Dual motor position synchronous control strategy research design

Abstract

The invention discloses a dual motor position synchronous control strategy research design, and belongs to the technical field of multi-motor coordinated synchronous control. According to the controlalgorithm, a position ring and a position synchronization ring are additionally arranged on the basis of the rotating speed current dual closed-loop. Giving of the position ring is given through the slope mode, including frequency giving and initial phase giving. The feedback of the position ring is the mean of the load position carried by the two motors. Giving of the synchronization ring is given through the step mode. The feedback of the synchronization ring is the difference value of the load position carried by the two motors. The output of the synchronization ring acts as the position compensation to the rotating speed ring, and one motor gives positive compensation and the other motor gives negative compensation. According to the control algorithm, control of the initial phase, theposition difference and the rotating speed of the two motor positions can be realized and the dynamic performance is great.

Description

technical field [0001] The invention discloses a research design of a dual-motor position synchronous control strategy, and belongs to the technical field of multi-motor synchronous control. Background technique [0002] Multi-motor synchronous control is one of the core technologies of high-speed, high-precision electric drive systems, and its applications have involved aerospace, modern industrial servo robots and other fields. The synchronous control technology of multi-motor is divided into mechanical synchronous control mode and electric synchronous control mode. The mechanical synchronous control method refers to the transmission device that is connected through mechanical components such as gears, chains, and belts. This mechanical transmission method has a complex structure and a large power loss during the transmission process. Modern electric drive systems are gradually developing in the direction of high integration and high precision, and the mechanical synchro...

AI Technical Summary

Problems solved by technology

[0004] For a certain type of special load, it is necessary to keep the load position of the two motors running stably at a constant difference. From the perspective of speed synchronization, it needs to rely on ultra-high speed accuracy. However, this speed accuracy is the limit of all current position sensors. Accuracy is difficult to achieve

In addition, the reduction ratio of gears, ball screws and other reducer mechanisms must also be strictly guaranteed. Obviously, it is impossible to guarantee the accuracy of such intermediate transmission devices mechanically.

Images