CN109995295A - Multi-motor parallel drive control method and system - Google Patents

Abstract

The present invention relates to more motor parallel drive control methods comprising step: one, speed control calculates motor group current reference value using velocity error Δ ω as input valueTwo, by motor group current reference valueWith the compensation current i of disturbing moment_comIt asks poor, obtains the reference value of motor group current controllerThree, pass through the reference value of motor group current controllerControl each motor output resultant moment T_e；Four, with resultant moment T_eWith disturbing moment T_LDifference as the driving moment T on turntable controller, pass through driving moment T and control turntable.The present invention also provides more motor parallel drive control systems.The beneficial effects of the present invention are: this method and system compared with the prior art realizes the effective compensation to motor cogging torque and moment of friction by increasing disturbance compensation, solves the problems, such as that disturbing moment influences motor control precision.

Description

Multi-motor parallel drive control method and system

technical field

The invention relates to the technical field of motor drive control, in particular to a method and system for parallel drive control of multiple motors.

Background technique

With the increasing demand for space target observation, large-aperture telescopes have emerged. Typical telescopes include the 8.2-meter-diameter VLT, the 10-meter-diameter Keck, and the 10.4-meter-diameter GTC. As the diameter of the telescope increases, higher requirements are placed on the drive control system, and the traditional integral permanent magnet synchronous motor cannot meet the drive capability requirements of the control system of the larger diameter telescope. Further, the parallel drive mechanism of the multi-permanent magnet synchronous motor has the advantages of large driving torque and easy implementation, and has become the first choice for the drive mechanism of large-diameter telescopes. However, the parallel drive mechanism of the multi-permanent-magnet synchronous motor is not perfect. It affects the control accuracy of large aperture telescopes.

SUMMARY OF THE INVENTION

In view of this, in order to solve the problem that the disturbance torque affects the control accuracy of the motor in the prior art, the present invention provides a multi-motor parallel drive control method, which includes a speed controller, a motor group, a turntable controller and a turntable. The parallel drive control method includes the following steps:

Step S1, the speed controller uses the speed error Δω as the input value to calculate the current reference value of the motor group

Step S2, set the current reference value of the motor group Calculate the difference with the compensation current value i _com of the disturbance torque to obtain the reference value of the motor unit current controller

Step S3, pass the reference value of the motor group current controller control each motor to output the resultant torque _Te ;

In step S4, the difference between the resultant torque T _e and the disturbance torque T _L is used as the driving torque T on the turntable controller, and the turntable is controlled by the driving torque T.

Preferably, in step S1, the speed error Δω is the difference between the reference speed ω ^* and the output speed feedback value ω of the turntable controller.

Preferably, the compensation current value i _com of the disturbance torque is determined by the estimated value of the disturbance torque Divided by the torque coefficient to obtain; the estimated value of the disturbance torque is the reference value of the position value θ of the turntable and the motor unit current controller by the disturbance compensator Calculated for the input.

Preferably, the moment coefficient is expressed as:

Among them, p is the number of pole pairs of the motor, and Ψ _PM is the magnetic flux of the motor.

Preferably, the mathematical expression for the calculation performed by the disturbance compensator is:

Among them, γ ₁ and γ ₂ are the velocity low-pass filter coefficients, respectively, s is the complex variable, ω(s) is the variable of the speed of the turntable, θ(s) is the complex variable of the position of the turntable, is the complex variable of the estimated value of disturbance torque, p is the number of pole pairs of the motor, Ψ _PM is the magnetic flux of the motor, J is the moment of inertia of the turntable, A complex variable that is the reference value of the current controller.

Preferably, the motor group includes n motors, the motors are permanent magnet synchronous motors, and the motors are controlled by a motor current controller based on bus voltage compensation, and the motor current controller based on bus voltage compensation includes d Axis PI controller and q-axis PI controller, the motor current controller based on bus voltage compensation can perform the following steps:

In step S11, the d-axis PI controller uses is the reference value and the current id is used as the feedback value to calculate the _d -axis voltage value dout; the q-axis PI controller uses is the reference value and the q-axis voltage value qout is calculated by taking the current i _q as the feedback value;

Step S12, perform bus voltage compensation on the d-axis voltage value doout to obtain the voltage value v _d in the dq coordinate system; perform bus voltage compensation on the q-axis voltage value qout to obtain the voltage value v _q in the dq coordinate system;

Step S13, perform inverse Park transform on the voltage value v _d in the dq coordinate system to obtain the voltage v _β in the α-β coordinate system; perform inverse Park transform on the voltage value v _q in the dq coordinate system to obtain α - the voltage v _α in the beta coordinate system;

In step S14, the voltage v _α and the voltage v _β are controlled by vector pulse width modulation, and the modulation signal controls the adjustment of the three-phase voltages v _a , v _b and _vc of the permanent magnet synchronous motor 100 .

