Closed-loop control method of mechanical parallel multi-motor

Abstract

A closed-loop control method for multiple mechanical parallel motors belongs to the field of a control method for multiple parallel motors. The method comprises: firstly, establishing a mechanical parallel multi-motor closed-loop control system based on common communication equipment, obtaining a current average power value of a plurality of motors in parallel by the closed-loop control system, and comparing the average power value with a current power value to obtain an adjustment basis for increasing, decreasing or continuing to maintain a current torque given value, and implement motor adjustment control according to the well-known motor torque closed-loop control method; comparing the current speed value of each corresponding motor collected by each speed sensor with the preset given speed value, and continuously updating the current speed value of each motor to realize the closed-loop speed control of the multiple mechanical parallel motors based on the closed-loop speed feedback.According to the closed-loop control method for the multiple mechanical parallel motors, the communication instantaneity requirement of the frequency converter controller for the control parameter isgreatly reduced, and the cost of the control system is greatly reduced by introducing an equalization comparison algorithm of average power.

Description

technical field [0001] The invention belongs to the field of control methods for parallel connection of multiple motors, in particular to a closed-loop control method for mechanical parallel connection of multiple motors. Background technique [0002] In practical engineering, mechanical connection devices such as gearboxes are usually used to combine multiple motors with lower power in parallel to obtain larger output torque. In this case, the total torque output by the multi-motor is equal to the sum of the output torques of the multiple single motors connected, and, due to the characteristics of the gear tolerance and sampling error of the mechanical connection device, each motor will have an output In the case of unbalanced torque, the effect of multi-motor synchronous output cannot be achieved, and different motors will be in different working states of partial traction and partial braking, which will make the output torque of multiple motors unbalanced, resulting in un...

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Problems solved by technology

[0005] In order to solve the high cost of the optical fiber high-speed communication equipment of the DSP chip that the existing speed feedback-based mechanical parallel multi-motor closed-loop control system relies on, and if ordinary communication equipment is used as an alternative to high-speed communication equipment, multiple frequency converter controllers The immediacy of high-speed data communication between them cannot be effectively guaranteed, and each slave inverter controller will lose the effective closed-loop control input, resulting in the slave motor not being able to follow the output torque of the master motor in real time, and then appearing due to the unbalanced output of each motor. If the power grid is unbalanced or the technical problem of a single motor overload protection occurs, the invention provides a closed-loop control method for mechanically connecting multiple motors in parallel

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