CN114337384B - Double-paddle rotating speed and phase synchronous control method and system - Google Patents
Double-paddle rotating speed and phase synchronous control method and system Download PDFInfo
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Abstract
The invention relates to a double-paddle rotating speed and phase synchronous control method and system. The technical problem that the consistency of double-propeller speed following and phase difference closed-loop control cannot be accurately realized by the existing propeller rotating speed control method is solved. The method comprises the following steps: 1) Acquiring the actual rotating speed value of the double paddles; 2) Calculating the deviation between the target value and the actual value of the rotating speed of the right propeller, changing the duty ratio of the PWM signal, and controlling the rotating speed of the right propeller; 3) Judging whether the deviation between the target value and the actual value of the rotating speed of the right propeller is within a set deviation range; 4) Calculating the actual value difference of the rotating speeds of the double propellers, and changing the rotating speed of the left propeller by using the actual value difference as PID control input; 5) Judging whether the difference value of the rotating speeds of the double paddles is within a preset deviation range or not; 6) Calculating the deviation between the actual phase difference of the double paddles and the target phase difference, and adopting PID control to realize phase difference control; 7) And judging whether the phase difference deviation is within a preset phase difference range. The invention also provides a double-paddle rotating speed and phase synchronous control system.
Description
Technical Field
The invention relates to a double-paddle rotating speed and phase synchronous control method and system.
Background
At present, the rotating speed of a commonly used propeller is controlled by means of an electric motor with a closed loop, and in a double-propeller control system, the speed consistency control precision between the double propellers is not high, and meanwhile, the real-time monitoring of the positions of the propeller blades in the motion process is lacked, so that the phase difference between the angles of the double propellers in the operation process cannot be accurately controlled, and the method cannot be applied to the double-propeller phase difference closed loop control system.
Disclosure of Invention
The invention provides a double-propeller rotating speed and phase synchronous control method and system, which aim to solve the technical problem that the existing rotating speed control method of a propeller cannot accurately realize the consistency of double-propeller speed following and phase difference closed-loop control. The invention adopts an absolute value encoder to collect and send the current propeller absolute position signal, and carries out resolving according to the absolute value encoder data to determine the propeller rotating speed and the propeller blade position, and controls the rotating speed of a rotating speed motor by designing a control algorithm to realize the synchronous control of the rotating speed and the phase of the double propellers.
The technical scheme of the invention is as follows:
The double-paddle rotating speed and phase synchronous control method is characterized by comprising the following steps of:
1) Acquiring the current actual value of the rotating speed of the right propeller and the actual value of the rotating speed of the left propeller;
2) Calculating the deviation between the target value of the right propeller rotating speed and the actual value of the current right propeller rotating speed, taking the deviation as PID control input, and controlling the rotating speed of the right propeller by changing the duty ratio of the PWM signal for controlling the output of the right propeller;
3) Judging whether the deviation between the target value of the rotating speed of the right propeller and the actual value of the rotating speed of the current right propeller is within a set deviation range, if so, enabling a control signal of the rotating speed of the left propeller, and entering step 4); if not, returning to the step 2);
4) Calculating a difference Ev between the current actual value of the rotating speed of the left propeller and the actual value of the rotating speed of the right propeller, taking the difference Ev as PID control input, and controlling the rotating speed of the left propeller by changing the duty ratio of the output control PWM signal of the left propeller;
5) Judging whether a difference Ev between the current actual value of the left propeller rotating speed and the actual value of the right propeller rotating speed is within a preset deviation range, if so, maintaining the current left propeller rotating speed and the current right propeller rotating speed, controlling an input signal by a motor to be unchanged, enabling a phase difference control signal, and entering a step 6); if not, returning to the step 4);
6) Acquiring an actual phase difference between a current left propeller and a current right propeller, calculating a phase difference deviation between the actual phase difference and a target phase difference, adopting PID control according to the obtained phase difference deviation, and changing the rotating speed of the left propeller through a rotating speed motor to realize phase difference control;
7) Judging whether the phase difference deviation obtained in the step 6) is within a preset phase difference deviation range, if so, enabling a single-paddle rotating speed control function zone bit and a double-paddle following function zone bit, and returning to the step 1); if not, returning to the step 6).
