CN114337383A - Multi-motor parallel drive control system and control method thereof - Google Patents
Multi-motor parallel drive control system and control method thereof Download PDFInfo
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Abstract
The application provides a multi-motor parallel drive control system and a control method thereof, wherein the multi-motor parallel drive control system comprises: the output shafts of the motors are mutually connected through a transmission gear train, and the output torques of the motors are mutually coupled; each motor is connected with the main controller through a frequency converter respectively, and the main controller controls each motor to work under two modes through each frequency converter respectively: in a starting mode, the rotating speed of the motor is lower than a preset motor speed threshold value, and the motor is controlled by torque; and in the operation mode, the rotating speed of the motor is higher than a preset motor speed threshold value, and the motor is controlled by adopting speed and droop. The multi-motor parallel drive control system and the control method thereof can quickly reach the target rotating speed, and can evenly distribute the torque output by a plurality of motors, so that the stress of a transmission structure is balanced, the operation is smooth, and the mechanical damage is reduced.
Description
Technical Field
The application relates to the technical field of ship shipping, in particular to a multi-motor parallel drive control system for a ship rudder propeller and a control method thereof.
Background
The ship propeller is a main device for driving ships to sail, and a ship type main flow propeller requiring flexible operation, such as a harbor tugboat, a steam ferry, a high-end cruise ship and the like, adopts a 360-degree full-rotation rudder propeller. The traditional power system adopts a structure type that a marine diesel engine directly drives a rudder propeller.
Along with the increasing requirements on energy conservation and environmental protection, ships running in inland rivers and coastal areas adopt electric drive power systems, battery energy storage power systems are also provided, and rudder propeller systems driven by motors are produced at the same time. The motor has good torque characteristic, wide power range and high efficiency at low speed, and along with the continuous improvement of the motor process, the electromagnetic noise of the motor is improved, and the reliability and the speed regulation performance are greatly optimized. Meanwhile, a plurality of motors are used for driving the same rudder propeller load, so that the design and arrangement, installation and debugging, disassembly and assembly, maintenance and the like of a ship engine room are facilitated, but the synchronization and balance control among the plurality of motors needs to be considered.
Disclosure of Invention
The application aims to provide a multi-motor parallel drive control system capable of synchronous and balanced control and a control method thereof.
To achieve the above object, the present application provides a multi-motor parallel drive control system including: the output shafts of the motors are mutually connected through a transmission gear train, and the output torques of the motors are mutually coupled; each motor is connected with the main controller through a frequency converter respectively, and the main controller controls each motor to work under two modes through each frequency converter respectively:
in a starting mode, the rotating speed of the motor is lower than a preset motor speed threshold value, and the motor is controlled by torque;
and in the operation mode, the rotating speed of the motor is higher than a preset motor speed threshold value, and the motor is controlled by adopting speed and droop.
Further, the speed and droop control comprises a rotating speed controller and a vector control system of the frequency converter; the vector control system and the main controller are simultaneously connected with the rotating speed controller through a multiplier; the vector control system is in negative feedback control, motor torque current is used as feedback control quantity, the feedback is added to the outermost ring of the vector control system, the feedback of descending rotating speed is output, a rotating speed command sent by the main controller and a rotating speed command are formed through the multiplier, and then the torque current of the motor is output through the rotating speed controller for setting; the vector control system of the frequency converter also comprises a preset droop system number and a rated current.
Further, the motor also has a safety protection mode: the main controller monitors the output torque, voltage, current and frequency of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
Further, the motor also operates in a third mode:
and in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently.
Further, the output shafts of the plurality of motors are connected with each other through a transmission gear train to be in rigid connection, and the output shafts of the plurality of motors are connected with each other through the transmission gear train to be connected with the rudder paddle.
A control method of a multi-motor parallel drive control system employing the multi-motor parallel drive control system as described above, the control method comprising: in the starting stage, the rotating speed of the motor is lower than a preset motor speed threshold value, and a starting mode is adopted; in the operation stage, the rotating speed of the motor is higher than a preset motor speed threshold value, and an operation mode is adopted.
