WO2020048057A1 - 多电机交叉同步控制系统及其控制方法 - Google Patents
多电机交叉同步控制系统及其控制方法 Download PDFInfo
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- WO2020048057A1 WO2020048057A1 PCT/CN2018/124114 CN2018124114W WO2020048057A1 WO 2020048057 A1 WO2020048057 A1 WO 2020048057A1 CN 2018124114 W CN2018124114 W CN 2018124114W WO 2020048057 A1 WO2020048057 A1 WO 2020048057A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- 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
Definitions
- the present application relates to the field of motor control, and in particular, to a multi-motor cross-synchronous control system and a control method thereof.
- the main function of the motor is to generate driving torque, as a power source for electrical appliances or various machinery.
- Multi-motor synchronous control is widely used in high-precision, high-speed transmission systems such as papermaking, printing and dyeing, textile, and CNC machine tools.
- Multi-motor synchronous control of a large high-precision, high-speed transmission system is one of the most important issues.
- the multi-motor cooperative drive is generally a cantilever beam structure such as a gantry, the resonance frequency of this type of structure is relatively low, and it is easy to be excited by acceleration and deceleration instructions or external disturbances, thereby generating vibration.
- the resonance frequency of this type of structure is relatively low, and it is easy to be excited by acceleration and deceleration instructions or external disturbances, thereby generating vibration.
- a multi-motor cross-synchronous control system and a control method thereof are provided, which can realize synchronous control and stable operation of the multi-motor.
- a multi-motor cross-synchronous control system includes: a motor, a detection unit, a motor control unit, and a vibration suppression control unit;
- the motor has a motor input port and a power output port. There are at least two motors, and the power output is completed by coordinated rotation;
- the detection unit has a first detection input port, a first detection output port, and a second detection output port.
- the first detection input port is provided at a power output port corresponding to the motor;
- the motor control unit has a first control input port, a second control input port, a first control output port, and a second control output port.
- the first control input port is connected to a command source
- the second control input port is connected to a corresponding first detection output port
- the first control output port is connected to the motor input port;
- the vibration suppression control unit has a suppression input port and a suppression output port.
- the number of the suppression input port and the suppression output port is the same as the number of the motor, the suppression input port is connected to the second control output port, and the suppression output port is connected to the corresponding motor control unit.
- a multi-motor cross-synchronous control method includes:
- the current parameters of the motor are detected by the detection unit and fed back to the motor control unit;
- the motor control unit According to the current parameters of the motor, the motor control unit outputs a current signal
- the vibration suppression control unit calculates a compensation current of each of the motors
- a multi-motor cross-synchronous control method includes:
- the multi-motor cross-synchronous control system obtaineds a current signal of an input port of the motor by setting the vibration suppression control unit.
- the vibration suppression control unit can compare and analyze current signals, and calculate a compensation current.
- the high-quality and stable robustness of the system is obtained when the multi-motor is running at a high level, and the multi-motor system is prevented from being affected by acceleration and deceleration commands and external disturbances, and generating vibration. So as to achieve synchronous control and stable operation of multiple motors.
- FIG. 1 is a schematic structural diagram of a multi-motor cross-synchronous control system provided in some embodiments of the present application.
- FIG. 2 is a schematic structural diagram of a multi-motor cross-synchronous control system provided in some other embodiments of the present application.
- FIG. 3 is a partial enlarged view of a multi-motor cross-synchronous control system provided in some embodiments of the present application.
- FIG. 4 is a schematic port connection diagram of a multi-motor cross synchronization control system provided in some embodiments of the present application.
- FIG. 5 is a flowchart of a multi-motor cross-synchronous control method provided in some embodiments of the present application.
- FIG. 6 is a flowchart of a multi-motor cross-synchronous control method provided in some other embodiments of the present application.
- FIG. 7 is a flowchart of outputting a current signal by the motor control unit according to the current parameters of the motor provided in some embodiments of the present application;
- FIG. 8 is a flowchart of calculating a compensation current of each of the motors according to the current signal according to the current signal provided in some embodiments of the present application;
- FIG. 9 is a flowchart of a multi-motor cross-synchronization control method provided in some embodiments of the present application.
- Multi-motor cross synchronization control system 10 motor 20, motor input port 201, power output port 202, detection unit 30, first detection input port 301, first detection output port 302, second detection output port 303, motor control unit 40 First control input port 401, second control input port 402, first control output port 403, second control output port 404, vibration suppression control unit 50, suppression input port 501, suppression output port 502, current calculation unit 510 , Solve input port 511, solve output port 512, current adjustment subunit 520, current adjustment input port 521, current adjustment output port 522, position control subunit 60, first position input port 601, second position input port 602 , First position output port 603, position deviation analysis module 610, first position deviation input port 611, second position deviation input port 612, first position deviation output port 614, position control submodule 620, position control input port 621, Position control output port 622, speed control sub-unit 70, first speed input port 701, second speed input Port 702, first speed output port 703, speed deviation analysis module 710, first speed deviation input port 711,
- an embodiment of the present application provides a multi-motor cross-synchronous control system 10 including: a motor 20, a detection unit 30, a motor control unit 40, and a vibration suppression control unit 50.
- the motor 20 has a motor input port 201 and a power output port 202.
- the number of the motors 20 is at least two, and the power output is completed by coordinated rotation.
- the detection unit 30 has a first detection input port 301, a first detection output port 302, and a second detection output port 303.
- the first detection input port 301 is disposed at a power output port 202 corresponding to the motor 20.
- the motor control unit 40 has a first control input port 401, a second control input port 402, a first control output port 403, and a second control output port 404.
- the first control input port 401 is connected to a command source, and the second control input port 402 is connected to a corresponding first detection output port 302.
- the first control output port 403 is connected to the motor input port 201.
- the vibration suppression control unit 50 includes a suppression input port 501 and a suppression output port 502.
- the number of the suppression input ports 501 and the suppression output ports 502 is the same as the number of the motors 20.
- the suppression input port 501 is connected to the second control output port 404.
- the suppression output port 502 is connected to the corresponding motor control unit 40.
- the motor 20 drives the gantry structure to perform linear motion on the guide rail through a series of transmission mechanisms such as a screw.
- the number of the motor 20 is not limited as long as it can output power.
- the number of the motors 20 may be two or more.
- the number of the motors 20 is two, which are respectively arranged at both ends of the screw rod, and rotate at the same speed and in the same direction to drive the gantry structure to move.
- the parameter change of the power output port 202 of the motor 20 is affected by the parameters of the motor input port 201.
- the parameters of the motor input port 201 include current, voltage and torque. Parameters of the power output port 202 of the motor 20 include position and speed.
- the parameters of the motor input port 201 are current
- the parameters of the power output port 202 of the motor 20 are current position and current speed
- the operating state of the motor 20 changes with the change of the input current.
- the detection unit 30 is configured to detect a parameter of the power output port 202 of the motor 20.
- the number of the detection units 30 is not limited, as long as the required parameter data can be detected.
- the number of the detection units 30 may be one, that is, all the parameters of the motor 20 are detected and output by one of the detection units 30. This detection method realizes high integration of detection, saves space, and reduces the motor 20 The overall weight of the running system.
- the number of the detection units 30 may be equal to the number of the motors 20, and each of the motors 20 separately uses one of the detection units 30, which can realize separate detection and control of the motors 20 separately.
- the motor 20 may also be provided with a plurality of the detection units 30 at different positions to implement average detection of parameters and make the detection data more accurate.
- the position of the detection unit 30 is not limited, as long as the parameters of the power output port 202 of the motor 20 can be detected.
- the detection unit 30 may be disposed in contact with the power output shaft of the motor 20 or may be disposed in a non-contact manner.
- the type of the detection unit 30 is not limited, as long as the required parameters of the power output port 202 can be detected.
- the detection unit 30 may be an encoder, a speedometer or a positioner. In one embodiment, the detection unit 30 is an encoder.
- the type of the encoder is not limited, as long as the required parameters of the power output port 202 can be accurately detected.
- the encoder can be a photoelectric type, a magnetoelectric type, and a contact brush type.
- the encoder is a photoelectric encoder.
- the photoelectric encoder is a non-contact encoder, which is installed at a relative position in the radial direction of the rotating shaft of the motor 20, and the mechanical geometric displacement on the output shaft can be converted into a digital quantity representing the position or speed through photoelectric conversion. signal.
- the position signal is output in real time through the first detection output port 302.
- the digital signal of the speed is output in real time through the second detection output port 303.
- the motor control unit 40 receives a command from a command source through the first control input port 401.
- the instruction source is not limited, and may be a higher-level control device or a higher-level control module.
- the type of the instruction is not limited, as long as it is a relevant parameter that controls the operation of the motor 20.
- the instruction is a target position instruction, and the motor control unit 40 receives the target position instruction through the first control input port 401.
- the motor control unit 40 collects the current position signal in a timely manner according to the setting.
- the current position signal is output to the motor control unit 40 through the first detection output port 302, and the motor control unit 40 receives the current position signal through the second control input port 402.
- the motor control unit 40 Inside the motor control unit 40, through preset settings, the current position signal is compared, analyzed, calculated or converted with the target position, the motor control unit 40 obtains a current signal, and passes the current signal through the The first control output port 403 is transmitted to the motor input port 201 so as to control the operating state of the motor 20.
- the motor control unit 40 is a command control center for the motor 20 to operate.
- the vibration suppression control unit 50 obtains the current signal output by the motor control unit 40 through the suppression input port 501. Since the number of the motors 20 is at least one, the number of the current signals will be the same as the number of the motors 20, and each of the motors 20 will have its own current signal, and subject to the manufacturing accuracy of the motors 20, The interference between the installation accuracy and the external operating state, the magnitude of the current signal will be different.
