CN115347818A - Motor control method and system and multi-motor synchronous driving device - Google Patents
Motor control method and system and multi-motor synchronous driving device Download PDFInfo
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Abstract
The invention relates to the technical field of motor control, and provides a motor control method, a motor control system and a multi-motor synchronous driving device, wherein the method comprises the following steps: when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with the plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed for the motors; determining a motor to be debugged which does not meet preset execution conditions in the plurality of motors based on the given torque and the feedback torque, wherein the preset execution conditions are that the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold value; and adjusting the conversion control parameters of the motor to be debugged by the motor driving module until the motor to be debugged meets the preset execution conditions. The invention is used for solving the defect that the torque output balance cannot be effectively ensured because the output torque difference caused by the motor cannot be corrected in the prior art, and realizing the torque output balance of the multi-motor synchronous driving device.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method, a motor control system and a multi-motor synchronous driving device.
Background
At present, devices based on multi-motor synchronous driving are increasingly applied, for example: an electrically driven fracturing pump, a shield body of a shield machine and the like. Taking an electrically driven fracturing pump as an example, a plurality of motors synchronously drive the fracturing pump in a gear meshing manner. In the driving of the electrically-driven fracturing pump, when the actual torque of a certain motor is not consistent with the input torque, namely the actual torques of the motors are different, the phenomenon that part of gears are in overload operation for a long time and the other part of gears are in light load operation for a long time occurs. Thus, the actual service life of the gear, which can result in long periods of overload operation, is much less than the design service life.
In current multi-motor synchronous drives, in order to ensure output torque consistency, PID control is mostly adopted, that is, a given torque is first input to a motor driver, and then a feedback adjustment amount is determined based on the output torque of the motor driver. When the output torque is larger than the input torque, a negative compensation torque is given to the motor driver; and when the output torque is smaller than the input torque, a positive compensation torque is given to the motor driver so as to achieve the basic balance of the torque output.
However, the PID control adjusts the output torque of the motor by compensating for a predetermined torque, and is therefore suitable only for adjusting the output torque variation due to external torque load fluctuation, and cannot correct the load distribution unevenness due to the device itself. Therefore, it cannot be guaranteed that the output torques of the motors can be balanced after adjustment.
Disclosure of Invention
The invention provides a motor control method, a motor control system and a multi-motor synchronous driving device, which are used for solving the defect that the torque output balance cannot be effectively ensured because the output torque difference caused by the motor cannot be corrected in the prior art, and realizing the torque output balance of the multi-motor synchronous driving device.
The invention provides a motor control method, which is applied to a driving device synchronously driven by a plurality of motors, wherein the method comprises the following steps:
when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors;
determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
and adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
According to the motor control method of the present invention, the adjusting the conversion control parameter of the motor driving module to the motor to be debugged includes:
and adjusting the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque.
According to the motor control method of the present invention, the adjusting the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque includes:
if the given torque is smaller than the feedback torque, reducing the modulation voltage of the motor to be debugged by a preset adjustment amount;
and if the given torque is larger than the feedback torque, increasing the modulation voltage of the motor to be debugged by the preset adjustment amount.
According to the motor control method of the present invention, the adjusting the conversion control parameter of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition includes:
adjusting the modulation voltage of the motor driving module to the motor to be debugged until the torque deviation between the feedback torque fed back after the torque control instruction is executed and the given torque is less than or equal to a preset threshold value under the adjusted modulation voltage of the motor to be debugged;
and the motor to be debugged responds to the modulated voltage after one adjustment every time the modulated voltage is adjusted.
The motor control method according to the present invention further includes:
monitoring the feedback torque fed back after each motor driving module executes the torque control command in real time in the actual working stage of the driving device;
determining a motor which does not meet the preset execution condition in the motors as a motor to be overhauled based on the given torque and the feedback torque;
and adjusting the conversion control parameters of the motor driving module to the motor to be overhauled, and triggering an alarm.
The present invention also provides a motor control system applied to a driving apparatus synchronously driven by a plurality of motors, wherein the system comprises:
the acquisition module is used for acquiring feedback torque fed back after each motor driving module which is respectively connected with the plurality of motors executes a torque control command when the driving device is connected with a constant load, wherein the torque control command is given torque distributed to the motors;
the judging module is used for determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
and the processing module is used for adjusting the conversion control parameters of the motor to be debugged by the motor driving module until the motor to be debugged meets the preset execution condition.
