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A two-motor torque balance control method

A technology of balance control and motor torque, applied in the direction of motor generator control, electronic commutation motor control, control system, etc., can solve problems such as torque imbalance, system instability, slow response speed, etc., and achieve response torque The effect of fast speed, simplified control framework, and fast response speed

Active Publication Date: 2020-06-26
TIANJIN JINHANG COMP TECH RES INST
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AI Technical Summary

Problems solved by technology

[0005] 1. Since the traditional method is to use the feedforward link and the PI link to achieve the effect of torque balance, the delay effect of the PI link will also lead to torque imbalance, and then the system needs a period of time to adjust to achieve a new balance, that is The response speed of traditional methods is slow;
[0006] 2. Since the size of the feed-forward parameter Ks used in the feed-forward link needs multiple attempts to determine, the application of this method becomes complicated, and inappropriate Ks parameters will cause system instability

Method used

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  • A two-motor torque balance control method
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Embodiment Construction

[0039] Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.

[0040] The invention provides a method for controlling the torque balance of two motors (see figure 2 , referred to as method), it is characterized in that the method comprises the following steps:

[0041] (1) The encoder in the motor obtains the rotor angle θ of the two motors r1 and θ r2 , speed ω r1 and ω r2 , set the speed reference value ω r ref , using a proportional-integral controller (PI controller) to obtain the reference torque value T of the two motors 1 * and T 2 * ;

[0042] (2) Evenly distribute the reference torque values ​​of the two motors to obtain (T 1 * +T 2 * ) / 2;

[0043] (3) The Hall sensor obtains the stator voltage U of the two motors dc1 and U dc2 , stator current and The sampling value in ...

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Abstract

The invention discloses a two-motor torque balance control method. By adoption of the method, a feedforward link is not needed, and the advantages of high torque response speed and almost no overshootquantity of direct torque control are integrated, so that torque imbalance response speed is improved, an adjustment operation of a feedforward coefficient is avoided, a control framework is greatlysimplified, and application simplicity and convenience is improved. According to the method, multi-motor torque is allocated and fused into a direct torque control algorithm, so that a direct torque control method applied to a single motor is modified and then applied to two motors to perform torque balance control; and therefore, the problems of low response speed, troublesome coefficient settingand the like in the conventional method are solved, the motor torque imbalance response speed is improved, the control structure is simplified, and application can be performed conveniently.

Description

technical field [0001] The invention belongs to the field of motors, in particular to a torque balance control method for two motors. Background technique [0002] With the continuous development of my country's modern industry and the continuous improvement of mechanical automation technology, it often occurs that the motor control system requires multiple motors to jointly drive a piece of equipment to operate. Throughout the production process, it should be ensured that these motors can work together. [0003] In order to ensure that multiple motors can achieve synchronous control, there are two ways: mechanical and electrical. In the initial stage of the application of synchronous control technology, mechanical synchronous control technology is widely used in industrial automation production. Because the connection between the motor and the transmission of the mechanical control method is very reliable, this connection method has been widely used in the early stage of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P5/50H02P21/12H02P21/20
CPCH02P5/50H02P21/12H02P21/20
Inventor 仇旭东刘慧婕张楠朱天成李鑫候俊马王旭
Owner TIANJIN JINHANG COMP TECH RES INST
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