252results about "Multiple motor speed/torque control" patented technology

Disclosed is a hair dryer having a reverse blowing dust-removal function, comprising a housing, a fan module, an air inlet, and an air outlet. The housing has a pass-through airflow channel between the air inlet and the air outlet. The fan module is disposed within the airflow channel of the housing. A circuit control board is disposed within the housing. A microcontroller and a power supply drive module are disposed on the circuit control board. The power supply drive module is connected to the fan module. The micro-controller is connected to the power supply drive module. A reverse rotation button and a forward rotation button that are connected to the micro-controller are disposed on the housing. The micro-controller controls, in response to a reverse rotation signal output by the reverse rotation button, the fan module to rotate in a reverse direction by means of the power supply drive module.

The invention discloses a double-form switching electric skateboard, which comprises a chassis part, an electric skateboard body and an electric skateboard body, the control panel is arranged on the chassis part and hinged to the chassis part through a hinge; the bridge frame is hinged to the chassis part, and a driving unit is arranged on the bridge frame; wherein the driving unit comprises a brushless motor, a bevel gear set and a toothed power wheel, the brushless motor drives the bevel gear set to rotate, and the bevel gear set is connected with the toothed power wheel. The control panel is of a split type or integral type structure, the control panel is installed on the chassis part through a connecting pad, a steering sensor is arranged on the connecting pad, control boxes are arranged on the two sides of the chassis part, and the control boxes are used for receiving steering signals of the steering sensor and controlling the bridge frame to steer. And a hub assembly or a track assembly is arranged outside the toothed power wheel. Sharing of power gear teeth is achieved through the gear coupling mechanism, the driving form can be rapidly switched, and self-adaptive adjustment of the tensioning force of the crawler belt is ensured in combination with the automatic tensioning mechanism; and the practicability of the product and the user experience are improved.

An electric motor may include a motor housing. An electric motor may include a shaft that extends in a longitudinal direction through a length of the motor housing, a first motor disposed within the motor housing and mounted to the shaft, a second motor disposed within the motor housing and mounted to the shaft. An electric motor may include an adaptor disposed within the motor housing, where a portion of the first motor and a portion of the second motor are disposed within the adaptor and the adaptor supports and pilots the first motor and the second motor. An electric motor may include at least one motor controller disposed on the adaptor and within the motor housing, the at least one motor controller electrically connected to the first motor and to the second motor.

The invention provides a reducing pipeline robot based on Mecanum wheels. The reducing pipeline robot comprises a double-shaft steering engine, brushless motors arranged on the two sides of the double-shaft steering engine; the reducing Mecanum wheel comprises an outer hub disc, a guide rail optical axis, a middle hub disc, an inner hub disc, a lead screw and a stepping motor which are coaxially and sequentially connected. The reducing Mecanum wheel further comprises a hub composed of five reducing units of the same structure. The reducing unit is connected with the middle hub disc and the inner hub disc at the same time; the five variable-diameter units are unfolded or contracted to the same size at the same time to form hubs with different diameters, and the variable-diameter pipeline robot can work in pipelines with different diameters. Through the structure innovation and intelligent technology, full-scene efficient maintenance of the pipeline is achieved, and industry transformation and upgrading are promoted.

The utility model relates to a three-power three-phase efficient elevator energy recovery multi-level converter, which comprises a first direct-current voltage source, a second direct-current voltage source, a third direct-current voltage source, a first direct-current bus capacitor, a second direct-current bus capacitor and a third direct-current bus capacitor, the first DC voltage source is connected in parallel with a first DC bus capacitor, the second DC voltage source is connected in parallel with a second DC bus capacitor, the third DC voltage source is connected in parallel with a third DC bus capacitor, the anode end of the first DC voltage source is connected with the DC bus anode P end, and the cathode end of the third DC voltage source is connected with the DC bus cathode N end; the direct-current bus positive pole P end and the direct-current bus negative pole N end are connected with the input ends of the A-phase converter, the B-phase converter and the C-phase converter respectively, and the output ends of the A-phase converter, the B-phase converter and the C-phase converter are connected with the traction motor. The efficiency of the elevator energy recovery converter can be effectively improved, and consumption reduction and energy conservation are achieved.