Further, the method for obtaining the current actual value of the rotating speed of the left propeller or the right propeller in the step 1) is as follows:
1.1 The absolute value encoder marks the position of the propeller rotating for one circle by using 8192 numbers from 0 to 8191, and the absolute value encoder is used for sampling the position signal of the propeller, namely acquiring the current position signal by the absolute value encoder;
1.2 Acquiring a current position signal a [1] of an absolute value encoder and a position signal a [0] of a previous sampling moment;
1.3 Calculating the actual value v of the current rotation speed:
when the absolute value encoder of the sampling time of the front and the back times does not pass through zero positions: v= (a 1-a 0)/T, T being the sampling period;
Absolute time of current and later two sampling when the value encoder passes the zero position: v= (a1+8191-a0)/T;
1.4 According to the interval between the sampling time and the sampling time, converting the unit of the current rotating speed actual value v obtained in 1.3) from r/T to r/min.
Further, the method for obtaining the actual phase difference between the current left propeller and the current right propeller in the step 6) is as follows: and respectively acquiring position signals of the left propeller and the right propeller absolute value encoders, and calculating to obtain a difference value of the position signals, thereby obtaining an actual phase difference between the left propeller and the right propeller.
A double-paddle rotating speed and phase synchronous control system is characterized in that: the device comprises a double-propeller controller module, a rotating speed motor and a pitch motor corresponding to a left propeller, and a rotating speed motor and a pitch motor corresponding to a right propeller;
The double-propeller controller module comprises two absolute value encoders corresponding to the left propeller and the right propeller respectively, two grating ruler sensors corresponding to the left propeller and the right propeller respectively, a microcontroller and an FPGA unit;
The FPGA unit comprises an FPGA field-editable logic gate array corresponding to the left propeller and the right propeller respectively;
The two absolute value encoders are used for collecting current position signals of the propeller and transmitting the current position signals to corresponding FPGA field-editable logic gate arrays for data storage;
the two grating ruler sensors are used for collecting the travelling distance of the current grating ruler and transmitting the travelling distance to the corresponding FPGA field-editable logic gate array for data storage;
The microcontroller is communicated and crosslinked with the FPGA unit through an FSMC mode to form a microcontroller+FPGA unit architecture;
The FPGA unit transmits the stored current absolute value encoder signal and the stored grating ruler sensor signal to the microcontroller for resolving;
the microcontroller correspondingly transmits the result signals obtained by resolving the two absolute value encoder signals and the two grating ruler sensor signals to the rotating speed motor and the pitch motor of the left propeller, the rotating speed motor and the pitch motor of the right propeller respectively, and controls the rotating speed and the phase of the left propeller and the right propeller.
Further, the microcontroller is an STM32F407 microcontroller.
The invention has the beneficial effects that:
1. according to the double-paddle rotating speed and phase synchronous control method, the STM32F407 microcontroller is utilized to acquire the current absolute value encoder signals prestored in the FPGA at regular time, so that accurate calculation of the rotating speed is realized, and the method is suitable for controlling the rotating speed under the condition of high-speed operation.
2. The invention improves the speed stability of double-oar control, adopts the speed of a single oar as a target value, adopts the speed deviation of the other oar as the input of PID control, and realizes the synchronous control of the rotating speed by periodically controlling and maintaining the speed of the double oar to be consistent.
3. The invention can realize phase synchronous control, and can immediately carry out speed following after the phase difference is stable through continuous switching among three state bases, so as to maintain the stability of the phase difference, and simultaneously, the phase difference is immediately corrected after the speed following is finished, so that the phase difference is maintained within a preset range.
Drawings
FIG. 1 is a flow chart of a dual paddle rotational speed and phase synchronization control method of the present invention;
FIG. 2 is a flow chart of a double-paddle speed following control algorithm in the present invention;
FIG. 3 is a flow chart of a double-paddle rotating speed and phase closed-loop control algorithm in the invention;
FIG. 4 is a graph of the data of a dual-paddle absolute encoder of the present invention (0);
FIG. 5 is a graph of the data of a dual-paddle absolute encoder of the present invention (40);
FIG. 6 is a block diagram of a control left propeller in a dual-propeller rotational speed, phase synchronous control system of the present invention (M 1 is the rotational speed motor, M 2 is the pitch motor);
FIG. 7 is a schematic diagram of the external sensor signal conversion in accordance with the present invention;
FIG. 8 is a schematic diagram of the directional control I/O dispersion signal output of the left propeller of the present invention;
Fig. 9 is a schematic diagram of PWM signal output of the rotational speed motor and pitch motor of the left propeller of the present invention.
