CN116094372A - Synchronous control system, method and device for motor rotation speed - Google Patents

Synchronous control system, method and device for motor rotation speed Download PDF

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Publication number
CN116094372A
CN116094372A CN202310001450.1A CN202310001450A CN116094372A CN 116094372 A CN116094372 A CN 116094372A CN 202310001450 A CN202310001450 A CN 202310001450A CN 116094372 A CN116094372 A CN 116094372A
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motor
rotation speed
speed
module
rotating speed
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Inventor
李标
吴文臻
张立亚
马孝威
程继明
李晨鑫
郝博南
姜玉峰
贾晓娣
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CCTEG China Coal Research Institute
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CCTEG China Coal Research Institute
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
    • B65G23/28—Arrangements for equalising the drive to several elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The present disclosure provides a motor rotation speed synchronous control system, method and device, and relates to the technical field of motor rotation speed control, the system includes: the system comprises a multi-motor system, a controller module, a given rotating speed and compensation module and a virtual motor module, wherein the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system and the rotating speed and rotating speed compensation coefficient of the virtual motor in the virtual motor module; the controller module is used for calculating the compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in a multi-motor system is speed controlled based on a corresponding given load torque, and a compensation torque. Therefore, the rotating speed cooperative control can be carried out on the multi-machine driving system of the belt conveyor, and the problem that the rotating speed deviation can be generated when the belt conveyor driven by multiple motors is subjected to load disturbance in the starting process and steady-state operation of the belt conveyor is solved.

Description

Synchronous control system, method and device for motor rotation speed
Technical Field
The disclosure relates to the technical field of motor rotation speed control, and in particular relates to a motor rotation speed synchronous control system, a motor rotation speed synchronous control method and a motor rotation speed synchronous control device.
Background
The mining belt conveyor has longer carrying distance and a certain inclination angle, the driving capability of a single motor is weaker, the driving requirement cannot be met, the failure rate of the motor can be increased when the single motor runs for a long time, and safety accidents are easy to occur, so that the mining belt conveyor usually adopts a multi-machine driving structure. If the control method is improper in the production of the multi-machine-driven belt conveyor, the rotation speeds of individual motors in the system are asynchronous, so that the conveyor belt can be broken, the safety, the high efficiency and the stable operation of a coal mine can be directly influenced, and the rotation speeds of the multi-machine-driven systems of the belt conveyor are required to be cooperatively controlled.
Disclosure of Invention
The present disclosure aims to solve, at least to some extent, one of the technical problems in the related art.
An embodiment of a first aspect of the present disclosure provides a motor rotation speed synchronization control system, including:
a multi-motor system, a controller module, a given rotational speed and compensation module, a virtual motor module, wherein,
the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system, the rotating speed of the virtual motor in the virtual motor module and a preset rotating speed compensation coefficient;
the controller module is used for calculating compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in the multi-motor system is speed controlled based on a corresponding given load torque and the compensation torque.
An embodiment of a second aspect of the present disclosure provides a motor rotation speed synchronization control method, including:
applying a preset load torque to a first motor and controlling a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, and the rotating speed of the first motor is smaller than that of the second motor;
calculating a rotation speed compensation value corresponding to each motor according to the current rotation speed of each motor, the rotation speed of the virtual motor and a preset rotation speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, and the rotation speed of the virtual motor is smaller than that of the first motor;
and controlling each motor to correct the corresponding rotating speed based on the corresponding rotating speed compensation value.
An embodiment of a third aspect of the present disclosure provides a motor rotation speed synchronization control device, including:
the control module is used for applying a preset load torque to the first motor and controlling a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, and the rotating speed of the first motor is smaller than that of the second motor;
the calculation module is used for calculating a rotation speed compensation value corresponding to each motor according to the current rotation speed of each motor, the rotation speed of the virtual motor and a preset rotation speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, and the rotation speed of the virtual motor is smaller than that of the first motor;
and the correction module is used for controlling each motor to correct the corresponding rotating speed based on the corresponding rotating speed compensation value.
