Multi-motor cooperative controller for solving time-varying problem of controlled variable coupling relationship

A coupling relationship and multi-motor technology, applied in the direction of controlling electromechanical brakes, controlling generators, controlling systems, etc., can solve the problems of uncontrollable motors and less research, and achieve the effect of improving efficiency and good adaptability

Active Publication Date: 2021-04-02
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing research almost only considers the coordination problem of multiple motors under a single control variable, but in the actual system, each motor is often not controlled by the control variable with a constant coupling relationship. There are few studies on multi-motor cooperative controller

Method used

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  • Multi-motor cooperative controller for solving time-varying problem of controlled variable coupling relationship
  • Multi-motor cooperative controller for solving time-varying problem of controlled variable coupling relationship
  • Multi-motor cooperative controller for solving time-varying problem of controlled variable coupling relationship

Examples

Experimental program
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Embodiment 1

[0040] Such as figure 1 As shown, this embodiment provides a multi-motor cooperative controller aiming at the time-varying coupling relationship of control variables. The controller can use the system model to calculate the proper speed of each motor according to the expected system operating speed, and through the closed-loop The control completes the speed control of each motor, and at the same time cooperates with real-time speed compensation to realize the collaborative control of the actual speed of multiple motors. The controller includes a speed calculation module, a speed detection module, a speed control module and a speed detection module;

[0041] The speed calculation module receives the expected motion speed of the whole system from the outside, and performs the speed calculation work of each motor in the system according to the system model. In this implementation example, a wheeled all-drive mobile robot kinematics model is used, such as figure 2 , where L an...

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Abstract

The invention discloses a multi-motor cooperative controller for solving a time-varying problem of a controlled variable coupling relationship. The multi-motor cooperative controller comprises a speedcalculation module, a speed detection module, a speed compensation module and a speed control module, wherein the speed calculation module is used for receiving an expected overall system movement speed from the outside and calculating the speed of each motor in the system according to a system model, the speed detection module collects the real-time speed of each motor and provides required datafor the speed compensation module, the speed compensation module receives the motor resolving speed in the speed resolving module and the motor real-time speed acquired by the speed detection module,and calculates the compensation amount of each motor according to the set coupling relationship between the motor speed and the motor, and the speed control module corrects the speed of each motor according to the compensation amount given by the speed compensation module, so that the motor reaches the set value of the speed. According to the invention, the multi-motor cooperative control under the time-varying condition of the controlled variable coupling relationship is realized, and the efficiency of the multi-motor cooperative control is improved.

Description

technical field [0001] The invention relates to the technical field of multi-motor cooperative control, in particular to a multi-motor cooperative controller aiming at the time-varying problem of the coupling relationship of control quantities. Background technique [0002] With the promotion of the concepts of "Industry 4.0" and "Made in China 2025" in recent years, the degree of automation in the manufacturing industry has become higher and higher, which requires that all parts of the automation system can work together. [0003] The basis for the realization of the automation system is that multiple motors can operate normally at the same time and cooperate with each other, so it is very important to ensure the coordination of the motion of each motor. The traditional multi-motor cooperative control structure includes master control, master-slave control, cross-coupling control, adjacent cross-coupling control, virtual main axis control and deviation coupling control. The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/46H02P21/00H02P21/20
CPCH02P5/46H02P21/0007H02P21/001H02P21/0017H02P21/20Y02T10/72
Inventor 郭健薛舒严李胜惠玉卓
Owner NANJING UNIV OF SCI & TECH
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