- the vibration suppression control unit 50 obtains all the current signals, and performs related comparison, analysis, calculation, or conversion on all the current signals according to a preset setting to obtain respective compensation currents. Since the states of the motors 20 are different, the compensation currents are not necessarily the same.
- the vibration suppression control unit 50 outputs the compensation current to the motor control unit 40 through the suppression output port 502, and the motor control unit 40 compensates the compensation current to the output through related comparison, analysis, or operation. In the current signal.
- the multi-motor cross-synchronous control system 10 The vibration suppression control unit 50 is provided. By feeding back the compensation current to the motor control unit 40, the compensation current is compensated to the motor input port 201 of each of the motors 20, so that the motors are finally The driving mechanism driven by 20 runs smoothly, eliminating vibration.
- the motor control unit 40 includes a position control sub-unit 60, a speed control sub-unit 70, and a current control sub-unit 70.
- the position control sub-unit 60, the speed control sub-unit 70, and the current control sub-unit 80 are sequentially connected in series.
- the position control sub-unit 60 has a first position input port 601, a second position input port 602, and a first position output port 603.
- the first position input port 601 is the first control input port 401.
- the second position input port 602 is a second control input port 402.
- the first position input port 601 is connected to the instruction source. Through the first position input port 601, the position control sub-unit 60 can receive the target position instruction issued by the higher-level control device or the higher-level control module.
- the second position input port 602 is connected to the second detection output port 303. Through the second position input port 602, the position control sub-unit 60 can receive the current position sent by the detection unit 30. According to a preset setting, the position control subunit 60 performs a relative comparison, analysis, or operation on the target position instruction and the current position to obtain a speed instruction.
- the position control sub-unit 60 outputs the speed command through the first position output port 603.
- the speed control sub-unit 70 has a first speed input port 701, a second speed input port 702, and a first speed output port 703.
- the first speed input port 701 is connected to the first position output port 603.
- the speed control sub-unit 70 receives the speed instruction output by the position control sub-unit 60 through the first speed input port 701. According to a preset setting, the speed control subunit 70 performs related comparison, analysis, or calculation on the speed command to obtain a torque command, and converts the torque command into a corresponding current command.
- the speed control sub-unit 70 outputs the current command through the first speed output port 703.
- the current control sub-unit 80 has a first current input port 801, a second current input port 802, a first current output port 803, and a second current output port 804.
- the first current output port 803 is a first control output port 403.
- the second current output port 804 is a second control output port 404.
- the first current input port 801 is connected to the first speed output port 703.
- the current control sub-unit 80 receives the current command output by the speed control sub-unit 70 through the first current input port 801.
- the second current input port 802 is connected to the suppression output port 502, and the current control sub-unit 80 receives the compensation current output by the vibration suppression control unit 50 through the second current input port 802.
- the current control subunit 80 performs related conversion, comparison, analysis, or calculation on the current command and the compensation current to obtain a current signal.
- the first current output port 803 is connected to the motor input port 201.
- the current control sub-unit 80 sends the current signal to the motor 20 through the first current output port 803, and the motor 20 receives the current signal through the motor input port 201.
- the second current output port 804 is connected to the suppression input port 501.
- the current control sub-unit 80 sends the current signal to the vibration suppression control unit 50 through the second current output port 804, and the vibration suppression control unit 50 receives the current signal through the suppression input port 501 .
- the motor control unit 40 is formed by sequentially connecting the position control subunit 60, the speed control subunit 70, and the current control subunit 80 in series.
- the multi-motor cross-synchronization control system 10 obtains the respective operating states of the motors 20 and feeds back state parameter information to the motor control unit 40.
- the motor control unit 40 compares, analyzes, and calculates the command value and the feedback value of the three parameters of position, speed, and current, respectively. These three parameters are logically progressive relationships.
- the three parameters are adjusted by feedback respectively, so that the current signal finally output by the motor control unit 40 can be corrected three times by feedback.
- the current signal is integrated with the correction of the environmental information, so that the motor 20 runs smoothly. Furthermore, the entire multi-motor cross-synchronous control system 10 runs more smoothly.
- the vibration suppression control unit 50 includes a current calculation unit 510 and a current adjustment subunit 520.
- the current calculation unit 510 has a calculation input port 511 and a calculation output port 512.
- the calculation input port 511 is the suppression input port 501 of the vibration suppression control unit 50.
- the calculation input port 511 is connected to the second control output port 404.
- the current calculation unit 510 receives the current signal output by the motor control unit 40 through the calculation input port 511, which is
- the current calculation unit 510 receives the current signal output by the current control sub-unit 80 through the calculation input port 511.
- the number of the calculation input ports 511 is the same as the number of the motors 20. Since each of the motors 20 has its own current signal, the number of the current signals is the same as the number of the motors 20.
- the current signal can be received through the calculation input port 511, the calculation input port 511 corresponds to the current signal one-to-one, and the calculation input port 511 corresponds to the motor 20 one-to-one.
- the current calculation unit 510 can convert the received current signal into a current torque signal. Since the number of the current torques is the same as the number of the current signals, the number of the current torques is the same as the number of the motors 20. Due to different operating states of the motor 20, the current signals are different, and the current torque is different.
- the current calculation unit 510 calculates a torque error between each of the current torques, and outputs the torque signal through the calculation output port 512.
- the number of the current calculation units 510 included in the vibration suppression control unit 50 is not limited, as long as the number of the calculation input ports 511 can satisfy the input of the current signal.
- the vibration suppression control unit 50 may include one current calculation unit 510 or a plurality of current calculation units 510. In one embodiment, the vibration suppression control unit 50 includes one current calculation unit 510, and the number of the calculation input ports 511 of the current calculation unit 510 satisfies the current signal input.
- the current adjustment sub-unit 520 has a current adjustment input port 521 and a current adjustment output port 522.
- the current adjustment input port 521 is connected to the calculation output port 512.
- the current adjustment sub-unit 520 uses the current adjustment input
- the port 521 receives the torque error.
- the current adjustment subunit 520 calculates a compensation current of each of the current control subunits 80 according to the torque error.
- the current adjustment output port 522 is the suppression output port 502, and the current adjustment output port 522 is connected to the second current input port 802.
- the current adjustment sub-unit 520 transmits the compensation current to the respective current control sub-units 80 through the current adjustment output port 522.
- the number of the current adjustment sub-units 520 included in the vibration suppression control unit 50 is not limited, as long as the number of the current adjustment output ports 522 can satisfy the output of the compensation current.
- the vibration suppression control unit 50 may include one of the current adjustment sub-units 520, or may include a plurality of the current adjustment sub-units 520. In one embodiment, the vibration suppression control unit 50 includes one of the current adjustment subunits 520, and the number of the current adjustment output ports 522 of the current adjustment subunit 520 satisfies the output of the compensation current.
- the vibration suppression control unit 50 converts the current signal into the current torque through a current calculation unit 510, and then compares each of the current torques to calculate the torque error.
- the current adjustment sub-unit 520 calculates the compensation current according to the torque error according to a preset algorithm.
- the vibration suppression control unit 50 transmits each of the compensation currents to the current control sub-unit 80.
- the current calculation unit 510 and the current adjustment subunit 520 are provided in the vibration suppression control unit 50 to implement current conversion, comparison, and calculation.
- the current control of the motor control unit 40 is implemented by setting the vibration suppression control unit 50.
- the multi-motor cross-synchronization control system 10 further includes a cross-synchronization control unit 90.
- the cross synchronization control unit 90 has a synchronization control input port 901 and a synchronization control output port 902.
- the number of the synchronization control input port 901 and the number of the synchronization control output port 902 are the same as the number of the motor 20, the synchronization control input port 901 is connected to the second detection output port 303, and the cross synchronization control unit 90 Receive the current speed output by the detection unit 30 through the synchronization control input port 901.
- the detection unit 30 outputs each of the current speeds to the cross-synchronization control unit 90.
- the cross synchronization control unit 90 compares, analyzes, and calculates the current speed according to a preset setting to obtain the compensation speed of each of the speed control sub-units 70.
- the synchronization control output port 902 is connected to the second speed input port 702.
- the cross synchronization control unit 90 transmits the compensation speed to the speed control sub-unit 70 through the synchronization control output port 902.
- the speed control sub-unit 70 receives the compensation speed through the second speed input port 702.
- the speed feedback adjustment of the motor control unit 40 is implemented by setting the cross synchronization control unit 90.
- the cross synchronization control unit 90 includes a speed error analysis unit 910 and a speed adjustment subunit 920.
- the speed error analysis unit 910 has a speed error input port 911 and a speed error output port 912.
- the speed error input ports 911 are the synchronous control input ports 901, and the number of the speed error input ports 911 is the same as the number of the motors 20, respectively.
- the speed error input port 911 is connected to the second detection output port 303.
- the speed error analysis unit 910 receives the current speed output by the detection unit 30 through the speed error input port 911. Since the motors 20 have their respective current speeds, the number of the motors 20 is the same as the number of the speeds, so the number of the speed error input ports 911 is the same as the number of the motors 20.
- the speed error analysis unit 910 compares all the current speeds to obtain a speed error, and outputs the speed error through the speed error output port 912.
- the number of the speed error analysis units 910 included in the cross synchronization control unit 90 is not limited, as long as the number of the speed error input ports 911 can satisfy the input of the current speed.
- the cross-synchronization control unit 90 may include one speed error analysis unit 910 or a plurality of speed error analysis units 910.
