Multi-motor coaxial drive control system

Abstract

The invention provides a multi-motor coaxial driving control system, which comprises a speed setting unit, a main driving control loop, a converter, a load and one or more slave driving control loops, wherein the main driving control loop comprises a motor controller 1, a motor 1, a speed reducing machine 1 and a speed feedback unit 1; the speed feedback unit 1 and speed feedback units 2 are connected to the converter, and a speed setting value is processed by the converter and then output to a speed feedback interface connected to the motor controller 1; and speed control output of the motor controller 1 is sent to the converter and a torque ring 1 of the motor controller 1 simultaneously, and the converter sends the speed control output of the motor controller 1 to torque rings 2 of motor controllers 2. The multi-motor coaxial driving control system achieves the effect of solving an average by means of speed feedback superposition through designing the converter on the basis of single motor control, reconstructs a system speed loop, and does not need to change the control system including loop structure, thereby realizing rapid reconstruction of a multi-motor control system, shortening the development cycle of the system, and being convenient in debugging.

Description

technical field [0001] The invention relates to a multi-motor coaxial drive control system. Background technique [0002] Multi-motor joint drive is used in large-scale load drive systems. The purpose is to reduce the power of single-motor drive and the volume of transmission chain, etc., and realize multi-motor torque balance joint drive. [0003] The servo system single motor drive control loop usually includes a position control, a speed control, and a torque control, such as figure 1 As shown, the single-motor speed control system includes speed given unit, speed control unit, torque loop 1, motor 1, speed feedback unit 1, reducer 1, load, etc. figure 1 The virtual frame is completed in the motor controller, which is a conventional control method, and will not be repeated here. [0004] For the servo system with multiple motors driving the load together, in order to ensure the balance of multi-motor control torque, the control system is designed as a position control, ...

AI Technical Summary

Problems solved by technology

[0005] In a multi-motor common drive system with different numbers, when the number of motors changes, not only the control software needs to be changed, but also the hardware configuration of the system needs to be changed. The process is complicated, the system inheritance is poor, and the development cycle is long.

Images