Detailed Description
The invention relates to a double-propeller rotating speed and phase synchronous control method, wherein input variables are an absolute value encoder speed signal, a grating ruler position signal, a required rotating speed and a required phase difference, the current rotating speed and the blade position of a propeller are calculated through the absolute value encoder speed signal, and the current blade angle is calculated through the grating ruler position signal. The required rotating speed (namely the target value of the rotating speed of the propeller) and the phase difference are led into an algorithm as variable parameters to calculate, and the rotating speed of the propeller is changed by changing the duty ratio of a PWM (pulse-width modulation) signal controlled by the propeller, so that the synchronous control of the rotating speed and the phase of the double propellers is realized.
The method mainly comprises the following three parts:
1. absolute value encoder speed signal resolution
The absolute value encoder sampling principle is to use a 13 bit digital signal to identify the current absolute position signal, and use 0 to 8191 to identify all positions of a revolution of the propeller, and restart from 0 bits after one revolution. And realizing data storage through the FPGA field-editable logic gate array. The STM32F407 microcontroller obtains the current position signal a [1] of the absolute value encoder and the position signal a [0] of the previous sampling moment by timing, if the sampling period is T and the absolute value encoder does not pass zero position at the time of the current and the last sampling moments, the speed signal of the absolute value encoder (namely the actual value v of the current rotating speed) is v= (a [1] -a [0 ])/T; when the absolute value encoder passes zero at the current and subsequent sampling times, the absolute value encoder speed signal (i.e., the current actual speed v) is v= (a1+8191-a 0)/T. And converting the rotation speed unit from r/T to r/min according to the interval of the front sampling time and the back sampling time.
2. Grating scale position signal resolution
The grating ruler collects pulsation signals and enters an FPGA field editable logic gate array to be resolved, the running distance of the current grating ruler is determined according to A, B, Z signals transmitted back by a grating ruler reading head, the running distance of the grating ruler and the change of the angle of the propeller blade are calibrated according to the linear corresponding relation between the running distance of the grating ruler and the angle of the propeller blade, and the running position of the current grating ruler is corresponding to the angle of the propeller blade in a curve fitting mode; the blade angle refers to the angle between the chord of the propeller blade and the plane of rotation.
3. Rotating speed closed-loop and phase difference closed-loop control algorithm
The double-paddle rotating speed and phase closed-loop control algorithm is shown in fig. 3, and is controlled by switching state bases on the basis of classical PID control, and the double-paddle rotating speed and phase closed-loop control is divided into three state bases, namely single-paddle rotating speed closed-loop control, double-paddle rotating speed following closed-loop control and double-paddle phase difference closed-loop control. The three state bases are respectively provided with an enabling zone bit, and the active pitch and double-pitch rotating speed and phase synchronous control system is switched back and forth between the three state bases through enabling and disabling of the zone bit, so that the aims of simultaneously maintaining double-pitch rotating speed and phase difference closed loop stability are fulfilled.
As shown in fig. 1, the specific control method is as follows:
1) Acquiring the current actual value of the rotating speed of the right propeller and the actual value of the rotating speed of the left propeller;
2) Calculating the deviation between the target value of the right propeller rotating speed and the actual value of the current right propeller rotating speed, taking the deviation as PID control input, and controlling the rotating speed of the right propeller by changing the duty ratio of the PWM signal for controlling the output of the right propeller;
3) Judging whether the deviation between the target value of the rotating speed of the right propeller and the actual value of the rotating speed of the current right propeller is within a set deviation range, if so, enabling a left propeller rotating speed control signal (namely, enabling a left propeller rotating speed following function flag bit) to enter step 4; if not, returning to the step 2);
4) Calculating a difference Ev between the current actual value of the rotating speed of the left propeller and the actual value of the rotating speed of the right propeller, taking the difference Ev as PID control input, and controlling the rotating speed of the left propeller by changing the duty ratio of the output control PWM signal of the left propeller;
5) Judging whether a difference Ev between the current actual value of the left propeller rotating speed and the actual value of the right propeller rotating speed is within a preset deviation range, if so, maintaining the current left propeller rotating speed and the current right propeller rotating speed, controlling an input signal by a motor to be unchanged, and enabling a phase difference control signal (namely enabling a position of a phase difference correction function enabling mark to be effective) to enter step 6; if not, returning to the step 4);
The specific double-paddle rotation speed following control algorithm is shown in fig. 2. In fig. 2, np_x_r and np_x_l are absolute encoder speed signals of the right and left propellers, respectively, vr and vl are rotational speeds of the right and left propellers, respectively. As shown in fig. 2, the rotational speed difference between the left and right propellers is divided into 5 sections, i.e., 5 sections greater than 100, greater than 50, greater than 30, greater than 10 and greater than 0.5, respectively, and the duty ratio of the left and right propeller output control PWM signals is adjusted according to the section corresponding to the difference between the current actual rotational speeds of the left and right propellers, for example, when the difference between the actual rotational speeds of the left and right propellers is greater than 100, the left and right propellers are accumulated 30, and when the difference between the actual rotational speeds of the left and right propellers is greater than 10, the left and right propellers are accumulated 5. The speed control speed of the propeller in different speed difference ranges is different by setting a plurality of different intervals, so that the process of entering the preset speed difference range of the rotating speed is smooth, and larger overshoot is not generated.