Further, when a starting mode is adopted, the motor adopts torque control, and the main controller sends a torque instruction to the frequency converter; when the running mode is adopted, the motor adopts speed plus droop control, and the main controller sends a frequency instruction to the frequency converter.
Further, the speed and droop control comprises a rotating speed controller and a vector control system of the frequency converter, the vector control system and the main controller are simultaneously connected with the rotating speed controller through a multiplier, the vector control system is negative feedback control, motor torque current is used as feedback control quantity, the vector control system is added to the outermost ring of the vector control system to output descending rotating speed feedback, the vector control system and a rotating speed command sent by the main controller form a motor rotating speed command through the multiplier, and then the rotating speed controller outputs the given torque current of the motor.
Further, the motor also has a safety protection mode: the main controller monitors the output torque, voltage, current, frequency and rotating speed of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
Further, the motor also operates in a third mode:
in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently; the motor runs for 180 seconds, the high torque is 120% -150% of the rated torque, and the frequency of positive and negative rotation is 5 times per minute.
Further, the escape mode has three different escape levels: grade one, the high torque is 120% of rated torque; class two, the high torque is 140% of the rated torque; and in the third grade, the high torque is 150% of the rated torque.
Further, the main controller also detects the temperature of each motor, and when the temperature of any motor exceeds a preset temperature threshold value, the frequency converter controls all the motors to stop working and prompts a user to use a escaping mode after the temperature of the motors is naturally reduced.
The multi-motor parallel drive control system and the control method thereof have the following beneficial effects:
1. the output shafts of the motors are rigidly connected with each other through a transmission gear train, and the output torques of the motors are coupled with each other; in the starting stage, a starting mode is adopted, and the motor adopts torque control and can quickly reach the target rotating speed; in the operation stage, an operation mode is adopted, the motors adopt speed and droop control, and the torque output by the motors is evenly distributed, so that the stress of the transmission structure is balanced, the operation is smooth, and the mechanical damage is reduced.
2. The motor has the safety protection mode, and when the output torque of motor exceeded predetermined output torque threshold value or the unbalanced coefficient of torque of motor exceeded predetermined unbalanced coefficient threshold value, main control unit passes through the converter and limits the output torque of motor, prevents that the load from increasing substantially in the twinkling of an eye and causing mechanical damage, prevents that load distribution is inhomogeneous to cause partial motor to appear the counter current, appears motor and converter and damages.
3. The motor is also provided with a escaping mode, when obstacles such as fishing net winding, aquatic plants and the like enter the propeller blade gap to cause overlarge propeller load and faults such as stalling and the like of the motor, the escaping mode is adopted, and a method combining torque control and time control is used for solving the problems of large torque output and overheating protection of the motor under the unexpected condition.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a multi-motor parallel drive control system provided herein;
FIG. 2 is a functional schematic of an exemplary embodiment of a multi-motor parallel drive control system provided herein;
FIG. 3 is a schematic diagram of a speed plus droop control configuration to which the present application relates;
fig. 4 is a schematic diagram of a motor dynamic balancing cycle during operation of the speed plus droop control according to the present application.
Detailed Description
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 only a part of the embodiments of the present application, and not all of the embodiments. 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. Furthermore, it should be understood that the detailed description and specific examples, while indicating exemplary embodiments of the invention, are given by way of illustration and explanation only, and are not intended to limit the scope of the invention. In the present application, unless otherwise specified, the use of directional terms such as "upper", "lower", "left" and "right" generally refer to upper, lower, left and right in the actual use or operation of the device, and specifically to the orientation of the drawing figures.
The present application provides a multi-motor parallel drive control system and a control method thereof, which will be described in detail below. It should be noted that the following description of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of an embodiment of a multi-motor parallel drive control system provided in the present application, and fig. 2 is a schematic operational diagram of an embodiment of a multi-motor parallel drive control system provided in the present application. The multi-motor parallel drive control system includes: the output shafts of the motors are mutually connected through a transmission gear train, and the output torques of the motors are mutually coupled; each motor is connected with the main controller through a frequency converter respectively, and the main controller controls each motor to work under two modes through each frequency converter respectively:
in a starting mode, the rotating speed of the motor is lower than a preset motor speed threshold value, and the motor is controlled by torque;
and in the operation mode, the rotating speed of the motor is higher than a preset motor speed threshold value, and the motor is controlled by adopting speed and droop.
