CN106787971A - A kind of bi-motor cooperative control system and method - Google Patents
A kind of bi-motor cooperative control system and method Download PDFInfo
- Publication number
- CN106787971A CN106787971A CN201710211682.4A CN201710211682A CN106787971A CN 106787971 A CN106787971 A CN 106787971A CN 201710211682 A CN201710211682 A CN 201710211682A CN 106787971 A CN106787971 A CN 106787971A
- Authority
- CN
- China
- Prior art keywords
- motor
- feedback
- current
- difference
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
The invention belongs to drive and control of electric machine technical field, and in particular to a kind of bi-motor cooperative control system and method, system include：First motor, the first electromechanical transducer, the second motor, the second electromechanical transducer and controller, controller include main control chip, power module, the first power model and the second power model；Main control chip receives the signal and the current feedback signal of the first motor and the second motor of the first electromechanical transducer and the second electromechanical transducer, and the multiphase PWM signal for driving the first motor and the second motor is respectively obtained by control algolithm, generate corresponding ployphase voltages signal after the first power model and the second power model reception multiphase PWM signal drives the first motor and the second motor respectively.Control method is：The electric current to two motors carries out closed-loop control respectively, and closed-loop control is carried out to the alternate position spike and/or displacement difference and/or speed difference between two motors.Cost performance of the present invention is high, and system architecture is simple and control accuracy is high.
Description
Technical field
The invention belongs to drive and control of electric machine technical field, and in particular to a kind of bi-motor cooperative control system and method.
Background technology
In modern mechanical device, it is often necessary to which multiple motors are carried out with Collaborative Control, most common of which is bi-motor association
With control.Such as：Dolly equipped with two independent power wheels, axle device without differential, straight line is realized by the synchronous axial system of two wheels
Walking, realizes turning by two wheel guide robot motion.The bi-motor used when driving longer axis or flexible shaft for another example is coaxially controlled,
It is required that two motor high level of synchronization operatings.
Existing bi-motor cooperative control system uses a command unit to two system knots of electric-motor drive unit
Structure, realizes to two controls of motor by two differences for instructing or synchronization.In control performance requirement occasion higher, meeting
Alternate position spike, the regulation of speed difference closed loop are introduced, but which increases instruction complexity, and it is very high to instruction frequency requirement, be often
System cost is very high.Especially in the wagon control of multiple power wheel drives, direct torque mode, laterally side by side two are generally used
The synchronization performance of wheel directly affects the handling of vehicle heading, if adding speed difference closed loop by command unit
Collaborative Control is realized, two rate signals of driver feedback can be because of precision between respective crystal oscillator concussion frequency
Difference, produces an error that cannot be detected and compensate, and real Synchronization Control cannot be just realized in theory.In practical application,
If two motor rotating speeds are very high, this error is possible to larger.
In sum, there is following defect in existing Double Motor Control method：
1st, system architecture is complicated, influences reliability；
2nd, the difference between driver between crystal oscillator frequency can influence Collaborative Control performance；
3rd, realize that alternate position spike, the hardware requirement of speed difference closed loop regulation and cost are too high；
4th, parameter of electric machine difference is not considered.
The content of the invention
The purpose of the present invention is to overcome Collaborative Control instruction complexity in the prior art, and system cost is high, easily produces error
The defect low with control accuracy, and provide that a kind of cost performance is high, the bi-motor Collaborative Control that system architecture is simple, control accuracy is high
System and method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of bi-motor cooperative control system, it is characterised in that including：First motor, for measuring first motor
First electromechanical transducer of rotating speed and/or position, the second motor, for measure second motor speed and/or position
Two electromechanical transducers and controller, the controller include main control chip, power module, the first power model and the second power mould
Block；The main control chip receives the signal and the first motor and the second motor of the first electromechanical transducer and the second electromechanical transducer
Current feedback signal, and the multiphase PWM voltages for driving the first motor and the second motor are respectively obtained by control algolithm
Signal, the power module provides bus power supply for the first power model and the second power model, first power model and
Second power model receives the bus power supply provided according to power module after the multiphase PWM voltage signals and generates accordingly respectively
Ployphase voltages signal drives the first motor and the second motor respectively.
Further, the multiphase PWM voltage signals that the main control chip is obtained are divided into the tunnel of U+, U-, V+, V-, W+ and W- six,
First power model and the ployphase voltages signal of the second power model generation are three-phase voltage.
Further, first electromechanical transducer and the second electromechanical transducer are position sensor.
Further, first electromechanical transducer and the second electromechanical transducer are velocity sensor.
A kind of bi-motor cooperative control method, it is characterised in that the electric current to two motors carries out closed-loop control respectively, to two
Alternate position spike and/or displacement difference and/or speed difference between motor carry out closed-loop control.