- the cross synchronization control unit 90 includes one speed error analysis unit 910, and the number of the speed error input ports 911 of the speed error analysis unit 910 satisfies the input of the current speed.
- the speed adjusting sub-unit 920 has a speed adjusting input port 921 and a speed adjusting output port 922.
- the speed adjustment input port 921 is connected to the speed error output port 912, and the speed adjustment subunit 920 receives the speed error output by the speed error analysis unit 910 through the speed adjustment input port 921, and according to a predetermined In a calculation method, the speed adjustment subunit 920 calculates a compensation speed of each of the speed control subunits 70 according to the speed error.
- the speed adjustment output port 922 is the synchronization control output port 902, and the speed adjustment output port 922 is connected to the second speed input port 702.
- the speed adjustment sub-unit 920 outputs the compensation speed to the speed control sub-unit 70 through the speed adjustment output port 922.
- the number of the speed adjustment sub-units 920 included in the cross synchronization control unit 90 is not limited, as long as the number of the speed adjustment output ports 922 can satisfy the output of the compensation speed.
- the cross-synchronization control unit 90 may include one speed adjustment sub-unit 920, or may include a plurality of speed adjustment sub-units 920.
- the cross synchronization control unit 90 includes one speed adjustment sub-unit 920, and the number of the speed adjustment output ports 922 of the speed adjustment sub-unit 920 satisfies the output of the compensation speed.
- the cross synchronization control unit 90 compares each of the current speeds through a speed error analysis unit 910 to calculate the speed error.
- the speed adjustment subunit 920 calculates the compensation speed according to the speed error according to a preset algorithm.
- the cross synchronization control unit 90 transmits each of the compensation speeds to the speed control sub-unit 70.
- the position control sub-unit 60 further includes a position deviation analysis module 610 and a position control sub-module 620.
- the position deviation analysis module 610 has a first position deviation input port 611, a second position deviation input port 612, and a first position deviation output port 613.
- the first position deviation input port 611 is the first position input port 601
- the second position deviation input port 612 is the second position input port 602.
- the first position deviation input port 611 is connected to the instruction source. Through the first position deviation input port 611, the position deviation analysis module 610 can receive the target position instruction issued by the higher-level control device or the higher-level control module.
- the second position deviation input port 612 is connected to the first detection output port 302. Through the second position deviation input port 612, the position deviation analysis module 610 can receive the current position sent by the detection unit 30.
- the position deviation analysis module 610 compares the target position instruction with the current position to obtain a position deviation.
- the position deviation analysis module 610 outputs the position deviation through the first position deviation output port 613.
- the position control sub-module 620 has a position control input port 621 and a position control output port 622.
- the position control input port 621 is connected to the first position deviation output port 613, and the position control submodule 620 receives the position deviation output by the position deviation analysis module 610 through the position control input port 621.
- the position control sub-module 620 calculates the speed instruction according to the position deviation.
- the position control output port 622 is the first position output port 603, and the position control output port 622 is connected to the first speed input port 701.
- the position control sub-module 620 outputs the speed command through the position control output port 622.
- the position control subunit 60 sets the position deviation analysis module 610 and the position control submodule 620 to compare the target position instruction with the current position to obtain a position deviation, and obtain a speed instruction through calculation.
- the speed control sub-unit 70 further includes a speed deviation analysis module 710 and a speed control sub-module 720.
- the speed deviation analysis module 710 has a first speed deviation input port 711, a second speed deviation input port 712, and a first speed deviation output port 713.
- the first speed deviation input port 711 is the first speed input port 701.
- the second speed deviation input port 712 is the second speed input port 702.
- the first speed deviation input port 711 is connected to the position control output port 622.
- the speed deviation analysis module 710 receives the speed instruction output by the position control sub-unit 60 through the first speed deviation input port 711.
- the second speed deviation input port 712 is connected to the speed adjustment output port 922.
- the speed deviation analysis module 710 receives the compensation speed output by the cross-synchronization control unit 90 through the second speed deviation input port 712.
- the speed deviation analysis module 710 compares the speed command with the compensated speed to obtain a speed deviation.
- the speed deviation analysis module 710 outputs the speed deviation through the first speed deviation output port 713.
- the speed control sub-module 720 has a speed control input port 721 and a speed control output port 722.
- the speed control input port 721 is connected to the first speed deviation output port 713.
- the speed control sub-module 720 passes the speed
- the control input port 721 receives the speed deviation output from the speed deviation analysis module 710.
- the speed control sub-module 720 calculates the torque command according to the speed deviation, and then converts the torque command into a corresponding current command.
- the speed control output port 722 is the first speed output port 703, and the speed control output port 722 is connected to the first current input port 801.
- the speed control sub-module 720 outputs the current command through the speed control output port 722.
- the speed control subunit 70 sets the speed deviation analysis module 710 and the speed control submodule 720 to compare the speed instruction with the compensated speed to obtain a speed deviation, and obtain a current instruction through calculation.
- the current control sub-unit 80 further includes a torque deviation analysis module 810 and a current control sub-module 820.
- the torque deviation analysis module 810 has a first current deviation input port 811, a second current deviation input port 812, and a first current deviation output port 813.
- the first current deviation input port 811 is the first current input port 801.
- the second current deviation input port 812 is the second current input port 802.
- the first current deviation input port 811 is connected to the speed control output port 722.
- the torque deviation analysis module 810 receives the current command output by the speed control sub-unit 70 through the first current deviation input port 811.
- the second current deviation input port 812 is connected to the current adjustment output port 522.
- the torque deviation analysis module 810 receives the compensation current output by the vibration suppression control unit 50 through the second current deviation input port 812.
- the torque deviation analysis module 810 converts and compares the current command and the compensation current to obtain a torque deviation.
- the torque deviation analysis module 810 outputs the torque deviation through the first current deviation output port 813.
- the current control sub-module 820 has a current control input port 821, a first current control output port 822, and a second current control output port 823.
- the current control input port 821 is connected to the first current deviation output port 813.
- the current control sub-module 820 receives the current deviation output by the torque deviation analysis module 810 through the current control input port 821. According to a preset calculation method, the current control sub-module 820 calculates the current signal according to the current deviation.
- the first current control output port 822 is the first current output port 803.
- the second current control output port 823 is the second current output port 804.
- the first current control output port 822 is connected to the motor input port 201.
- the current control sub-module 820 outputs the current signal to the motor 20 through a first current control output port 822.
- the second current control output port 823 is connected to the calculation input port 511.
- the current control sub-module 820 outputs the current signal to the current calculation unit 510 through a second current control output port 823.
- An algorithm preset by the current adjustment subunit 520 and the speed adjustment subunit 920 is a PID control algorithm.
- the algorithm formula in the current regulation subunit 520 is:
- e (i) is the current error output by the current calculation unit 510 in the vibration suppression control unit 50
- U (i) is the compensation current output by the current adjustment subunit 520.
- the vibration suppression control unit 50 calculates the compensation current through a PID control algorithm, and feeds back the compensation current to the current adjustment subunit 520, so that the multi-motor cross-synchronous control system 10 obtains current feedback adjustment.
- the algorithm formula in the speed adjustment subunit 920 is:
- e (i) is the speed error output by the speed error analysis unit 910 in the cross-synchronization control unit 90
- U (i) is the compensation speed output by the speed adjustment subunit 920.
- the cross-synchronization control unit 90 calculates the compensation speed through a PID control algorithm, and then feeds back the compensation speed to the speed adjustment subunit 920, so that the multi-motor cross-synchronization control system 10 obtains speed feedback adjustment.
- the multi-motor cross-synchronization control method includes: S10.
- the current parameters of the motor 20 are detected by the detection unit 30 and fed back to the motor control unit 40.
- S20 According to the current parameters of the motor 20, the motor control unit 40 outputs a current signal.
- S30 According to the current signal, the vibration suppression control unit 50 calculates a compensation current of each of the motors 20.
- S40. Perform current compensation on the motor control unit 40 according to the compensation current.
- the motor 20 is detected by the detection unit 30. And the current speed is fed back to the cross synchronization control unit 90.
- S104 after the step of detecting the current speed of the motor 20 through the detection unit 30 and feeding it back to the cross-synchronization control unit 90, S104, according to the current speed of the motor 20, pass the cross
- the synchronization control unit 90 calculates a speed error between the motors 20.
- S106 Calculate a corresponding compensation speed according to the speed error, and perform speed compensation on the motor control unit 40.
- the motor in the step of outputting a current signal by the motor control unit 40 according to the current parameters of the motor 20, the motor is based on the current position parameters of the motor 20
- the control unit 40 outputs a current signal.
- the step of the motor control unit 40 outputting a current signal according to the current position parameter of the motor 20 includes: S210.
- the position control sub-unit 60 receives the current signal from the detection unit 30. Position parameter, and comparing, analyzing or calculating the preset target position instruction and the current position parameter to obtain a speed instruction.
- the speed control subunit 70 receives the speed command output by the position control subunit 60, and compares, analyzes, or calculates the speed command to obtain a torque command that is converted into a current command.
- the current control sub-unit 80 receives the current command output by the speed control sub-unit 70, and compares, analyzes, or calculates the current command to obtain a current signal.
- the step of calculating the compensation current of each of the motors 20 according to the current signal by the vibration suppression control unit 50 includes: S310.
- the vibration suppression control unit 50 calculates a torque error between the motors 20.
- S320. Calculate a corresponding compensation current of each of the motors 20 according to the torque error.
- the vibration suppression control unit 50 in the step of calculating a torque error between the motors 20 by the vibration suppression control unit 50 according to the current signal, the vibration suppression control unit 50 is based on the current signal.
- a current error calculation unit 510 calculates a torque error between the motors 20.
