Driving control method and system of equipment

Abstract

The invention discloses a driving control method and system of equipment, a virtual shaft is preset in a motion controller, and a position reference value of the virtual shaft is used as a position ring reference value of a left main motor shaft and a right main motor shaft, so that primary synchronous control of main motors on two sides is realized; the product of the speed ring feedback value of the left main motor shaft and the speed coefficient is used as the speed ring reference value of a left slave motor shaft, and the product of the speed ring feedback value of the right main motor shaft and the speed coefficient is used as the speed ring reference value of a right slave motor shaft, so that the primary synchronous control of a slave motor and a main motor is realized; control of a left motor is executed based on the position ring reference value of the left main motor shaft and the speed ring reference value of the left slave motor shaft; and based on the position ring reference value of the right main motor shaft and the speed ring reference value of the right slave motor shaft, a right motor is controlled, and same-side torque synchronization and two-side torque synchronization of the equipment are realized.

Description

technical field [0001] The present invention relates to the technical fields of power electronic systems and AC drives, and more specifically, relates to a device drive control method and system. Background technique [0002] For transportation equipment that can transport dozens of tons or more and has a large self-weight, it is generally driven by multi-drive shafts, so this type of equipment is also called multi-axis drive equipment. At present, there are mainly two control methods for multi-drive shafts. The first one is to use single-axis speed control and other shaft torque control methods, that is, to control one of the multiple drive shafts to rotate in a speed closed-loop mode, and then configure Other drive shafts except this drive shaft are output in torque mode; the second is that all drive shafts adopt speed control mode. [0003] However, there are problems in the above two multi-axis drive control methods: the torque distributed by the drive motor on the same...

AI Technical Summary

Problems solved by technology

[0003] However, there are problems in the above two multi-axis drive control methods: the torque distributed by the drive motor on the same side is independent of the given reference value. When one control point is controlled by one control point, the control of each control point will diverge, making the torque distribution on the same side unbalanced during multi-axis drive

Images