method further comprises:
determining target average rotating speeds of the first motor to the Nth motor according to the target rotating speeds of the first motor to the Nth motor;
and if the difference value between the target rotating speed corresponding to the first motor and the target average rotating speed is greater than or equal to a second preset threshold value, re-acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor.
6. The multi-motor synchronous control method according to claim 1, wherein the obtaining of the actual rotation speed and the feedback torque of each of the first to nth motors comprises:
reading motor encoder values of the motors from the first motor to the Nth motor to obtain actual rotating speeds of the motors from the first motor to the Nth motor;
and inputting the actual rotating speed and the preset rotating speed of each of the first motor to the Nth motor to the corresponding speed proportional-integral controller module to obtain the feedback torque of each motor output by the speed proportional-integral controller module.
7. The multi-motor synchronous control method according to any one of claims 1 to 6, wherein the determining of the actual average rotational speeds of the first to N-th motors from the actual rotational speeds of each of the first to N-th motors includes:
adding actual rotating speeds of the first motor to the Nth motor in sequence to obtain a total actual rotating speed;
and determining the actual average rotating speed of the first motor to the Nth motor according to the ratio of the total actual rotating speed to the number of the motors.
8. A multi-motor synchronous control device, characterized in that the device comprises:
the acquisition module is used for acquiring the actual rotating speed and the feedback torque of each of the first motor to the Nth motor, wherein N is an integer greater than or equal to 2;
the processing module is used for determining the actual average rotating speed of the first motor to the Nth motor according to the actual rotating speed of each of the first motor to the Nth motor;
the processing module is further configured to determine a synchronization error and a compensation torque corresponding to each of the first to nth motors according to the actual rotational speed and the actual average rotational speed of each of the first to nth motors;
and the processing module is further used for determining a target torque corresponding to each motor according to the synchronous error and the compensation torque corresponding to each motor and the feedback torque of each motor from the first motor to the Nth motor, and respectively controlling each motor to rotate at a target rotating speed corresponding to the target torque.
9. A computer device, characterized in that the computer device comprises: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the computer apparatus is operating, the processor executing the machine-readable instructions to perform the steps of the multi-motor synchronization control method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111509142.7A CN114189176A (en) | 2021-12-10 | 2021-12-10 | Multi-motor synchronous control method and device, computer equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111509142.7A CN114189176A (en) | 2021-12-10 | 2021-12-10 | Multi-motor synchronous control method and device, computer equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114189176A true CN114189176A (en) | 2022-03-15 |
Family
ID=80604427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111509142.7A Pending CN114189176A (en) | 2021-12-10 | 2021-12-10 | Multi-motor synchronous control method and device, computer equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114189176A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107533A (en) * | 2022-06-24 | 2022-09-27 | 北京长征天民高科技有限公司 | Long-stroke height precision positioning system, method and device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101237206A (en) * | 2007-12-29 | 2008-08-06 | 浙江工业大学 | Multi-motor coordination control system |
| CN101359887A (en) * | 2007-07-31 | 2009-02-04 | 南通恒康海绵制品有限公司 | Motor synchronous control system of sponge cutting machine |
| CN106936339A (en) * | 2017-04-16 | 2017-07-07 | 中国石油大学(华东) | A kind of self-elevating ocean platform lowering or hoisting gear synchronisation control means and device |
| CN109245623A (en) * | 2018-08-29 | 2019-01-18 | 广州市保伦电子有限公司 | The method and system of microphone synchronization lifting |
| CN110285017A (en) * | 2019-05-31 | 2019-09-27 | 许昌许继风电科技有限公司 | A kind of control method and device of bi-motor pitch-controlled system |
| CN111277175A (en) * | 2020-03-12 | 2020-06-12 | 荣信汇科电气技术有限责任公司 | Multi-motor synchronous control method based on hybrid cross coupling |
| CN111313768A (en) * | 2020-03-02 | 2020-06-19 | 深圳市兆威机电股份有限公司 | Synchronous drive control method, device and system for two motors |
