Dual-motor driving system, control method thereof and computer storage medium

Abstract

The invention discloses a dual-motor driving system, a control method thereof and a computer storage medium. The control method of the dual-motor driving system comprises the steps that electrical parameters of a first motor and a second motor in the dual-motor driving system are collected; judging on-load states of the first motor and the second motor according to the electrical parameters; and obtaining a preset calculation model corresponding to the on-load state, and calculating a control signal used for controlling the operation states of the first motor and the second motor according to the preset calculation model. Compared with the prior art, the two motors can be controlled through one driving module, the number of the driving modules can be reduced, the circuit integration complexity is optimized, and the design size and design cost of a mainboard are reduced.

Description

Technical Field

[0001] The present invention relates to the field of motor driving, and in particular to a dual-motor driving system and a control method thereof, and a computer storage medium. Background Art

[0002] The fan of an air conditioner generally requires a separate drive module to drive it. For a dual-fan air conditioning system with two fans, two independent drive modules are often required to drive the two fans respectively. Such a drive structure requires many drive modules and complex circuit integration, while increasing the design size of the motherboard and product cost.

[0003] For example, a dual-motor current drive control method is disclosed in CN 117811419 A dual-motor current drive device, method and storage medium. This method generates a first PWM signal and a second PWM signal with different phase differences by respectively sampling the current signals of the first motor and the second motor, and then drives the two motors respectively. This control method requires the use of two independent drive modules.

[0004] Therefore, how to design a dual-motor drive system and its control method, and computer storage medium, which can control two motors through one drive module, thereby reducing the number of drive modules, optimizing circuit integration complexity, and reducing the design size and design cost of the motherboard, is a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] In view of the prior art, a dual-fan air-conditioning system requires two independent drive modules to drive the two fans respectively, which has the problems of multiple drive modules, complex circuit integration, and increased design size of the mainboard and product cost. The present invention proposes a dual-motor drive system, a control method thereof, and a computer storage medium.

[0006] The technical solution of the present invention is to propose a control method for a dual-motor drive system, comprising:

[0007] Collecting electrical parameters of the first motor and the second motor in the dual-motor drive system;

[0008] Determining the load status of the first motor and the second motor according to the electrical parameters;

[0009] A preset calculation model corresponding to the load state is obtained, and a control signal for controlling the operating states of the first motor and the second motor is calculated according to the preset calculation model.

[0010] Further, judging the load status of the first motor and the second motor according to the electrical parameters includes:

[0011] Obtain the first rotational speed of the first motor and the second rotational speed of the second motor according to the electrical parameters;

[0012] Calculate the rotational speed difference between the first rotational speed and the second rotational speed, and determine whether the rotational speed difference is within a preset difference range;

[0013] If so, determine that the first motor and the second motor are in the first load state, and if not, determine that the first motor and the second motor are in the second load state.

[0014] Further, the electrical parameters include: the u-phase current and v-phase current of the first motor, and the u-phase current and v-phase current of the second motor.

[0015] Further, when the first motor and the second motor are in the first load state, the pre-designed calculation model is: i u =(i u1 +i u2 ) / 2, i v =(i v1 +i v2 ) / 2, ω e =(ω1 + ω2) / 2;

[0016] Among them, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2 is the v-phase current of the first motor, ω1 is the rotational speed of the first motor, ω2 is the rotational speed of the second motor, i u , i v , ω e are the output parameters of the pre-designed calculation model.

[0017] Further, when the first motor and the second motor are in the second load state, the pre-designed calculation model is: i u =αi u1 +βi u2 , i v =αi v1 +βi v2 , ω e =γ1ω1 + γ2ω2;

[0018] Among them, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2is the phase v current of the second motor, ω1 is the rotational speed of the first motor, ω2 is the rotational speed of the second motor, i u 、i v 、ω e are the output parameters of the pre-designed calculation model, and α, β, γ1, γ2 are set coefficients.

[0019] Furthermore, the set coefficients are set according to the load levels of the first motor and the second motor.

