Dual-motor synchronization control method, system and computer readable storage medium

A synchronous control and dual-motor technology, which is applied in the direction of multiple motor speed adjustment, can solve the problems of increased cost and complexity, excessive torque deviation of the master-slave shaft motor, and the position frequency division output signal is susceptible to external interference, etc., to achieve The effect of reducing cost and complexity

Active Publication Date: 2019-10-08
SUZHOU INOVANCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In view of this, the purpose of the embodiment of the present invention is to provide a dual-motor synchronous control method, device and storage medium to solve the existing dual-motor synchronous control technology needs to increase the corresponding high-speed IO or hardware circuit to realize the frequency division function , and the position frequency division output signal is susceptible to external interference, which may easily cause deviations in position synchronization. The position data of the two axes used in synchronous control are not at the same time, resulting in the actual position of the master and slave axis motors. There is a certain angle deviation, which needs to be increased High-performance PLC leads to increased cost and complexity of the control system, decreased control performance, and the possibility of excessive torque deviation of the master-slave motor, which affects the life of mechanical equipment.

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  • Dual-motor synchronization control method, system and computer readable storage medium
  • Dual-motor synchronization control method, system and computer readable storage medium
  • Dual-motor synchronization control method, system and computer readable storage medium

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Embodiment 1

[0055] figure 2 It is a schematic flow chart of the implementation of the dual-motor synchronous control method provided in Embodiment 1 of the present invention, which is applied to figure 1 The dual-motor synchronous control system 100 is executed by figure 1 The second axis motor driver 104 in the dual motor synchronous control system 100 is shown. see figure 2 As shown, the dual-motor synchronous control method provided in this embodiment may include the following steps:

[0056] Step S201 , during the synchronous operation of the two motors, the current position, speed and torque of the first shaft motor 101 and the current position, speed and torque of the second shaft motor 103 are acquired in real time.

[0057] In a specific implementation manner, the first shaft motor 101 and the second shaft motor 103 will feed back their respective The current position, speed and torque of the first shaft motor driver 102 need to send the first motor to the The current posit...

Embodiment 2

[0094] image 3 It is a schematic flow chart of the implementation of the dual-motor synchronous control method provided in Embodiment 2 of the present invention. This method is applied to figure 1 The dual-motor synchronous control system 100 is executed by figure 1 The second axis motor driver 104 in the dual motor synchronous control system 100 is shown. see image 3 As shown, the dual-motor synchronous control method provided in this embodiment may include the following steps:

[0095] Step S301, acquiring the current position, speed and torque of the first shaft motor 101 and the current position, speed and torque of the second shaft motor 103 in real time during the synchronous operation of the dual motors;

[0096] Step S302, predicting the first axis according to the current position and speed of the first axis motor 101 and the data transmission delay between the first axis motor driver 102 and the second axis motor driver 104 obtained through pre-training The cu...

Embodiment 3

[0122] Figure 4 It is a schematic structural diagram of the second-axis motor driver 104 in the dual-motor synchronous control system 100 provided by Embodiment 3 of the present invention. For convenience of description, only the parts related to this embodiment are shown.

[0123] see Figure 4 As shown, the dual-motor synchronous control system 100 provided in this embodiment includes a first-axis motor driver 102 for driving the first-axis motor 101 and a second-axis motor driver 104 for driving the second-axis motor 103. The first shaft motor driver 102 is communicatively connected with the second shaft motor driver 104, and the second shaft motor driver 104 includes:

[0124] The motor operation parameter acquisition unit 41 is used to obtain the current position, speed and torque of the first shaft motor 101 and the current position, speed and torque of the second shaft motor 103 in real time during the synchronous operation of the dual motors ;

[0125] The first a...

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Abstract

The embodiment of the invention discloses a dual-motor synchronization control method, system and a computer readable storage medium, which relate to the technical field of industrial control. Synchronization control of dual motors is realized through adopting a control algorithm combining position prediction synchronization and torque synchronization control, the problem of position deviation ofthe dual motors caused by data transmission delay can be avoided, the torque balance of the dual motors can be kept in a position synchronization process, and the problem of uneven force of a mechanical device can thus be avoided; in addition, in comparison with the existing mode of realizing position synchronization control on dual motors through frequency division, a high-speed IO or a hardwarecircuit does not need to be added, and external interference does not happen; in comparison with the existing mode of realizing position synchronization control on dual motors through a high-performance PLC, no high-performance PLC is needed, the cost and the complexity of the synchronization control system are reduced, and the control performance of a simple PLC communicating with the dual-motorsynchronization control system is not affected.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of industrial control, and in particular to a dual-motor synchronous control method, system and computer-readable storage medium. Background technique [0002] In the field of industrial control, large-scale mechanical equipment generally adopts a gantry synchronous structure, which requires multiple motors to couple and drive. During the operation of mechanical equipment, multiple motors not only need to maintain position synchronization, but also require that the torque deviation of multiple motor shafts should not be too large , because the excessive position deviation will cause large deformation of the mechanical structure, and the excessive torque deviation will cause uneven force on the motor shaft, thus affecting the life of the mechanical equipment. Generally speaking, if the installation of mechanical equipment meets the precision requirements, and the mechanical transmiss...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/46H02P5/50
CPCH02P5/46H02P5/50
Inventor 廖金国张文农马世贤姚虹
Owner SUZHOU INOVANCE TECH CO LTD
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