- the current adjustment subunit 520 is used to calculate the current according to the torque error in combination with a preset algorithm Out the compensation current.
- the motor control unit 40 compares the compensation current with Analyze or calculate compensation to the output current signal, and control the operating state of the motor 20 through the current signal.
- the control method of the multi-motor cross-synchronous control system 10 includes the following steps:
- the current speed of the motor 20 is detected by the detection unit 30.
- the motor control unit in the step of performing current compensation on the motor control unit according to the compensation current, according to the compensation current, compensates the compensation current through comparison, analysis, or operation. In the outputted current signal, the running state of the motor is controlled by the current signal.
- the motor control unit 40 is formed by sequentially connecting the position control subunit 60, the speed control subunit 70, and the current control subunit 80 in series.
- the multi-motor cross-synchronization control system 10 obtains the respective operating states of the motors 20 and feeds back state parameter information to the motor control unit 40.
- the motor control unit 40 compares, analyzes, and calculates the command values and feedback values of the three parameters of position, speed, and current, respectively. These three parameters are logically progressive relationships.
- the three parameters are adjusted by feedback respectively, so that the current signal finally output by the motor control unit 40 can be corrected three times by feedback.
- the entire multi-motor cross-synchronization control system 10 implements feedback correction of speed and current by setting the cross-synchronization control unit 90 and the vibration suppression control unit 50.
- the current signal incorporates correction of speed and current feedback, so that the multi-motor 20 can obtain high-quality and stable robustness of the system when it is running at high altitude, and avoid the multi-motor 20 system from being affected by acceleration and deceleration instructions and external disturbances. This makes the entire multi-motor cross-synchronous control system 10 run more smoothly.
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Abstract
一种多电机交叉同步控制系统及其控制方法。多电机交叉同步控制系统(10)包括:电机(20);检测单元(30),第一检测输入端口(301)设置于电机(20)的动力输出端口(202);电机控制单元(40),第一控制输入端口(401)与指令源连接,第二控制输入端口(402)与第一检测输出端口(302)连接,第一控制输出端口(403)与电机输入端口(201)连接;振动抑制控制单元(50),输入端口(501)与第二控制输出端口(404)连接,输出端口(502)与电机控制单元(40)连接。通过振动抑制控制单元(50)对电机(20)的电流进行补偿,使多电机在高度运转时,避免振动。从而实现多电机的同步控制和稳定运行。
Description
相关申请的交叉引用
本申请要求于2018年09月05日申请的,申请号为201811033190.1,名称为“一种多电机交叉同步控制系统”的中国专利申请的优先权,在此将其全文引入作为参考。
本申请涉及电机控制领域,特别是涉及一种多电机交叉同步控制系统及其控制方法。
电机的主要作用是产生驱动转矩,作为用电器或各种机械的动力源。随着制造业、半导体、非标自动化等产业的不断发展,单台电机驱动在某些场合已经不能满足现代化生产的需要。在造纸、印染、纺织、数控机床等高精度、高转速传动系统中多电机同步控制得到广泛的应用。
大型高精度、高转速传动系统的多电机同步控制是最为核心的问题之一。多电机运转时,受结构的不对称、非线性特性、负载不匹配等因素的影响,即使输入相同,电机的运转速度也会出现差异。因为多电机协同驱动的一般都是龙门这种悬臂梁结构的部件,此类结构的谐振频率较低,很容易被加减速指令,或者外界扰动所激励,从而产生振动。特别是在高速高精度下,如何实现多电机的同步控制、稳定运行是非常困难的。如何消除速度差、避免振动,使多电机在高速下获得系统的高品质与稳定的鲁棒性,是亟待解决的问题。
发明内容
基于此,提供一种多电机交叉同步控制系统及其控制方法,可以实现多电机的同步控制和稳定运行。
一种多电机交叉同步控制系统包括:电机、检测单元、电机控制单元和振动抑制控制单元;
所述电机具有电机输入端口和动力输出端口。所述电机为至少两个,协同转动完成动力输出;
所述检测单元具有第一检测输入端口、第一检测输出端口和第二检测输出端口。所述 第一检测输入端口设置于相应所述电机的动力输出端口;
所述电机控制单元具有第一控制输入端口、第二控制输入端口、第一控制输出端口和第二控制输出端口。所述第一控制输入端口与指令源连接,所述第二控制输入端口与相应所述第一检测输出端口连接,所述第一控制输出端口与所述电机输入端口连接;
所述振动抑制控制单元具有抑制输入端口和抑制输出端口。所述抑制输入端口和所述抑制输出端口的数量与所述电机数量相同,所述抑制输入端口与所述第二控制输出端口连接,所述抑制输出端口与相应所述电机控制单元连接。
一种多电机交叉同步控制方法,包括:
通过检测单元检测电机的当前参数,并反馈给电机控制单元;
依据所述电机的当前参数,所述电机控制单元输出电流信号;
依据所述电流信号,振动抑制控制单元计算各个所述电机的补偿电流;
依据所述补偿电流,对所述电机控制单元进行电流补偿。
一种多电机交叉同步控制方法,包括:
通过检测单元检测电机的当前速度;
通过交叉同步控制单元计算各个所述电机间的速度误差;
根据所述速度误差计算出相应的补偿速度;
根据所述补偿速度,对电机控制单元进行速度补偿;
获取所述电机控制单元输出的电流信号;
通过振动抑制控制单元将所述电流信号转换为当前转矩;
通过所述振动抑制控制单元计算各个所述电机间的转矩误差;
根据所述转矩误差计算出相应的补偿电流;
根据所述补偿电流,对所述电机控制单元进行电流补偿。
本申请中提供的多电机交叉同步控制系统,通过设置所述振动抑制控制单元,获取电机的输入端口的电流信号。所述振动抑制控制单元能对电流信号进行对比、分析,并计算得出补偿电流。通过对电机的电流进行补偿,使多电机在高度运转时,获得系统的高品质与稳定的鲁棒性,避免多电机系统受加减速指令和外界扰动的影响,产生振动。从而实现多电机的同步控制和稳定运行。
为了更清楚的说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单的介绍,显而易见的,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本申请一些实施例中提供的多电机交叉同步控制系统的结构示意图;
图2为本申请另一些实施例中提供的多电机交叉同步控制系统的结构示意图;
图3为本申请一些实施例中提供的多电机交叉同步控制系统的局部放大图;
图4为本申请一些实施例中提供的多电机交叉同步控制系统的端口连接示意图;
图5为本申请一些实施例中提供的多电机交叉同步控制方法流程图;
图6为本申请另一些实施例中提供的多电机交叉同步控制方法流程图;
图7为本申请一些实施例中提供的依据所述电机的当前参数,所述电机控制单元输出电流信号的流程图;
图8为本申请一些实施例中提供的依据所述电流信号,振动抑制控制单元计算各个所述电机的补偿电流的流程图;