An embodiment of a fourth aspect of the present disclosure proposes an electronic device, including: the motor speed synchronization control method according to the embodiment of the second aspect of the present disclosure is implemented by a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the program.
An embodiment of a fifth aspect of the present disclosure proposes a non-transitory computer-readable storage medium storing a computer program which, when executed by a processor, implements a motor rotation speed synchronization control method as proposed by an embodiment of a second aspect of the present disclosure.
Embodiments of a sixth aspect of the present disclosure propose a computer program product, which when executed by an instruction processor in the computer program product, performs the motor rotation speed synchronization control method proposed by the embodiments of the second aspect of the present disclosure.
The motor rotating speed synchronous control system comprises a multi-motor system, a controller module, a given rotating speed and compensation module and a virtual motor module, wherein the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system, the rotating speed of the virtual motor in the virtual motor module and a preset rotating speed compensation coefficient; the controller module is used for calculating compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in the multi-motor system is speed controlled based on a corresponding given load torque and the compensation torque. Therefore, the rotating speed cooperative control can be carried out on the multi-machine driving system of the belt conveyor, the problem that the belt conveyor driven by multiple motors generates rotating speed deviation in the starting process and when the belt conveyor in steady operation is disturbed by loads can be solved, the rotating speed synchronization performance and tracking performance of the multi-machine driving system of the belt conveyor are improved, the synchronous requirement in the starting process can be met under the condition that the rotating inertia of each motor is different by the multi-motor rotating speed synchronous control strategy, and the synchronous precision in steady state disturbed is higher.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a diagram of a conventional bias coupling architecture provided by an embodiment of the present disclosure;
fig. 2 is a block diagram of a motor rotation speed synchronous control system according to a first embodiment of the present disclosure;
fig. 3 is a diagram of a multi-machine driving structure of a belt conveyor according to an embodiment of the present disclosure;
FIG. 4 is a diagram of an improved bias coupling architecture provided by an embodiment of the present disclosure;
fig. 5 is a flowchart of a motor rotation speed synchronization control method according to a second embodiment of the present disclosure;
FIG. 6 is a schematic diagram of motor output torque for an improved configuration provided by an embodiment of the present disclosure;
FIG. 7 is a velocity tracking graph of a conventional structure provided by an embodiment of the present disclosure;
FIG. 8 is a tracking error plot of an improved bias coupling structure provided by an embodiment of the present disclosure;
fig. 9 is a block diagram of a motor rotation speed synchronous control device according to a third embodiment of the present disclosure;
FIG. 10 illustrates a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
In order to reduce the synchronization error of the multi-motor driving system, the control method adds a motor omega with other motors in the system to the input link of the rotating speed ring controller of each motor in the multi-motor driving system of the traditional belt conveyor i A synchronous compensator formed by the rotation speed difference between (the rotation speed of the ith motor), and the corresponding mathematical model is as follows:
Figure BDA0004034930670000031
rotational speed synchronization performance of a multi-machine system, a given rotational speed ω of the system * As another input of the input link. Through the rotating speed control link F i After(s), the ith motor controller is obtained at a load torque of T Li The output torque in the case is T ei ，G i (s) is the equivalent transfer function of the ith motor.
Figure BDA0004034930670000032
Wherein J is i Which is the moment of inertia of motor i.
Fig. 1 is a conventional offset coupling structure, as can be obtained from fig. 1, when the number of the motors in the system is n, the synchronous compensator for the rotational speed of the system totally comprises n (n-1) rotational speed differences, and when the number of the motors is large, the mathematical model is complex. In addition, when the motor is newly added or replaced, the synchronous compensator which is operated in the system needs to be reset, so that the workload is large, and the stable production of the coal mine is not facilitated. The synchronous error compensator of the traditional deviation coupling control structure needs to operate the rotating speeds of all motors in the system, has a complex structure and large online calculated amount; in addition, the synchronous error compensator affects both the tracking performance and the synchronous performance of the system, which are difficult to be compatible. The synchronous control strategy of the rotating speeds of the multiple motors based on the traditional deviation coupling control cannot meet the synchronous requirement of the starting process when the rotating inertia of each motor is different, and the synchronous precision is not high when the steady state is disturbed.