6) The phase difference control signal is enabled, firstly, the actual phase difference between the current left propeller and the current right propeller (the phase difference refers to the angle difference between blade angles during double-propeller movement) is calculated through an absolute value encoder, then the phase difference deviation between the actual phase difference and the target phase difference is calculated, PID control is adopted according to the obtained phase difference deviation, and the rotating speed of the left propeller is changed through a rotating speed motor, so that the phase difference control is realized.
7) Judging whether the phase difference deviation obtained in the step 6) is in a preset phase difference deviation range, if so, enabling a right paddle rotating speed control function zone bit and a double paddle following function zone bit, and returning to the step 1), thereby realizing back and forth switching among three state bases; if not, returning to the step 6).
The method for solving the actual phase difference between the current left propeller and the current right propeller by the absolute value encoder in the step 6) is as follows: and acquiring the position signals of absolute value encoders of the current left propeller and the current right propeller, calculating to obtain a position signal difference, and corresponding to the phase difference between the propellers through the linear relation between the position signal difference and the phase difference.
Simulation verification:
Fig. 4 is a graph drawn by controlling the phase difference between the two paddles to be 0 degrees and uploading the data acquired by the absolute value encoders in real time, and the coincidence of the data lines of the absolute value encoders of the left propeller and the right propeller, namely the position coincidence of the absolute value encoders between the two paddles, can be observed through the graph, and the phase difference between the two paddles is 0 degrees.
Fig. 5 is a graph drawn by controlling the phase difference between the two paddles to be 40 degrees and uploading the data acquired by the absolute value encoder in real time, and a stable difference value exists between the data lines of the absolute value encoders of the left propeller and the right propeller through the graph, namely, the position of the absolute value encoder between the two paddles always maintains the stable difference value at the same time.
The invention also provides a double-paddle rotating speed and phase synchronous control system for realizing the method. A block diagram of controlling a left propeller in a double-propeller rotation speed and phase synchronous control system of the present invention, refer to fig. 6; the control right propeller part is consistent with the control left propeller part, and the control left propeller part and the control right propeller part are symmetrically arranged in the control system. The double-propeller control system comprises a double-propeller controller module, a rotating speed motor and a pitch motor which are correspondingly and electrically connected with a left propeller, and a rotating speed motor and a pitch motor which are correspondingly and electrically connected with a right propeller.
The double-propeller controller module comprises two absolute value encoders corresponding to the left propeller and the right propeller respectively, two grating ruler sensors corresponding to the left propeller and the right propeller respectively, an STM32F407 microcontroller and an FPGA unit; the FPGA unit comprises an FPGA field-editable logic gate array corresponding to the left propeller and the right propeller respectively; the two absolute value encoders are respectively and electrically connected with the FPGA unit, and the two grating ruler sensors are respectively arranged on the two propeller brackets; the absolute value encoder is used for acquiring a current position signal of the propeller and transmitting the current position signal to the corresponding FPGA field editable logic gate array for data storage; the two grating ruler sensors are respectively and electrically connected with the FPGA unit; the grating ruler sensor is used for collecting the travelling distance of the current grating ruler and transmitting the travelling distance to the corresponding FPGA field-editable logic gate array for data storage; the STM32F407 microcontroller is communicated and crosslinked with the FPGA unit through an FSMC mode to form an STM32F407 microcontroller+FPGA unit architecture; in the STM32F407 microcontroller+FPGA unit architecture, the FPGA unit transmits the stored current absolute value encoder signal and the stored grating ruler sensor signal to the STM32F407 microcontroller for resolving; the rotating speed motor and the pitch motor of the left propeller and the rotating speed motor and the pitch motor of the right propeller are respectively and electrically connected with an STM32F407 microcontroller in the double-propeller controller module; the STM32F407 microcontroller respectively and correspondingly transmits the result signals obtained by resolving the two absolute value encoder signals and the two grating ruler sensor signals to the rotating speed motor and the rotating pitch motor of the left propeller and the rotating speed motor and the rotating pitch motor of the right propeller, so that the rotating speed and the phase of the left propeller and the right propeller are controlled.