Further, if the first electromechanical transducer and the second electromechanical transducer are position sensor, to the position of bi-motor
Cooperative control method is：Position control is interrupted after starting, and trigger current sampling obtains the feedback current I1_fb and the of the first motor
The feedback current I2_fb of two motors, while reading the feedback Angle Position θ 1_fb and second of the detection output of first position sensor
Put the feedback Angle Position θ 2_fb of sensor detection output；Position difference signal processor is according to feedback Angle Position θ 1_fb and feedback Angle Position
θ 2_fb export feedback speed difference Δ again by calculating treatment output feedback position/displacement difference Δ P_fb after differentiator is calculated
V_fb；Position difference controller is according to the difference DELTA P of position/displacement commands P_ref and feedback position/displacement difference Δ P_fb by meter
Calculate output speed difference desired value Δ V；Speed difference controller is according to speed difference desired value Δ V and the difference of feedback speed difference Δ V_fb
Δ V ' is by calculating output current difference desired value Δ I1 and Δ I2；First current controller is according to difference between current desired value Δ I1 and instead
The difference DELTA I ' 1 of supply current I1_fb is then converted into pwm signal by the first power mould by calculating outputting drive voltage Δ U1
Block drives the first motor；Second current controller is logical according to the difference DELTA I ' 2 of difference between current desired value Δ I2 and feedback current I2_fb
Calculating outputting drive voltage Δ U2 is crossed, pwm signal is then converted into and the second motor is driven by the second power model.
Further, first electromechanical transducer and the second electromechanical transducer are position sensor, bi-motor speed association
It is with control method：Speed control is interrupted after starting, and trigger current sampling obtains the feedback current I1_fb and second of the first motor
The feedback current I2_fb of motor, while reading the feedback Angle Position θ 1_fb and the second place of the detection output of first position sensor
The feedback Angle Position θ 2_fb of sensor detection output；Position difference signal processor is according to feedback Angle Position θ 1_fb and feedback Angle Position θ
2_fb exports feedback speed difference Δ again by calculating treatment output feedback position/displacement difference Δ P_fb after differentiator is calculated
V_fb；Speed difference controller is according to the difference DELTA V of speed command V_ref and feedback speed difference Δ V_fb by calculating output current
Difference desired value Δ I1 and Δ I2；Difference DELTA of first current controller according to difference between current desired value Δ I1 and feedback current I1_fb
I ' 1 is then converted into pwm signal and drives the first motor by the first power model by calculating outputting drive voltage Δ U1；Second
Current controller is according to the difference DELTA I ' 2 of difference between current desired value Δ I2 and feedback current I2_fb by calculating outputting drive voltage
Δ U2, is then converted into pwm signal and drives the second motor by the second power model.
Further, first electromechanical transducer and the second electromechanical transducer are velocity sensor, bi-motor speed association
It is with control method：Speed control is interrupted after starting, and trigger current sampling obtains the feedback current I1_fb and second of the first motor
The feedback current I2_fb of motor, while the feedback speed V1_fb and second speed that read the detection output of First Speed sensor are passed
The feedback speed V2_fb of sensor detection output；Speed difference signal processor passes through according to feedback speed V1_fb and feedback speed V2_fb
Calculate treatment output feedback speed difference Δ V_fb；Speed difference controller is according to speed command V_ref and feedback speed difference Δ V_fb
Difference DELTA V by calculating output current difference desired value Δ I1 and Δ I2；The controller of electric current 1 according to difference between current desired value Δ I1 and
The difference DELTA I ' 1 of feedback current I1_fb is then converted into pwm signal by the first power by calculating outputting drive voltage Δ U1
The motor of module drive first；Difference DELTA I ' 2 of second current controller according to difference between current desired value Δ I2 and feedback current I2_fb
By calculating outputting drive voltage Δ U2, it is then converted into pwm signal and the second motor is driven by the second power model.
Further, the bi-motor cooperative control method also includes torque Collaborative Control, first electromechanical transducer
It is position sensor with the second electromechanical transducer, bi-motor torque cooperative control method is：Direct torque is interrupted after starting, triggering
Current sample obtains the first motor feedback current I1_fb and the second motor feedback current I2_fb, while reading first position position
The feedback Angle Position θ 1_fb of the sensor detection output and feedback Angle Position θ 2_fb of second place sensor detection output；Position
Difference signal processor is according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb by calculating treatment output feedback position difference or displacement
Δ P_fb, by exporting feedback speed difference Δ V_fb after differentiator calculating again；Torque processor is according to torque instruction T_ref and instead
Feedback speed difference Δ V_fb calculates treatment output current desired value I_ref and speed target value V_ref；Speed difference controller is according to speed
The difference DELTA V of degree desired value V_ref and feedback speed difference Δ V_fb is by calculating output current difference desired value Δ I1 and Δ I2；Electricity
1 controller is flowed to be passed through according to the calculated value Δ I ' 1 of current target value I_ref, difference between current desired value Δ I1 and feedback current I1_fb
Outputting drive voltage Δ U1 is calculated, pwm signal is then converted into by work(the first rate the first motor of module drive；Second current control
Device is defeated by calculating according to the calculated value Δ I ' 2 of current target value I_ref, difference between current desired value Δ I2 and feedback current I2_fb
Go out driving voltage Δ U2, be then converted into pwm signal and the second motor is driven by the second power model.