The motor control system according to the present invention further includes:
and the alarm module is used for sending an alarm when the situation that the torque deviation between the feedback torque fed back after each motor driving module executes the torque control command and the given torque is greater than the preset threshold value is monitored in the actual working stage of the driving device.
The present invention also provides a multi-motor synchronous drive apparatus including the motor control system as described in any one of the above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the motor control method as described in any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a motor control method as described in any one of the above.
According to the motor control method, the motor control system and the multi-motor synchronous driving device, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control command is obtained when the driving device is connected with a constant load, then the motor which does not meet preset execution conditions in the plurality of motors is determined to be used as a motor to be debugged based on torque deviation between the given torque and the feedback torque in the torque control command, and finally matching between the feedback torque and the given torque of the motor driving module is achieved by adjusting conversion control parameters of the motor driving module to be debugged. The output characteristics of the motor are adjusted by adjusting the conversion control parameters of the motor in the motor driving module, namely, the output torque of the motor based on the given torque is adjusted from the self-angle of the motor, and the problem that the feedback torque change caused by the factors such as the motor or installation cannot be corrected by compensating the given torque in the prior art is solved, so that the effectiveness of adjusting the output torque of the motor is ensured, and the balance of the output torques of multiple motors is ensured.
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In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a gear drive configuration of an electrically driven frac pump;
fig. 3 is a control logic diagram for applying the motor control method provided by the embodiment of the invention to an electrically driven fracturing pump;
fig. 4 is a schematic structural diagram of a motor control system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electronic device provided by the present invention;
reference numerals:
1: a motor; 2: a pinion gear; 3: a bull gear; 4: a drive shaft; 5: and (4) loading.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
It can be understood that, on the one hand, motors of the same manufacturer and the same model have slight difference in output characteristics, and even if two motors with the same output characteristics are actually installed and used, the output characteristics are affected by external factors such as installation and load, so that the motors have different output characteristics. For example: the fracturing pump which is synchronously driven by a plurality of motors in a gear meshing mode has the problem that the actual torque and the input torque of the motors are different although the torque data received by the motor driving module is the same due to slight differences of gear machining, installation and motor characteristics.
However, in the PID control which is commonly used at present, compensation torque is calculated based on a deviation between output torques of the motors, and then the compensation of the input torque is performed to balance the output torques. Therefore, if the input torque is compensated by using the PID method, the problem of unbalanced output torque caused by uneven load distribution due to the motor itself cannot be solved, and the change of the load of the transmission gear cannot be monitored in advance.
On the other hand, the control process of the output torque of the motor based on the given torque is: the given torque is sent by the controller to the motor driver, which converts the given torque into a current vector that is sent to the motor to perform the action.
Based on this, the embodiment of the invention provides a motor control method for compensating the output characteristic curve of each motor before the driving device is used formally, so as to ensure that each motor can output the same output torque based on the same input torque data in the using and working process of the driving device.
A motor control method according to the present invention is described below with reference to fig. 1 to 4, and is implemented by a controller of a driving apparatus driven by multiple motors synchronously and/or software or hardware thereof, where the controller may be an original controller on the driving apparatus or may be a separately configured controller dedicated to motor control, as shown in fig. 1, the motor control method according to the embodiment of the present invention includes the following steps:
101. when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with the plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors;
it is understood that there is a possibility that the output characteristics of the same motor may vary after the same motor is installed and connected to a load, and for a driving apparatus based on multi-motor synchronous driving, when a plurality of motors cannot output the same output torque based on the same input torque, the load may be unbalanced.
Specifically, the driving device is connected with a constant load in a stage before the driving device is repaired, maintained or used formally, and then feedback torque fed back after each motor driving module executes a torque control command is obtained. After the motor driving modules control the motors to act according to the same given torque, whether the fed-back torque is the same as the given torque or not is judged, and the output torque of each motor to the same given torque can be ensured to be the same before the driving device is put into operation.
102. Determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
specifically, when the motor drive module controls the motor to operate at a given torque, the output torque of the motor should be theoretically the same as the given torque. However, due to various factors such as environment and installation, the output torque, i.e., the feedback torque fed back by the motor driving module, may have a certain difference from the given torque, i.e., an acceptable error is allowed.
More specifically, by setting a preset threshold value and then comparing the torque deviation between the given torque and the feedback torque with the preset threshold value, it is possible to determine the motor in which the difference between the given torque and the feedback torque is large, that is, the motor that needs to be debugged.