[0020] Furthermore, control parameters for controlling the operating states of the first motor and the second motor are calculated according to the pre-designed calculation model, including:

[0021] Obtain the output parameters of the pre-designed calculation model;

[0022] Input the deviation between the rotational speed signal in the output parameters and the preset rotational speed signal into a speed loop controller to generate a command current;

[0023] Perform coordinate transformation on the electrical parameters of the first motor and the second motor, and input them together with the command current into a current loop controller to generate a control voltage;

[0024] Input the control voltage into a space vector pulse width modulator to generate the control signal.

[0025] Furthermore, when the first motor and the second motor are in the first load state, the loads connected to the first motor and the second motor are the same;

[0026] When the first motor and the second motor are in the second load state, the loads connected to the first motor and the second motor are different.

[0027] The present invention also proposes a dual-motor drive system, including a first motor, a second motor, a drive module for driving the first motor and the second motor to operate, and further including:

[0028] A signal sampling module, which is used to collect the electrical parameters of the first motor and the second motor;

[0029] A signal processing module, which is used to judge the load states of the first motor and the second motor according to the electrical parameters;

[0030] A controller module, which is used to obtain a pre-designed calculation model corresponding to the load state, and calculate control signals for controlling the operating states of the first motor and the second motor according to the pre-designed calculation model.

[0031] The present invention also provides a computer storage medium storing a control program for a dual-motor drive system. When the control program is executed, the control method for the dual-motor drive system described above is implemented.

[0032] Compared with the prior art, the present invention has at least the following beneficial effects:

[0033] The control method for the dual-motor drive system proposed by the present invention can obtain and calculate a control signal capable of controlling the operating states of the two motors according to the load states of the two motors. Since the load states of the two motors are considered simultaneously when obtaining this control signal, when controlling the two motors through a single drive module, the stability of the two motors during operation can be ensured. That is, the present invention can control the two motors through a single drive module, which can reduce the number of drive modules, optimize the circuit integration complexity, reduce the design size and design cost of the main board. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 is the control block diagram of the dual-motor drive system of the present invention;

[0036] Figure 2 is the flowchart of the control method for the dual-motor drive system of the present invention;

[0037] Figure 3 is the principle block diagram of the dual-motor drive system of the present invention;

[0038] Figure 4 is the schematic diagram of obtaining the control signal through the output parameters in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] Thus, a feature pointed out in this specification will be used to illustrate one of the features of an embodiment of the present invention, rather than implying that each embodiment of the present invention must have the illustrated feature. In addition, it should be noted that this specification describes many features. Although some features may be combined to show possible system designs, these features can also be used in other combinations not explicitly described. Thus, unless otherwise stated, the illustrated combinations are not intended to be limiting.

[0041] The principle and structure of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] Currently, the fans of air conditioners generally need to be driven by separate drive modules. For a dual-fan air conditioning system with two fans, two independent drive modules are often required to drive the two fans respectively. Such a drive structure requires many drive modules, complex circuit integration, and at the same time increases the design size of the main board and the product cost.

[0043] In view of the above problems, the present invention proposes a control method for a dual-motor drive system, including:

[0044] Collect the electrical parameters of the first motor and the second motor in the dual-motor drive system;

[0045] Judge the load states of the first motor and the second motor according to the electrical parameters;

[0046] Obtain a pre-designed calculation model corresponding to the load state, and calculate a control signal for controlling the operating states of the first motor and the second motor according to the pre-designed calculation model.

[0047] It can be seen from the above control method that when calculating the control signal in the present invention, a pre-designed calculation model is obtained and calculated based on the load states of the first motor and the second motor. That is, when obtaining the control signal in the present invention, the load states of the two motors are considered at the same time, and the obtained control signal is the optimal control signal under the combined load states of the two motors, which can ensure the stability of the operation of the two motors at the same time.

[0048] The control method proposed by the present invention can be applied to a dual-fan air conditioning system. Replace the above motors with fans, and then execute the corresponding control method. Based on the control method proposed by the present invention, when controlling the two fans, only one drive module needs to be used for driving, which can reduce the number of drive modules, optimize the circuit integration complexity, reduce the design size of the main board and the design cost.