图9为本申请再一些实施例中提供的多电机交叉同步控制方法流程图。
附图标记
多电机交叉同步控制系统10、电机20、电机输入端口201、动力输出端口202、检测单元30、第一检测输入端口301、第一检测输出端口302、第二检测输出端口303、电机控制单元40、第一控制输入端口401、第二控制输入端口402、第一控制输出端口403、第二控制输出端口404、振动抑制控制单元50、抑制输入端口501、抑制输出端口502、电流解算单元510、解算输入端口511、解算输出端口512、电流调节子单元520、电流调节输入端口521、电流调节输出端口522、位置控制子单元60、第一位置输入端口601、第二位置输入端口602、第一位置输出端口603、位置偏差分析模块610、第一位置偏差输入端口611、第二位置偏差输入端口612、第一位置偏差输出端口614、位置控制子模块620、位置控制输入端口621、位置控制输出端口622、速度控制子单元70、第一速度输入端口701、第二速度输入端口702、第一速度输出端口703、速度偏差分析模块710、第一速度偏差输入端口711、第二速度偏差输入端口712、第一速度偏差输出端口713、速度控制子模块720、速度控制输入端口721、速度控制输出端口722、电流控制子单元80、第一电流输入端口801、第二电流输入端口802、第一电流输出端口803、第二电流输出端口804、转矩偏差分析模块810、第一电流偏差输入端口811、第二电流偏差输入端口 812、第一电流偏差输出端口813、电流控制子模块820、电流控制输入端口821、第一电流控制输出端口822、第二电流控制输出端口823、交叉同步控制单元90、同步控制输入端口901、同步控制输出端口902、速度误差分析单元910、速度误差输入端口911、速度误差输出端口912、速度调节子单元920、速度调节输入端口921、速度调节输出端口922。
为使本申请的上述目的、特征和优点能够更加明显易懂,下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本申请内涵的情况下做类似改进,因此本申请不受下面公开的具体实施的限制。
需要说明的是,当元件被称为“固定于”另一个元件,它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件,它可以是直接连接到另一个元件或者可能同时存在居中元件。相反,当元件被称作“直接在”另一个元件“上”时,不存在中间元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义,本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参见图1-图2,本申请一实施例提供一种多电机交叉同步控制系统10,包括:电机20、检测单元30、电机控制单元40和振动抑制控制单元50。所述电机20具有电机输入端口201和动力输出端口202。所述电机20为至少两个,协同转动完成动力输出。所述检测单元30具有第一检测输入端口301、第一检测输出端口302和第二检测输出端口303。所述第一检测输入端口301设置于相应所述电机20的动力输出端口202。所述电机控制单元40具有第一控制输入端口401、第二控制输入端口402、第一控制输出端口403和第二控制输出端口404。所述第一控制输入端口401与指令源连接,所述第二控制输入端口402与相应所述第一检测输出端口302连接。所述第一控制输出端口403与所述电机输入端口201连接。所述振动抑制控制单元50具有抑制输入端口501和抑制输出端口502。所述抑制输入端口501和所述抑制输出端口502的数量与所述电机20数量相同。所述抑 制输入端口501与所述第二控制输出端口404连接。所述抑制输出端口502与相应所述电机控制单元40连接。
所述电机20通过丝杠等一系列传动机构带动龙门结构在导轨上做直线运动,所述电机20的数量不限,只要能输出动力即可。所述的电机20数量可以为两个或多个。在一个实施例中,所述电机20的数量为两个,分别设置在丝杠的两端,同转速同方向转动,带动龙门结构动作。所述电机20的动力输出端口202参数的变化受到所述电机输入端口201参数的影响。所述电机输入端口201的参数包括电流、电压和转矩等。所述电机20的动力输出端口202的参数包括位置和速度等。在一个实施例中,所述电机输入端口201的参数为电流,所述电机20的动力输出端口202的参数为当前位置和当前速度,所述电机20的运转状态随输入电流的变化而变化。
所述检测单元30用来检测所述电机20的动力输出端口202的参数。所述检测单元30的数量不限,只要能检测到所需参数数据即可。所述检测单元30的数量可以为一个,即所有所述电机20的参数,通过一个所述检测单元30检测并输出,这种检测方式实现检测的高度集成,节省空间,减小所述电机20运行系统的整体重量。所述检测单元30的数量可以与所述电机20的数量相等,每个所述电机20单独使用一个所述检测单元30,能够实现所述电机20分别检测,单独检测控制。所述电机20也可以在不同位置设置多个所述检测单元30,实现参数的平均化检测,使检测数据更加精确。
所述检测单元30设置的位置不限,只要能检测到所述电机20动力输出端口202的参数即可。所述检测单元30可与所述电机20的动力输出转轴接触设置,也可以非接触设置。所述检测单元30的种类不限,只要能检测出所需的所述动力输出端口202的参数即可。所述检测单元30可以是编码器、测速仪或定位器等。在一个实施例中,所述检测单元30为编码器。所述编码器的类型不限,只要能准确检测出所需的所述动力输出端口202的参数即可。所述编码器可以为光电式、磁电式和触点电刷式。在上一个实施例中,所述编码器为光电式编码器。所述光电式编码器为非接触式编码器,安装在所述电机20转轴径向垂直的相对位置上,可以通过光电转换将输出轴上的机械几何位移量转换成表示位置或速度的数字量信号。所述位置信号通过所述第一检测输出端口302实时输出。所述速度的数字量信号通过所述第二检测输出端口303实时输出。
所述电机控制单元40通过所述第一控制输入端口401接收指令源的指令。所述指令源不限,可以是上位控制装置或上位控制模块。所述指令的种类不限,只要是控制所述电 机20运行的相关参数即可。在一个实施例中,所述指令为目标位置指令,所述电机控制单元40通过所述第一控制输入端口401接收所述目标位置指令。所述电机控制单元40会根据设定适时收集当前位置信号。所述当前位置信号通过所述第一检测输出端口302输出给所述电机控制单元40,所述电机控制单元40通过所述第二控制输入端口402接收所述当前位置信号。所述电机控制单元40内部,通过预先设定,将所述当前位置信号与所述目标位置进行相关的对比、分析、运算或转换等,所述电机控制单元40获得电流信号,并通过所述第一控制输出端口403传输给所述电机输入端口201,从而控制所述电机20的运转状态。所述电机控制单元40是所述电机20运转的指令控制中心。
所述振动抑制控制单元50通过所述抑制输入端口501获取所述电机控制单元40输出的所述电流信号。由于所述电机20为至少一个,故所述电流信号的数量会与所述电机20的数量相同,每个所述电机20都会有各自的所述电流信号,且受到所述电机20制造精度、安装精度和外界运行状态的干扰,所述电流信号的大小会不同。所述振动抑制控制单元50获取所有所述电流信号,并根据预先设定,将所有所述电流信号进行相关的对比、分析、运算或转换等计算,得到各自的补偿电流。由于各个所述电机20的状态各不相同,故所述补偿电流不一定相同。所述振动抑制控制单元50通过所述抑制输出端口502将所述补偿电流输出给所述电机控制单元40,所述电机控制单元40会将所述补偿电流通过相关对比、分析或运算补偿到输出的所述电流信号中。
所述电机20在运转过程中,很容易被加减速指令,或者外界扰动所激励,与所述电机20带动的传动机构形成共振,为了消除这种外界扰动,所述多电机交叉同步控制系统10设置所述振动抑制控制单元50,通过将所述补偿电流反馈给所述电机控制单元40,所述补偿电流会补偿到各个所述电机20的所述电机输入端口201,从而使最终所述电机20所带动的传动机构运行平稳,消除产生振动。
所述电机控制单元40包括:位置控制子单元60、速度控制子单元70和电流控制子单元70。所述位置控制子单元60、所述速度控制子单元70和所述电流控制子单元80顺次串联连接。
所述位置控制子单元60具有第一位置输入端口601、第二位置输入端口602和第一位置输出端口603。所述第一位置输入端口601即为所述第一控制输入端口401。所述第二位置输入端口602即为第二控制输入端口402。所述第一位置输入端口601与所述指令源连接。通过所述第一位置输入端口601,所述位置控制子单元60可接收所述上位控制 装置或所述上位控制模块发出的所述目标位置指令。所述第二位置输入端口602与所述第二检测输出端口303连接。通过所述第二位置输入端口602,所述位置控制子单元60可接收所述检测单元30发出的所述当前位置。根据预先设定,所述位置控制子单元60将所述目标位置指令和所述当前位置进行相关的对比、分析或运算,得到速度指令。所述位置控制子单元60通过所述第一位置输出端口603将所述速度指令输出。
所述速度控制子单元70具有第一速度输入端口701、第二速度输入端口702和第一速度输出端口703。所述第一速度输入端口701与第一位置输出端口603连接。所述速度控制子单元70通过所述第一速度输入端口701接收所述位置控制子单元60输出的所述速度指令。根据预先设定,所述速度控制子单元70对所述速度指令进行相关的对比、分析或运算,得到转矩指令,并将所述转矩指令转换为相应的电流指令。所述速度控制子单元70通过所述第一速度输出端口703将所述电流指令输出。
所述电流控制子单元80具有第一电流输入端口801、第二电流输入端口802、第一电流输出端口803和第二电流输出端口804。所述第一电流输出端口803即为第一控制输出端口403。所述第二电流输出端口804即为第二控制输出端口404。所述第一电流输入端口801与所述第一速度输出端口703连接。所述电流控制子单元80通过所述第一电流输入端口801接收所述速度控制子单元70输出的所述电流指令。所述第二电流输入端口802与所述抑制输出端口502连接,所述电流控制子单元80通过所述第二电流输入端口802接收所述振动抑制控制单元50输出的所述补偿电流。根据预先设定,所述电流控制子单元80对所述电流指令和所述补偿电流进行相关的转换、对比、分析或运算,得到电流信号。所述第一电流输出端口803与所述电机输入端口201连接。所述电流控制子单元80通过所述第一电流输出端口803将所述电流信号输送给所述电机20,所述电机20通过所述电机输入端口201接收所述电流信号。所述第二电流输出端口804与所述抑制输入端口501连接。所述电流控制子单元80通过所述第二电流输出端口804将所述电流信号输送给所述振动抑制控制单元50,所述振动抑制控制单元50通过所述抑制输入端口501接收所述电流信号。