The following describes a motor rotation speed synchronization control system, method, and apparatus of an embodiment of the present disclosure with reference to the accompanying drawings.
Fig. 2 is a block diagram of a motor rotation speed synchronous control system according to a first embodiment of the present disclosure.
As shown in fig. 2, the motor rotation speed synchronization control system 10 includes: a multi-motor system 11, a controller module 12, a given speed and compensation module 13, a virtual motor module 14, wherein,
the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system, the rotating speed of the virtual motor in the virtual motor module and a preset rotating speed compensation coefficient;
the controller module is used for calculating compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in the multi-motor system is speed controlled based on a corresponding given load torque and the compensation torque.
Specifically, the rotation speed compensation value corresponding to each motor may be calculated according to the following formula:
ω bj ＝k 1 (ω j -ω vir )
wherein omega bj For the rotation speed compensation value k corresponding to the motor j 1 For a preset rotation speed compensation coefficient omega vir For the speed, ω, of the virtual motor j The rotational speed of motor j.
Specifically, the virtual motor speed loop controller F is passed through vir After(s), the output torque of the motor is expressed as T evir . Compensation rotation speed omega of motor j output by compensator bj The torque output value of the compensation torque after the controller is:
Figure BDA0004034930670000041
wherein K is pj Is the control coefficient.
It should be noted that each motor corresponds to a given load torque, T as shown in FIG. 4 L1 、T L2 、T L3 I.e. the given load torque.
Specifically, each motor in the multi-motor system performs rotational speed control based on a corresponding given load torque and the compensation torque.
It should be noted that, the carrying distance of the mining belt conveyor is longer and has a certain inclination angle, the driving capability of a single motor is weaker, the driving requirement cannot be met, the failure rate of the motor can be increased when the single motor runs for a long time, and the safety accident is easy to occur, so that the mining belt conveyor often adopts a multi-machine driving structure as shown in fig. 3.
Wherein, motors PMSM1, PMSM2 are connected with roller A rigidly, and PMSM3 drives flexible interconnection between roller B and roller A. In an ideal state, if the same starting signal and the same target rotation speed are given to all motors in the system, the rotation speed synchronization of the motors can be realized. However, due to uncertainty of bulk material characteristics and real-time yield of coal, random load disturbance exists in the mining belt conveyor, so that rotation speeds among motors are not synchronous, and the mechanical structure and a conveyor belt of the belt conveyor are damaged, so that a control strategy of the motors is required to be effectively improved.
As shown in fig. 4, the mathematical expression of the rotation speed compensator of this structure is simplified as the rotation speed difference between the own motor and the virtual motor:
ω bj ＝k 1 (ω j -ω vir )
wherein k is 1 =nk is a compensation coefficient unified for all compensators, ω vir Is the rotational speed of the virtual motor. Through virtual electric powerEngine speed ring controller F vir After(s), the output torque is expressed as T evir The virtual motor equivalent transfer function at this time is G vir (s)。
Figure BDA0004034930670000051
Wherein J is vir Is the moment of inertia of the virtual motor.
As can be seen from the above analysis, when the number of system motors is n, the number of rotational speed differences included in the system rotational speed synchronization compensator is 2n, compared with the conventional structure. When the number of the motors is required to be changed, only a new rotating speed variable is needed to be added into the virtual motor rotating speed synchronous compensator, and the rotating speed synchronous compensator of the original system is not required to be changed.
Optionally, the virtual motor module is further configured to:
calculating a virtual rotation speed compensation value according to the current rotation speed of each motor, the preset rotation speed compensation coefficient and the rotation speed of the virtual motor;
an output torque of the virtual motor is determined based on a virtual motor speed loop controller and the virtual speed compensation value.
Specifically, the virtual rotation speed compensation value ω can be calculated according to the following formula bvir ：
Figure BDA0004034930670000052
Wherein k is 1 For a preset rotation speed compensation coefficient omega i The rotation speed of the ith motor, n is the number of motors, omega vir Is the rotational speed of the virtual motor.