1. External signal input and control signal output part of system
The system external signal input mainly comprises sensor signal input, namely absolute value encoder signal input and grating ruler signal input, and according to the characteristics of the absolute value encoder signal input and the grating ruler signal input, an RS422 bus drive (MAX 3400) is adopted to transmit an external signal to the FPGA unit for resolving. The external sensor signal transmission conversion schematic diagram is shown in fig. 7.
The system control signal output mainly comprises a rotating speed motor control PWM signal (pulse width modulation signal) output, a pitch motor control PWM signal output, a pitch motor enabling and direction control I/O discrete quantity signal, and the control signal is output by an STM32F407 microcontroller and then is output to a left propeller and a right propeller through an S8050 triode. The schematic diagram of the directional control I/O discrete quantity signal output of the left propeller is shown in fig. 8, the schematic diagram of the PWM signal output of the rotating speed motor and the pitch motor is shown in fig. 9, and the schematic diagram of the directional control I/O discrete quantity signal output of the right propeller and the PWM signal output of the right propeller are consistent with those of the left propeller.
Communication crosslinking part of STM32F407 microcontroller and FPGA unit
And external signals are transmitted to the FPGA unit, cache processing is carried out in the FPGA unit, and the STM32F407 microcontroller is communicated and crosslinked with the FPGA unit through an FSMC mode. By instantiating the FPGA unit as SDRAM, communication between the FPGA unit and SDRAM is realized through an FSMC mode.
3. Digital signal processing part
Based on STM32F407 microcontroller and FPGA unit, mainly accomplish the storage to system sensor input signal, solution. The upper computer sends a control instruction to the STM32F407 microcontroller through an RS422 standard protocol, and the STM32F407 microcontroller receives an analysis protocol according to an internal agreement protocol, converts the control instruction from the upper computer into a motor control signal, outputs the motor control signal to the rotating speed motor and the pitch motor, and simultaneously periodically sends a system state signal to the upper computer.
The STM32F407 microcontroller obtains the current control mode by analyzing a control instruction sent by the upper computer, introduces different algorithms according to different control modes, and adopts a double-paddle rotating speed and phase synchronization control algorithm to control double-paddle rotating speed and phase difference closed loops under the double-paddle control mode.
Claims (5)
1. The double-paddle rotating speed and phase synchronous control method is characterized by comprising the following steps of:
1) Acquiring the current actual value of the rotating speed of the right propeller and the actual value of the rotating speed of the left propeller;
2) Calculating the deviation between the target value of the right propeller rotating speed and the actual value of the current right propeller rotating speed, taking the deviation as PID control input, and controlling the rotating speed of the right propeller by changing the duty ratio of the PWM signal for controlling the output of the right propeller;
3) Judging whether the deviation between the target value of the rotating speed of the right propeller and the actual value of the rotating speed of the current right propeller is within a set deviation range, if so, enabling a control signal of the rotating speed of the left propeller, and entering step 4); if not, returning to the step 2);
4) Calculating a difference Ev between the current actual value of the rotating speed of the left propeller and the actual value of the rotating speed of the right propeller, taking the difference Ev as PID control input, and controlling the rotating speed of the left propeller by changing the duty ratio of the output control PWM signal of the left propeller;
5) Judging whether a difference Ev between the current actual value of the left propeller rotating speed and the actual value of the right propeller rotating speed is within a preset deviation range, if so, maintaining the current left propeller rotating speed and the current right propeller rotating speed, controlling an input signal by a motor to be unchanged, enabling a phase difference control signal, and entering a step 6); if not, returning to the step 4);
6) Acquiring an actual phase difference between a current left propeller and a current right propeller, calculating a phase difference deviation between the actual phase difference and a target phase difference, adopting PID control according to the obtained phase difference deviation, and changing the rotating speed of the left propeller through a rotating speed motor to realize phase difference control;
7) Judging whether the phase difference deviation obtained in the step 6) is within a preset phase difference deviation range, if so, enabling a single-paddle rotating speed control function zone bit and a double-paddle following function zone bit, and returning to the step 1); if not, returning to the step 6).