The invention discloses a control method, a circuit and a driving mechanism of an underground three-phase brushless motor, and the control method achieves the high-adaptability control of an underground extreme working condition through fuzzy intelligent decision, directly generates a PWM duty ratio through the fuzzy reasoning taking the current deviation and change rate as the input, can rapidly inhibit the sudden change of a load, improves the response speed, and improves the reliability of the system. PID is combined with fuzzy control, so that a good control effect on nonlinearity, time-varying property and uncertainty of a controlled object can be achieved; in the driving mechanism, a driving combination composed of a three-phase brushless motor and a planetary gear reducer is connected with a transmission shaft through a flexible coupler, so that violent vibration impact of the driving mechanism in an oil well is reduced, the peak load of the driving mechanism is reduced, and the reliability of the driving mechanism is improved; and the wires are prevented from being broken in the assembly process.

The invention provides a multi-machine linkage comprehensive management system and method for permanent magnet synchronous motors in an area, and belongs to the technical field of permanent magnet synchronous motors. The intelligent permanent magnet synchronous motor is provided with a local control panel used for controlling the operation state of the intelligent permanent magnet synchronous motor. The local control panel is provided with control buttons. The intelligent permanent magnet synchronous motor is provided with a self-checking protection module and a driving board, the driving board is provided with a communication module, and the local control panel, the self-checking protection module and the communication module are electrically connected with the driving board. The intelligent permanent magnet synchronous motor arranged in the area integrally realizes multi-mode operation such as local control, remote control, automatic control and intelligent linkage, the operation efficiency of the permanent magnet synchronous motor in the area is greatly improved, front-end monitoring equipment can be expanded according to any application scene, and the universality of the permanent magnet synchronous motor is greatly improved.

An electric motor includes a motor housing and a shaft that extends in a longitudinal direction through a length of the motor housing. A first motor is disposed within the motor housing and mounted to the shaft, and a second motor is disposed within the motor housing and mounted to the shaft. The electric motor includes an adaptor disposed within the motor housing, and a portion of the first motor and a portion of the second motor are disposed within the adaptor. The adaptor supports and pilots the first motor and the second motor. At least one motor controller is disposed on the adaptor and within the motor housing, and is electrically connected to the first motor and to the second motor.

The invention discloses a position synchronization control method for multiple permanent magnet synchronous motors based on a distributed observer. The position synchronization control method comprises the following steps: S1, establishing a mathematical model of a multi-permanent magnet synchronous motor system consisting of N permanent magnet synchronous motors; s2, dividing the motor into an informed motor group and an uninformed motor group according to whether the leader information can be directly acquired or not, and describing a position synchronization control problem of the multiple permanent magnet synchronous motors as a collaborative output adjustment problem of a multi-agent system; s3, establishing a directed communication topology to describe an information transfer relationship between agents in a multi-agent system formed by the external system and the multi-permanent magnet synchronous motor system; and S4, a cascade structure is adopted for controller design, a distributed observer is designed for the position-speed rings of the two motor sets, a PI controller is designed for the current rings, and a final controller is given. According to the method, the position synchronization control of the plurality of permanent magnet synchronous motors can be realized without speed information, and the method has anti-disturbance capability and good tracking performance.

A synchronous motor drive device according to an embodiment comprises a power conversion unit and a control unit. The power conversion unit supplies the power generated by control to a synchronous motor. The control unit selects either a first control or a second control on the basis of whether or not the control state of the synchronous motor satisfies a predetermined identification condition, said first control giving priority to linearity in a conversion request item of conversion processing and being applied to a first region, said second control giving priority to a request item other than the linearity in the conversion request item of the conversion processing and being applied to a second region, said first region and said second region being included within an application range of the conversion processing for generating a current reference for current control from a request torque reference related to control of the synchronous motor.

