Fault tolerant proportional coordinated control method for multi-motor servo drive system under coupling control structure

Abstract

The invention discloses a fault tolerant proportional coordinated control method for a multi-motor servo drive system under a coupling control structure. A fault detector of a motor servo control system is used for detecting the faults of motors and electric drive modules of the motors in real time, based on the coupling control structure of the multi-motor system, a logic switching module of a motor coordinated compensator mixed with fault detection information is designed, and the working mode of the coordinated compensator is improved. When the motor control system fails, the output path ofthe coordinated compensator is cut off, so that the multi-motor system is transformed from the coupling control structure to a master-slave control structure. In the master-slave control structure, amain motor is a fault motor, a slave motor is a normal motor, which ensures that the proportion relationship of the output of each motor in the multi-motor servo drive system remains unchanged so asto achieve a fault tolerance function; when the fault motor returns to normal, the output path of the coordinated compensator of the motor is connected by a fault logic decision-making module, the whole system is restored to the original coupling control structure, and the proportional relationship between the output of each motor remains unchanged.

Description

technical field [0001] The invention belongs to the technical field of servo motor drive and control, and in particular relates to a fault-tolerant coordination control method of a multi-motor servo drive system with a coupling control structure. Background technique [0002] In recent years, with the rapid development of motor servo control technology, multi-motor servo drive systems have been widely used in automatic control systems for manufacturing and production processes such as textiles, papermaking, drawing, printing and dyeing, and steel rolling. In the industrial production of the multi-motor servo drive system, the coordination performance of the system directly affects the quality of the product. When a certain motor fails, the coordination ratio relationship among multi-motor systems will change, which will cause the control performance of the entire production system to deteriorate, and in severe cases, it will bring immeasurable losses to the enterprise. Ther...

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Problems solved by technology

[0005] 1. The research is mainly carried out on the failure of motor inverter components, and the failure of the motor itself is rarely considered at the same time

[0006] 2. The fault-tolerant control algorithm is complex and the amount of calculation is large, making it difficult to achieve online fast and real-time fault-tolerant

[0007] 3. It is necessary to design a specific fault-tolerant controller for the fault system, and the control strategy is complex and difficult to implement in engineering

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