Compensation rotation speed omega of virtual motor output through compensator bvir The torque output value after passing through the virtual motor rotating speed ring controller is T evir A laplace transform is then also required.
Optionally, the given rotation speed and compensation module includes a plurality of rotation speed controllers, wherein the number of the rotation speed controllers is the same as the number of the motors, each rotation speed controller corresponds to one motor, and the given rotation speed and compensation module includes a plurality of rotation speed controllers,
the rotation speed controller is used for calculating the output torque of the corresponding motor according to the rotation speed compensation value of the corresponding motor and the given rotation speed of the corresponding motor.
Optionally, the system further comprises a roller and a frequency converter, wherein the motor is respectively connected with the roller and the frequency converter.
The motor rotating speed synchronous control system comprises a multi-motor system, a controller module, a given rotating speed and compensation module and a virtual motor module, wherein the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system, the rotating speed of the virtual motor in the virtual motor module and a preset rotating speed compensation coefficient; the controller module is used for calculating compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in the multi-motor system is speed controlled based on a corresponding given load torque and the compensation torque. Therefore, the rotating speed cooperative control can be carried out on the multi-machine driving system of the belt conveyor, the problem that the belt conveyor driven by multiple motors generates rotating speed deviation in the starting process and when the belt conveyor in steady operation is disturbed by loads can be solved, the rotating speed synchronization performance and tracking performance of the multi-machine driving system of the belt conveyor are improved, the synchronous requirement in the starting process can be met under the condition that the rotating inertia of each motor is different by the multi-motor rotating speed synchronous control strategy, and the synchronous precision in steady state disturbed is higher.
Fig. 5 is a flowchart of a motor rotation speed synchronization control method according to a second embodiment of the present disclosure.
The motor rotation speed synchronization control method is configured in a motor rotation speed synchronization control device to exemplify the motor rotation speed synchronization control device so that the motor rotation speed synchronization control function can be executed. Hereinafter, a description will be given of "motor rotation speed synchronization control device" as an execution subject of the motor rotation speed synchronization control method in the embodiment of the present disclosure.
As shown in fig. 5, the motor rotation speed synchronization control method includes:
and 101, applying a preset load torque to a first motor and controlling a plurality of second motors to start in an idle mode, wherein the moment of inertia of the first motor is larger than that of the second motor, and the rotating speed of the first motor is smaller than that of the second motor.
The rotational speed synchronization control process of the motor may be simulated in advance, with the motor j as the first motor. Motor i is taken as the second motor, wherein motor i is the other motor except motor j.
An improved structural performance analysis at start-up can be performed first, and during the system start-up phase, a load torque T can be applied to the motor j Lj (>0) The other motors i start idle and satisfy the formula: j (J) i <J j ,ω i >ω j
Wherein J is j For moment of inertia, ω, of motor j j Corresponding to the rotation speed. The other motors i have the same moment of inertia J i And rotational speed omega i ，T N Rated torque of the motor is set to be 1.2T N The rotational inertia J of a virtual motor in a deviation coupling control structure system is improved vir1 、J vir2 、J vir3 Three different values, and J vir1 <J vir2 <J vir3 At this time, the output torque of each motor
Figure BDA0004034930670000071
As shown in fig. 6.
And 102, calculating a rotation speed compensation value corresponding to each motor according to the current rotation speed of each motor, the rotation speed of the virtual motor and a preset rotation speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, and the rotation speed of the virtual motor is smaller than that of the first motor.
The compensation rotation speed ω of the motor j output through the compensator bj The torque output value after the controller is:
Figure BDA0004034930670000072
in order to reduce tracking error, it is necessary to satisfy the output torque
Figure BDA0004034930670000073
Namely: omega vir <ω j . Wherein (1)>
Figure BDA0004034930670000074
The tracking error torque is represented and is the output torque corresponding to the tracking error of the rotating speed of the motor j; />
Figure BDA0004034930670000075
Indicating the compensated rotational speed omega of motor j bj The corresponding output torque is defined as the compensation torque of motor j.