[0049] Further, the judging the load states of the first motor and the second motor according to the electrical parameters includes:

[0050] Obtain the first rotational speed of the first motor and the second rotational speed of the second motor according to the electrical parameters;

[0051] Calculate the rotational speed difference between the first rotational speed and the second rotational speed, and determine whether the rotational speed difference is within a preset difference range;

[0052] If so, it is determined that the first motor and the second motor are in the first load state; if not, it is determined that the first motor and the second motor are in the second load state.

[0053] From the division of the load states of the first motor and the second motor in this part, it can be seen that the present invention distinguishes the load states based on the rotational speed difference. If the rotational speed difference between the first rotational speed and the second rotational speed is small, it can be considered that the loads connected to the first motor and the second motor are the same. At this time, when calculating and obtaining the control signal, whether calculating mainly based on the electrical parameters of the first motor or the electrical parameters of the second motor, it will not have too much impact on the operating state of the other motor;

[0054] If the rotational speed difference between the first rotational speed and the second rotational speed is large, it can be considered that the loads connected to the first motor and the second motor are different. At this time, when calculating and obtaining the control signal, if calculating mainly based on the electrical parameters of one of the first motor or the second motor, the obtained control signal will be difficult to adapt to the load connected to the other motor, and it is easy to cause problems of unstable motor operation at this time. Then in this case, when calculating and obtaining the control signal, it is necessary to set according to the first rotational speed of the first motor and the second rotational speed of the second motor. Here, the first rotational speed can reflect the load state of the first motor to a certain extent, and the second rotational speed can reflect the load state of the second motor to a certain extent. In this case, considering the first rotational speed and the second rotational speed to set the corresponding proportion, and then calculating the control signal, then when finally obtaining the control signal, the problem of unstable operation of the first motor and the second motor can be avoided to the greatest extent.

[0055] If the above method is not used to distinguish the load states of the first motor and the second motor, but the same preset calculation model is used to calculate the control signal, such as using the preset calculation model originally used for the first load state to calculate the control signal, then when the rotational speed difference between the first motor and the second motor is large, there may be a problem that when the obtained control signal controls the first motor and the second motor, the first motor or the second motor operates unstably; if using the preset model originally used for the second load state to calculate the control signal, then when the rotational speed difference between the first motor and the second motor is small, since corresponding setting coefficients need to be added, the calculation amount will increase again. Therefore, the present invention uses the above control method to distinguish the load states of the first motor and the second motor, and respectively corresponds to different preset calculation models, then it can reduce the calculation amount required by the controller module and reduce the system cost on the premise of ensuring the stable operation of the first motor and the second motor.

[0056] Furthermore, the above electrical parameters include: u-phase current and v-phase current of the first motor, and u-phase current and v-phase current of the second motor.

[0057] Among them, the motor generally has three-phase current, namely u-phase current, v-phase current, and w-phase current. However, after obtaining the two-phase current of the motor, the other phase current can be directly calculated. Therefore, in the present invention, when collecting the above-mentioned electrical parameters, only two-phase currents are collected, which can save the workload of the signal acquisition module. In addition, when calculating the control signal, the present invention also requires the participation of the motor's speed signal, that is, the first speed and the second speed data in the previous text, but the speed signal can be directly calculated based on the collected current signal and the motor's own observer. Therefore, the electrical parameters collected in the present invention are only set with the above-mentioned u-phase current and v-phase current, which can meet the calculation requirements of subsequent control signals and reduce the workload of the signal acquisition module.

[0058] Furthermore, when the first motor and the second motor are in the first loaded state, the preset calculation model is: u =(i u1 +i u2 ) / 2, i v =(i v1 +i v2 ) / 2,ω e =(ω1+ω2) / 2;

[0059] Among them, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2 is the v-phase current of the first motor, ω1 is the speed of the first motor, ω2 is the speed of the second motor, i u 、i v ,ω e It is the output parameter of the preset calculation model.