Further, the bi-motor cooperative control method also includes torque Collaborative Control, the first motor sensing
Device and the second electromechanical transducer are velocity sensor, and bi-motor torque cooperative control method is：Direct torque is interrupted after starting, and is touched
Hair current sample obtains the feedback current I1_fb of the first motor and feedback current I2_fb of the second motor, while reading the first speed
The feedback speed V1_fb of the degree sensor detection output and feedback speed V2_fb of second speed sensor detection output；Speed difference
Processor is according to feedback speed V1_fb and feedback speed V2_fb by calculating treatment output feedback speed difference Δ V_fb；At torque
Reason device calculates treatment output current desired value I_ref and objective speed according to torque instruction T_ref and feedback speed difference Δ V_fb
Value V_ref；Speed difference controller is defeated by calculating according to the difference DELTA V of speed target value V_ref and feedback speed difference Δ V_fb
Go out difference between current desired value Δ I1 and Δ I2；First current controller according to current target value I_ref, difference between current desired value Δ I1 and
The calculated value Δ I ' 1 of feedback current I1_fb is then converted into pwm signal by the first work(by calculating outputting drive voltage Δ U1
The motor of rate module drive first；Second current controller is according to current target value I_ref, difference between current desired value Δ I2 and feedback electricity
The calculated value Δ I ' 2 of I2_fb is flowed by calculating outputting drive voltage Δ U2, is then converted into pwm signal by the second power model
Drive the second motor.
Relative to prior art, the present invention apparently has the advantages that：
1st, system architecture is simple, and reliability is high；
2nd, the difference between crystal oscillator frequency between driver is eliminated, Collaborative Control performance is improve；
3rd, alternate position spike, the regulation of speed difference closed loop are conveniently realized, cost performance is high；
4th, accurate to obtain parameter of electric machine difference, control accuracy is high.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is bi-motor cooperative control system of the invention；
Fig. 2 is the position control block diagram of the embodiment of the present invention 1；
Fig. 3 is the position control flow chart of the embodiment of the present invention 1；
Fig. 4 is the speed control block diagram of the embodiment of the present invention 1；
Fig. 5 is the speed control flow chart of the embodiment of the present invention 1；
Fig. 6 is the direct torque block diagram of the embodiment of the present invention 1；
Fig. 7 is the direct torque flow chart of the embodiment of the present invention 1；
Fig. 8 is the speed control block diagram of the embodiment of the present invention 2；
Fig. 9 is the speed control flow chart of the embodiment of the present invention 2；
Figure 10 is the direct torque block diagram of the embodiment of the present invention 2；
Figure 11 is the direct torque flow chart of the embodiment of the present invention 2.
In figure：11st, the first motor, the 12, second motor, the 21, first electromechanical transducer, 211, first position sensor,
212nd, First Speed sensor, the 22, second electromechanical transducer, 221, first position sensor, 222, second speed sensor, 3,
Controller, 31, main control chip, 32, power module, the 33, first power model, the 34, second power model, 4, alternate position spike treatment
Device, 5, differentiator, 6, speed difference controller, the 71, first current controller, the 72, second current control machine, 8, torque treatment
Device, 9, position difference controller, 10, speed difference signal processor.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
Bi-motor cooperative control system as shown in Figure 1, including：First motor 11, for measuring the rotating speed of the first motor 11
And/or the first electromechanical transducer 21 of position, the second motor 12, for measure the rotating speed of the second motor 12 and/or position second
Electromechanical transducer 22 and controller 3, controller 3 include main control chip 31, power module 32, the first power model 33 and the second work(
Rate module 34；Main control chip 31 receives the signal and the first motor 11 of the first electromechanical transducer 21 and the second electromechanical transducer 22
With the current feedback signal of the second motor 12, and respectively obtained for driving the first motor 11 and the second motor by control algolithm
12 multiphase PWM signal, power module 32 is that the first power model 33 and the second power model 34 provide bus power supply, is master control
Chip 31 provides light current (such as 5V or 3.3V), and the first power model 33 and the second power model 34 receive multiphase PWM voltages respectively
The bus power supply provided according to power module 32 after signal generates corresponding ployphase voltages signal and drives the He of the first motor 11 respectively
Second motor 12.
Specifically, main control chip 31 by control algolithm obtain respectively for drive the first motor 11 U1+, U1-, V1+,
The road pwm signal of V1-, W1+ and W1- six and the road PWM of U2+, U2-, V2+, V2-, W2+ and W2- six for driving the second motor 12
Signal, is respectively transmitted to the first power model 33 and the second power model 34；First power model 33 is carried according to power module 32
The pwm signal that the bus power supply and main control chip 31 of confession are provided, generation U1, V1, W1 three-phase voltage signal drives the first motor 11；
The pwm signal that the bus power supply and main control chip 31 that second power model 34 is provided according to power module 32 are provided, generation U2,
V2, W2 three-phase voltage signal drive the second motor 12.
Motor and electromechanical transducer in the present invention can be：Brush direct current motor+encoder, permagnetic synchronous motor+three are suddenly
Your sensor, magneto+encoder and asynchronous induction machine+encoder etc..
Embodiment 1
The first electromechanical transducer 21 and the second electromechanical transducer 22 are position sensor in the present embodiment, respectively to bi-motor
Position/displacement, speed and torque carry out Collaborative Control.
In the present embodiment, the electric current to the first motor 11 and the second motor 12 carries out closed-loop control respectively, to the first motor
11 and second motor 12 respective position and speed no longer carry out closed-loop control respectively, but to the first motor 11 and the second motor
Alternate position spike and speed difference between 12 carry out closed-loop control.