In the particular embodiment shown in fig. 1, the number of motors is 4; correspondingly, the number of the frequency converters is also 4, one end of each frequency converter is respectively connected with 1 motor for control, and the other end of each frequency converter is simultaneously connected with a main controller through a bus; the main controller adopts a Programmable Logic Controller (PLC). In the embodiment shown in fig. 2, the number of the motors is 2, the output shafts of the motors are rigidly connected to each other through a transmission gear train, the output shafts of the motors are connected to the rudder propeller through the transmission gear train, and the output torques of the motors are coupled to each other to form a main shaft power output. When the motor adopts torque control, the main controller sends a torque instruction to the frequency converter; when the motor adopts speed plus droop control, the main controller sends a frequency command to the frequency converter. The existing multi-motor synchronous control method comprises master-slave control, cross coupling control, virtual shaft control and the like, and usually takes rotating speed, torque and current as control parameters. According to the multi-motor parallel drive control system, the frequency converters corresponding to the multiple motors are controlled by torque when the rotating speed of the motors is lower than the set rotating speed, and are controlled by speed and droop when the set rotating speed is reached. Compared with the traditional master-slave control mode, the system has the characteristics of simple control, stable system, field debugging, simple daily control and the like.
Further, referring to fig. 3, the speed plus droop control includes a rotation speed controller and a vector control system of the frequency converter; the vector control system and the main controller are simultaneously connected with the rotating speed controller through a multiplier; the vector control system is in negative feedback control, motor torque current is used as feedback control quantity, the feedback is added to the outermost ring of the vector control system, the feedback of descending rotating speed is output, a rotating speed command sent by the main controller and a rotating speed command are formed through the multiplier, and then the torque current of the motor is output through the rotating speed controller for setting; the vector control system of the frequency converter also comprises a preset droop system number and a rated current.
The speed plus droop control is control for dynamically realizing load balance distribution among motors according to the change of the torque current of the motors. The motor torque current is used as a feedback control quantity and is added to the outermost ring of a vector control system of the frequency converter, namely outside a rotating speed ring, so that a closed-loop control system taking the motor torque current as the feedback control quantity is formed. The vector control system is negative feedback control, and the vector control system of the frequency converter also comprises the number of expected droop systems and rated current; when the torque current of the motor is increased, the feedback of the reduced rotating speed is increased, the rotating speed of the motor is reduced by comparing the feedback with the rated current and then linearly reducing the given rotating speed of the frequency converter through presetting the number of droop systems, and the reduction of the rotating speed of the motor is reflected as the reduction of the torque current of the motor after being coupled through a mechanical system; when the torque current of the motor is reduced, the feedback of the reduced rotating speed is reduced, the rotating speed of the motor is increased by comparing the feedback with the rated current and then linearly increasing the given rotating speed of the frequency converter by presetting the number of the droop systems, and the feedback is reflected as the increase of the torque current of the motor after the coupling of the mechanical system; the above steps are repeated in a circulating way, and finally, the dynamic balance is realized. The dynamic balancing cycle process can be seen in fig. 4.
Further, the motor also has a safety protection mode: the main controller monitors the output torque, voltage, current and frequency of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
In actual use, the situation that the load is increased instantly and greatly sometimes occurs, the motor torque also rises greatly at the moment, and mechanical damage may occur to a transmission gear train and a rudder propeller system. Therefore, in order to prevent mechanical damage, the motor of the present application further has a safety protection mode, and when the output torque of the motor exceeds a preset output torque threshold, the main controller limits the output torque of the motor through the frequency converter, that is, the rotation speed of the motor is adjusted downwards. The preset output torque threshold value can be 120% -130% of a normal value, and can be selected and set according to actual conditions. In addition, the simultaneous security mode further includes: when the torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value, the main controller limits the output torque of the motor through the frequency converter, and the torque unbalance coefficient of the motor is calculated through the difference between the rotating speeds or currents of the motors. When the motors are driven in parallel, if the motors are unbalanced, other equipment is easily damaged, so that when the motors are unbalanced, for example, when the difference of the rotating speeds of the motors exceeds 0.5%, the output torque of each motor needs to be limited to ensure the safety of each equipment.