所述电机控制单元40由所述位置控制子单元60、所述速度控制子单元70和所述电流控制子单元80顺次串联连接而成。所述多电机交叉同步控制系统10通过获取所述电机20各自的运行状态,将状态参数信息反馈给所述电机控制单元40。所述电机控制单元40在进行逻辑运算时,分别对位置、速度和电流这三个参数得指令值与反馈值进行对比、分 析和运算。这三个参数在逻辑上是层层递进的关系。分别对这三个参数进行反馈调节,可使所述电机控制单元40最后输出的所述电流信号经过三次反馈修正。所述电流信号融合了环境信息的修正,使得电机20运行平稳。进而整个多电机交叉同步控制系统10运转更加平稳。
所述振动抑制控制单元50包括:电流解算单元510和电流调节子单元520。
所述电流解算单元510具有解算输入端口511和解算输出端口512。所述解算输入端口511即为所述振动抑制控制单元50的所述抑制输入端口501。所述解算输入端口511与所述第二控制输出端口404连接,所述电流解算单元510通过所述解算输入端口511接收所述电机控制单元40输出的所述电流信号,即为所述电流解算单元510通过所述解算输入端口511接收所述电流控制子单元80输出的所述电流信号。所述解算输入端口511的数量与所述电机20数量相同。由于每个所述电机20都会有各自的所述电流信号,所述电流信号的数量与所述电机20的数量相同。通过所述解算输入端口511可接收所述电流信号,所述解算输入端口511与所述电流信号一一对应,所述解算输入端口511与所述电机20一一对应。所述电流解算单元510能够将接收到的所述电流信号转换为当前转矩信号。由于所述当前转矩的数量与所述电流信号的数量相同,故所述当前转矩的数量与所述电机20的数量相同。由于所述电机20的运行状态不同,所述电流信号不同,所述当前转矩不同。所述电流解算单元510计算各个所述当前转矩之间的转矩误差,并通过所述解算输出端口512将所述转矩信号输出。
所述振动抑制控制单元50包括的所述电流解算单元510的数量不限,只要所述解算输入端口511的数量能够满足所述电流信号的输入即可。所述振动抑制控制单元50可以包括一个所述电流解算单元510,也可以包括多个所述电流解算单元510。在一个实施例中,所述振动抑制控制单元50包括一个所述电流解算单元510,所述电流解算单元510的所述解算输入端口511数量满足所述电流信号输入。
所述电流调节子单元520具有电流调节输入端口521和电流调节输出端口522,所述电流调节输入端口521与所述解算输出端口512连接,所述电流调节子单元520通过所述电流调节输入端口521接收所述转矩误差。根据预定的计算方法,所述电流调节子单元520根据所述转矩误差计算各个所述电流控制子单元80的补偿电流。所述电流调节输出端口522即为所述抑制输出端口502,所述电流调节输出端口522与所述第二电流输入端口802连接。所述电流调节子单元520通过所述电流调节输出端口522将所述补偿电流输 送给所述各个所述电流控制子单元80。
所述振动抑制控制单元50包括的所述电流调节子单元520的数量不限,只要所述电流调节输出端口522的数量能够满足所述补偿电流的输出即可。所述振动抑制控制单元50可以包括一个所述电流调节子单元520,也可以包括多个所述电流调节子单元520。在一个实施例中,所述振动抑制控制单元50包括一个所述电流调节子单元520,所述电流调节子单元520的所述电流调节输出端口522数量满足所述补偿电流的输出。
所述振动抑制控制单元50通过电流解算单元510将所述电流信号转换为所述当前转矩,再对各个所述当前转矩进行比较,计算出所述转矩误差。所述电流调节子单元520依据预先设定的算法,根据所述转矩误差计算出所述补偿电流。所述振动抑制控制单元50再将各个所述补偿电流传送给所述电流控制子单元80。通过在所述振动抑制控制单元50设置所述电流解算单元510和电流调节子单元520实现电流的转换,对比和计算。
通过设置振动抑制控制单元50实现所述电机控制单元40的电流反馈调节。
请一并参见图2,所述多电机交叉同步控制系统10还包括交叉同步控制单元90。所述交叉同步控制单元90具有同步控制输入端口901和同步控制输出端口902。
所述同步控制输入端口901和所述同步控制输出端口902数量分别与所述电机20数量相同,所述同步控制输入端口901与所述第二检测输出端口303连接,所述交叉同步控制单元90通过所述同步控制输入端口901接收所述检测单元30输出的当前速度。各个所述电机20在运行状态时,都会有各自的运行速度,所述检测单元30将各个所述当前速度输出给所述交叉同步控制单元90。所述交叉同步控制单元90根据预先设定,对所述当前速度进行对比、分析和运算,得到各个所述速度控制子单元70的补偿速度。所述同步控制输出端口902与第二速度输入端口702连接。所述交叉同步控制单元90通过所述同步控制输出端口902将所述补偿速度传输给所述速度控制子单元70。所述速度控制子单元70通过第二速度输入端口702接收所述补偿速度。通过设置交叉同步控制单元90实现所述电机控制单元40的速度反馈调节。
请一并参见图3,所述交叉同步控制单元90包括:速度误差分析单元910和速度调节子单元920。
所述速度误差分析单元910具有速度误差输入端口911和速度误差输出端口912。所述速度误差输入端口911即为所述同步控制输入端口901,所述速度误差输入端口911的数量分别与所述电机20数量相同。所述速度误差输入端口911与所述第二检测输出端口 303连接。所述速度误差分析单元910通过速度误差输入端口911接收所述检测单元30输出的当前速度。由于所述电机20都有各自的当前速度,所述电机20数量与所述速度的数量相同,故所述速度误差输入端口911的数量与所述电机20数量相同。所述速度误差分析单元910对所有的所述当前速度进行对比,得到速度误差,并通过所述速度误差输出端口912输出。
所述交叉同步控制单元90包括的所述速度误差分析单元910的数量不限,只要所述速度误差输入端口911的数量能够满足所述当前速度的输入即可。所述交叉同步控制单元90可以包括一个所述速度误差分析单元910,也可以包括多个所述速度误差分析单元910。在一个实施例中,所述交叉同步控制单元90包括一个所述速度误差分析单元910,所述速度误差分析单元910的所述速度误差输入端口911数量满足所述当前速度的输入。
所述速度调节子单元920具有速度调节输入端口921和速度调节输出端口922。所述速度调节输入端口921与所述速度误差输出端口912连接,所述速度调节子单元920通过所述速度调节输入端口921接收所述速度误差分析单元910输出的所述速度误差,根据预定的计算方法,所述速度调节子单元920根据所述速度误差计算各个所述速度控制子单元70的补偿速度。所述速度调节输出端口922即为所述同步控制输出端口902,所述速度调节输出端口922与第二速度输入端口702连接。所述速度调节子单元920通过所述速度调节输出端口922将所述补偿速度输出给所述速度控制子单元70。
所述交叉同步控制单元90包括的所述速度调节子单元920的数量不限,只要所述速度调节输出端口922的数量能够满足所述补偿速度的输出即可。所述交叉同步控制单元90可以包括一个所述速度调节子单元920,也可以包括多个所述速度调节子单元920。在一个实施例中,所述交叉同步控制单元90包括一个所述速度调节子单元920,所述速度调节子单元920的所述速度调节输出端口922数量满足所述补偿速度的输出。
所述交叉同步控制单元90通过速度误差分析单元910对各个所述当前速度进行比较,计算出所述速度误差。所述速度调节子单元920依据预先设定的算法,根据所述速度误差计算出所述补偿速度。所述交叉同步控制单元90再将各个所述补偿速度传送给所述速度控制子单元70。通过在所述交叉同步控制单元90设置所述速度误差分析单元910和速度调节子单元920实现速度的转换,对比和计算,并得到所述补偿速度。
请一并参见图4,所述位置控制子单元60还包括:位置偏差分析模块610和位置控制子模块620。
所述位置偏差分析模块610具有第一位置偏差输入端口611、第二位置偏差输入端口612和第一位置偏差输出端口613的。所述第一位置偏差输入端口611即为所述第一位置输入端口601,所述第二位置偏差输入端口612即为所述第二位置输入端口602。所述第一位置偏差输入端口611与所述指令源连接。通过所述第一位置偏差输入端口611,所述位置偏差分析模块610可接收所述上位控制装置或所述上位控制模块发出的所述目标位置指令。所述第二位置偏差输入端口612与所述第一检测输出端口302连接。通过所述第二位置偏差输入端口612,所述位置偏差分析模块610可接收所述检测单元30发出的所述当前位置。所述位置偏差分析模块610将所述目标位置指令与所述当前位置进行比较,得到位置偏差。所述位置偏差分析模块610通过所述第一位置偏差输出端口613将所述位置偏差输出。
所述位置控制子模块620具有位置控制输入端口621和位置控制输出端口622。所述位置控制输入端口621与所述第一位置偏差输出端口613连接,所述位置控制子模块620通过所述位置控制输入端口621接收所述位置偏差分析模块610输出的所述位置偏差。依据预先设定的计算方法,所述位置控制子模块620根据所述位置偏差计算得到所述速度指令。所述位置控制输出端口622即为所述第一位置输出端口603,所述位置控制输出端口622与所述第一速度输入端口701连接。所述位置控制子模块620通过所述位置控制输出端口622将所述速度指令输出。
所述位置控制子单元60通过设置所述位置偏差分析模块610和所述位置控制子模块620,将所述目标位置指令与所述当前位置进行比较,得到位置偏差,并通过计算得到速度指令。
所述速度控制子单元70还包括:速度偏差分析模块710和速度控制子模块720。