As shown in Figures 2 and 3, the position cooperative control method to bi-motor is：Position control is interrupted after starting, triggering electricity
Stream sampling obtains the feedback current I1_fb of the first motor 11 and feedback current I2_fb of the second motor 12, while reading first
Put the feedback Angle Position θ 1_fb of the detection output of the sensor 211 and feedback Angle Position θ of the detection output of second place sensor 221
2_fb；Position difference signal processor 4 is according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb by calculating treatment output feedback bit
/ displacement difference Δ P_fb is put, by exporting feedback speed difference Δ V_fb after the calculating of differentiator 5 again；Position difference controller 9 is according to position
Put/the difference DELTA P of displacement commands P_ref and feedback position/displacement difference Δ P_fb is by calculating output speed difference desired value Δ V；
Speed difference controller 6 is according to the difference DELTA V ' of speed difference desired value Δ V and feedback speed difference Δ V_fb by calculating output current
Difference desired value Δ I1 and Δ I2；Difference of first current controller 71 according to difference between current desired value Δ I1 and feedback current I1_fb
Δ I ' 1 is then converted into pwm signal and drives the first motor by the first power model 33 by calculating outputting drive voltage Δ U1
11；Second current controller 72 is exported according to the difference DELTA I ' 2 of difference between current desired value Δ I2 and feedback current I2_fb by calculating
Driving voltage Δ U2, is then converted into pwm signal and drives the second motor 12 by the second power model 34.
As shown in Figure 4 and Figure 5, bi-motor speed cooperative control method is：Speed control is interrupted after starting, and trigger current is adopted
Sample obtains the feedback current I1_fb of the first motor 11 and feedback current I2_fb of the second motor 12, while read first position passing
The feedback Angle Position θ 1_fb of the detection output of the sensor 211 and feedback Angle Position θ 2_fb of the detection output of second place sensor 221；
Position difference signal processor 4 is according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb by calculating treatment output feedback position/position
Difference Δ P_fb is moved, by exporting feedback speed difference Δ V_fb after the calculating of differentiator 5 again；Speed difference controller 6 is according to speed command
The difference DELTA V of V_ref and feedback speed difference Δ V_fb is by calculating output current difference desired value Δ I1 and Δ I2；First electric current control
Device processed 71 according to the difference DELTA I ' 1 of difference between current desired value Δ I1 and feedback current I1_fb by calculating outputting drive voltage Δ U1,
It is then converted into pwm signal and the first motor 11 is driven by the first power model 33；Second current controller 72 is according to difference between current mesh
The difference DELTA I ' 2 of scale value Δ I2 and feedback current I2_fb is then converted into pwm signal and leads to by calculating outputting drive voltage Δ U2
Cross the second power model 34 and drive the second motor 12.
As shown in Figure 6 and Figure 7, bi-motor cooperative control method also includes torque Collaborative Control, the first electromechanical transducer 21
It is position sensor with the second electromechanical transducer 22, bi-motor torque cooperative control method is：Direct torque is interrupted after starting, and is touched
Hair current sample obtains the feedback current I1_fb of the first motor 11 and feedback current I2_fb of the second motor 12, while reading first
Put the feedback Angle Position θ 1_fb of the detection output of the sensor 211 and feedback Angle Position θ of the detection output of second place sensor 221
2_fb；Position difference signal processor 4 is according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb by calculating treatment output feedback bit
Difference or displacement P_fb are put, by exporting feedback speed difference Δ V_fb after the calculating of differentiator 5 again；Torque processor 8 is according to torque
Instruction T_ref and feedback speed difference Δ V_fb calculate treatment output current desired value I_ref and speed target value V_ref；Speed
Difference controller 6 is according to the difference DELTA V of speed target value V_ref and feedback speed difference Δ V_fb by calculating output current difference target
Value Δ I1 and Δ I2；First current controller 71 is according to current target value I_ref, difference between current desired value Δ I1 and feedback current
The calculated value Δ I ' 1 of I1_fb is then converted into pwm signal by the power model of work(first by calculating outputting drive voltage Δ U1
Drive the first motor 11；Second current controller 72 is according to current target value I_ref, difference between current desired value Δ I2 and feedback current
The calculated value Δ I ' 2 of I2_fb is then converted into pwm signal by the second power model 34 by calculating outputting drive voltage Δ U2
Drive the second motor 12.
Embodiment 2
In the present embodiment, the first electromechanical transducer 21 and the second electromechanical transducer 22 are velocity sensor, such as Fig. 8 and Fig. 9
Shown, bi-motor speed cooperative control method is：Speed control is interrupted after starting, and trigger current sampling obtains the first motor 11
The feedback current I2_fb of feedback current I1_fb and the second motor 12, while reading First Speed sensor 212 detects output
The feedback speed V1_fb and feedback speed V2_fb of the detection output of second speed sensor 222；Speed difference signal processor 10 is according to anti-
Feedback speed V1_fb and feedback speed V2_fb is by calculating treatment output feedback speed difference Δ V_fb；The basis of speed difference controller 6
The difference DELTA V of speed command V_ref and feedback speed difference Δ V_fb is by calculating output current difference desired value Δ I1 and Δ I2；The
One current controller (71) is driven according to the difference DELTA I ' 1 of difference between current desired value Δ I1 and feedback current I1_fb by calculating output
Dynamic voltage Δ U1, is then converted into pwm signal and drives the first motor 11 by the first power model 33；Second current controller 72
According to the difference DELTA I ' 2 of difference between current desired value Δ I2 and feedback current I2_fb by calculating outputting drive voltage Δ U2, it is then converted into
Pwm signal drives the second motor 12 by the second power model 34.