The present invention discloses a direct torque control method for a dual three-phase permanent magnet synchronous motor based on duty ratio allocation. By using the method of space vector decoupling, the six phases of the dual three-phase permanent magnet synchronous motor are respectively mapped to three planes to generate four non-zero vectors with different amplitudes; two non-zero vectors are extracted from them and synthesized into two virtual vector sets; the main virtual vector and the slave virtual vector are obtained according to the evaluation parameters; the duty ratios of the main and slave virtual vectors are obtained by processing the evaluation parameters; by synthesizing the main virtual vector and the slave virtual vector into a voltage vector and applying it to the six-phase lines of the dual three-phase permanent magnet synchronous motor within one control period. The control method of the present invention solves the technical problems such as large current harmonic content, large torque and flux linkage fluctuations, and high hardware implementation difficulty of the dual three-phase permanent magnet synchronous motor, reduces the inherent 5th and 7th harmonic contents of the dual three-phase permanent magnet synchronous motor, reduces the torque and flux linkage fluctuations of the dual three-phase permanent magnet synchronous motor, and is convenient for hardware implementation.

The invention relates to the field of motors, in particular to a robot multi-joint permanent magnet synchronous motor linkage control method, a robot multi-joint permanent magnet synchronous motor linkage control device and a robot multi-joint permanent magnet synchronous motor linkage control system. A first equation set and a second equation set are established according to the principle that the cumulative sum of joint motion vectors is equal to the overall motion of the robot and the condition of continuous motion during task stage connection, introduced errors can be obtained by solving the equation sets, and correction of driving currents of all motors is achieved; and the actual current which considers the motor operation deviation and can enable the robot to accurately complete the target action is obtained, so that accurate control on the robot can be realized.

[Problem] The present invention provides a technique capable of ensuring a straight travel property of a work vehicle even when some of straight-travel power is input to a turning power transmission path that is coupled to a turning electric motor. [Solution] The work vehicle includes a straight-travel electric motor that generates the straight-travel power and a turning electric motor that generates turning power. The during straight travel by driving the straight-travel electric motor, when differing from a target rotational speed of the turning electric motor, a rotational speed of the turning electric motor returns to a target rotational speed of the turning electric motor.

The invention relates to a gantry double permanent magnet servo motor cross coupling sliding mode synchronous control method based on beam mover part information, and belongs to the technical field of electromechanical control. The method comprises the following steps: calculating a double-motor mover displacement tracking error, a cross coupling error and a cross coupling speed error; calculating a sliding mode surface and a sign function thereof; based on the relative displacement of the cross beam rotor, the dual-motor current is redistributed to compensate the deflection influence of the cross beam; the cross beam rotor q-axis net current, the synchronous displacement error and the speed error serve as input, and the sliding mode gain coefficient is dynamically adjusted through fuzzy reasoning; and finally, outputting the reconstructed q-axis current to realize closed-loop control. According to the method, current redistribution and sliding mode variable gain control are carried out by using part of information of the cross beam rotor, the adverse effects of the non-central position and acceleration motion of the cross beam rotor on the synchronization precision are effectively reduced, the synchronization precision and the response speed of the double-drive gantry platform during dynamic operation are remarkably improved, and the method has important engineering application value.

The utility model relates to the technical field of systems for controlling a plurality of brushless motors, in particular to a system for controlling a plurality of brushless motors by using an FPGA and an FOC, a controller and a brushless motor configured to control at least three commutations. The controller comprises a control unit and a power unit; the control unit comprises a digital signal processor and a field programmable gate array; the power unit comprises a motor phase current sampler and a motor position editor; the operation of the FPGA has real-time performance, the brushless motors can be controlled in time, the operation hysteresis of the brushless motors is avoided, and the multiple brushless motors can be controlled at the same time, so that the multiple brushless motors are kept in synchronous operation; the motor driver timely collects the real-time operation position of the motor, can control the operation position of the motor in real time, improves the performance of the system, and guarantees the stable operation of a plurality of brushless motors.