所述速度偏差分析模块710具有第一速度偏差输入端口711、第二速度偏差输入端口712和第一速度偏差输出端口713。所述第一速度偏差输入端口711即为所述第一速度输入端口701。所述第二速度偏差输入端口712即为所述第二速度输入端口702。所述第一速度偏差输入端口711与所述位置控制输出端口622连接。所述速度偏差分析模块710通过所述第一速度偏差输入端口711接收所述位置控制子单元60输出的所述速度指令。所述第二速度偏差输入端口712与所述速度调节输出端口922连接。所述速度偏差分析模块710通过所述第二速度偏差输入端口712接收所述交叉同步控制单元90输出的所述补偿速度。所述速度偏差分析模块710将所述速度指令与所述补偿速度进行比较,得到速度偏 差。所述速度偏差分析模块710通过所述第一速度偏差输出端口713将所述速度偏差输出。
所述速度控制子模块720具有速度控制输入端口721和速度控制输出端口722,所述速度控制输入端口721与所述第一速度偏差输出端口713连接,所述速度控制子模块720通过所述速度控制输入端口721接收所述速度偏差分析模块710输出的将所述速度偏差。依据预先设定的计算方法,所述速度控制子模块720根据所述速度偏差计算得到所述转矩指令,再将所述转矩指令转换为相应的电流指令。所述速度控制输出端口722即为所述第一速度输出端口703,所述速度控制输出端口722与所述第一电流输入端口801连接。所述速度控制子模块720通过所述速度控制输出端口722将所述电流指令输出。
所述速度控制子单元70通过设置所述速度偏差分析模块710和所述速度控制子模块720,将所述速度指令与所述补偿速度进行比较,得到速度偏差,并通过计算得到电流指令。
所述电流控制子单元80还包括:转矩偏差分析模块810和电流控制子模块820。
所述转矩偏差分析模块810具有第一电流偏差输入端口811、第二电流偏差输入端口812和第一电流偏差输出端口813。所述第一电流偏差输入端口811即为所述第一电流输入端口801。所述第二电流偏差输入端口812即为所述第二电流输入端口802。所述第一电流偏差输入端口811与所述速度控制输出端口722连接。所述转矩偏差分析模块810通过所述第一电流偏差输入端口811接收所述速度控制子单元70输出的所述电流指令。所述第二电流偏差输入端口812与所述电流调节输出端口522连接。所述转矩偏差分析模块810通过所述第二电流偏差输入端口812接收所述振动抑制控制单元50输出的所述补偿电流。所述转矩偏差分析模块810将所述电流指令和所述补偿电流进行转换和比较,得到转矩偏差。所述转矩偏差分析模块810通过所述第一电流偏差输出端口813将所述转矩偏差输出。
所述电流控制子模块820具有电流控制输入端口821、第一电流控制输出端口822和第二电流控制输出端口823。所述电流控制输入端口821与所述第一电流偏差输出端口813连接。所述电流控制子模块820通过所述电流控制输入端口821接收所述转矩偏差分析模块810输出的所述电流偏差。依据预先设定的计算方法,所述电流控制子模块820根据所述电流偏差计算得到所述电流信号。所述第一电流控制输出端口822即为所述第一电流输出端口803。所述第二电流控制输出端口823即为所述第二电流输出端口804。所述第一电流控制输出端口822与所述电机输入端口201连接。所述电流控制子模块820通过第一 电流控制输出端口822将所述电流信号输出给所述电机20。所述第二电流控制输出端口823与所述解算输入端口511连接。所述电流控制子模块820通过第二电流控制输出端口823将所述电流信号输出给所述电流解算单元510。
所述电流调节子单元520和所述速度调节子单元920预先设定的算法为PID控制算法。
在所述电流调节子单元520中的算法公式为:
其中e(i)为所述振动抑制控制单元50中所述电流解算单元510输出的所述电流误差,所述U(i)为所述电流调节子单元520输出的所述补偿电流。所述振动抑制控制单元50通过PID控制算法计算得到所述补偿电流,再将所述补偿电流反馈到所述电流调节子单元520,使得所述多电机交叉同步控制系统10得到电流反馈调节。
在所述速度调节子单元920中的算法公式为:
其中e(i)为所述交叉同步控制单元90中所述速度误差分析单元910输出的所述速度误差,所述U(i)为所述速度调节子单元920输出的所述补偿速度。所述交叉同步控制单元90通过PID控制算法计算得到所述补偿速度,再将所述补偿速度反馈到所述速度调节子单元920,使得所述多电机交叉同步控制系统10得到速度反馈调节。
请一并参见图5,本申请提供一种多电机交叉同步控制方法。所述多电机交叉同步控制方法包括:S10,通过检测单元30检测电机20的当前参数,并反馈给电机控制单元40。S20,依据所述电机20的当前参数,所述电机控制单元40输出电流信号。S30,依据所述电流信号,振动抑制控制单元50计算各个所述电机20的补偿电流。S40,依据所述补偿电流,对所述电机控制单元40进行电流补偿。
请一并参见图6,在一个实施例中,所述通过检测单元30检测电机20的当前参数,并反馈给电机控制单元40的步骤之后,S102,通过所述检测单元30检测所述电机20的当前速度,并反馈给交叉同步控制单元90。
在一个实施例中,所述通过所述检测单元30检测所述电机20的当前速度,并反馈给交叉同步控制单元90的步骤之后,S104,依据所述电机20的当前速度,通过所述交叉同 步控制单元90计算各个所述电机20间的速度误差。S106,根据所述速度误差计算出相应的补偿速度,并对所述电机控制单元40进行速度补偿。
请一并参见图7,在一个实施例中,所述依据所述电机20的当前参数,所述电机控制单元40输出电流信号的步骤中,依据所述电机20的当前位置参数,所述电机控制单元40输出电流信号。
在一个实施例中,所述依据所述电机20的当前位置参数,所述电机控制单元40输出电流信号的步骤,包括:S210,位置控制子单元60接收所述检测单元30发出的所述当前位置参数,并将预设目标位置指令和所述当前位置参数进行对比、分析或运算,得到速度指令。S220,速度控制子单元70接收所述位置控制子单元60输出的所述速度指令,并将所述速度指令进行对比、分析或运算,得到转化为电流指令的转矩指令。S230,电流控制子单元80接收所述速度控制子单元70输出的所述电流指令,并对所述电流指令进行对比、分析或运算,得到电流信号。
请一并参见图8,在一个实施例中,所述依据所述电流信号,振动抑制控制单元50计算各个所述电机20的补偿电流的步骤,包括:S310,依据所述电流信号,通过所述振动抑制控制单元50计算各个所述电机20间的转矩误差。S320,根据所述转矩误差计算各个所述电机20相应的补偿电流。
在一个实施例中,所述依据所述电流信号,通过所述振动抑制控制单元50计算各个所述电机20间的转矩误差的步骤中,依据所述电流信号,所述振动抑制控制单元50通过电流解算单元510计算各个所述电机20间的转矩误差。
在一个实施例中,所述根据所述转矩误差计算各个所述电机20相应的补偿电流的步骤中,根据所述转矩误差,通过所述电流调节子单元520结合预先设定的算法计算出所述补偿电流。
在一个实施例中,所述依据所述补偿电流,对所述电机控制单元40进行电流补偿的步骤之后,S50,依据所述补偿电流,所述电机控制单元40将所述补偿电流通过对比、分析或运算补偿到输出的所述电流信号中,通过所述电流信号控制所述电机20的运转状态。
请一并参见图9,所述多电机交叉同步控制系统10的控制方法,包括以下步骤:
S100,通过检测单元30检测电机20的当前速度。
S200,通过交叉同步控制单元90计算各个所述电机20间的速度误差。
S300,根据速度误差计算出相应的补偿速度。
S400,根据所述补充速度,对所述电机控制单元40进行速度补偿。
S500,获取所述电机控制单元40输出的电流信号。
S600,通过所述振动抑制控制单元50将电流信号转换为当前转矩。
S700,通过所述振动抑制控制单元计算各个所述电机20间的转矩误差。
S800,根据转矩误差计算出相应的补偿电流。
S900,根据所述补偿电流,对所述电机控制单元40进行电流补偿。
在一个实施例中,所述根据所述补偿电流,对所述电机控制单元进行电流补偿的步骤中,根据所述补偿电流,所述电机控制单元将所述补偿电流通过对比、分析或运算补偿到输出的所述电流信号中,通过所述电流信号控制所述电机的运转状态。
所述电机控制单元40由所述位置控制子单元60、所述速度控制子单元70和所述电流控制子单元80顺次串联连接而成。所述多电机交叉同步控制系统10通过获取所述电机20各自的运行状态,将状态参数信息反馈给所述电机控制单元40。所述电机控制单元40在进行逻辑运算时,分别对位置、速度和电流这三个参数得指令值与反馈值进行对比、分析和运算。这三个参数在逻辑上是层层递进的关系。分别对这三个参数进行反馈调节,可使所述电机控制单元40最后输出的所述电流信号经过三次反馈修正。所述整个多电机交叉同步控制系统10通过设置所述交叉同步控制单元90和所述振动抑制控制单元50实现对速度和电流的反馈修正。所述电流信号融合了对速度和电流反馈修正,使多电机20在高度运转时,获得系统的高品质与稳定的鲁棒性,避免多电机20系统受加减速指令和外界扰动的影响。进而使得整个多电机交叉同步控制系统10运转更加平稳。
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对本申请专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本申请构思的前提下,还可以做出若干变形和改进,这些都属于本申请的保护范围。因此,本申请专利的保护范围应以所附权利要求为准。
Claims (20)
- 一种多电机交叉同步控制系统,其特征在于,包括:具有电机输入端口(201)和动力输出端口(202)的电机(20),所述电机(20)为至少两个,协同转动完成动力输出;具有第一检测输入端口(301)、第一检测输出端口(302)和第二检测输出端口(303)的检测单元(30),所述第一检测输入端口(301)设置于相应所述电机(20)的动力输出端口(202);具有第一控制输入端口(401)、第二控制输入端口(402)、第一控制输出端口(403)和第二控制输出端口(404)的电机控制单元(40),所述第一控制输入端口(401)与指令源连接,所述第二控制输入端口(402)与相应所述第一检测输出端口(302)连接,所述第一控制输出端口(403)与所述电机输入端口(201)连接;具有抑制输入端口(501)和抑制输出端口(502)的振动抑制控制单元(50),所述抑制输入端口(501)和所述抑制输出端口(502)的数量与所述电机(20)数量相同,所述抑制输入端口(501)与所述第二控制输出端口(404)连接,所述抑制输出端口(502)与相应所述电机控制单元(40)连接。