| CN112821810A (en) * | 2021-01-27 | 2021-05-18 | 苏州伟创电气科技股份有限公司 | Control method and control system for servo motor |
| CN112968632A (en) * | 2021-02-06 | 2021-06-15 | 滕琦 | Electric automobile multi-drive motor deviation coupling rotating speed synchronous control method |
| CN113489403A (en) * | 2021-07-06 | 2021-10-08 | 中铁工程装备集团有限公司 | Multi-motor load sharing cooperative control device and method for shield machine driving system |
| CN113612414A (en) * | 2021-07-09 | 2021-11-05 | 江苏科技大学 | Multi-motor coordination control method and control system for underwater vehicle |
-
2021
- 2021-12-10 CN CN202111509142.7A patent/CN114189176A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101359887A (en) * | 2007-07-31 | 2009-02-04 | 南通恒康海绵制品有限公司 | Motor synchronous control system of sponge cutting machine |
| CN101237206A (en) * | 2007-12-29 | 2008-08-06 | 浙江工业大学 | Multi-motor coordination control system |
| CN106936339A (en) * | 2017-04-16 | 2017-07-07 | 中国石油大学(华东) | A kind of self-elevating ocean platform lowering or hoisting gear synchronisation control means and device |
| CN109245623A (en) * | 2018-08-29 | 2019-01-18 | 广州市保伦电子有限公司 | The method and system of microphone synchronization lifting |
| CN110285017A (en) * | 2019-05-31 | 2019-09-27 | 许昌许继风电科技有限公司 | A kind of control method and device of bi-motor pitch-controlled system |
| CN111313768A (en) * | 2020-03-02 | 2020-06-19 | 深圳市兆威机电股份有限公司 | Synchronous drive control method, device and system for two motors |
| CN111277175A (en) * | 2020-03-12 | 2020-06-12 | 荣信汇科电气技术有限责任公司 | Multi-motor synchronous control method based on hybrid cross coupling |
| CN112821810A (en) * | 2021-01-27 | 2021-05-18 | 苏州伟创电气科技股份有限公司 | Control method and control system for servo motor |
| CN112968632A (en) * | 2021-02-06 | 2021-06-15 | 滕琦 | Electric automobile multi-drive motor deviation coupling rotating speed synchronous control method |
| CN113489403A (en) * | 2021-07-06 | 2021-10-08 | 中铁工程装备集团有限公司 | Multi-motor load sharing cooperative control device and method for shield machine driving system |
| CN113612414A (en) * | 2021-07-09 | 2021-11-05 | 江苏科技大学 | Multi-motor coordination control method and control system for underwater vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107533A (en) * | 2022-06-24 | 2022-09-27 | 北京长征天民高科技有限公司 | Long-stroke height precision positioning system, method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101093517B1 (en) | Method for compensation motor position offset of HEV | |
| JP6005393B2 (en) | Abnormal output compensation method for vehicle resolver | |
| JP2014507109A (en) | Method and system for calibrating rotor position offset of a motor | |
| CN111478636B (en) | Single current sensor prediction control method for permanent magnet synchronous motor | |
| KR20110055746A (en) | Sensorless optimum torque control for high efficiency ironless permanent magnet machine | |
| JP5839111B2 (en) | Control device for three-phase AC induction motor and control method for three-phase AC induction motor | |
| BR102012025991A2 (en) | METHOD AND SYSTEM FOR ESTIMATE THE ROTOR ANGLE OF AN ELECTRIC MACHINE | |
| JP2014023419A (en) | Offset correction method of vehicle motor position sensor | |
| JP2012210067A (en) | Pulsation suppression device of motor and pulsation suppression method of motor | |
| CN110943661B (en) | Rotor magnetic field orientation deviation online correction method and device | |
| CN106788072B (en) | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system | |
| CN110932636B (en) | Method and system for identifying initial position of permanent magnet synchronous motor | |
| KR20160016895A (en) | Automatic suppression device for cyclic disturbance | |
| CN114189176A (en) | Multi-motor synchronous control method and device, computer equipment and readable storage medium | |
| JP2002238278A (en) | Electric motor controller | |
| CN107294459A (en) | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system | |
| WO2020048057A1 (en) | Multi-motor crossed synchronous control system and control method therefor | |
| Kuruppu et al. | Post production PMSM position sensor offset error quantification via voltage estimation | |
| JP2010239698A (en) | Ac motor controller | |
| CN115912999A (en) | Multi-motor synchronous driving control system and method | |
| CN110535391B (en) | Servo motor angle error compensation method, system and device | |
| JP2004274855A (en) | Method and device for detection and adjustment of rotor position | |
| CN110912481B (en) | Rotary-transformer periodic error amplitude phase compensation method based on gradient descent method | |
| CN114726284A (en) | Construction method of surface-mounted bearingless permanent magnet motor rotor displacement estimator | |
| JP5396910B2 (en) | Motor control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220315 |