[0060] As mentioned above, the speed difference between the first motor and the second motor in the first load state is small. In essence, using either the electrical parameters of the first motor or the electrical parameters of the second motor to calculate the control signal will not have much impact on the operating state of the other motor. On this basis, in order to further ensure the operating stability of the first motor and the second motor, the present invention uses a mean calculation model when calculating the above control signal. The output parameter i u That is, the average value of the u-phase current of the first motor and the u-phase current of the second motor, the output parameter i v That is, the average value of the v-phase current of the first motor and the v-phase current of the second motor, the output parameter ωe That is, the average value of the rotational speeds of the first motor and the second motor. If the above-mentioned pre-designed calculation model is used for average value calculation, the rotational speed difference between the first motor and the second motor can be averaged, and the operation stability of the first motor and the second motor can be ensured to the greatest extent.

[0061] In addition, when the first motor and the second motor are in the second load-bearing state, the pre-designed calculation model is: i u = αi u1 + βi u2 、i v = αi v1 + βi v2 、ω e = γ1ω1 + γ2ω2;

[0062] Wherein, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2 is the v-phase current of the second motor, ω1 is the rotational speed of the first motor, ω2 is the rotational speed of the second motor, i u 、i v 、ω e are the output parameters of the pre-designed calculation model, and α, β, γ1, γ2 are set coefficients.

[0063] It can be seen from the above pre-designed calculation model that the calculation model in this second load-bearing state has an additional calculation of set coefficients compared with the calculation model in the first load-bearing state. The setting of this set coefficient is essentially to add corresponding weights to the electrical parameters of the first motor and the electrical parameters of the second motor.

[0064] As known from the previous text, in this second load-bearing state, the loads connected to the first motor and the second motor may be different. At this time, the first rotational speed of the first motor and the second rotational speed of the second motor differ greatly. For example, the first rotational speed is 1200 rpm and the rotational speed of the second motor is 120 rpm. At this time, the electrical parameters corresponding to the first motor and the electrical parameters corresponding to the second motor differ greatly, and the three-phase current corresponding to the first motor may be much larger than the three-phase current of the second motor. If the average value of the above electrical parameters is still used to calculate the control signal at this time, the rotational speed of the first motor corresponding to the finally obtained control signal may be much lower than the first rotational speed, and it will be unable to drive the load connected to the first motor to operate. At this time, the first motor will have problems with unstable operation;

[0065] After adopting the above calculation model in the present invention, corresponding weights are added to the first electrical parameter and the second electrical parameter. When applied to the above example, the weight corresponding to the first motor will be much higher than that of the second motor. At this time, the finally calculated control signal is used to control the first motor, and the corresponding rotation speed will be close to the first rotation speed, thus avoiding the problem of unstable operation of the first motor.

[0066] That is to say, the present invention can ensure the stable operation of the first motor and the second motor whether in the first load state or the second load state. In addition, in the second load state, due to the addition of the calculation of the setting coefficient in the present invention, this setting coefficient is equivalent to the weights of the electrical parameters of the first motor and the second motor, and can avoid the problem of unstable operation of the motor when the rotation speed difference between the first motor and the second motor is large.

[0067] In a preferred embodiment of the present invention, the above setting coefficient is set according to the load levels of the first motor and the second motor.

[0068] In practical applications, the load capacity of a motor is generally not a specific value, but is divided into multiple load levels according to its load capacity. Then, the load level of the motor is determined according to the load connected to the motor. In the present invention, the above setting coefficient, that is, the weights of the electrical parameters of the first motor and the second motor, is set according to the above load levels, which can adapt to the loads connected to the first motor and the second motor, so as to determine the most appropriate motor rotation speed, and then obtain the corresponding control signal to ensure the stable operation of the first motor and the second motor.

[0069] Among them, the above setting parameters α, β, γ1, γ2 can be updated online according to the look-up table method. Different load levels are divided according to the rotation speed difference between the first motor and the second motor. A setting parameter table is made during the debugging process and the setting parameters are called in real time during the operation process. In this way, when calculating the control signal in practical applications, there is no need to calculate the setting parameters additionally, but directly call them, which reduces the workload of the controller module.