Further, the motor also operates in a third mode:
and in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently.
In the actual working process, obstacles such as fishing net winding, aquatic plants and the like can enter the propeller blade gap, so that the propeller load is overlarge, and the motor has special fault phenomena of the ship rudder propeller such as stalling and the like. The escaping mode is that the motor outputs high torque for a long time and rotates clockwise and anticlockwise frequently, and the ship can escape by matching with the fishing net cutter. Moreover, in the escaping mode, different escaping grades exist; correspondingly, the torque, the running time and the forward and reverse switching frequency of the motor of each escaping grade are different, and different escaping grades can be selected for use according to actual conditions.
The present application further provides a control method of a multi-motor parallel drive control system, which employs the multi-motor parallel drive control system as described above, and the control method includes: in the starting stage, the rotating speed of the motor is lower than a preset motor speed threshold value, and a starting mode is adopted; in the operation stage, the rotating speed of the motor is higher than a preset motor speed threshold value, and an operation mode is adopted.
When the motor is started, namely in a starting stage, the rotating speed of the motor is low and is lower than the target rotating speed, a starting mode is adopted, and the motor adopts torque control, so that the target rotating speed can be quickly reached; when the rotating speed of the motor reaches the target rotating speed, the operation stage is entered, the motor adopts speed plus droop control, and load balance distribution among all the motors can be dynamically realized.
Wherein the speed plus droop control comprises a rotating speed controller and a vector control system of the frequency converter; the vector control system and the main controller are simultaneously connected with the rotating speed controller through a multiplier; the vector control system is in negative feedback control, motor torque current is used as feedback control quantity, the feedback is added to the outermost ring of the vector control system, the feedback of descending rotating speed is output, a rotating speed command sent by the main controller and a rotating speed command are formed through the multiplier, and then the torque current of the motor is output through the rotating speed controller for setting; the vector control system of the frequency converter also comprises a preset droop system number and a rated current.
The speed plus droop control is control for dynamically realizing load balance distribution among motors according to the change of the torque current of the motors. The motor torque current is used as a feedback control quantity and is added to the outermost ring of a vector control system of the frequency converter, namely outside a rotating speed ring, so that a closed-loop control system taking the motor torque current as the feedback control quantity is formed. The vector control system is negative feedback control, and the vector control system of the frequency converter also comprises the number of expected droop systems and rated current; when the torque current of the motor is increased, the feedback of the reduced rotating speed is increased, the rotating speed of the motor is reduced by comparing the feedback with the rated current and then linearly reducing the given rotating speed of the frequency converter through presetting the number of droop systems, and the reduction of the rotating speed of the motor is reflected as the reduction of the torque current of the motor after being coupled through a mechanical system; when the torque current of the motor is reduced, the feedback of the reduced rotating speed is reduced, the rotating speed of the motor is increased by comparing the feedback with the rated current and then linearly increasing the given rotating speed of the frequency converter by presetting the number of the droop systems, and the feedback is reflected as the increase of the torque current of the motor after the coupling of the mechanical system; the above steps are repeated in a circulating way, and finally, the dynamic balance is realized. The dynamic balancing cycle process can be seen in fig. 4.