The compensation rotation speed of the motor i output by the compensator is omega bi The torque output value after the controller is:
Figure BDA0004034930670000076
/>
also, it is required to satisfy
Figure BDA0004034930670000077
Namely: omega vir <ω i 。
Thus, when ω vir <ω j <ω i During system start-up of the improved offset coupling control structure, the compensation rotation speed of the compensator output can output torque
Figure BDA0004034930670000078
To a value such that the tracking error is also reduced together. And due to J vir And omega vir In inverse proportion to each other, so when J vir Omega when increasing vir 、/>
Figure BDA0004034930670000079
Meanwhile, the tracking error of each motor is reduced. Deviations in rotational inertia between motors during system start-up will also lead to synchronization errors. Synchronous error torque between motor j and motor i:
Figure BDA00040349306700000710
wherein J is 0 ＝J i ,(i＝1,2……n,i≠j)，α s Is the value of the bandwidth of the rotating speed ring.
Thus, when J j >J i ＝J 0 When due to J virn And omega virn In inverse proportion, therefore, increase J vir Synchronous error torque between motors j, i
Figure BDA00040349306700000711
The synchronous error between the motors j and i is reduced, and the synchronism of the system in the starting process is improved.
Optionally, the rotation speed compensation coefficient is calculated according to the number of the motors and a predetermined compensation coefficient. k (k) 1 =nk, where k1 is a rotation speed compensation coefficient unified by all compensators, k is a predetermined rotation speed compensation coefficient, and n is the number of motors.
During steady operation of the belt conveyor system, the controller in the system operates in the linear region, and the rotational speed output of all motors can be expressed in terms of transfer functions.
Optionally, the transfer function expression for improving the rotational speed of the motor i in the offset coupling structure is:
Figure BDA0004034930670000081
wherein F is the corresponding transfer function of the control system, G is the corresponding motor transfer function of motor i, G j For the motor j to correspond to the motor transfer function, ω is a given rotational speed, T Lj For the load torque of motor j, the above formula is sorted:
Figure BDA0004034930670000082
the transfer function of the rotational speed of the motor i in the conventional structure is:
Figure BDA0004034930670000083
when analysis and comparison are carried out, let k 1 =nk. The two equations are analyzed, and the difference of the tracking errors of the motors under different control methods is composed of the load disturbance error of the motors (the second term in the equation) and the tracking errors of other motors (the third term in the equation). By comparison, the load disturbance and other motor tracking errors in the formula 2 are larger than those in the formula 1, and the improved offset coupling structure generates less total tracking error than the traditional structure, so that the performance is improved.
And step 103, controlling each motor to correct the corresponding rotating speed based on the corresponding rotating speed compensation value.
Alternatively, the apparatus may determine a tracking error and a synchronization error between the motors based on a specified period, and then alert a worker in response to determining that the tracking error or the synchronization error is greater than a preset threshold.
The specified period may be 10 minutes, which is not limited herein.
The speed tracking curve of the synchronous control system of the 3 permanent magnet synchronous motors with the traditional deviation coupling structure is shown in fig. 7, wherein the motor 1, the motor 2 and the motor 3 are respectively denoted by n1, n2 and n 3.
As can be seen from fig. 7, the conventional offset coupling structure has a high degree of matching of tracking curves of the motor n1 and the motor n2 except the motor n3 during the starting process and under the condition of sudden load, but has a large difference from the tracking effect of the motor n3, wherein the rotational speed offset of the motor n3 under the condition of sudden load is most obvious. The specific error table is shown in table 1. +
Table 1 shows the trace error table of the conventional offset coupling starting process
Figure BDA0004034930670000091
Wherein τn1 is the maximum tracking error corresponding to motor n1, τn12 is the maximum tracking error between motor n1 and motor n2, wherein the maximum tracking error of a single machine is 192r/min, and the maximum synchronization error between motors is up to 27r/min.
