Dual-motor gear transmission system torque equalization control method

Abstract

The invention relates to the field of dual-motor system control, and provides a dual-motor gear transmission system torque equalization control method so as to realize effective inhibition for output torque imbalance and control dual-synchronization in rotating speed and torque of the system. The invention adopts the following technical scheme: the dual-motor gear transmission system torque equalization control method comprises the steps of (1) a structural model of the system; (2) torque synchronization error calculation, wherein Te1 and Te2 are supposed to be electromagnetic torques of a motor 1 and a motor 2 respectively, a torque synchronization error of the system is defined as E(s)=Te1(s)-Te2(s), E serves as a feedback variable and acts on a synchronization controller, and the size of E reflects the performance of system torque equalization control; and (3) synchronization controller design. The method provided by the invention mainly applied to dual-motor control occasions.

Description

technical field [0001] The invention relates to the field of double motor system control, in particular to the field of torque balance control of a double motor gear transmission system. Background technique [0002] With the rapid development of modern industry, a single motor system can no longer meet various production needs. In industrial fields such as steel, papermaking, textiles, and robotics, the coordination and cooperation of multiple motors are relied on to achieve practical goals, thereby meeting people's requirements for product performance and quality. Especially in high-power traction systems, ship propulsion systems, and cement building systems, the required output torque is very large, and usually multiple motors are required to jointly drive the same load. The dual-motor gear synchronous drive system can increase the output torque on the basis of reducing the system volume, and is widely used in high-power, low-speed industrial fields. However, the gear t...

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Problems solved by technology

However, the gear transmission is a rigid connection of the hard shaft, and the two motors are forced to be synchronized; if the load is constant, the output torque of the two motors is in a coupling relationship of "one decreases and the other grows"

Due to the different rigidity of the motor shaft, the different degree of lubrication of the gears, and the unknown deviation of the gear meshing, it is easy to have inconsistent stress on the two pinions and uneven load distribution.

This type of system usually needs to keep the speed constant. Under the action of the speed outer ring, the electromagnetic torque of the motor must balance the load torque to ensure the speed tracking performance, resulting in unbalanced output torque, and even a certain motor overload. question

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