Furthermore, the output torques of a plurality of motors for driving the driving device can be balanced by adjusting the motor to be adjusted to ensure that the feedback torque is matched with the given torque, thereby improving the stability of the driving device and prolonging the service life.
103. And adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
Specifically, the motor driving module is adjusted to convert control parameters of the motor to be debugged, such as: the modulation voltage, carrier frequency and the like of the motor to be debugged can be changed by changing the output characteristic curve of the motor, namely changing the output torque of the motor to be debugged aiming at the same given torque. Furthermore, when the driving device actually works, the output torque which is basically the same can be ensured to be output for the same given torque, and the output torque of each motor does not need to be compensated in the using stage of the driving device.
More specifically, in a stage before the driving device is put into formal use, such as a maintenance stage, after the output characteristic curves of the motors are adjusted to be basically the same, in the actual work of the driving device, if the feedback torque of a certain motor is obviously different from that of other motors, the effective recognition of the change of the motor load can be realized, so that the defect that the problem can be found when actual damage occurs is avoided.
As an embodiment of the present invention, the adjusting the conversion control parameter of the motor driving module to the motor to be debugged includes:
and adjusting the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque.
Specifically, the modulation voltage of the motor to be debugged is adjusted by the motor driving module based on the given torque and the feedback torque, so that the adjustment of the output characteristic curve of the motor to be debugged can be realized.
More specifically, the modulation voltage is adjusted based on the magnitude relationship of the given torque and the feedback torque, i.e., the result of adjusting the output is achieved by increasing or decreasing the input to the motor. For example: increasing the modulation voltage when the given torque is greater than the feedback torque; when the given torque is smaller than the feedback torque, the modulation voltage is decreased. Further, the amount of change in the modulation voltage is proportional to the torque difference between the given torque and the feedback torque.
As an embodiment of the present invention, the adjusting the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque includes:
if the given torque is smaller than the feedback torque, reducing the modulation voltage of the motor to be debugged by a preset adjustment amount;
and if the given torque is larger than the feedback torque, increasing the modulation voltage of the motor to be debugged by the preset adjustment amount.
It will be appreciated that the output torque of the motor is proportional to the square of the input voltage, and that it is common practice to vary the input voltage to the motor, i.e. modulate the voltage, when adjusting the output characteristics of the motor.
Specifically, when the given torque is smaller than the feedback torque, that is, the given torque is smaller than the output torque of the motor, the output torque of the motor based on the given torque can be reduced by reducing the modulation voltage. When the given torque is larger than the feedback torque, that is, the given torque is larger than the output torque of the motor, the output torque of the motor based on the given torque can be increased by increasing the modulation voltage.
More specifically, when the difference between the given torque and the feedback torque is large, the modulation voltage is directly adjusted to a large extent, which may cause sudden change in the output torque of the motor, and easily damage the motor. Through presetting the adjustment quantity, then when needing to adjust the output torque of motor, come gradually adjustment motor according to presetting the adjustment quantity, can make the output torque steady change of motor, and then guarantee drive arrangement's operating stability, also can effectively avoid excessively adjusting.
As an embodiment of the present invention, the adjusting the conversion control parameter of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition includes:
adjusting the modulation voltage of the motor driving module to the motor to be debugged until the torque deviation between the feedback torque fed back after the torque control instruction is executed and the given torque is less than or equal to a preset threshold value under the adjusted modulation voltage of the motor to be debugged;
and the motor to be debugged responds to the modulated voltage after one adjustment every time the modulated voltage is adjusted.
Specifically, the speed feedback of the motor to be debugged based on the adjusted modulation voltage is acquired through the controller, then closed-loop adjustment is carried out, namely the controller sends a torque control instruction to the motor driving module, and when the feedback torque is lower than a given torque, the motor driving module increases the modulation voltage of the motor to be debugged by a preset adjustment amount, so that the output torque of the motor to be debugged is increased, and the motion is accelerated. And then judging whether the feedback torque is matched with the given torque, if the feedback torque is still lower than the given torque, increasing the modulation voltage of the motor to be debugged by a preset adjustment amount by the motor driving module, repeating the comparison between the feedback torque and the given torque, and realizing the gradual adjustment of the output torque until the feedback torque is matched with the given torque.