Preferably, in step S11, the current i _q is obtained by performing Park transformation on the current i _α according to the electrical angle θ _e of the permanent magnet synchronous motor; the current _id is obtained according to the electrical angle θ _e of the permanent magnet synchronous motor, The current i _β is obtained by the Park transformation; the current i _α is obtained by the Clarke transformation of the A-phase current i _a of the permanent magnet synchronous motor; the current i _β is obtained by the Clarke transformation of the _B -phase current ib of the permanent magnet synchronous motor.

Preferably, in step S12, the voltage value v _d in the dq coordinate system is expressed as:

Among them, v _set is the required bus voltage, and v _dc is the bus voltage detection value;

In step S12, the voltage value _vq in the dq coordinate system is expressed as:

Among them, v _set is the required bus voltage, and v _dc is the detected value of the corresponding bus voltage.

The present invention also provides a multi-motor parallel drive control system based on disturbance compensation, which includes a speed controller, a first operator, a motor group, a second operator, a turntable controller, a turntable, a disturbance compensator and a third operator ; The first arithmetic unit is respectively connected with the speed controller, the motor unit and the disturbance compensator, the second arithmetic unit is respectively connected with the motor unit and the turntable controller, and the first arithmetic unit is respectively connected with the motor unit and the turntable controller. Three arithmetic units are respectively connected with the speed controller and the turntable controller, and the turntable is respectively connected with the turntable controller and the disturbance compensator;

The speed controller is used to calculate the current reference value of the motor group with the speed error Δω as the input value The first arithmetic unit is used to convert the motor group current reference value Calculate the difference with the compensation current value i _com of the disturbance torque to obtain the reference value of the motor unit current controller The motor group is used for the reference value of the current controller according to the motor group Output the resultant torque T _e ; the second calculator is used to calculate the difference between the resultant torque T _e and the disturbance torque _TL to obtain the driving torque T; the turntable controller controls the turntable movement through the driving torque T; the The output speed ω of the turntable controller is fed back to the third calculator; the third calculator is used to calculate the speed error Δω; the disturbance compensator is used to calculate the compensation current value i _com of the disturbance torque.

Compared with the prior art, the beneficial effects of the present invention are:

The multi-motor parallel drive control method and control system realize effective compensation for the motor cogging torque and friction torque in the multi-motor parallel control system by increasing the compensation of the disturbance torque, increase the motor control accuracy, and solve the problem that the disturbance torque affects the motor control accuracy. The problem.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the flow chart of the multi-motor parallel drive control method in the present invention;

2 is a schematic diagram of a multi-motor parallel drive control method in the present invention;

3 is a schematic diagram of a disturbance compensator in the present invention;

FIG. 4 is a schematic block diagram of a motor current controller based on bus voltage compensation in the present invention.

Reference number:

1. Speed controller; 2. First calculator; 3. Motor group; 4. Second calculator;

5. Turntable controller; 6. Turntable; 7. Disturbance compensator; 8. Third calculator;

31, motor; 50, d-axis PI controller; 60, q-axis PI controller; 100, permanent magnet synchronous motor.

Detailed ways

The above and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "first" and "second" are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two unless expressly and specifically defined otherwise.

In the present invention, unless otherwise expressly specified and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between the two components, unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention.

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description.

Example 1

The invention provides a multi-motor parallel drive control method, which is particularly suitable for a multi-permanent magnet synchronous motor parallel drive control system with multiple disturbance factors. It is further suitable for the parallel drive control system of the multi-permanent magnet synchronous motor of the telescope with multiple disturbance factors.

