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Multi-axis coupling torque balance control method and device based on position synchronization

A technology of balance control and synchronous control, which is applied in the direction of speed adjustment of multiple motors, can solve the problem that the torque balance of the master and slave shafts is difficult to ensure, and achieve the effect of position synchronization and torque balance

Active Publication Date: 2019-12-17
SIEMENS FACTORY AUTOMATION ENG
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  • Application Information

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Problems solved by technology

One is pure speed synchronization or position synchronization: this control method has exactly the same speed of the master and slave shafts, but it is difficult to ensure the balance of the torque of the master and slave shafts, especially when the mechanical consistency of the master and slave sides is not very good. Generally, the method can only be used in occasions where the mechanical coupling connection is relatively flexible.
The second is master-slave control (cancel the speed loop of the slave axis, and directly give the given value of the torque of the master axis to the slave axis): this control method can ensure the torque balance of the master and slave motors, but it is only applicable to pure mechanical coupling. Rigid occasion

Method used

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  • Multi-axis coupling torque balance control method and device based on position synchronization
  • Multi-axis coupling torque balance control method and device based on position synchronization
  • Multi-axis coupling torque balance control method and device based on position synchronization

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Embodiment Construction

[0029] Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0030] refer to figure 1 , figure 1 Schematically shows a multi-axis coupling torque balance control device based on position synchronization according to an embodiment of the present invention, wherein, according to figure 1 The shown device comprises: an operation control device 100 , a setpoint determination device 200 and a balance adjustment device 300 .

[0031] Among them, the operation control device 100 is used to control the syn...

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Abstract

The present invention provides a method and device for multi-shaft coupling moment balance control based on position synchronization. The method comprises the following steps: controlling a main shaft and a slave shaft to perform synchronous operation through the given value of the same position; determining the given value of an additional position according to the moment deviation values of the main shaft and the slave shift; and regulating the moment equalization of the main shaft and the slave shaft based on the given value of the additional position. The method and device for multi-shaft coupling moment balance control based on position synchronization can ensure the position synchronization and the moment equalization of the main shaft and the slave shift based on position synchronization control, and are suitable for and include but not limited to the machinery coupling conditions of pure rigid connection, pure flexible connection and semi-rigid connection.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to a multi-axis coupling torque balance control method and device based on position synchronization. Background technique [0002] Existing large-scale mechanical equipment usually requires multiple motors to couple synchronous drives, including many mechanical systems coupled as semi-rigid connections. For the control of these mechanical systems, not only the speed of the master and slave shafts is basically the same during operation, but also the torque of the master and slave shafts is required to be balanced. However, the traditional control method can't combine the above two points well, so it is not suitable for the control of this semi-rigid coupling mechanical system. In addition, if there is a certain mechanical transmission gap between the coupled master and slave shafts, it is also difficult to avoid torque oscillation. [0003] The more common multi-axis cou...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P5/48
CPCH02P5/48
Inventor 刘合军陈嵩
Owner SIEMENS FACTORY AUTOMATION ENG
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