[0070] Furthermore, the control parameters for controlling the operating states of the first motor and the second motor calculated according to the preset calculation model include:

[0071] Obtain the output parameters of the preset calculation model;

[0072] Input the deviation between the rotation speed signal in the output parameters and the preset rotation speed signal into the speed loop controller to generate a command current;

[0073] Perform coordinate transformation on the electrical parameters of the first motor and the second motor, and input them into the current loop controller together with the command current to generate a control voltage;

[0074] The control voltage is input into a space vector pulse width modulator to generate a control signal.

[0075] Please refer to Figure 4 , which is the schematic diagram for obtaining the control signal according to the output parameters of the pre-designed calculation model in the present invention. Among them, ω eref is the set preset rotational speed signal; ω e is the rotational speed signal in the above output parameters; i dref and i qref are the command currents of the d-axis and q-axis output by the speed controller; i d and i q are the feedback currents of the d-axis and q-axis after coordinate transformation of i u , i v ; u α , u β are the control voltages generated by the current controller;

[0076] In the above control method, obtaining the output parameters of the pre-designed calculation model, that is, obtaining the ω Figure 4 parameter, i e parameter, and i u parameter in v ;

[0077] In the above, the deviation between the rotational speed signal in the output parameters and the preset rotational speed signal is input into the speed loop controller to generate the command current, that is, the operation logic at the speed controller in Figure 4 . The ω eref parameter is the preset rotational speed signal, and the i dref and i qref parameters are the command currents of the d-axis and q-axis output;

[0078] In the above control method, the electrical parameters of the first motor and the second motor are subjected to coordinate transformation and input into the current loop controller together with the command current to generate the control voltage, that is, the operation logic of the current controller in Figure 4 . The i d and i q parameters are the feedback currents of the d-axis and q-axis after coordinate transformation of i u , i v . The u α , u β parameters are the finally output control voltages;

[0079] In the above, inputting the control voltage into the space vector pulse width modulator to generate the control signal, that is, the control process output to the SVPWM in Figure 4 ;

[0080] After passing through the above speed controller, current controller, and space vector pulse width modulator, the present invention can obtain the corresponding PWM signal, that is, the above control signal, fromFigure 1 It can be seen that the drive module in the present invention is actually composed of multiple switching tubes. The above PWM signal can be used to adjust the on-off states of the multiple switching tubes, and then output different currents and voltages to motor 1 (i.e., the first motor) and motor 2 (i.e., the second motor), thereby realizing the control of the first motor and the second motor.

[0081] That is, based on the above control method, the present invention can convert the electrical parameters of the first motor and the second motor into the final control signals for the drive module, and finally feedback them to the first motor and the second motor to control their working states. At the same time, only one drive module is required to participate in the whole process, which not only reduces the number of drive modules, but also ensures the operation stability of the first motor and the second motor.

[0082] Further, in the present invention, when the first motor and the second motor are in the first load-carrying state, the loads connected to the first motor and the second motor are the same;

[0083] When the first motor and the second motor are in the second load-carrying state, the loads connected to the first motor and the second motor are different.

[0084] This part is the description and distinction of the first load-carrying state and the second load-carrying state. It is used to cooperate with the method for distinguishing the first load-carrying state and the second load-carrying state provided above, and can reasonably divide the first load-carrying state and the second load-carrying state, so as to finally realize the control of two motors by one drive module and ensure the operation stability of the first motor and the second motor.

[0085] Please refer to Figure 2 , which is the specific control flowchart when the present invention is applied to an air conditioner. Among them, motor 1 is the first motor and motor 2 is the second motor, which can correspond to two fans in the air conditioner;

[0086] After the air conditioner is turned on, it is necessary to first check whether there is a fault in the operating state. Only when the air conditioner unit enters the operating state and there is no fault, will the specific control process be executed. This part of the steps is mainly used to avoid the occurrence of abnormal control conditions caused by the operation problems of the air conditioner unit itself;