Provided are a mower and an all-terrain vehicle. The mower includes: a vehicle frame and multiple functional devices. The multiple functional devices include at least: a traveling assembly including traveling wheels for driving the mower to travel on the ground and a traveling motor for driving the traveling wheels; an operation assembly configured to be operated by a user to control the mower; and a power supply assembly configured to supply energy to the traveling assembly. The mower further includes a communication system, where the communication system includes control modules connected to the multiple functional devices, and the multiple control modules are capable of communicating with each other through a first channel. The communication system further includes a second channel, and the second channel is configured to transmit communication information between at least two control modules. With the preceding technical solutions, the mower with the communication link self-recovery function and the fault self-diagnosis function can be provided, and when communication between some functional devices of the mower is abnormal, a communication link between the other functional devices can still be established through the second channel.

The invention discloses a dual three-phase permanent magnet synchronous motor parameter identification method and a related device, and the method comprises the steps: determining a voltage basic equation and a flux linkage basic equation of a dual three-phase permanent magnet synchronous motor, and a dual-dq six-dimensional transformation matrix and a vector space decoupling rotation transformation matrix; integrating the two basic equations by using a double-dq six-dimensional transformation matrix to obtain a first motor model under a double-dq coordinate system, integrating the two basic equations by using a vector space decoupling rotation transformation matrix to obtain a second motor model under a vector space decoupling coordinate system, and performing parameter unification on the two motor models to obtain a full-rank equation set; and the parameter identification of the dual three-phase permanent magnet synchronous motor is completed by solving the full-rank equation set. According to the method, the simultaneous identification of various parameters of the dual three-phase permanent magnet synchronous motor is realized by unifying the motor parameters of the first motor model of the dual three-phase permanent magnet synchronous motor under the dual dq coordinate system and the second motor model of the dual three-phase permanent magnet synchronous motor under the vector space decoupling coordinate system and constructing the full-rank equation set.

The invention relates to the field of brushless direct current motor hardware commutation circuits, in particular to a high-speed brushless direct current motor hardware commutation circuit with a fault self-detection function. The high-speed brushless direct current motor hardware commutation circuit with the fault self-detection function has remarkable technical advantages and practical value, hardware commutation replaces traditional software commutation, resource occupation of a single-chip microcomputer is greatly reduced, the response speed and the operation efficiency of a system are improved, and the high-speed brushless direct current motor hardware commutation circuit with the fault self-detection function is suitable for popularization and application. The brushless direct current motor is enabled to stably realize high-speed operation, meanwhile, the design integrates a complete fault self-detection function, each module in a hardware commutation circuit can be monitored in real time, and the hardware commutation circuit comprises key parts such as a PWM speed regulation circuit, a Hall signal decoding circuit, a commutation selection circuit and a fault display circuit; the problem that a hardware commutation circuit in the prior art lacks real-time monitoring capability on the running state of the motor is solved.

The invention relates to the technical field of aircraft control, in particular to a fan carrier attitude self-adaptive power electric control device and method.The electric control device comprises a processor, and the processor is configured to execute the following steps that the real-time motion state of a fan carrier is monitored; when it is detected that the motion state of the fan carrier changes suddenly, an initial posture stability index and a counter electromotive force transient value generated in the state sudden change process of each fan motor are obtained; based on the back electromotive force transient value of each fan motor, controlling an energy recovery circuit of each fan motor to carry out energy recovery so as to obtain total recovery electric energy of the fan carrier; according to the electric energy value of the total recovered electric energy and the initial attitude stability index, generating total power for coping with the state sudden change; determining a target commutation advance angle of each fan motor based on the total power; and applying the target commutation advance angle of each fan motor to a motor control system of each fan motor. The problem of thrust response lag is solved.

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a multi-motor position cooperative control method for a robot, and the method comprises the steps: collecting the state information of multiple motors (taking double motors as an example), and building a discrete prediction model; calculating an unconstrained reference voltage based on model prediction position control; estimating load torque on line by using a Luenberger observer and introducing voltage calculation; performing one-step forward prediction based on the prediction model, and performing delay compensation and linear boundary amplitude limiting processing on the reference voltage; a target function containing a position deviation item is constructed, a deviation compensation item is obtained by solving partial derivative of the target function, and the compensation item is directly coupled to q-axis reference voltage; and finally, the processed voltage is subjected to SVPWM modulation to drive the double motors to operate, and high-precision synchronization and rapid tracking control of the double motors after reference voltage coupling deviation compensation are achieved.