FIG. 1 is a flow chart of a multi-motor parallel drive control method in the present invention; FIG. 2 is a schematic diagram of the multi-motor parallel drive control method in the present invention. As shown in FIG. 1 and FIG. 2 , a multi-motor parallel drive control method proposed by the present invention includes the following steps:

Step S1, the speed controller 1 uses the speed error Δω as the input value to calculate the current reference value of the motor group

Step S2, set the current reference value of the motor group Calculate the difference with the compensation current value i _com of the disturbance torque to obtain the reference value of the motor unit current controller

Step S3, pass the reference value of the motor group current controller control each motor to output the resultant torque _Te ;

In step S4, the difference between the resultant torque T _e and the disturbance torque _TL is used as the driving torque T on the turntable controller 5, and the turntable 6 is controlled by the driving torque T.

Further, before step S1 is performed, the error value between the reference speed ω ^* and the speed feedback value ω is calculated, and the error value is the speed error Δω.

Under the control of the driving torque T, the output speed ω of the turntable controller 5 precisely follows the change of the reference speed ω ^* .

In this embodiment, the combined torque Te is output by the motor group, the motor group is composed of _n motors, the number of motors is determined by the actual driving torque demand, and parallel driving control is implemented for each motor. Each motor is provided with a motor current controller, and each motor current controller is based on the reference value of the motor group current controller. In order to control the output torque of each motor separately for reference, the superposition of the output torque of each motor is the output torque _Te of the motor group. The output torque of each motor can be represented by T _e1 , T _e2 . . . T _en respectively.

The disturbance compensator 7 uses the position value θ of the turntable 6 and the reference value of the motor group current controller is the input, the estimated value of the disturbance torque is calculated Estimated value of disturbance torque The compensation current value i _com of the disturbance torque is obtained by dividing by the torque coefficient. The moment coefficient is expressed as:

FIG. 3 is a schematic diagram of a disturbance compensator in the present invention. As shown in Figure 3, the principle of the disturbance compensator 7 is to calculate various disturbance torques of the system based on the moment of inertia of the load and the feedback data of the encoder position, and generate a disturbance compensation amount accordingly, which is then fed back to the current control of the motor group The reference input terminal of the device is used to optimize the final current given value, so as to achieve the purpose of suppressing system disturbance.

The mathematical expression for the calculation performed by the disturbance compensator 7 is:

Among them, γ ₁ and γ ₂ are the velocity low-pass filter coefficients, respectively, s is the complex variable, ω(s) is the variable of the speed of the turntable, θ(s) is the complex variable of the position of the turntable, is the complex variable of the estimated value of the disturbance torque, p is the number of pole pairs of the motor 31, Ψ _PM is the magnetic flux of the motor 31, J is the moment of inertia of the turntable, A complex variable that is the reference value of the current controller.

FIG. 4 is a schematic block diagram of a motor current controller based on bus voltage compensation in the present invention. As shown in FIG. 4 , further, the drive motor in this embodiment is preferably a permanent magnet synchronous motor, and the current controller based on the permanent magnet synchronous motor adopts a control algorithm based on space vector, but the control algorithm is affected by the voltage fluctuation of the motor bus. The influence is obvious, which will cause large motor torque fluctuations, so it is necessary to perform software compensation for the bus voltage. The implementation of the motor current controller based on bus voltage compensation is as follows:

Step S11, the motor current controller based on bus voltage compensation includes a d-axis PI controller 50 and a q-axis PI controller 60, and the d-axis PI controller 50 is is the reference value and takes the current id as the feedback value to calculate the _d -axis voltage value dout; the q-axis PI controller 60 uses is the reference value and takes the current i _q as the feedback value to calculate the q-axis voltage value qout.

Step S12, perform bus voltage compensation on the d-axis voltage value doout to obtain the voltage value v _d in the dq coordinate system; perform bus voltage compensation on the q-axis voltage value qout to obtain the voltage value v _q in the dq coordinate system;

Step S13, perform inverse Park transformation on the voltage value v _d in the dq coordinate system to obtain the voltage v _β in the α-β coordinate system; perform inverse Park transformation on the voltage value v _q in the dq coordinate system to obtain α- the voltage v _α in the beta coordinate system;

In step S14, the voltage v _α and the voltage v _β are controlled by vector pulse width modulation (SVPWN), and the modulation signal controls the adjustment of the three-phase voltages v _a , v _b and v _c of the permanent magnet synchronous motor 100 .

In step S11, the current i _q is obtained by performing Park transformation on the current _{i α} according to the electrical angle θ _e of the permanent magnet synchronous motor 100 _{; β} is obtained by Park transform. The current i _α in the α-β coordinate system is obtained by Clarke transformation of the A-phase current i _a of the permanent magnet synchronous motor 100 ; the current i _β in the α-β coordinate system is the B-phase current i of the permanent magnet synchronous motor 100 _b is obtained by Clarke transformation.