The tracking error table for the sudden load is shown in table 2:
table 2 shows the trace error table of the conventional bias coupled load mutation process
Figure BDA0004034930670000092
It can be seen that for sudden loading, the multiple drive system motor makes adjustments with less synchronization of the loaded motor with the unloaded motor, but with a higher synchronization rate between the unloaded motors.
The speed tracking curve of the improved bias coupling structure is shown in fig. 5:
FIG. 8 is a tracking error for an improved bias coupling structure
As shown in fig. 8, after the offset coupling structure is improved, the overall synchronization performance between the motors is improved well at the initial stage of system start-up, but the synchronization error between the motors n1 and n2 is larger than that of the conventional offset coupling structure. For the sudden load condition, the synchronous effect of the motors n1 and n2 is reduced, but the overall tracking effect is improved, and the maximum value of the tracking error of each motor is reduced. Effect improvement bias coupling structure start-up procedure tracking error detail errors are shown in table 3:
TABLE 3 improved error table for the deviation coupling start-up procedure
Figure BDA0004034930670000093
Because the speed loop controller input of the motor in the improved configuration includes a simplified speed synchronous compensator output and tracking error, during the start-up phase of the multi-motor system, the speed setting ensures the start-up speed of the motor and reduces tracking error. The average value of the maximum tracking error of each motor is reduced to 153.6r/min, and 21r/min is reduced compared with the traditional structure. At the same time, the tracking error between the motors is significantly reduced.
For the sudden load simulation of the improved bias coupling structure, the tracking error results are obtained as shown in table 4:
TABLE 4 improved deviation coupled load abrupt change process trace error table
Figure BDA0004034930670000101
The improved deviation coupling structure is characterized in that the output of the corresponding synchronous compensator is different according to the rotating speeds of different rotating speeds of all motors, so that the synchronous performance of the system can be improved, the tracking error between a single motor and a double motor is obviously reduced, and only the synchronous error tau n12 between the motor n1 and the motor n2 is slightly increased by a value of 12r/min from 4 r/min.
Comparing the error results of tables 1 to 4, it can be seen that the maximum value and the average value of the synchronization error are smaller than those of the conventional offset coupling structure when the motor is started. When the load mutation occurs in the multi-machine system, the tracking error of each motor of the improved structure is smaller, and the synchronization error among the motors is also reduced. Thus, at a given operating condition, the improved offset coupling architecture exhibits extremely high tracking and synchronization performance over conventional offset coupling architectures in the event of multiple machine system start-up and abrupt load changes.
In the starting stage of the multi-motor system, the starting speed of the motor is guaranteed by the given rotating speed, and tracking errors are reduced. In one example presented in this disclosure, the average value at which the tracking error of each motor is maximized is reduced to 153.6r/min, which is 21r/min lower than the conventional structure. At the same time, the tracking error between the motors is significantly reduced. The improved deviation coupling structure is characterized in that the output of the corresponding synchronous compensator is different according to the rotating speeds of different rotating speeds of each motor, so that the synchronous performance of the system can be improved, and the tracking error between a single machine and a double machine is obviously reduced. When the load mutation occurs in the multi-motor system, the tracking error of each motor of the improved structure is smaller, and the synchronization error among the motors is also reduced. Thus, at a given operating condition, the improved offset coupling architecture exhibits extremely high tracking and synchronization performance over conventional offset coupling architectures in the event of multiple machine system start-up and abrupt load changes.
In the embodiment of the disclosure, the device firstly applies a preset load torque to a first motor and controls a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, the rotational speed of the first motor is smaller than that of the second motor, and then a rotational speed compensation value corresponding to each motor is calculated according to the current rotational speed of each motor, the rotational speed of a virtual motor and a preset rotational speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, the rotational speed of the virtual motor is smaller than that of the first motor, and then each motor is controlled to correct the corresponding rotational speed based on the corresponding rotational speed compensation value. Therefore, the rotation speed cooperative control can be carried out on the multi-machine driving system of the belt conveyor by a simulation analysis method, the rotation speed synchronization performance and the tracking performance of the multi-machine driving system of the belt conveyor are improved, the synchronous requirement of the starting process can be met under the condition that the rotation inertia of each motor is different by a multi-motor rotation speed synchronous control strategy, and the synchronous precision is higher when the steady state is disturbed.