As shown in Figure 10 and Figure 11, bi-motor torque cooperative control method is：Direct torque is interrupted after starting, trigger current
Sampling obtains the feedback current I1_fb of the first motor 11 and feedback current I2_fb of the second motor 12, while reading First Speed
The feedback speed V1_fb of the detection output of the sensor 212 and feedback speed V2_fb of the detection output of second speed sensor 222；Speed
Degree difference signal processor 10 is according to feedback speed V1_fb and feedback speed V2_fb by calculating treatment output feedback speed difference Δ V_fb；
Torque processor 8 calculates treatment output current desired value I_ref and speed according to torque instruction T_ref and feedback speed difference Δ V_fb
Degree desired value V_ref；Speed difference controller 6 passes through according to the difference DELTA V of speed target value V_ref and feedback speed difference Δ V_fb
Calculate output current difference desired value Δ I1 and Δ I2；First current controller 71 is according to current target value I_ref, difference between current target
The calculated value Δ I ' 1 of value Δ I1 and feedback current I1_fb is then converted into pwm signal and leads to by calculating outputting drive voltage Δ U1
Cross the first power model 33 and drive the first motor 11；Second current controller 72 is according to current target value I_ref, difference between current target
The calculated value Δ I ' 2 of value Δ I2 and feedback current I2_fb is then converted into pwm signal and leads to by calculating outputting drive voltage Δ U2
Cross the second power model 34 and drive the second motor 12.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
Obvious change that spirit of the invention is extended out or among changing still in protection scope of the present invention.
Claims (10)
1. a kind of bi-motor cooperative control system, it is characterised in that including：First motor (11), for measure it is described first electricity
First electromechanical transducer (21) of machine (11) rotating speed and/or position, the second motor (12), for measuring second motor (12)
Rotating speed and/or second electromechanical transducer (22) and controller (3) of position, the controller (3) include main control chip (31), electricity
Source module (32), the first power model (33) and the second power model (34)；The main control chip (31) receives the first motor and passes
The current feedback letter of the signal and the first motor (11) and the second motor (12) of sensor (21) and the second electromechanical transducer (22)
Number, and the multiphase PWM signal for driving the first motor (11) and the second motor (12) is respectively obtained by control algolithm, it is described
Power module (32) is that the first power model (33) and the second power model (34) provide bus power supply, first power model
And the second power model (34) receives the bus power supply provided according to power module (32) after the multiphase PWM signal respectively (33)
Generate corresponding ployphase voltages signal and drive the first motor (11) and the second motor (12) respectively.
2. bi-motor cooperative control system according to claim 1, it is characterised in that what the main control chip (31) obtained
Multiphase PWM signal is divided into the tunnel of U+, U-, V+, V-, W+ and W- six, first power model (33) and the second power model (34)
The ployphase voltages signal of generation is three-phase voltage.
3. bi-motor cooperative control system according to claim 2, it is characterised in that first electromechanical transducer (21)
It is position sensor with the second electromechanical transducer (22).
4. bi-motor cooperative control system according to claim 2, it is characterised in that first electromechanical transducer (21)
It is velocity sensor with the second electromechanical transducer (22).
5. a kind of cooperative control method of bi-motor cooperative control system according to claim 1, it is characterised in that respectively
Electric current to two motors carries out closed-loop control, and closed loop is carried out to the alternate position spike and/or displacement difference and/or speed difference between two motors
Control.
6. bi-motor cooperative control method according to claim 5, it is characterised in that if the first electromechanical transducer (21) and
Second electromechanical transducer (22) is position sensor, and the position cooperative control method to bi-motor is：Position control is interrupted and started
Afterwards, trigger current sampling obtains the feedback current I1_fb of the first motor (11) and the feedback current I2_fb of the second motor (12),
Feedback Angle Position θ 1_fb and second place sensor (221) detection of first position sensor (211) detection output are read simultaneously
The feedback Angle Position θ 2_fb of output；Position difference signal processor (4) passes through according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb
Calculating treatment output feedback position/displacement difference Δ P_fb, by exporting feedback speed difference Δ V_fb after differentiator (5) calculating again；
Position difference controller (9) is according to the difference DELTA P of position/displacement commands P_ref and feedback position/displacement difference Δ P_fb by calculating
Output speed difference desired value Δ V；Speed difference controller (6) is according to speed difference desired value Δ V and the difference of feedback speed difference Δ V_fb
Value Δ V ' is by calculating output current difference desired value Δ I1 and Δ I2；First current controller (71) is according to difference between current desired value Δ
The difference DELTA I ' 1 of I1 and feedback current I1_fb is then converted into pwm signal by first by calculating outputting drive voltage Δ U1
Power model (33) drives the first motor (11)；Second current controller (72) is according to difference between current desired value Δ I2 and feedback current
The difference DELTA I ' 2 of I2_fb is then converted into pwm signal by the second power model (34) by calculating outputting drive voltage Δ U2
Drive the second motor (12).