2. The method for synchronously controlling the rotating speeds and phases of the two propellers according to claim 1, wherein the method for obtaining the actual rotating speed value of the current left propeller or right propeller in the step 1) is as follows:
1.1 The absolute value encoder marks the position of the propeller rotating for one circle by using 8192 numbers from 0 to 8191, and the absolute value encoder is used for sampling the position signal of the propeller, namely acquiring the current position signal by the absolute value encoder;
1.2 Acquiring a current position signal a [1] of an absolute value encoder and a position signal a [0] of a previous sampling moment;
1.3 Calculating the actual value v of the current rotating speed;
When the absolute value encoder of the sampling time of the front and the back times does not pass through zero positions: v= (a 1-a 0)/T, T being the sampling period;
absolute time of current and later two sampling when the value encoder passes the zero position: v= (a1+8191-a0)/T;
1.4 According to the interval between the sampling time and the sampling time, converting the unit of the current rotating speed actual value v obtained in 1.3) from r/T to r/min.
3. The method for controlling the rotation speed and the phase synchronization of the double propellers according to claim 2, wherein the method for obtaining the actual phase difference between the current left propeller and the current right propeller in the step 6) is as follows: and respectively acquiring position signals of the left propeller and the right propeller absolute value encoders, and calculating to obtain a difference value of the position signals, thereby obtaining an actual phase difference between the left propeller and the right propeller.
4. A dual-paddle rotational speed and phase synchronization control system, adopting the dual-paddle rotational speed and phase synchronization control method as claimed in claim 1, characterized in that: the device comprises a double-propeller controller module, a rotating speed motor and a pitch motor corresponding to a left propeller, and a rotating speed motor and a pitch motor corresponding to a right propeller;
The double-propeller controller module comprises two absolute value encoders corresponding to the left propeller and the right propeller respectively, two grating ruler sensors corresponding to the left propeller and the right propeller respectively, a microcontroller and an FPGA unit;
The FPGA unit comprises an FPGA field-editable logic gate array corresponding to the left propeller and the right propeller respectively;
The two absolute value encoders are used for collecting current position signals of the propeller and transmitting the current position signals to corresponding FPGA field-editable logic gate arrays for data storage;
the two grating ruler sensors are used for collecting the travelling distance of the current grating ruler and transmitting the travelling distance to the corresponding FPGA field-editable logic gate array for data storage;
The microcontroller is communicated and crosslinked with the FPGA unit through an FSMC mode to form a microcontroller+FPGA unit architecture;
The FPGA unit transmits the stored current absolute value encoder signal and the stored grating ruler sensor signal to the microcontroller for resolving;
the microcontroller correspondingly transmits the result signals obtained by resolving the two absolute value encoder signals and the two grating ruler sensor signals to the rotating speed motor and the pitch motor of the left propeller, the rotating speed motor and the pitch motor of the right propeller respectively, and controls the rotating speed and the phase of the left propeller and the right propeller.
5. The dual paddle rotational speed, phase synchronization control system of claim 4, wherein:
The microcontroller is an STM32F407 microcontroller.
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| CN105680736A (en) * | 2016-03-11 | 2016-06-15 | 南京快轮智能科技有限公司 | Yaw angle-based double-motor speed synchronization and balance control method |
| CN112994531A (en) * | 2021-02-28 | 2021-06-18 | 杭州电子科技大学 | Dual-motor coupling control device |
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| JP4945307B2 (en) * | 2007-05-14 | 2012-06-06 | 日本リライアンス株式会社 | Twin drive control device and torsional vibration suppression method |
| WO2014142928A1 (en) * | 2013-03-14 | 2014-09-18 | Eaton Corporation | Position and speed synchronization for a dual linear actuator flap system |
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| CN105680736A (en) * | 2016-03-11 | 2016-06-15 | 南京快轮智能科技有限公司 | Yaw angle-based double-motor speed synchronization and balance control method |
| CN112994531A (en) * | 2021-02-28 | 2021-06-18 | 杭州电子科技大学 | Dual-motor coupling control device |
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