As an embodiment of the present invention, the motor control method further includes:
monitoring the feedback torque fed back after each motor driving module executes the torque control command in real time in the actual working stage of the driving device;
determining a motor which does not meet the preset execution condition in the motors as a motor to be overhauled based on the given torque and the feedback torque;
and adjusting the conversion control parameters of the motor driving module to the motor to be overhauled, and triggering an alarm.
Specifically, whether feedback torque fed back after each motor driving module executes a torque control instruction is matched with given torque or not is detected in real time in the actual working stage of the driving device, so that a motor which does not meet preset execution conditions in the motor can be determined, then conversion control parameters of the motor which does not meet the preset execution conditions are adjusted, and an alarm is triggered at the same time.
More specifically, the torque deviation in the preset execution condition applied to the actual operation phase of the drive apparatus may be distinguished from the preset threshold value in the preset execution condition of the maintenance phase. The preset threshold value in the actual working stage can be set to be larger than the preset threshold value in the maintenance stage, so that the correction effect of the output characteristic curve of each motor in the maintenance stage is ensured. In the actual working phase, the preset threshold value may be set slightly larger, so as to monitor whether the load of each motor has substantial deviation, for example: the preset threshold is set to 3%, 5%, etc. of the motor load exceeding the allowable deviation range.
In the motor control method provided by the above embodiment of the present invention, the output torque characteristic curve of the motor may be corrected at the maintenance stage of the driving device, or before the driving device is put into actual use, so that the output torque of each motor is kept the same, thereby ensuring that the driving force of each motor is the same. The output torque change caused by external torque load fluctuation can be adjusted, the load distribution unevenness caused by the driving device can be corrected, the change of the load driven by each motor can be monitored in advance, and therefore the early warning of possible faults of the driving device is achieved.
Specifically, an electrically driven fracturing pump is taken as an example to illustrate application of the motor control method provided by the embodiment of the invention. As shown in fig. 2, an output shaft of a motor 1 of the electrically driven fracturing pump is connected with a pinion gear 2, the pinion gear 2 is meshed with a bull gear 3, and the bull gear 3 is connected with a load 5 through a drive shaft 4 to drive the load 5.
The controller of the electrically driven fracturing pump controls each motor based on the control flow shown in fig. 3. The controller sends a torque control command, namely a given torque, to the motor driver of each motor, and the motor driver converts torque data in the torque control command into a vector signal and sends the vector signal to the motors. Then, the motor acts based on the vector signal, and the motor driver obtains the output torque of the motor through the motor to form a feedback torque and sends the feedback torque to the controller. The controller generates a control command based on the feedback torque and the given torque and sends the control command to the motor driver, and the motor driver adjusts the conversion control parameters of the motor according to the control command. The controller collects the speed feedback of the motor again and carries out closed-loop regulation, the controller sends a torque control command to the motor driver, and when the output torque of the motor is lower than a given torque, the motor driver increases the conversion control parameter and the motor accelerates; when the output torque of the motor is higher than the given torque, the motor driver reduces the conversion control parameter, and the motor performs deceleration movement, so that the output characteristic of the motor is corrected.
The following describes a motor control system provided by the present invention, and a motor control system described below and a motor control method described above may be referred to in correspondence with each other.
The present invention provides a motor control system applied to a driving apparatus synchronously driven by a plurality of motors, as shown in fig. 4, including: an acquisition module 410, a judgment module 420 and a processing module 430; wherein,
the obtaining module 410 is configured to obtain a feedback torque fed back after each motor driving module connected to each of the plurality of motors executes a torque control instruction when the driving apparatus is connected to a constant load, where the torque control instruction is a given torque allocated to the motor;
the determining module 420 is configured to determine, as a motor to be debugged, a motor that does not meet a preset execution condition among the plurality of motors based on the given torque and the feedback torque, where the preset execution condition is: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
the processing module 430 is configured to adjust the conversion control parameter of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
According to the motor control system provided by the embodiment of the invention, when a constant load is connected to a driving device, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control instruction is obtained, then the motor which does not meet preset execution conditions in the plurality of motors is determined as a motor to be debugged based on the torque deviation between the given torque and the feedback torque in the torque control instruction, and finally the matching between the feedback torque and the given torque of the motor driving module is realized by adjusting the conversion control parameter of the motor driving module to be debugged. The output characteristics of the motor are adjusted by adjusting the conversion control parameters of the motor in the motor driving module, namely, the output torque of the motor based on the given torque is adjusted from the self-perspective of the motor, and the problem that the feedback torque change caused by the factors such as the motor or installation cannot be corrected because the adjustment of the feedback torque is achieved by compensating the given torque in the prior art is solved, so that the effectiveness of the adjustment of the output torque of the motor is ensured, and the balance of the output torques of multiple motors is ensured.