7. bi-motor cooperative control method according to claim 5, it is characterised in that first electromechanical transducer (21)
It is position sensor with the second electromechanical transducer (22), bi-motor speed cooperative control method is：Speed control is interrupted after starting,
Trigger current sampling obtains the feedback current I1_fb of the first motor (11) and the feedback current I2_fb of the second motor (12), while
Read feedback Angle Position θ 1_fb and second place sensor (221) the detection output of first position sensor (211) detection output
Feedback Angle Position θ 2_fb；Position difference signal processor (4) is according to feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb by calculating
Treatment output feedback position/displacement difference Δ P_fb, by exporting feedback speed difference Δ V_fb after differentiator (5) calculating again；Speed
Difference controller (6) is according to the difference DELTA V of speed command V_ref and feedback speed difference Δ V_fb by calculating output current difference target
Value Δ I1 and Δ I2；Difference DELTA I ' 1 of first current controller (71) according to difference between current desired value Δ I1 and feedback current I1_fb
By calculating outputting drive voltage Δ U1, it is then converted into pwm signal and the first motor (11) is driven by the first power model (33)；
Second current controller (72) is exported according to the difference DELTA I ' 2 of difference between current desired value Δ I2 and feedback current I2_fb by calculating
Driving voltage Δ U2, is then converted into pwm signal and drives the second motor (12) by the second power model (34).
8. bi-motor cooperative control method according to claim 5, it is characterised in that first electromechanical transducer (21)
It is velocity sensor with the second electromechanical transducer (22), bi-motor speed cooperative control method is：Speed control is interrupted after starting,
Trigger current sampling obtains the feedback current I1_fb of the first motor (11) and the feedback current I2_fb of the second motor (12), while
What the feedback speed V1_fb and second speed sensor (222) detection for reading First Speed sensor (212) detection output were exported
Feedback speed V2_fb；Speed difference signal processor (10) is defeated by calculating treatment according to feedback speed V1_fb and feedback speed V2_fb
Go out feedback speed difference Δ V_fb；Speed difference controller (6) is according to speed command V_ref and the difference DELTA of feedback speed difference Δ V_fb
V is by calculating output current difference desired value Δ I1 and Δ I2；First current controller (71) according to difference between current desired value Δ I1 and
The difference DELTA I ' 1 of feedback current I1_fb is then converted into pwm signal by the first power by calculating outputting drive voltage Δ U1
Module (33) drives the first motor (11)；Second current controller (72) is according to difference between current desired value Δ I2 and feedback current I2_
The difference DELTA I ' 2 of fb is then converted into pwm signal and is driven by the second power model (34) by calculating outputting drive voltage Δ U2
Second motor (12).
9. bi-motor cooperative control method according to claim 5, it is characterised in that the bi-motor cooperative control method
Also include torque Collaborative Control, first electromechanical transducer (21) and the second electromechanical transducer (22) are position sensor, double
Motor torque cooperative control method is：Direct torque is interrupted after starting, and trigger current sampling obtains the first motor (11) feedback electricity
Stream I1_fb and the second motor (12) feedback current I2_fb, while reading the feedback of first position sensor (211) detection output
The Angle Position θ 1_fb and feedback Angle Position θ 2_fb of second place sensor (221) detection output；Position difference signal processor (4) basis
Feedback Angle Position θ 1_fb and feedback Angle Position θ 2_fb pass through to calculate treatment output feedback position difference or displacement P_fb, by micro-
Feedback speed difference Δ V_fb is exported after dividing device (5) to calculate again；Torque processor (8) is according to torque instruction T_ref and feedback speed
Difference Δ V_fb calculates treatment output current desired value I_ref and speed target value V_ref；Speed difference controller (6) is according to speed
The difference DELTA V of desired value V_ref and feedback speed difference Δ V_fb is by calculating output current difference desired value Δ I1 and Δ I2；First
Current controller (71) is according to current target value I_ref, the calculated value Δ I ' of difference between current desired value Δ I1 and feedback current I1_fb
1, by calculating outputting drive voltage Δ U1, is then converted into pwm signal and drives the first motor by the first power model (33)
(11)；Second current controller (72) is according to current target value I_ref, difference between current desired value Δ I2 and feedback current I2_fb
Calculated value Δ I ' 2 is then converted into pwm signal and drives the by the second power model (34) by calculating outputting drive voltage Δ U2
Two motors (12).