Further, the motor also has a safety protection mode: the main controller monitors the output torque, voltage, current, frequency and rotating speed of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
In actual use, the situation that the load is increased instantly and greatly sometimes occurs, the motor torque also rises greatly at the moment, and mechanical damage may occur to a transmission gear train and a rudder propeller system. Therefore, in order to prevent mechanical damage, the motor of the present application further has a safety protection mode, and when the output torque of the motor exceeds a preset output torque threshold, the main controller limits the output torque of the motor through the frequency converter, that is, the rotation speed of the motor is adjusted downwards. The preset output torque threshold value can be 120% -130% of a normal value, and can be selected and set according to actual conditions. In addition, the simultaneous security mode further includes: when the torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value, the main controller limits the output torque of the motor through the frequency converter, and the torque unbalance coefficient of the motor is calculated through the difference between the rotating speeds or currents of the motors. When the motors are driven in parallel, if the motors are unbalanced, other equipment is easily damaged, so that when the motors are unbalanced, for example, when the difference of the rotating speeds of the motors exceeds 0.5%, the output torque of each motor needs to be limited to ensure the safety of each equipment.
Finally, the motor also operates in a third mode:
in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently; the motor runs for 180 seconds, the high torque is 120% -150% of the rated torque, and the frequency of positive and negative rotation is 5 times per minute.
In the actual working process, obstacles such as fishing net winding, aquatic plants and the like can enter the propeller blade gap, so that the propeller load is overlarge, and the motor has special fault phenomena of the ship rudder propeller such as stalling and the like. The escaping mode is that the motor outputs high torque for a long time and rotates clockwise and anticlockwise frequently, and the ship can escape by matching with the fishing net cutter. Moreover, in the escaping mode, different escaping grades exist; correspondingly, the torque of the motor at each escaping grade is different, and different escaping grades can be selected for use according to actual conditions. For example, the escape pattern has three different escape levels: grade one, the high torque is 120% of rated torque; class two, the high torque is 140% of the rated torque; and in the third grade, the high torque is 150% of the rated torque.
Specifically, the main controller detects the temperature of each motor, and when the temperature of any motor exceeds a preset temperature threshold value, the frequency converter controls all the motors to stop working and prompts a user to use a escaping mode after the temperature of the motors is naturally reduced. Because obstacles such as fishing net winding, aquatic plants and the like can enter the propeller blade gap, the propeller load is overlarge, and the temperature of the motor can obviously rise when the motor is locked. Therefore, by detecting the temperature of the motors in real time, when the temperature of any motor exceeds a preset temperature threshold value, the frequency converter controls all the motors to stop working and prompts a user to use a escaping mode after the temperature of the motors is naturally reduced, so that on one hand, the motors can be prevented from being burnt out, and on the other hand, the user can be helped to escape from the predicament as soon as possible.
The multi-motor parallel drive control system and the control method thereof have the following beneficial effects:
1. the output shafts of the motors are rigidly connected with each other through a transmission gear train, and the output torques of the motors are coupled with each other; in the starting stage, a starting mode is adopted, and the motor adopts torque control and can quickly reach the target rotating speed; in the operation stage, an operation mode is adopted, the motors adopt speed and droop control, and the torque output by the motors is evenly distributed, so that the stress of the transmission structure is balanced, the operation is smooth, and the mechanical damage is reduced.
2. The motor has the safety protection mode, and when the output torque of motor exceeded predetermined output torque threshold value or the unbalanced coefficient of torque of motor exceeded predetermined unbalanced coefficient threshold value, main control unit passes through the converter and limits the output torque of motor, prevents that the load from increasing substantially in the twinkling of an eye and causing mechanical damage, prevents that load distribution is inhomogeneous to cause partial motor to appear the counter current, appears motor and converter and damages.
3. The motor is also provided with a escaping mode, when obstacles such as fishing net winding, aquatic plants and the like enter the propeller blade gap to cause overlarge propeller load and faults such as stalling and the like of the motor, the escaping mode is adopted, and a method combining torque control and time control is used for solving the problems of large torque output and overheating protection of the motor under the unexpected condition.