As an embodiment of the present invention, the motor control system provided by the present invention further includes: an alarm module;
and the alarm module is used for sending an alarm when the situation that the torque deviation between the feedback torque fed back after each motor driving module executes the torque control command and the given torque is greater than the preset threshold value in the actual working stage of the driving device is monitored.
Specifically, based on the setting of the alarm module, when the driving device actually works and the torque deviation of the feedback torque and the given torque of any one or more motors is monitored to be larger than a preset threshold value, an alarm is given out, and therefore health early warning of all parts of the driving device is achieved.
Preferably, the processing module is specifically configured to adjust the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque.
It is further preferable that the processing module is further configured to reduce the modulation voltage of the motor to be debugged by a preset adjustment amount if the given torque is smaller than the feedback torque; and if the given torque is larger than the feedback torque, increasing the modulation voltage of the motor to be debugged by the preset adjustment amount.
More preferably, the processing module is further configured to adjust the modulation voltage of the motor driving module to the motor to be debugged, until a torque deviation between a feedback torque fed back after the motor to be debugged executes the torque control command and the given torque is smaller than or equal to a preset threshold under the adjusted modulation voltage; and the motor to be debugged responds to the modulated voltage after one adjustment every time the modulated voltage is adjusted.
The embodiment of the invention also provides a multi-motor synchronous driving device comprising the motor control system provided by any one of the above embodiments.
It can be understood that the multi-motor synchronous driving device including the motor control system provided in any of the above embodiments has all the advantages and technical effects of the motor control system provided in the embodiments, and thus, the detailed description thereof is omitted.
Specifically, the multi-motor synchronous driving device provided in the embodiment of the present invention may be any device that is driven by multiple motors synchronously, for example: an electrically driven fracturing pump, a shield body of a shield machine and the like.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor) 510, a communication Interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to perform a motor control method applied to a driving apparatus driven by multiple motors in synchronization, including: when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with the plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors; determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value; and adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. 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: a U disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing a motor control method provided by the above methods, the method being applied to a drive apparatus synchronously driven by multiple motors, including: when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors; determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value; and adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
In still another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a motor control method applied to a driving apparatus synchronously driven by multiple motors, comprising: when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors; determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value; and adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A motor control method applied to a drive device driven synchronously by multiple motors, the method comprising:
when the driving device is connected with a constant load, feedback torque fed back after each motor driving module respectively connected with a plurality of motors executes a torque control command is obtained, and the torque control command is given torque distributed to the motors;
determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
and adjusting the conversion control parameters of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition.
2. The motor control method according to claim 1, wherein the adjusting of the conversion control parameter of the motor driving module to the motor to be debugged comprises:
and adjusting the modulation voltage of the motor to be debugged by the motor driving module based on the given torque and the feedback torque.
3. The motor control method according to claim 2, wherein the adjusting the modulation voltage of the motor to be debugged by the motor drive module based on the given torque and the feedback torque comprises:
if the given torque is smaller than the feedback torque, reducing the modulation voltage of the motor to be debugged by a preset adjustment amount;
and if the given torque is larger than the feedback torque, increasing the modulation voltage of the motor to be debugged by the preset adjustment amount.
4. The motor control method according to claim 3, wherein the adjusting the conversion control parameter of the motor driving module to the motor to be debugged until the motor to be debugged meets the preset execution condition comprises:
adjusting the modulation voltage of the motor driving module to the motor to be debugged until the torque deviation between the feedback torque fed back after the torque control instruction is executed and the given torque is less than or equal to a preset threshold value under the adjusted modulation voltage of the motor to be debugged;
and the motor to be debugged responds to the modulated voltage after one time of adjustment every time the modulated voltage is adjusted.
5. The motor control method according to claim 1, further comprising:
monitoring the feedback torque fed back after each motor driving module executes the torque control command in real time in the actual working stage of the driving device;
determining a motor which does not meet the preset execution condition in the motors as a motor to be overhauled based on the given torque and the feedback torque;
and adjusting the conversion control parameters of the motor driving module to the motor to be overhauled, and triggering an alarm.