Park transformation is Park's transformation, also translated Park's transformation, the English expression is Park's Transformation. Clarke transform is Clarke transform.

In step S11, in order to ensure the maximum torque output by the permanent magnet synchronous motor, adopt current control method.

In step S12, the voltage value v _d in the dq coordinate system is expressed as:

Among them, v _set is the required bus voltage, and v _dc is the detected value of the bus voltage.

In step S12, the voltage value _vq in the dq coordinate system is expressed as:

Among them, v _set is the required bus voltage, and v _dc is the detected value of the corresponding bus voltage.

The patent of the present invention realizes the effective compensation of the motor cogging torque and friction torque in the multi-motor parallel control system by designing the disturbance compensator, and considers the compensation of the motor torque fluctuation caused by the bus voltage ripple, which is suitable for the existence of various disturbance factors. The control system of a large aperture telescope driven by multiple motors in parallel.

The present invention provides a multi-motor parallel drive control system based on disturbance compensation, which can implement the above-mentioned multi-motor parallel drive control method. A multi-motor parallel drive control system based on disturbance compensation, which includes:

Speed controller 1 , first arithmetic unit 2 , motor group 3 , second arithmetic unit 4 , turntable controller 5 , turntable 6 , disturbance compensator 7 and third arithmetic unit 8 . The first arithmetic unit 2 is respectively connected with the speed controller 1, the motor unit 3 and the disturbance compensator 7, the second arithmetic unit 4 is respectively connected with the motor unit 3 and the turntable controller 5, and the third arithmetic unit 8 is respectively connected with the speed controller 1 Connect to the turntable controller 5. The turntable 6 is respectively connected with the turntable controller 5 and the disturbance compensator 7 .

The speed controller 1 is used to calculate the current reference value of the motor group with the speed error Δω as the input value The first calculator 2 is used to convert the current reference value of the motor group Calculate the difference with the compensation current value i _com of the disturbance torque to obtain the reference value of the motor unit current controller Motor group 3 is used as a reference value according to the motor group current controller Output the resultant torque T _e ; the second calculator 4 is used to calculate the difference between the resultant torque T _e and the disturbance torque _TL to obtain the driving torque T; the turntable controller 5 controls the turntable 6 to move through the driving torque T. The output speed ω of the turntable controller 5 is fed back to the third arithmetic unit 8 . The third calculator 8 is used to calculate the difference between the reference speed ω ^* and the output speed ω of the turntable controller 5 to obtain the speed error Δω. The disturbance compensator 7 is used to calculate the compensation current value i _com of the disturbance torque.

The present invention realizes effective compensation for the motor cogging torque and friction torque in the multi-motor parallel control system by designing the disturbance compensator. In addition, the present invention considers the compensation of the motor torque fluctuation caused by the bus voltage ripple. Therefore, the present invention provides The multi-motor parallel drive control system based on disturbance compensation and the multi-motor parallel drive control method are suitable for the control system of the multi-motor parallel drive large aperture telescope with multiple disturbance factors.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (9)

1. a kind of more motor parallel drive control methods, which is characterized in that it is applied to more motor parallel drive control systems, it is described More motor parallel drive control systems include speed control, motor group, turntable controller and turntable, and more motors drive parallel Flowing control method includes the following steps:

Step S1, the speed control calculate motor group current reference value using velocity error Δ ω as input value

Step S2, by the motor group current reference valueWith the compensation current i of disturbing moment_comIt asks poor, obtains motor group electricity The reference value of stream controller

Step S3 passes through the reference value of the motor group current controllerControl each motor output resultant moment T_e；

Step S4, with the resultant moment T_eWith the disturbing moment T_LDifference as the driving moment on the turntable controller T controls the turntable by the driving moment T.

2. more motor parallel drive control methods as described in claim 1, which is characterized in that in step sl, velocity error Δ ω is reference velocity ω^*With the difference of the output speed value of feedback ω of the turntable controller.

3. more motor parallel drive control methods as claimed in claim 1 or 2, which is characterized in that the benefit of the disturbing moment Repay current value i_comBy the estimated value of disturbing momentIt is obtained divided by torque coefficient；The estimated value of the disturbing momentIt is by institute Disturbance compensation device is stated with the reference value of the positional value θ of the turntable and motor group current controllerInput is calculated.

