Load observer-based virtual line shaft control method for multiple permanent magnet synchronous motors

Abstract

The invention belongs to the field of multi-motor speed cooperation control. Synchronous operation among various subordinate shafts is coordinated; the dynamic relationship among various shafts is also really reflected; meanwhile, the robustness of a system is further improved; and load torque measurement values are fed forwards to current rings of subordinate shaft motors. According to the technical scheme, by a load observer-based virtual line shaft control method or multiple permanent magnet synchronous motors, the system comprises n permanent magnet synchronous motors and a virtual motor; DC voltage and phase current output by a rectifier bridge are collected by an AD conversion interface in a microprocessor; a rotor angle position thetai of an ith permanent magnet synchronous motor is detected through a rotor position sensor, and meanwhile, a rotating speed omegai of the ith permanent magnet synchronous motor is calculated; alpha-axis reference voltage and beta-axis reference voltage are generated; and finally a six-pulse drive control signal of an inverter is output by employing a voltage space vector pulse width modulation SVPWM method. The load observer-based virtual line shaft control method is mainly applied to the occasion of multi-motor speed cooperation control.

Description

technical field [0001] The invention relates to a multi-motor virtual main shaft control method based on a load observer, and belongs to the field of multi-motor speed cooperative control. Specifically, it relates to a virtual total shaft control method for multi-permanent-magnet synchronous motors based on a load observer. Background technique [0002] With the continuous development of modern industrial technology, multi-motor synchronous drive control technology has been applied to various fields, such as paper machines, printing machines, textile machines, multi-degree-of-freedom CNC machine tools, and even high-power high-speed railway traction systems. In the papermaking and printing industry in recent years, the mechanical shaft drive mode of the web transmission unit and the printing unit of the printing machine is being largely replaced by the shaftless drive mode, that is, a main motor is replaced by multiple independent motors to drive each printing unit at the sa...

AI Technical Summary

Problems solved by technology

In the steady state, each slave axis follows the master axis, which can achieve a good synchronization effect; however, in the process of starting, load disturbance, and shutdown of the traditional ELS control system, the time lag of the coupling torque feedback will cause the slave axes to The out-of-synchronization phenomenon is a technical problem of the ELS control strategy

At the same time, considering that the multi-motor control system is a multi-variable, time-varying parameter, speed and tension strongly coupled system, the traditional proportional integral derivative (PID) control cannot meet the requirements of high-performance control

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