An external force estimation device, method, and non-transitory computer-readable recording medium estimate an external force acting on a motor. The external force estimation device includes a processor. The processor is configured to calculate an output torque of the motor using a current value supplied to the motor, estimate an inertial torque of the motor using rotational position information of the motor, estimate a first friction torque of the motor using the rotational position information of the motor, temperature-correct the first friction torque using temperature information of the motor, and estimate the external force by subtracting the inertial torque and the temperature-corrected first friction torque from the output torque.

The invention relates to an air conditioner and a control method thereof. The air conditioner comprises two draught fans, inverters connected with the draught fans respectively and a controller connected with the inverters, and the controller is configured to determine current reference values corresponding to the draught fans according to the rotating speeds of the draught fans and feedback currents output to the draught fans at the current moment based on the rotor angle positions of the draught fans. According to the current reference value and the voltage corresponding to the fan when the inverter is in different switching vectors, current predicted values of the fan at the next moment when the inverter is in different switching vectors are predicted respectively, the current reference value and the current predicted values are substituted into a value function so as to determine a target switching vector, and the target switching vector acts on the inverter, so that the current reference value is obtained. By adopting the air conditioner provided by the invention, the number of devices can be reduced, so that the cost is reduced, and meanwhile, the fan is driven by adopting the predictive control strategy, so that the inverter has lower switching frequency, and the loss of the air conditioner is reduced.

The application discloses a kind of permanent magnet synchronous motor electric shovel speed regulation system and motor control method, belong to mining equipment technical field, including: main transformer, rectification feedback unit, several permanent magnet synchronous motors, several frequency converters and voltage suppressor, by using permanent magnet synchronous motor as power source, the efficiency and power factor of motor in low speed area are higher, realize efficient, energy-saving green mining, electric shovel each mechanism can also adopt direct drive or half direct drive mode, reduce mechanism transmission series, further improve transmission efficiency and equipment reliability;Since the rotor of permanent magnet synchronous motor is permanent magnet, when the frequency converter fails and the brake fails at the same time, the motor will generate back electromotive force when being pulled by potential energy load, according to the power generation characteristics of permanent magnet synchronous motor, the stator is short-circuited through energy consumption device, which will generate braking torque in permanent magnet synchronous motor, so as to brake the bucket, avoid the bucket falling rapidly, electric shovel out of control accident.

The invention relates to an electric drive system (1) for a vehicle, comprising at least two electric machines (3.1, 3.2), each electric machine having three stator windings (L1 to L6) for driving the vehicle; at least one high-voltage battery (2); and two inverters (4.1, 4.2) for converting a DC voltage of the high-voltage battery (2) into an AC voltage for supplying one of the electric machines (3.1, 3.2) in each case, wherein the inverters (4.1, 4.2) can be connected in series with one another and can be controlled and / or regulated in such a way that one of the inverters (4.1, 4.2) can be operated, together with the electric machine (3.1, 3.2) connected thereto, as a bidirectional DC / DC converter for supplying the other inverter (4.1, 4.2) with a voltage which is lower than the DC voltage of the high-voltage battery (2) or for recovering energy from the electric machine (3.1, 3.2) connected to the other inverter (4.1, 4.2).

The invention discloses a dual-motor cooperation and fault-tolerant control method and system for a steer-by-wire system, and the method comprises the main steps: constructing a Mahalanobis distance fault index calculation model, and carrying out the calculation of fault index values of the real-time sampling working currents of two permanent magnet synchronous motors through the Mahalanobis distance fault index calculation model. Judging whether the permanent magnet synchronous motor has an operation fault according to the fault index value and a self-adaptive threshold value; when the two motors operate normally, the active-disturbance-rejection control module dynamically compensates the real-time sampling working currents of the two permanent magnet synchronous motors so as to enable the sampling working currents to be equal. And when any motor is in operation fault, the self-adaptive sliding mode control module dynamically compensates the first reference current and the second reference current, so that the working current of the motor in operation fault is smoothly transited to a zero output state, and the working current of the normal motor is gradually increased to a target value. The service life of the steering motor is effectively prolonged.