[0087] After completing the determination of whether there is a fault in the above air conditioner unit, it is necessary to execute the steps in Appendix Figure 2 "Sampling the current and speed signals of motor 1 and motor 2, i u1 , i v1 , ω1 and i u2 , i v2 , ω2". Here, motor 1 is the first motor, and its current signals are the u-axis current i u1 and the i-axis current i v1 , motor 2 is the second motor, and its current signals are the u-axis current i u2and the i-axis current i v2 , the rotational speed signals of the motors 1 and 2, namely ω1 and ω2. As described above, the rotational speed signals can be calculated based on the u-axis current, v-axis current, and observer of the motors 1 and 2, and they also belong to a part of the acquisition of electrical parameters, corresponding to "acquiring the electrical parameters of the first motor and the second motor in the dual-motor drive system" in the control method of the present invention;

[0088] Then execute ω min <|ω1 - ω2| < ω max judgment. Here, |ω1 - ω2| is the rotational speed difference between the first rotational speed and the second rotational speed, and ω min and ω max correspond to the upper limit value and the lower limit value of the preset difference interval. This part of the control logic is also "judging the load-carrying states of the first motor and the second motor according to the electrical parameters" in the control method of the present invention;

[0089] When the above judgment logic determines to be yes, it is determined that the motors 1 and 2 are in the first load-carrying state, and then execute i u =(i u1 +i u2 ) / 2, i v =(i v1 +i v2 ) / 2, ω e =(ω1 + ω2) / 2 calculation model calculation;

[0090] When the above judgment logic determines to be no, it is determined that the motors 1 and 2 are in the second load-carrying state, and then execute i u =αi u1 +βi u2 , i v =αi v1 +βi v2 , ω e =γ1ω1 + γ2ω2 calculation model calculation;

[0091] The acquisition of the calculation models under the above two judgment logics is also "acquiring the pre-designed calculation models corresponding to the load-carrying states" in the control method of the present invention;

[0092] The obtained i u , i v , ω e are the output parameters of the pre-designed calculation model. At this time, it is necessary to execute the attachment Figure 2 in "processing the current i u , i v and the rotational speed feedback ω eThe "to the controller module generates a pulse width modulation signal to control Motor 1 and Motor 2", this part is also the calculation process of the control method in the previous text, which corresponds to "calculating the control signal for controlling the operating states of the first motor and the second motor according to a pre-designed calculation model" in the control method of the present invention.

[0093] Based on the control method proposed by the present invention, the present invention also proposes a dual-motor drive system, including a first motor, a second motor, a drive module for driving the first motor and the second motor to operate, and further includes:

[0094] A signal sampling module, which is used to collect the electrical parameters of the first motor and the second motor;

[0095] A signal processing module, which is used to judge the load states of the first motor and the second motor according to the electrical parameters;

[0096] A controller module, which is used to obtain a pre-designed calculation model corresponding to the load state, and calculate the control signal for controlling the operating states of the first motor and the second motor according to the pre-designed calculation model.

[0097] Please refer to Figure 1 and Figure 3 , the dual-motor drive system proposed by the present invention has the above-mentioned signal sampling module, signal processing module, controller module, and drive module. According to the attached Figure 3 control flow, the signal sampling module can be used to collect the electrical parameters of the first motor and the second motor;

[0098] The signal processing module can be used to judge the load states of the first motor and the second motor according to the electrical parameters;

[0099] The controller module can be used to obtain a pre-designed calculation model corresponding to the load state, and calculate the control signal for controlling the operating states of the first motor and the second motor according to the pre-designed calculation model;

[0100] The control signal obtained by the controller module can be finally output to the drive module to control the operating states of Motor 1 (i.e., the first motor) and Motor 2 (i.e., the second motor), so as to realize the control of two motors by one drive module.

[0101] Furthermore, the present invention also proposes a computer storage medium, which stores a control program for the dual-motor drive system. When the control program is executed, the control method of the above-mentioned dual-motor drive system is realized.