- 如权利要求1所述的多电机交叉同步控制系统,其特征在于,所述电机控制单元(40)包括:具有第一位置输入端口(601)、第二位置输入端口(602)和第一位置输出端口(603)的位置控制子单元(60),所述第一位置输入端口(601)即为所述第一控制输入端口(401),所述第二位置输入端口(602)即为第二控制输入端口(402),所述第一位置输入端口(601)与所述指令源连接,所述第二位置输入端口(602)与所述第二检测输出端口(303)连接;具有第一速度输入端口(701)、第二速度输入端口(702)和第一速度输出端口(703)的速度控制子单元(70),所述第一速度输入端口(701)与第一位置输出端口(603)连接;具有第一电流输入端口(801)、第二电流输入端口(802)、第一电流输出端口(803)和第二电流输出端口(804)的电流控制子单元(80),所述第一电流输出端口(803)即为第一控制输出端口(403),所述第二电流输出端口(804)即为第二控制输出端口(404),所述第一电流输入端口(801)与所述第一速度输出端口(703)连接,所述第二电流输入端口(802)与所述抑制输出端口(502)连接,所述第一电流输出端口(803)与所述电 机输入端口(201)连接,所述第二电流输出端口(804)与所述抑制输入端口(501)连接。
- 如权利要求2所述的多电机交叉同步控制系统,其特征在于,所述振动抑制控制单元(50)包括:具有解算输入端口(511)和解算输出端口(512)的电流解算单元(510),所述解算输入端口(511)即为所述抑制输入端口(501),所述解算输入端口(511)的数量与所述电机(20)数量相同,所述解算输入端口(511)与所述第二控制输出端口(404)连接;具有电流调节输入端口(521)和电流调节输出端口(522)的电流调节子单元(520),所述电流调节输入端口(521)与所述解算输出端口(512)连接,所述电流调节输出端口(522)即为所述抑制输出端口(502),所述电流调节输出端口(522)与所述第二电流输入端口(802)连接。
- 如权利要求2所述的多电机交叉同步控制系统,其特征在于,还包括:具有同步控制输入端口(901)和同步控制输出端口(902)的交叉同步控制单元(90),所述同步控制输入端口(901)和所述同步控制输出端口(902)数量分别与所述电机(20)数量相同,所述同步控制输入端口(901)与所述第二检测输出端口(303)连接,所述同步控制输出端口(902)与第二速度输入端口(702)连接。
- 如权利要求4所述的多电机交叉同步控制系统,其特征在于,交叉同步控制单元(90)包括:具有速度误差输入端口(911)和速度误差输出端口(912)的速度误差分析单元(910),所述速度误差输入端口(911)即为所述同步控制输入端口(901),所述速度误差输入端口(911)的数量分别与所述电机(20)数量相同,所述速度误差输入端口(911)与所述第二检测输出端口(303)连接;具有速度调节输入端口(921)和速度调节输出端口(922)的速度调节子单元(920),所述速度调节输入端口(921)与所述速度误差输出端口(912)连接,所述速度调节输出端口(922)即为所述同步控制输出端口(902),所述速度调节输出端口(922)与第二速度输入端口(702)连接。
- 如权利要求5所述的多电机交叉同步控制系统,其特征在于,所述位置控制子单元(60)还包括:具有第一位置偏差输入端口(611)、第二位置偏差输入端口(612)和第一位置偏差 输出端口(613)的位置偏差分析模块(610),所述第一位置偏差输入端口(611)即为所述第一位置输入端口(601),所述第二位置偏差输入端口(612)即为所述第二位置输入端口(602),所述第一位置偏差输入端口(611)与所述指令源连接,所述第二位置偏差输入端口(612)与所述第一检测输出端口(302)连接;具有位置控制输入端口(621)和位置控制输出端口(622)的位置控制子模块(620),所述位置控制输入端口(621)与所述第一位置偏差输出端口(613)连接,所述位置控制输出端口(622)即为所述第一位置输出端口(603),所述位置控制输出端口(622)与所述第一速度输入端口(701)连接。
- 如权利要求6所述的多电机交叉同步控制系统,其特征在于,所述速度控制子单元(70)还包括:具有第一速度偏差输入端口(711)、第二速度偏差输入端口(712)和第一速度偏差输出端口(713)的速度偏差分析模块(710),所述第一速度偏差输入端口(711)即为所述第一速度输入端口(701),所述第二速度偏差输入端口(712)即为所述第二速度输入端口(702),所述第一速度偏差输入端口(711)与所述位置控制输出端口(622)连接,所述第二速度偏差输入端口(712)与所述速度调节输出端口(922)连接;具有速度控制输入端口(721)和速度控制输出端口(722)的速度控制子模块(720),所述速度控制输入端口(721)与所述第一速度偏差输出端口(713)连接,所述速度控制输出端口(722)即为所述第一速度输出端口(703),所述速度控制输出端口(722)与所述第一电流输入端口(801)连接。
- 如权利要求7所述的多电机交叉同步控制系统,其特征在于,所述电流控制子单元(80)还包括:具有第一电流偏差输入端口(811)、第二电流偏差输入端口(812)和第一电流偏差输出端口(813)的转矩偏差分析模块(810),所述第一电流偏差输入端口(811)即为所述第一电流输入端口(801),所述第二电流偏差输入端口(812)即为所述第二电流输入端口(802),所述第一电流偏差输入端口(811)与所述速度控制输出端口(722)连接,所述第二电流偏差输入端口(812)与所述电流调节输出端口(522)连接;具有电流控制输入端口(821)、第一电流控制输出端口(822)和第二电流控制输出端口(823)的电流控制子模块(820),所述电流控制输入端口(821)与所述第一电流偏差输出端口(813)连接,所述第一电流控制输出端口(822)即为所述第一电流输出端口 (803),所述第二电流控制输出端口(823)即为所述第二电流输出端口(804),所述第一电流控制输出端口(822)与所述电机输入端口(201)连接,所述第二电流控制输出端口(823)与所述解算输入端口(511)连接。
- 如权利要求8所述的多电机交叉同步控制系统,其特征在于,所述电流调节子单元(520)和所述速度调节子单元(920)预先设定的算法为PID控制算法。
- 一种多电机交叉同步控制方法,其特征在于,包括:通过检测单元(30)检测电机(20)的当前参数,并反馈给电机控制单元(40);依据所述电机(20)的当前参数,所述电机控制单元(40)输出电流信号;依据所述电流信号,振动抑制控制单元(50)计算各个所述电机(20)的补偿电流;依据所述补偿电流,对所述电机控制单元(40)进行电流补偿。
- 如权利要求10所述的多电机交叉同步控制方法,其特征在于,所述通过检测单元(30)检测电机(20)的当前参数,并反馈给电机控制单元(40)的步骤之后,通过所述检测单元(30)检测所述电机(20)的当前速度,并反馈给交叉同步控制单元(90)。
- 如权利要求11所述的多电机交叉同步控制方法,其特征在于,所述通过所述检测单元(30)检测所述电机(20)的当前速度,并反馈给交叉同步控制单元(90)的步骤之后,根据所述电机(20)的当前速度,通过所述交叉同步控制单元(90)计算各个所述电机(20)间的速度误差;根据所述速度误差计算出相应的补偿速度,并对所述电机控制单元(40)进行速度补偿。
- 如权利要求10所述的多电机交叉同步控制方法,其特征在于,所述依据所述电机(20)的当前参数,所述电机控制单元(40)输出电流信号的步骤中,依据所述电机(20)的当前位置参数,所述电机控制单元(40)输出电流信号。
- 如权利要求13所述的多电机交叉同步控制方法,其特征在于,所述依据所述电机(20)的当前位置参数,所述电机控制单元(40)输出电流信号的步骤,包括:位置控制子单元(60)接收所述检测单元(30)发出的所述当前位置参数,并将预设目标位置指令和所述当前位置参数进行对比、分析或运算,得到速度指令;速度控制子单元(70)接收所述位置控制子单元(60)输出的所述速度指令,并将所 述速度指令进行对比、分析或运算,得到转化为电流指令的转矩指令;电流控制子单元(80)接收所述速度控制子单元(70)输出的所述电流指令,并对所述电流指令进行对比、分析或运算,得到电流信号。
- 如权利要求10所述的多电机交叉同步控制方法,其特征在于,所述依据所述电流信号,振动抑制控制单元(50)计算各个所述电机(20)的补偿电流的步骤,包括:依据所述电流信号,通过所述振动抑制控制单元(50)计算各个所述电机(20)间的转矩误差;根据所述转矩误差计算各个所述电机(20)相应的补偿电流。
- 如权利要求15所述的多电机交叉同步控制方法,其特征在于,所述依据所述电流信号,通过所述振动抑制控制单元(50)计算各个所述电机(20)间的转矩误差的步骤中,依据所述电流信号,所述振动抑制控制单元(50)通过电流解算单元(510)计算各个所述电机(20)间的转矩误差。
- 如权利要求15所述的多电机交叉同步控制方法,其特征在于,所述根据所述转矩误差计算各个所述电机(20)相应的补偿电流的步骤中,根据所述转矩误差,通过所述电流调节子单元520结合预先设定的算法计算出所述补偿电流。
- 如权利要求10所述的多电机交叉同步控制方法,其特征在于,所述依据所述补偿电流,对所述电机控制单元(40)进行电流补偿的步骤之后,依据所述补偿电流,所述电机控制单元(40)将所述补偿电流通过对比、分析或运算补偿到输出的所述电流信号中,通过所述电流信号控制所述电机(20)的运转状态。
- 一种多电机交叉同步控制方法,其特征在于,包括:通过检测单元(30)检测电机(20)的当前速度;通过交叉同步控制单元(90)计算各个所述电机(20)间的速度误差;根据所述速度误差计算出相应的补偿速度;根据所述补偿速度,对电机控制单元(40)进行速度补偿;获取所述电机控制单元(40)输出的电流信号;通过振动抑制控制单元(50)将所述电流信号转换为当前转矩;通过所述振动抑制控制单元(50)计算各个所述电机(20)间的转矩误差;根据所述转矩误差计算出相应的补偿电流;根据所述补偿电流,对所述电机控制单元(40)进行电流补偿。
- 如权利要求19所述的多电机交叉同步控制方法,其特征在于,所述根据所述补偿电流,对所述电机控制单元(40)进行电流补偿的步骤中,根据所述补偿电流,所述电机控制单元(40)将所述补偿电流通过对比、分析或运算补偿到输出的所述电流信号中,通过所述电流信号控制所述电机(20)的运转状态。
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