Fig. 9 is a schematic structural diagram of a motor rotation speed synchronous control device according to a fifth embodiment of the present disclosure.
As shown in fig. 9, the motor rotation speed synchronization control device 900 may include: a control module 910, a calculation module 920, and a correction module 930.
A control module 910, configured to apply a preset load torque to a first motor and control a plurality of second motors to start in idle mode, where a moment of inertia of the first motor is greater than a moment of inertia of the second motor, and a rotation speed of the first motor is less than a rotation speed of the second motor;
a calculating module 920, configured to calculate a rotation speed compensation value corresponding to each motor according to a current rotation speed of each motor, a rotation speed of the virtual motor, and a preset rotation speed compensation coefficient, where each motor includes the first motor and the plurality of second motors, and the rotation speed of the virtual motor is less than the rotation speed of the first motor;
and a correction module 930, configured to control each of the motors to correct the corresponding rotation speed based on the corresponding rotation speed compensation value.
Optionally, the computing module is further configured to:
the rotational speed compensation coefficient is calculated based on the current number of motors and a predetermined compensation coefficient.
Optionally, the device further includes:
a determining module for determining a tracking error and a synchronization error between the motors based on the specified period;
and the early warning module is used for sending an alarm to staff in response to the fact that the tracking error or the synchronization error is larger than a preset threshold value.
In the embodiment of the disclosure, the device firstly applies a preset load torque to a first motor and controls a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, the rotational speed of the first motor is smaller than that of the second motor, and then a rotational speed compensation value corresponding to each motor is calculated according to the current rotational speed of each motor, the rotational speed of a virtual motor and a preset rotational speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, the rotational speed of the virtual motor is smaller than that of the first motor, and then each motor is controlled to correct the corresponding rotational speed based on the corresponding rotational speed compensation value. Therefore, the rotation speed cooperative control can be carried out on the multi-machine driving system of the belt conveyor by a simulation analysis method, the rotation speed synchronization performance and the tracking performance of the multi-machine driving system of the belt conveyor are improved, the synchronous requirement of the starting process can be met under the condition that the rotation inertia of each motor is different by a multi-motor rotation speed synchronous control strategy, and the synchronous precision is higher when the steady state is disturbed.
To achieve the above embodiments, the present disclosure further proposes a computer device including: the motor speed synchronization control method according to the foregoing embodiments of the present disclosure is implemented when the processor executes the program.
In order to implement the above-described embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium storing a computer program which, when executed by a processor, implements a motor rotation speed synchronization control method as proposed in the foregoing embodiments of the present disclosure.
In order to implement the above-described embodiments, the present disclosure also proposes a computer program product which, when executed by an instruction processor in the computer program product, performs the motor rotation speed synchronization control method as proposed in the foregoing embodiments of the present disclosure.
FIG. 10 illustrates a block diagram of an exemplary computer device suitable for use in implementing embodiments of the present disclosure. The computer device 12 shown in fig. 10 is merely an example and should not be construed as limiting the functionality and scope of use of the disclosed embodiments.
As shown in FIG. 10, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture; hereinafter ISA) bus, micro channel architecture (Micro Channel Architecture; hereinafter MAC) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association; hereinafter VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnection; hereinafter PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory; hereinafter: RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 10, commonly referred to as a "hard disk drive"). Although not shown in fig. 10, a magnetic disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable nonvolatile optical disk (e.g., a compact disk read only memory (Compact Disc Read Only Memory; hereinafter CD-ROM), digital versatile read only optical disk (Digital Video Disc Read Only Memory; hereinafter DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the various embodiments of the disclosure.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods in the embodiments described in this disclosure.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, the computer device 12 may also communicate with one or more networks such as a local area network (Local Area Network; hereinafter LAN), a wide area network (Wide Area Network; hereinafter WAN) and/or a public network such as the Internet via the network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the methods mentioned in the foregoing embodiments.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Furthermore, each functional unit in the embodiments of the present disclosure may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present disclosure have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present disclosure, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present disclosure.