10. bi-motor cooperative control method according to claim 5, it is characterised in that the bi-motor Collaborative Control side
Method also includes torque Collaborative Control, and first electromechanical transducer (21) and the second electromechanical transducer (22) are velocity sensor,
Bi-motor torque cooperative control method is：Direct torque is interrupted after starting, and trigger current sampling obtains the anti-of the first motor (11)
The feedback current I2_fb of supply current I1_fb and the second motor (12), while reading First Speed sensor (212) detection output
Feedback speed V1_fb and second speed sensor (222) detection output feedback speed V2_fb；Speed difference signal processor (10)
According to feedback speed V1_fb and feedback speed V2_fb by calculating treatment output feedback speed difference Δ V_fb；Torque processor
(8) treatment output current desired value I_ref and speed target value are calculated according to torque instruction T_ref and feedback speed difference Δ V_fb
V_ref；Speed difference controller (6) is defeated by calculating according to the difference DELTA V of speed target value V_ref and feedback speed difference Δ V_fb
Go out difference between current desired value Δ I1 and Δ I2；First current controller (71) is according to current target value I_ref, difference between current desired value Δ
The calculated value Δ I ' 1 of I1 and feedback current I1_fb is then converted into pwm signal by the by calculating outputting drive voltage Δ U1
One power model (33) drives the first motor (11)；Second current controller (72) is according to current target value I_ref, difference between current mesh
The calculated value Δ I ' 2 of scale value Δ I2 and feedback current I2_fb is then converted into pwm signal by calculating outputting drive voltage Δ U2
Second motor (12) is driven by the second power model (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710211682.4A CN106787971A (en) | 2017-04-01 | 2017-04-01 | A kind of bi-motor cooperative control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710211682.4A CN106787971A (en) | 2017-04-01 | 2017-04-01 | A kind of bi-motor cooperative control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106787971A true CN106787971A (en) | 2017-05-31 |
Family
ID=58965745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710211682.4A Pending CN106787971A (en) | 2017-04-01 | 2017-04-01 | A kind of bi-motor cooperative control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106787971A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355162A (en) * | 2017-06-07 | 2017-11-17 | 周艳红 | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement |
| CN108712115A (en) * | 2018-05-21 | 2018-10-26 | 南京航空航天大学 | A kind of bi-motor position synchronization control strategy study design |
| CN109120189A (en) * | 2018-09-05 | 2019-01-01 | 固高科技(深圳)有限公司 | A kind of more motor intersection synchronous control systems |
| CN109986173A (en) * | 2019-04-16 | 2019-07-09 | 深圳市麦格米特焊接技术有限公司 | A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system |
| CN110001417A (en) * | 2019-04-24 | 2019-07-12 | 山西零度智控设备有限公司 | Double DC motor driver electronic differentials prevent car body from toppling control system and method |
| CN110076412A (en) * | 2019-04-16 | 2019-08-02 | 深圳市麦格米特焊接技术有限公司 | A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system |
| CN110212814A (en) * | 2019-05-13 | 2019-09-06 | 湖北三江航天红林探控有限公司 | The load synchronous control system and control method of Dual-motors Driving |
| CN111071064A (en) * | 2019-12-30 | 2020-04-28 | 武汉理工大学 | Rotating speed coordination control method of double-motor electric automobile |
| CN111509936A (en) * | 2020-04-23 | 2020-08-07 | 佛山中锦微电科技有限公司 | Quasi-differential lock sum-difference rate control system, control method and automobile |
| CN113370803A (en) * | 2021-04-30 | 2021-09-10 | 联合汽车电子有限公司 | Dual-motor torque limit value distribution method and device for hybrid system |
| CN113472243A (en) * | 2021-06-23 | 2021-10-01 | 的卢技术有限公司 | Coaxial double-motor rotating speed synchronous control method and system |
| CN115144110A (en) * | 2021-03-30 | 2022-10-04 | 苏州朗高电机有限公司 | Synchronous speed regulation method for dual-motor dynamometer |
| CN116800133A (en) * | 2023-08-28 | 2023-09-22 | 深圳核心医疗科技股份有限公司 | Non-inductive control method and device for motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200518910A (en) * | 2003-12-12 | 2005-06-16 | Ind Tech Res Inst | Servo motor control apparatus for electric injection molding machine |
| CN101202524A (en) * | 2006-12-13 | 2008-06-18 | 上海电气集团股份有限公司 | High-power multi-electric machine shaft coupling velocity modulation system |
| CN103269187A (en) * | 2013-05-31 | 2013-08-28 | 南京工程学院 | Dual-motor synchronous control system and control method thereof |
| CN104516086A (en) * | 2014-12-17 | 2015-04-15 | 中国科学院长春光学精密机械与物理研究所 | Control system and method of fast-steering mirror |
| CN106533298A (en) * | 2016-12-24 | 2017-03-22 | 天津工业大学 | Method for controlling rotating speed synchronization of dual-permanent magnet synchronous motor drive system |
-
2017
- 2017-04-01 CN CN201710211682.4A patent/CN106787971A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200518910A (en) * | 2003-12-12 | 2005-06-16 | Ind Tech Res Inst | Servo motor control apparatus for electric injection molding machine |
| CN101202524A (en) * | 2006-12-13 | 2008-06-18 | 上海电气集团股份有限公司 | High-power multi-electric machine shaft coupling velocity modulation system |
| CN103269187A (en) * | 2013-05-31 | 2013-08-28 | 南京工程学院 | Dual-motor synchronous control system and control method thereof |
| CN104516086A (en) * | 2014-12-17 | 2015-04-15 | 中国科学院长春光学精密机械与物理研究所 | Control system and method of fast-steering mirror |
