167results about "Multiple motor speed/torque control" patented technology

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 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.

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 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 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 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 an optimized multi-axis system with multiple axes having mechanical connections, a feedforward control identification process is provided. During this process, the actual identification variables (x1', x2') appearing at the motors (M1, M2) are provided to the identification units (I1, I2) associated with the feedforward control units (V1, V2). The feedforward control parameters (V1, V2) are identified using the actual identification variables (x1', x2'), and the closed-loop control units (R1, R2) are parameterized using the feedforward control parameters (V1, V2).

A computer system detects and controls a relative position of two rotating eccentric shafts. Processing circuitry calculates a lead motor quadrature current of a lead motor driving a first eccentric shaft; calculates a follower motor quadrature current of a follower motor driving a second eccentric shaft; determines in real-time a phase angle between the lead motor and follower motor quadrature currents; modifies a rotation speed of the follower motor so that it is equal to a rotation speed of the leading motor; and when the rotation speed of the follower motor is equal to the rotation speed of the lead motor, modifies the rotation speed of the follower motor to adjust the phase angle to be equal to a main target phase angle.

The invention discloses a new energy automobile electric driving method and an electric driving device structure. A multi-phase alternating current output end of an MCU motor control unit is connected to a circuit structure formed by connecting stator windings of EM driving motors in series in a split-phase mode, and a common-mode rotating magnetic field is generated; all the rotors generate electromagnetic torque output and mutual coupling effects through the split-phase series circuit structure and the common-mode rotating magnetic field, and native self-coupling and driving are achieved. The problems of poor adaptive capacity, complex software and hardware structure, poor reliability, high cost and the like of a scheme for forcibly controlling the rotating speed of each EM driving motor in the distributed electric driving system by depending on an external software algorithm in the prior art are solved.

The present invention relates to a particle radiation device and an optical microscope and a method for operating the same. The method includes changing the first temperature of an object, the object being arranged at an object receiving device, and the object receiving device being movable by at least one motor operated by a power supply current. By changing the first temperature of the object, the second temperature of the object receiving device is changed from a first temperature value to a second temperature value. The method also includes: changing the power supply current of the motor from a first current value to a second current value, the power supply current being designed to fix the object receiving device; and changing the temperature of the object receiving device from the second temperature value to a third temperature value based on the heat generated by the motor, the heat being achieved by the second current value of the power supply current and being delivered to the object receiving device. TOT1‑15°C ≤ TOT3 ≤ TOT1+15°C holds, where TOT1 is the first temperature value of the object receiving device and TOT3 is the third temperature value of the object receiving device.

The invention belongs to the technical field of electric control for chain saws, and relates to an intelligent chain saw control system based on brushless driving and a control method thereof. The system comprises a bridging chip U4, a power supply voltage stabilization module, a voltage and current detection module, a brushless motor driving module, a software control module, a switch control and state feedback module, a saw chain tension self-adaptive adjustment module and a temperature monitoring module which are electrically connected, and the output end of the controller is respectively connected with the bridging chip U4, the brushless motor driving module, the software control module, the switch control and state feedback module, the saw chain tension self-adaptive adjusting module and the temperature monitoring module. Intelligent dynamic adjustment of chain saw motor output can be achieved, and the cutting efficiency is improved; energy consumption and noise can be reduced, and the battery life is prolonged; the safety and the cutting precision can be improved through automatic tension adjustment; fault detection and remote interface debugging can be supported, and the development requirements of intelligent tools are met.

A drive system includes an actuator that is driven by a motor to generate displacement, a driver that drives the motor, and a controller that gives a control instruction to the driver. The controller creates a physical model based on displacement caused by application of an external load to the actuator; generates a first control instruction to the motor such that the actuator generates the displacement according to the physical model; determines a spring constant; generates a second control instruction to the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator; and selects and validates one of the first and second control instructions.

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.

Disclosed herein are a motor safety control method that can efficiently detect an abnormality of a motor sensor configured to sense a rotational motion of a motor and control a safety operation of the motor based thereon, and a robot for implementing the method. The motor safety control method for a robot may include receiving a first motor value from a high-resolution sensor of a motor, receiving a second motor value from a low-resolution sensor of the motor, and comparing a threshold with a difference between the first motor value and the second motor value, and transmitting an operation signal to a motor driver for the motor to continue or stop operation of the motor.

The invention relates to a control method, system and equipment for synchronous driving of double permanent magnet synchronous motors, and the method comprises the steps: setting an electromagnet on a motor stator, and determining the initial position of a rotor of a motor according to an electromagnetic induction signal generated after the electromagnet is powered on under the condition that the motor is powered on; according to the position difference between the initial position of the rotor and a preset fixed starting position, the rotor of the target adjusting motor is driven to rotate, so that the rotor position of the target adjusting motor is rotated to the fixed starting position; and under the condition that the rotor position of each motor is a fixed starting position, controlling the double permanent magnet synchronous motors to start simultaneously, and outputting an additional driving signal to the target motor according to the position error between the target motor and the non-target motor when the motor position in the double permanent magnet synchronous motors protrudes, therefore, the problem that the synchronous driving of the double permanent magnet synchronous motors is difficult to realize under the condition that the permanent magnet synchronous motor has no position sensor in the prior art is solved.

Disclosed are a device and a method for controlling floating of a motor. The device for controlling floating of a motor includes a speed calculator configured to determine whether a speed of the motor is equal to or higher than a set speed; and a detector configured to measure a back electromotive force by floating a phase voltage of the motor when the speed of the motor is equal to or higher than the set speed, and determine whether a zero-cross point of the back electromotive force and a zero-cross point of a phase current of the motor coincide with each other, in which the speed calculator is configured to release the floating of the phase voltage of the motor and drive the motor when the zero-cross point of the back electromotive force and the zero-cross point of the phase current of the motor coincide with each other. Therefore, there are scarcely torque ripples and noise is low.

The application relates to a motor intelligent control method based on digital twinning and deep reinforcement learning, a deep reinforcement learning training environment is defined on the basis of a constructed multi-physical field digital twinning body, the training environment is dependent on the multi-physical field digital twinning body, after a strategy network is trained, a preliminary control action output by the strategy network is used as a reference track of a model predictive controller, a constrained finite time domain optimization problem is solved through the model predictive controller, and finally, a control instruction of an electric agricultural machine is generated, the training environment of the deep reinforcement learning comprises motor states, vehicle poses and environment parameters, the action is torque or current instructions of the motors, and a reward function is a multi-objective function of comprehensive energy consumption, operation quality and equipment safety. The process combines long-term global adaptive optimization capability of the deep reinforcement learning and short-term accurate constraint processing capability of the model predictive control, and has excellent control effects of simultaneously considering safety and controllable cost.

A braking system may include: a first motor that provides a driving force for a first electronic parking brake; a first control circuit and a second control circuit, each independently connected to and controlling the first motor; a first switching circuit connected between the first motor and the first control circuit; a second switching circuit connected between the first motor and the second control circuit; a first microcontroller unit electrically connected to the first control circuit; and a second microcontroller unit electrically connected to the second control circuit.