Claims (10)

1. A synchronous motor speed control system, comprising: a multi-motor system, a controller module, a given rotational speed and compensation module, a virtual motor module, wherein,
the given rotating speed and compensation module is used for calculating a rotating speed compensation value corresponding to each motor according to the rotating speed of each motor in the multi-motor system, the rotating speed of the virtual motor in the virtual motor module and a preset rotating speed compensation coefficient;
the controller module is used for calculating compensation torque according to the control coefficient and the rotating speed compensation value corresponding to each motor; each motor in the multi-motor system is speed controlled based on a corresponding given load torque and the compensation torque.
2. The system of claim 1, wherein the virtual motor module is further configured to:
calculating a virtual rotation speed compensation value according to the current rotation speed of each motor, the preset rotation speed compensation coefficient and the rotation speed of the virtual motor;
an output torque of the virtual motor is determined based on a virtual motor speed loop controller and the virtual speed compensation value.
3. The system of claim 1, wherein the given speed and compensation module includes a plurality of speed controllers, wherein the number of speed controllers is the same as the number of motors, one motor for each speed controller, and wherein,
the rotation speed controller is used for calculating the output torque of the corresponding motor according to the rotation speed compensation value of the corresponding motor and the given rotation speed of the corresponding motor.
4. The system of claim 1, further comprising a drum and a frequency converter, wherein the motor is coupled to the drum and the frequency converter, respectively.
5. A motor rotation speed synchronization control method, characterized by comprising:
applying a preset load torque to a first motor and controlling a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, and the rotating speed of the first motor is smaller than that of the second motor;
calculating a rotation speed compensation value corresponding to each motor according to the current rotation speed of each motor, the rotation speed of the virtual motor and a preset rotation speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, and the rotation speed of the virtual motor is smaller than that of the first motor;
and controlling each motor to correct the corresponding rotating speed based on the corresponding rotating speed compensation value.
6. The method of claim 5, further comprising, prior to said calculating a corresponding speed compensation value for each of said motors based on a current speed of each motor, a speed of said virtual motor, and a preset speed compensation coefficient:
the rotational speed compensation coefficient is calculated based on the current number of motors and a predetermined compensation coefficient.
7. The method as recited in claim 5, further comprising:
determining a tracking error and a synchronization error between the motors based on the specified period;
in response to determining that the tracking error or the synchronization error is greater than a preset threshold, an alert is issued to a worker.
8. A motor rotation speed synchronization control device, characterized by comprising:
the control module is used for applying a preset load torque to the first motor and controlling a plurality of second motors to start in an idle mode, wherein the rotational inertia of the first motor is larger than that of the second motor, and the rotating speed of the first motor is smaller than that of the second motor;
the calculation module is used for calculating a rotation speed compensation value corresponding to each motor according to the current rotation speed of each motor, the rotation speed of the virtual motor and a preset rotation speed compensation coefficient, wherein each motor comprises the first motor and the plurality of second motors, and the rotation speed of the virtual motor is smaller than that of the first motor;
and the correction module is used for controlling each motor to correct the corresponding rotating speed based on the corresponding rotating speed compensation value.
9. The apparatus of claim 8, wherein the computing module is further configured to:
the rotational speed compensation coefficient is calculated based on the current number of motors and a predetermined compensation coefficient.
10. The apparatus of claim 8, further comprising:
a determining module for determining a tracking error and a synchronization error between the motors based on the specified period;
and the early warning module is used for sending an alarm to staff in response to the fact that the tracking error or the synchronization error is larger than a preset threshold value.
CN202310001450.1A 2023-01-03 2023-01-03 Synchronous control system, method and device for motor rotation speed Withdrawn CN116094372A (en)

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JP2022026069A (en) * 2020-07-30 2022-02-10 日本電産サンキョー株式会社 Control method and controller based on kinetic torque compensation
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Application publication date: 20230509