[0102] In summary, compared with the prior art, the present invention has at least the following beneficial effects:

[0103] The control method of the dual-motor drive system proposed by the present invention can obtain and calculate the control signals capable of controlling the operating states of the two motors according to the load states of the two motors. Since the load states of the two motors are considered simultaneously when obtaining the control signals, when controlling the two motors through a single drive module, the stability of the two motors during operation can be ensured. That is to say, the present invention can control the two motors through a single drive module, which can reduce the number of drive modules, optimize the circuit integration complexity, reduce the design size and design cost of the main board.

[0104] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for a dual-motor drive system, characterized in that: include: Collecting electrical parameters of the first motor and the second motor in the dual-motor drive system; Determining the load status of the first motor and the second motor according to the electrical parameters; A preset calculation model corresponding to the load state is obtained, and a control signal for controlling the operating states of the first motor and the second motor is calculated according to the preset calculation model.

2. The control method of the dual-motor drive system according to claim 1, characterized in that: Determining the load status of the first motor and the second motor according to the electrical parameters includes: Acquire a first speed of the first motor and a second speed of the second motor according to the electrical parameters; Calculating a speed difference between the first speed and the second speed, and determining whether the speed difference is within a preset difference range; If so, it is determined that the first motor and the second motor are in a first loaded state; if not, it is determined that the first motor and the second motor are in a second loaded state.

3. The control method of the dual-motor drive system according to claim 1, characterized in that: The electrical parameters include: the u-phase current and the v-phase current of the first motor, and the u-phase current and the v-phase current of the second motor.

4. The control method of the dual-motor drive system according to claim 2, characterized in that: When the first motor and the second motor are in a first loaded state, the preset calculation model is: u =(i u1 +i u2 ) / 2, i v =(i v1 +i v2 ) / 2,ω e =(ω1+ω2) / 2; Among them, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2 is the v-phase current of the first motor, ω1 is the speed of the first motor, ω2 is the speed of the second motor, i u 、i v ,ω e is the output parameter of the preset calculation model.

5. The control method of the dual-motor drive system according to claim 1, characterized in that: When the first motor and the second motor are in the second loaded state, the preset calculation model is: u =αi u1 +βi u2 、i v =αi v1 +βi v2 ,ω e =γ1ω1+γ2ω2; Among them, i u1 is the u-phase current of the first motor, i u2 is the u-phase current of the second motor, i v1 is the v-phase current of the first motor, i v2 is the v-phase current of the second motor, ω1 is the speed of the first motor, ω2 is the speed of the second motor, i u 、i v ,ω e are the output parameters of the preset calculation model, and α, β, γ1, and γ2 are the set coefficients.

6. The control method of the dual-motor drive system according to claim 5, characterized in that: The setting coefficient is set according to load levels of the first motor and the second motor.

7. The control method of the dual-motor drive system according to claim 1, characterized in that: Calculating control parameters for controlling the operating states of the first motor and the second motor according to the preset calculation model includes: Obtaining output parameters of the preset calculation model; Inputting the deviation between the speed signal in the output parameter and the preset speed signal into the speed loop controller to generate a command current; Performing coordinate transformation on the electrical parameters of the first motor and the second motor, and inputting the electrical parameters together with the command current into a current loop controller to generate a control voltage; The control voltage is input into a space vector pulse width modulator to generate the control signal.

8. The control method of the dual-motor drive system according to claim 2, characterized in that: When the first motor and the second motor are in a first loaded state, the first motor and the second motor are connected to the same load; When the first motor and the second motor are in the second loaded state, the first motor and the second motor are connected to different loads.

9. A dual-motor drive system, comprising a first motor, a second motor, and a drive module for driving the first motor and the second motor to operate, characterized in that: Also includes: A signal sampling module, used for collecting electrical parameters of the first motor and the second motor; a signal processing module, configured to determine the load status of the first motor and the second motor according to the electrical parameters; A controller module is used to obtain a preset calculation model corresponding to the load state, and calculate a control signal for controlling the operating states of the first motor and the second motor according to the preset calculation model.

10. A computer storage medium, characterized in that: The computer storage medium stores a control program for the dual-motor drive system. When the control program is executed, the control method for the dual-motor drive system according to any one of claims 1 to 8 is implemented.

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