The foregoing describes in detail a multi-motor parallel driving control system and a control method thereof provided by the present application, and specific examples are applied herein to explain the principle and the implementation of the present application, and the description of the foregoing examples is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (12)
1. A multi-motor parallel drive control system, characterized by comprising: the output shafts of the motors are mutually connected through a transmission gear train, and the output torques of the motors are mutually coupled; each motor is connected with the main controller through a frequency converter respectively, and the main controller controls each motor to work under two modes through each frequency converter respectively:
in a starting mode, the rotating speed of the motor is lower than a preset motor speed threshold value, and the motor is controlled by torque;
and in the operation mode, the rotating speed of the motor is higher than a preset motor speed threshold value, and the motor is controlled by adopting speed and droop.
2. The multiple motor parallel drive control system of claim 1, wherein the speed plus droop control comprises a speed controller and a vector control system of the frequency converter; the vector control system and the main controller are simultaneously connected with the rotating speed controller through a multiplier; the vector control system is in negative feedback control, motor torque current is used as feedback control quantity, the feedback is added to the outermost ring of the vector control system, the feedback of descending rotating speed is output, a rotating speed command sent by the main controller and a rotating speed command are formed through the multiplier, and then the torque current of the motor is output through the rotating speed controller for setting; the vector control system of the frequency converter also comprises a preset droop system number and a rated current.
3. The multi-motor parallel drive control system of claim 1, wherein the motor further has a safety protection mode: the main controller monitors the output torque, voltage, current and frequency of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
4. The multi-motor parallel drive control system of claim 1 wherein the motors further operate in a third mode:
and in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently.
5. The multi-motor parallel drive control system according to claim 1, wherein output shafts of the plurality of motors are connected to each other as a rigid connection through a transmission gear train, and output shafts of the plurality of motors are connected to each other to a rudder paddle through a transmission gear train.
6. A control method of a multi-motor parallel drive control system, characterized by using the multi-motor parallel drive control system according to claim 1, the control method comprising: in the starting stage, the rotating speed of the motor is lower than a preset motor speed threshold value, and a starting mode is adopted; in the operation stage, the rotating speed of the motor is higher than a preset motor speed threshold value, and an operation mode is adopted.
7. The control method of a multi-motor parallel drive control system according to claim 6, wherein when the start mode is adopted, the motors adopt torque control, and the main controller sends a torque command to the frequency converter; when the running mode is adopted, the motor adopts speed plus droop control, and the main controller sends a frequency instruction to the frequency converter.
8. The method as claimed in claim 6, wherein the speed plus droop control includes a rotation speed controller and a vector control system of the frequency converter, the vector control system and the main controller are connected with the rotation speed controller through a multiplier, the vector control system is a negative feedback control, a motor torque current is used as a feedback control quantity, the feedback is added to an outermost ring of the vector control system to output a reduced rotation speed feedback, a motor rotation speed command is formed through the multiplier with the rotation speed command sent by the main controller, and the rotation speed controller outputs the given torque current of the motor.
9. The control method of a multi-motor parallel drive control system according to claim 6, wherein the motor further has a safety protection mode: the main controller monitors the output torque, voltage, current, frequency and rotating speed of the motor, and limits the output torque of the motor through the frequency converter when the output torque of the motor exceeds a preset output torque threshold value or a torque unbalance coefficient of the motor exceeds a preset unbalance coefficient threshold value; the torque imbalance coefficients of the motors are calculated from the difference between the rotational speeds or currents of the motors.
10. The control method of a multi-motor parallel drive control system according to claim 6, wherein the motors are further operated in a third mode:
in the escaping mode, the motor outputs high torque for a long time and rotates forwards and backwards frequently; the motor runs for 180 seconds, the high torque is 120% -150% of the rated torque, and the frequency of positive and negative rotation is 5 times per minute.
11. The control method of a multi-motor parallel drive control system according to claim 10, wherein the escape mode has three different escape levels: grade one, the high torque is 120% of rated torque; class two, the high torque is 140% of the rated torque; and in the third grade, the high torque is 150% of the rated torque.
12. The control method of a multi-motor parallel drive control system according to claim 10, wherein the main controller further detects the temperature of each motor, and when the temperature of any motor exceeds a preset temperature threshold, the frequency converter controls all motors to stop working and prompts a user to use a stranded mode after the temperature of the motor is naturally reduced.
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