4. more motor parallel drive control methods as claimed in claim 3, which is characterized in that the torque coefficient indicates are as follows:

Wherein, p is the number of magnetic pole pairs of motor, Ψ_PMFor the magnetic flux of motor.

5. more motor parallel drive control methods as claimed in claim 3, which is characterized in that the disturbance compensation device executes meter The mathematic(al) representation of calculation are as follows:

Wherein, γ₁And γ₂Respectively speed low-pass filter coefficients, s are complex variable, and ω (s) is the variable of turntable speed, θ (s) For the complex variable of revolving table position,For the complex variable of disturbing moment estimated value, p is the number of magnetic pole pairs of motor, Ψ_PMFor motor Magnetic flux, J be turntable rotary inertia,For the complex variable of the reference value of current controller.

6. more motor parallel drive control methods as described in claim 1, which is characterized in that the motor group includes n electricity Machine, the motor are permanent magnet synchronous motor, control the motor, institute by the motor current controller based on generatrix voltage compensation Stating the motor current controller based on generatrix voltage compensation includes d axis PI controller and q axis PI controller, described based on bus electricity The motor current controller of pressure compensation is able to carry out following steps:

Step S11, d axis PI controller withFor reference value and with electric current i_dD shaft voltage value dout is calculated for value of feedback；Q axis PI controller withFor reference value and with electric current i_qQ shaft voltage value qout is calculated for value of feedback；

D shaft voltage value dout is carried out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate system by step S12_d；By q axis Voltage value qout carries out generatrix voltage compensation, to obtain the voltage value v in d-q coordinate system_q；

Step S13, to the voltage value v in d-q coordinate system_dParker Park inverse transformation is carried out, to obtain the voltage in alpha-beta coordinate system v_β；To the voltage value v in d-q coordinate system_qPark inverse transformation is carried out, to obtain the voltage v in alpha-beta coordinate system_α；

Step S14, by voltage v_αWith voltage v_βControl Vector Pulse Width Modulation is carried out, modulated signal is controlled to permanent magnet synchronous motor three Phase voltage v_a、v_bAnd v_cAdjusting.

7. more motor parallel drive control methods as claimed in claim 6, which is characterized in that in step s 11, electric current i_qIt is According to the electrical angle θ of permanent magnet synchronous motor_e, to electric current i_αCarry out what Park was converted；Electric current i_dIt is according to permanent magnet synchronous motor Electrical angle θ_e, to electric current i_βCarry out what Park was converted；Electric current i_αIt is the A phase current i of permanent magnet synchronous motor_aBy What Clarke was converted；Electric current i_βIt is the B phase current i of permanent magnet synchronous motor_bIt is converted by Clarke Clarke.

8. more motor parallel drive control methods as described in claim 6-7 is any, which is characterized in that in step s 12, d- Voltage value v in q coordinate system_dIt indicates are as follows:

Wherein, v_setFor required busbar voltage, v_dcFor busbar voltage detection value；

In step s 12, the voltage value v in d-q coordinate system_qIt indicates are as follows:

Wherein, v_setFor required busbar voltage, v_dcFor corresponding busbar voltage detection value.

9. a kind of more motor parallel drive control systems based on disturbance compensation, which is characterized in that it includes speed control, One arithmetic unit, motor group, second arithmetic device, turntable controller, turntable, disturbance compensation device and third arithmetic unit, first fortune Calculate device connect respectively with the speed control, the motor group and the disturbance compensation device, the second arithmetic device respectively with The motor group is connected with the turntable controller, the third arithmetic unit respectively with the speed control and the turntable control Device connection processed, the turntable are connect with the turntable controller and the disturbance compensation device respectively；

The speed control is for calculating motor group current reference value using velocity error Δ ω as input valueDescribed One arithmetic unit is used for motor group current reference valueWith the compensation current i of disturbing moment_comIt asks poor, obtains motor group electric current The reference value of controllerThe motor group is used for the reference value according to motor group current controllerExport resultant moment T_e；Institute Second arithmetic device is stated for calculating resultant moment T_eWith disturbing moment T_LDifference, to obtain driving moment T；The turntable controller The turntable movement is controlled by driving moment T；The output speed ω of the turntable controller feeds back to the third arithmetic unit； The third arithmetic unit is used for calculating speed error delta ω；The disturbance compensation device is used for the compensation current of calculation perturbation torque i_com。