331results about "Multiple motor speed/torque control" patented technology

The invention relates to the technical field of electric driving system energy-saving control, and discloses a multi-motor driving system torque optimal distribution method and system, and the method comprises the steps: building a single power unit power loss model of a multi-motor driving system; constructing a fitting straight line segment; constructing a torque-current mapping relation curve; a train speed prediction model, a multi-motor driving system power unit motor rotating speed prediction model, a multi-motor driving system total torque reference value prediction model and a multi-motor driving system power unit power loss prediction model are constructed; establishing a multi-motor driving system energy efficiency evaluation function, a multi-motor driving system stability evaluation function, a multi-motor driving system total torque following evaluation function and a system optimization objective function; designing a learning rate of a control vector; and updating the control vector according to the learning rate, and obtaining an optimized torque distribution coefficient and an optimized torque reference value distributed by each power unit. Therefore, the torque optimization distribution of the multi-motor driving system is realized, and the energy utilization efficiency of the system is improved.

The invention discloses an anti-backlash control method and device for a single-inverter dual-motor parallel system based on an extended state observer. Comprising the following steps: acquiring mechanical angular speeds of two motors, direct-axis current feedback, quadrature-axis current feedback and position feedback of a first motor; obtaining an average angular velocity observation value and a disturbance observation value by using an extended state observer according to the mechanical angular velocities of the two motors and the quadrature-axis current feedback of the first motor; obtaining a rotating speed reference value according to the position feedback and a preset position reference; obtaining a quadrature-axis current reference according to the rotating speed reference value, the average angular speed observation value and the disturbance observation value; obtaining an alpha-axis voltage reference and a beta-axis voltage reference of the first motor according to the quadrature-axis current reference, the direct-axis current feedback and the quadrature-axis current feedback of the first motor and the position feedback; and controlling the three-phase input voltage of the two motors according to the alpha-axis voltage reference and the beta-axis voltage reference of the first motor. According to the method, stable speed control and accurate position tracking can be realized.

The invention provides a common-mandrel double-self-driving synchronous control permanent magnet outer rotor lifting device and a control method thereof.The device comprises a mandrel and supporting bases used for supporting the left end and the right end of the mandrel, and the mandrel is provided with a left permanent magnet outer rotor lifting structure and a right permanent magnet outer rotor lifting structure; each permanent magnet outer rotor lifting structure comprises a winding drum, a stator, a permanent magnet, an end cover and a disc brake used for braking the winding drum, the stator is arranged in the winding drum, the winding drum is rotatably connected with the mandrel, the stator comprises a stator iron core support, a stator iron core and a stator winding, the stator iron core support is arranged on the mandrel and provided with the stator iron core, and the stator winding is arranged on the stator iron core support. The stator core adopts a magnetic slot wedge, the stator winding is arranged on the stator core, and the mandrel is provided with a wiring slot for accommodating a stator winding outgoing line; the whole diameter can be reduced, the stability during working is improved, the double-load two-way transportation requirement can be met, the flexibility and adjustability are improved, and the double-load two-way transportation device has the advantages of being few in transmission links, free of a high-speed shaft, high in reliability and low in energy consumption.

The invention discloses a coaxial double-switch reluctance motor torque ripple minimization control method, which comprises the following steps: establishing a unified model for two switch reluctance motors, obtaining a reference torque through a proportional integral controller after making a difference between a reference rotating speed and an actual rotating speed, and establishing a phase current prediction model according to a phase voltage equation of the switch reluctance motors, based on the predicted current and the predicted angle, establishing a torque prediction model in a positive voltage excitation and zero voltage follow current mode in the conduction interval of each phase winding, and establishing a torque prediction model in a negative voltage demagnetization mode in the turn-off interval of each phase winding to obtain predicted torques of each phase winding in the conduction interval and the turn-off interval; and establishing a unified evaluation function by using the predicted torque and the reference torque of each phase winding of the two switched reluctance motors, and selecting an optimal switching state which enables the evaluation function to be minimum, thereby realizing the torque pulsation minimization control of the coaxial double-switched reluctance motor. The torque ripple minimization control method of the coaxial double-switch reluctance motor is not influenced by the phase difference of the double motors and the conduction range of each phase winding, can be easily expanded to a double-switch reluctance motor driving system with any phase number, and has good application prospect and engineering value.