6. A motor control system applied to a drive device driven synchronously by a plurality of motors, comprising:
the acquisition module is used for acquiring feedback torque fed back after each motor driving module respectively connected with the plurality of motors executes a torque control command when the driving device is connected with a constant load, and the torque control command is given torque distributed to the motors;
the judging module is used for determining a motor which does not meet a preset execution condition in the plurality of motors as a motor to be debugged based on the given torque and the feedback torque, wherein the preset execution condition is as follows: the torque deviation between the given torque and the feedback torque is smaller than or equal to a preset threshold value;
and the processing module is used for adjusting the conversion control parameters of the motor to be debugged by the motor driving module until the motor to be debugged meets the preset execution condition.
7. The motor control system of claim 6, further comprising:
and the alarm module is used for sending an alarm when the situation that the torque deviation between the feedback torque fed back after each motor driving module executes the torque control command and the given torque is greater than the preset threshold value is monitored in the actual working stage of the driving device.
8. A multi-motor synchronous drive apparatus characterized by comprising the motor control system according to claim 6 or 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the motor control method according to any of claims 1 to 5 when executing the program.
10. A non-transitory computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a motor control method according to any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210976113.XA CN115347818A (en) | 2022-08-15 | 2022-08-15 | Motor control method and system and multi-motor synchronous driving device |
| PCT/CN2023/085625 WO2024036978A1 (en) | 2022-08-15 | 2023-03-31 | Electric motor control method and system, and multi-electric-motor synchronously driven device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210976113.XA CN115347818A (en) | 2022-08-15 | 2022-08-15 | Motor control method and system and multi-motor synchronous driving device |
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| CN115347818A true CN115347818A (en) | 2022-11-15 |
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| CN202210976113.XA Pending CN115347818A (en) | 2022-08-15 | 2022-08-15 | Motor control method and system and multi-motor synchronous driving device |
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| CN (1) | CN115347818A (en) |
| WO (1) | WO2024036978A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116317709A (en) * | 2023-05-23 | 2023-06-23 | 深圳弘远电气有限公司 | Multi-motor torque synchronous driving control method and system for shield tunneling machine |
| WO2024036978A1 (en) * | 2022-08-15 | 2024-02-22 | 三一石油智能装备有限公司 | Electric motor control method and system, and multi-electric-motor synchronously driven device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101061930B1 (en) * | 2008-12-18 | 2011-09-02 | 한국생산기술연구원 | Multiple motor control system and method |
| CN105591573B (en) * | 2014-10-31 | 2018-12-21 | 上海安川电动机器有限公司 | The synchronisation control means and device of a kind of multi-machine system, a kind of multi-machine system |
| CN109777911B (en) * | 2019-03-13 | 2020-10-16 | 飞马智科信息技术股份有限公司 | Control method and control system for tilting of converter |
| CN111118249B (en) * | 2019-12-13 | 2021-11-05 | 首钢京唐钢铁联合有限责任公司 | Method and system for detecting running torque synchronization of converter tilting equipment |
| CN111564992B (en) * | 2020-06-15 | 2022-02-22 | 中铁工程装备集团有限公司 | Control device and method for multi-motor connection |
| CN113315420B (en) * | 2021-06-04 | 2022-06-21 | 山东拓新电气有限公司 | TBM cutter head driving multi-motor synchronous control method based on torque compensation control |
| CN115347818A (en) * | 2022-08-15 | 2022-11-15 | 三一石油智能装备有限公司 | Motor control method and system and multi-motor synchronous driving device |
-
2022
- 2022-08-15 CN CN202210976113.XA patent/CN115347818A/en active Pending
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2023
- 2023-03-31 WO PCT/CN2023/085625 patent/WO2024036978A1/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024036978A1 (en) * | 2022-08-15 | 2024-02-22 | 三一石油智能装备有限公司 | Electric motor control method and system, and multi-electric-motor synchronously driven device |
| CN116317709A (en) * | 2023-05-23 | 2023-06-23 | 深圳弘远电气有限公司 | Multi-motor torque synchronous driving control method and system for shield tunneling machine |
| CN116317709B (en) * | 2023-05-23 | 2023-09-12 | 深圳弘远电气有限公司 | Multi-motor torque synchronous driving control method and system for shield tunneling machine |
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| WO2024036978A1 (en) | 2024-02-22 |
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