To avoid control failure resulting from startup of a PMSM that is windmilling (15), initial speed and position are determined before startup (5). A controller uses a FOC routine having a speed PI control loop, field-weaken control, a current PI control loop, and a speed observer. When the controller receives an instruction to start the PMSM (20), it delays startup and executes an "estimation" stage (30,35), in which the controller executes the FOC routine but with the speed PI control loop and the field-weaken control disabled. The estimation stage is repeated multiple times (35), with estimates converging to actual speed and position through successive iterations. When estimated speed and position values have stabilized, the motor is started (40) using the estimates as initial speed and position for driving the PMSM. The FOC routine (45), with the speed PI control loop and the field-weaken control enabled, is used to drive the PMSM.

A system includes a first motor, a second motor, and a third motor, each respective motor comprising three phases. The system further includes a voltage source inverter circuit comprising multiple respective inverter legs. Each respective inverter leg coupled to drive at least one phase of at least one of the respective motors, with a first shared inverter leg coupled to drive a third phase of the first motor and drive a first phase of the second motor. A second shared inverter leg is coupled to drive a third phase of the second motor and a first phase of the third motor.

To provide a motor control system, a motor control device, and a motor control method that can reduce the processing load on a host control device.SOLUTION: A motor control system 1 includes a host control device 3 that outputs control commands, multiple motor control devices 5A to 5D that control multiple motors 7A to 7D on the basis of the control commands and drive mechanical elements 15A to 15D, and an external sensor 17 for outputting information on the mechanical element 15D to the motor control device 5D. Each of the multiple motor control devices 5A to 5D includes an information sharing unit 23 for sharing information on the mechanical element 15D with each other through data communication among the multiple motor control devices 5A to 5D, a command conversion unit 25 for converting the shared information on the mechanical element 15D into a control command for autonomous operation by the motor control devices 5A to 5D themselves, and a motor control unit 27 for controlling a motor 7 on the basis of the converted control command.SELECTED DRAWING: Figure 2

The invention relates to a control circuit, system, method and equipment for driving double motors by a single inverter, and the control circuit controls a first motor and a second motor to be synchronously started to enter a starting operation state under the condition that the initial position of a rotor of the first motor is the same as the initial position of a rotor of the second motor, and controls the first motor and the second motor to enter a starting operation state based on the starting operation state. A position error is determined according to a first sampling signal corresponding to a first motor and a second sampling signal corresponding to a second motor, then a target control signal corresponding to the position error is output, a second motor driving signal output by a second motor driving end is controlled to flow into a compensation inductor according to the target control signal, and a target compensation signal is generated; and the target compensation signal is output to the second motor to correct the rotor position of the second motor and realize position compensation, so that the stability of the double permanent magnet synchronous motors driven by the single inverter is ensured, and the problem of poor stability caused by different rotor positions of the double motors when the double permanent magnet synchronous motors are driven by the single inverter is solved.

The invention discloses a robot joint motor four-quadrant operation cooperative control circuit and a robot joint motor four-quadrant operation cooperative control method, in the cooperative control circuit, a bus positive electrode and a bus negative electrode of each motor controller are respectively connected together, and the working states of a plurality of joint motors are controlled through a relatively simple cooperative control logic; the electric energy generated by the joint motors in the II-quadrant generator state and the IV-quadrant generator state is directly supplied to other joint motors in the mechanical arm to be completely consumed, the risk of overvoltage of a bus of a motor controller can be avoided, and therefore four-quadrant operation of the robot joint motors is achieved. The defect that energy is completely wasted in a traditional energy consumption braking mode can be overcome, and the defect that hardware circuit cost and motor control algorithm complexity are greatly increased in an energy feedback mode can also be overcome. In addition, hardware circuits such as a robot main controller and a motor controller in the robot joint motor four-quadrant operation cooperative control circuit already exist in an original system, and the circuit does not increase the hardware cost of the control system.