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 relates to a double-shaft servo drive motor control device and method based on EtherCat communication, and the device comprises an EtherCat master station which is connected with a network transformer through a network port, and the output end of the network transformer is connected with the input end of a microcontroller. The first output end of the microcontroller is connected with the input end of the first IPM module, the output end of the first IPM module is connected with the first servo motor, the output end of the first servo motor is connected with the first encoder, the output end of the first encoder is connected with the input end of the microcontroller, and the second output end of the microcontroller is connected with the input end of the second IPM module. The output end of the second IPM module is connected with the second servo motor, the output end of the second servo motor is connected with the second encoder, the output end of the second encoder is connected with the input end of the microcontroller, and the state feedback output end of the microcontroller is connected with the EtherCat master station through a network port. According to the invention, the operation stability of the double-shaft servo motor under complex working conditions is realized.

The invention provides a multi-permanent magnet synchronous motor rotating speed tracking consistency control method based on local information interaction, and relates to the technical field of multi-permanent magnet synchronous motor rotating speed cooperative control. A vector control subsystem of a single motor in a multi-permanent magnet synchronous motor rotating speed cooperative control system is regarded as an intelligent agent, the intelligent agent interacts rotating speed information with a neighbor intelligent agent according to a designed communication topology, and expected q-axis current is updated in real time through a rotating speed tracking consistency protocol; therefore, the rotating speed tracking consistency is realized based on the local rotating speed information, and a rotating speed tracking controller does not need to be independently designed, so that mutual restriction of rotating speed tracking performance and synchronization performance can be avoided; in addition, distributed control has the advantages of simple structure, high flexibility, high expansibility and the like; the disturbance observer designed by the invention has continuous observation output values, and the system buffeting can be further weakened and the system robustness can be enhanced by utilizing the observer to estimate unknown disturbance and carry out feedforward compensation.

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.

A motor controller executes an axis module for each of multiple motors coupled to a shared load. A first control module passes at least one state variable to a second control module without experiencing communication delays between the axis modules. In order to decouple interaction between axes, the first control module determines the desired state variable at a periodic update rate and stores the desired state variable in memory. The first control module provides an indication to the second control module that the desired state variable is available. Within the same period at which the desired state variable is determined, the second control module receives the indication that the desired state variable is available and reads the state variable from the memory of the controller. The second control module executes using the desired state variable to reduce coupling between the two control modules.

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.

A drive device includes a motor, a reducer to decelerate rotational motion output from the motor, and a target object operable by rotational motion output from the reducer. A controller is configured or programmed to control the motor based on a detection value of a sensor mounted on the reducer.

The utility model provides a driving system. The driving system comprises a speed reducer, a plurality of motors and a support. The speed reducer comprises a front cover and a shell, an output gear and a plurality of input gears meshed with the output gear are arranged in the shell, and the input gears are evenly distributed in the circumferential direction of the output gear. An output through hole is formed in the front cover, and an output shaft of the output gear extends to the outer side of the front cover through the output through hole; an input through hole is formed in the shell, and an input shaft of the input gear extends to the outer side of the shell through the input through hole; axes of the output shaft and the input shaft are parallel; the plurality of input gears are in one-to-one correspondence with the plurality of motors; a driving shaft of the motor is coupled with the input shaft and is used for driving the input gear to rotate and driving the output gear to rotate; the support is arranged on the sides, away from the speed reducer, of the motors and used for fixedly connecting the ends, away from the speed reducer, of the motors. Large torque output of the driving system is achieved, and the reliability of the driving system is further improved.

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.

A stator for a vehicle's electric motor uses a molded connector. This connector also acts as a deflector plate to distribute cooling fluid around the stator winding heads. The molded connector comprises a non-conductive cylindrical section and a frame into which electrically conductive terminals are molded. These terminals include a winding connector, which is electrically connected to the winding heads, and a power connector, which is electrically connected to an inverter.

[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.

A drive device (100) includes a motor (103), a reducer (1), and a target object. The reducer (1) decelerates rotational motion output from the motor (103). The target object is operated by rotational motion output from the reducer (1). A control unit (2) controls the motor (103) based on a detection value of a sensor (50) mounted on the reducer (1).

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.