Cooperative control system for double-winding permanent magnet synchronous motors

Abstract

The invention provides a cooperative control system for double-winding permanent magnet synchronous motors. The cooperative control system comprises two sets of controllers which are the same in structure and are used for controlling two double-winding permanent magnet synchronous motors. In the hardware structure aspect, a complete electrical dual-redundancy structure is employed, a redundancy backup strategy is achieved in parts, the reliability of which are required to be high, such as a communication part, a resolver signal resolving part and the like, and the working reliability of the control system is improved. In the software control aspect, DSP modules of the two sets of controllers communicate with each other through SPI, the two sets of controller supervise each other under normal working condition, and the fault can be isolated quickly when the fault occurs. With respect to the cooperative control system, a system feedback cross algorithm is employed, the problem that during the operation process, the electromagnetic torque between the two motors is not balanced, and therefore the power of the motors is increased is solved, and the system performance is further improved.

Description

technical field [0001] The invention relates to the field of motor control, in particular to a coordinated control system of a double-winding permanent magnet synchronous motor with redundancy guarantee. Background technique [0002] In the motion control system under modern complex motion conditions, how to improve the reliability of motion is a very important issue. Redundancy is an effective way to improve reliability. It is common to use a single motor and a single controller for work. For example, the invention of the patent application number 201310609797.0 "a distributed redundant general controller for dual redundant motors" proposes A control method using a single controller to control redundant motors is proposed, so that only basic redundant control can be realized, but once the communication part or DSP fails, the whole system will be in an uncontrollable state. For this reason, two motors are used in the motion system, and two sets of controllers are used to re...

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Problems solved by technology

The invention of the patent application number 200610164920.2 "Dual Motor Redundant Control System" uses two sets of controllers to control two motors, but the communication between the upper and lower computers and the resolver module do not provide corresponding redundancy backup module, and there is no effective solution to the electromagnetic torque imbalance between the two motors, therefore, it is very important to improve the reliability of the redundant motor control system and solve the electromagnetic torque imbalance between them important

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