| CN106533298A (en) * | 2016-12-24 | 2017-03-22 | 天津工业大学 | Method for controlling rotating speed synchronization of dual-permanent magnet synchronous motor drive system |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355162A (en) * | 2017-06-07 | 2017-11-17 | 周艳红 | The control method and device that a kind of automobile power back door double-rod is synchronized with the movement |
| CN108712115A (en) * | 2018-05-21 | 2018-10-26 | 南京航空航天大学 | A kind of bi-motor position synchronization control strategy study design |
| CN109120189A (en) * | 2018-09-05 | 2019-01-01 | 固高科技(深圳)有限公司 | A kind of more motor intersection synchronous control systems |
| WO2020048057A1 (en) * | 2018-09-05 | 2020-03-12 | 固高科技(深圳)有限公司 | Multi-motor crossed synchronous control system and control method therefor |
| CN109120189B (en) * | 2018-09-05 | 2020-07-21 | 固高科技(深圳)有限公司 | Multi-motor cross synchronous control system |
| CN110076412B (en) * | 2019-04-16 | 2021-08-06 | 深圳市麦格米特焊接技术有限公司 | Double-motor cooperative control method and device, motor controller and wire feeding system |
| CN109986173A (en) * | 2019-04-16 | 2019-07-09 | 深圳市麦格米特焊接技术有限公司 | A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system |
| CN110076412A (en) * | 2019-04-16 | 2019-08-02 | 深圳市麦格米特焊接技术有限公司 | A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system |
| CN109986173B (en) * | 2019-04-16 | 2021-08-06 | 深圳市麦格米特焊接技术有限公司 | Double-motor cooperative control method and device, motor controller and wire feeding system |
| CN110001417A (en) * | 2019-04-24 | 2019-07-12 | 山西零度智控设备有限公司 | Double DC motor driver electronic differentials prevent car body from toppling control system and method |
| CN110212814A (en) * | 2019-05-13 | 2019-09-06 | 湖北三江航天红林探控有限公司 | The load synchronous control system and control method of Dual-motors Driving |
| CN110212814B (en) * | 2019-05-13 | 2020-11-03 | 湖北三江航天红林探控有限公司 | Dual-motor driven load synchronous control system and control method |
| CN111071064B (en) * | 2019-12-30 | 2021-09-10 | 武汉理工大学 | Rotating speed coordination control method of double-motor electric automobile |
| CN111071064A (en) * | 2019-12-30 | 2020-04-28 | 武汉理工大学 | Rotating speed coordination control method of double-motor electric automobile |
| CN111509936A (en) * | 2020-04-23 | 2020-08-07 | 佛山中锦微电科技有限公司 | Quasi-differential lock sum-difference rate control system, control method and automobile |
| CN111509936B (en) * | 2020-04-23 | 2022-02-18 | 佛山中锦微电科技有限公司 | Quasi-differential lock sum-difference rate control system, control method and automobile |
| CN115144110A (en) * | 2021-03-30 | 2022-10-04 | 苏州朗高电机有限公司 | Synchronous speed regulation method for dual-motor dynamometer |
| CN115144110B (en) * | 2021-03-30 | 2024-08-23 | 苏州朗高电机有限公司 | Synchronous speed regulation method for dual-motor dynamometer |
| CN113370803A (en) * | 2021-04-30 | 2021-09-10 | 联合汽车电子有限公司 | Dual-motor torque limit value distribution method and device for hybrid system |
| CN113370803B (en) * | 2021-04-30 | 2024-04-26 | 联合汽车电子有限公司 | Dual-motor torque limit value distribution method and device for hybrid system |
| CN113472243A (en) * | 2021-06-23 | 2021-10-01 | 的卢技术有限公司 | Coaxial double-motor rotating speed synchronous control method and system |
| CN116800133A (en) * | 2023-08-28 | 2023-09-22 | 深圳核心医疗科技股份有限公司 | Non-inductive control method and device for motor |
| CN116800133B (en) * | 2023-08-28 | 2024-01-09 | 深圳核心医疗科技股份有限公司 | Non-inductive control method and device for motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106787971A (en) | A kind of bi-motor cooperative control system and method | |
| CN100420145C (en) | A low-loss, high reliability integration magnetic levitation flywheel DC brushless motor control system | |
| CN103231798B (en) | A kind of control method utilizing digitalized electric steering engine control device | |
| CN102849107B (en) | Steering angle sensor failure detection system | |
| CN107204729A (en) | Controller for motor and steering operation control device | |
| CN103303454B (en) | A kind of electric steering gear device based on speed ring commutation and control method thereof | |
| CN103935397B (en) | Electric power steering apparatus | |
| CN104890720A (en) | Electric power steering device | |
| CN105083376A (en) | Steering system | |
| CN202978807U (en) | Motor control device for controlling the d axis current of permanent magnet synchronous motor. | |
| CN101981806A (en) | Motor control device and electric power steering device | |
| CN103213666B (en) | A kind of electric steering gear device of position-based ring commutation and control method | |
| CN103001578A (en) | Motor control device | |
| CN104052359A (en) | Motor control system having bandwidth compensation | |
| CN106797193A (en) | For the method for the noise modulation and lower noise of electro-motor | |
| CN106533303A (en) | Permanent magnet brushless DC motor driver control method | |
| CN103625542B (en) | Electric power steering system | |
| CN103281020B (en) | A kind of four-quadrant control device for electric steering engine and method thereof | |
| CN207718226U (en) | A kind of double-wheel self-balancing trolley automatic following system | |
| CN104052341A (en) | Motor control device generating preload torque value | |
| CN205087089U (en) | Double round is from balancing trolley based on wireless control | |
| CN1969453B (en) | Vehicle-carried motor controlling device | |
| CN103607149A (en) | Ultrasonic motor rudder servo system and control method thereof | |
| CN103312248B (en) | Method for compensating inflection point error of linear acceleration to deceleration based on DSP (Digital Signal Processor) | |
| CN206743139U (en) | A kind of bi-motor cooperative control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |