A fuzzy adaptive tuning method for multi-machine balanced control of permanent magnet coupling with constant torque load

Abstract

The present invention provides a fuzzy adaptive adjustment method for balancing multiple motors under a constant torque load using a permanent magnet coupler, relating to the technical field of autonomous control of transmission equipment. The method first determines the effect of a change in the air gap of a single permanent magnet coupler on the output torque of the permanent magnet coupler when multiple permanent magnet couplers are connected via a constant torque load. The method then determines the relationship between the air gap of the permanent magnet coupler and the output angle of an angular travel electric actuator, as well as the transfer function from the opening command of the angular travel electric actuator to the output torque of the permanent magnet coupler. A reference motor is then determined. Finally, the output torque of the permanent magnet coupler is changed by adjusting the air gap of one or more permanent magnet couplers, thereby adjusting the output torque of the corresponding motor of the speed-regulating permanent magnet coupler to achieve power balancing among the multiple motors. This method achieves power balancing in a multi-machine operating mode by using a speed-regulating permanent magnet coupler.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous control of transmission equipment, and in particular to a fuzzy adaptive setting permanent magnet coupler constant torque load multi-machine balancing control method. Background Art

[0002] Belt conveyors are constant-torque devices used to transport materials and are widely used in industries such as coal, chemicals, petroleum, and electricity. To improve the operating capacity of constant-torque equipment such as single-strip belt conveyors, multi-drive designs are often employed, with two or more motors driving the same device. This effectively improves the equipment's operating capacity.

[0003] However, due to differences in the installation position of the drive motor, the belt wrap angle and the equipment's own parameters, multiple motors are prone to power imbalance during operation. When this imbalance is severe, it can cause the motor to burn out and the belt to tear. Therefore, it is very important to achieve power balance in multi-drive belt conveyors.

[0004] Currently, a common method for power balancing is to use a frequency converter (VFD) to adjust motor currents, changing the operating state of the corresponding motors to achieve power balance. However, VFD-controlled systems are subject to significant harmonic interference, and the drive system is directly connected to the load, lacking effective mechanical protection and vibration isolation systems. This makes conveyors prone to malfunction during operation. Furthermore, using a VFD for power supply requires the purchase of a dedicated VFD motor and the construction of a separate constant temperature and humidity chamber for the VFD, resulting in high modification costs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and provide a fuzzy adaptive adjustment permanent magnet coupling constant torque load multi-machine balanced control method to achieve balanced control of permanent magnet coupling constant torque load multi-machine.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: a method for balancing multiple machines with constant torque loads using a fuzzy adaptive setting permanent magnet coupling, which uses a speed-regulating permanent magnet coupling as a transmission device installed between the motor and the reducer. The transmission capacity of the transmission device is changed by adjusting the gap between the permanent magnet and the copper conductor, using the magnetic field as a medium. The speed-regulating permanent magnet coupling uses an angular stroke electric actuator to adjust the air gap of the transmission device, and the signal of the angular stroke electric actuator is given by the PLC in the integrated control system of the permanent magnet coupling.

[0007] The specific steps include:

[0008] Step 1: determining the effect of a change in the air gap of a single permanent magnet coupler on the output torque of the permanent magnet coupler when multiple permanent magnet couplers are connected through a constant torque load;

[0009] The output torque of the permanent magnetic coupling is expressed as the following two-variable polynomial using polynomial fitting:

[0010]

[0011] Where, M is the output torque of the permanent magnetic coupling; δ is the slip rate of the permanent magnetic coupling; g is the air gap of the permanent magnetic coupling; a ji is the coefficient of a certain air gap and a certain slip rate of the permanent magnetic coupling; I is the highest degree of the δ polynomial; J is the highest degree of the g polynomial;

[0012] If K permanent magnetic couplings are connected through a constant torque load, K ≥ 2, and the total load of the K permanent magnetic coupling devices is constant, then

[0013]

[0014] Where, k is the serial number of a permanent magnetic coupler in the multi-machine working mode; M k is the output torque of the kth permanent magnet coupler; g k is the air gap of the kth permanent magnet coupler; M m is the total load torque;

[0015] The multi-machine working mode means that a load is composed of multiple drive systems. Usually, a drive system includes a motor, a permanent magnet coupler, and a reducer. A K-machine system is composed of K motors, K permanent magnet couplers, and K reducers.

[0016] Combining formula (1), formula (2) can be written as:

[0017]

[0018] According to formula (1), the output torque M of the p-th permanent magnetic coupling is p for

[0019]

[0020] Among them, g p is the air gap of the p-th permanent magnetic coupler;

[0021] Apply both sides of equation (4) to the air gap g of the p-th permanent magnetic coupler p Taking the derivative, we have:

[0022]

[0023] The air gap g of the p-th permanent magnetic coupler is calculated by both sides of formula (3) p Derivative and sorting:

[0024]

[0025] Substituting equation (6) into equation (5), when multiple permanent magnetic couplers are connected through a constant torque load, the effect of the air gap change of the pth permanent magnetic coupler on its output torque is:

[0026]

[0027] Step 2: Determine the relationship between the air gap of the permanent magnetic coupler and the output angle of the angular travel electric actuator;

[0028] The characteristic equation of the angular stroke electric actuator is shown in the following formula:

[0029]

[0030] Where c(t) is the actual value of the output opening of the angular stroke electric actuator; t is the feedback opening of the angular stroke electric actuator, and its value range is 0≤t≤1; υ is the input opening command of the angular stroke electric actuator, and its value range is 0≤υ≤1; T Z It is the time for the angular stroke electric actuator to open from 0% to 100%;

[0031] The relationship between the output angle and actual opening of the angular travel electric actuator is:

[0032]

[0033] Where, θ(t) is the output angle of the angular travel electric actuator;

[0034] The relationship between the air gap of the permanent magnetic coupling and the output angle of the angular stroke electric actuator is:

[0035] g=g m -g a sinθ (10)

[0036] Where g m is the maximum air gap of the permanent magnet coupler; g a is the actual air gap variation range of the permanent magnetic coupler;

[0037] Step 3: Determine, for the pth permanent magnetic coupler in the multi-machine working mode, a transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnetic coupler;

[0038] From equations (9) and (10), and by derivatizing the air gap of the permanent magnetic coupling with the actual opening of the angular stroke electric actuator, we can obtain:

[0039]

[0040] The transmission torque of the p-th speed-regulating permanent magnetic coupling changes with the position of its own angular stroke electric actuator by combining equations (7) and (11), as shown in the following formula:

[0041]

[0042] Combine equations (11) and (12) in the multi-machine working mode. For the p-th coupler, the transfer function G from the opening command υ of the angular stroke electric actuator to the output torque of the permanent magnet coupler after Laplace transformation is: O (s) is:

[0043]

[0044] Where, T is the inertia time constant of torque change when considering the dynamic characteristics of torque transmission of the belt, υ is the input opening command of the angular stroke electric actuator, and its value range is 0≤υ≤1; s is the sign in Laplace transform;

[0045] Step 4: Use the motor connected to the permanent magnetic coupler with the smallest air gap in the multi-motor driven belt conveyor as the reference motor; if there are two or more permanent magnetic couplers with the smallest air gap, then select the motor with the smallest current as the reference motor;

[0046] Step 5: Compile the transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnetic coupling into the integrated control system of the speed-regulating permanent magnetic coupling. By adjusting the air gap size of one or several permanent magnetic couplings, the output torque of the permanent magnetic coupling is changed, and the output torque of the motor corresponding to the speed-regulating permanent magnetic coupling is adjusted to achieve power balance among multiple motors.

[0047] Step 5.1: After the belt conveyor is soft-started, the integrated control system detects and stores the operating current of the drive motor in real time, performs real-time logical judgment, and determines whether there is power imbalance between multiple motors based on the deviation value of the motor operating current;

[0048] Step 5.2: When the operating current deviation of multiple motors is greater than the set threshold, it is determined that power imbalance occurs. The operating current of the current drive motor is used as a reference, and the motor with the smallest current input current is determined as the reference motor;

[0049] Step 5.3: Use the reference motor current as the target value in fuzzy PID control, and use the difference between the operating current of other motors and the reference current for discrete PID control. Perform fuzzy tuning on the PID parameters through fuzzification, fuzzy reasoning, and defuzzification. Use the difference between the operating current of other motors and the reference current as the control target for power balancing through the PID controller.

[0050] Step 5.4: Except for the permanent magnetic coupling connected to the reference motor, which does not adjust its air gap, the integrated control system of the remaining permanent magnetic couplings calculates their respective transfer functions, and the angular stroke electric actuators begin to operate to adjust the air gaps of their corresponding permanent magnetic couplings toward the target air gaps.

[0051] Step 5.5: During the operation of the angular stroke electric actuator, the operating current of the drive motor will change. At this time, the operating current of the drive motor must be judged to determine whether the reference motor has changed. If the reference motor has changed, return to step 5.2 to re-judge the reference motor. If the reference motor has not changed, power balance has been achieved and the permanent magnet coupler air gap adjustment is completed. If the air gap of the permanent magnet coupler is adjusted by the angular stroke electric actuator, when the adjustment amount reaches the set threshold, the input current of multiple motors is still unbalanced, then multi-machine power balance has not been achieved. After re-tuning the PID parameters, return to step 5.2 to start recalculation and adjustment.

[0052] The beneficial effects of adopting the above technical solution are: the fuzzy adaptive adjustment permanent magnet coupling constant torque load multi-machine balancing control method provided by the present invention overcomes the problems of harmonic interference, mechanical protection and vibration existing in the existing transmission technology, and realizes power balance in the multi-machine working mode by using a speed-regulating permanent magnet coupling. It has the advantages of small modification project and stable and reliable adjustment, and can avoid the situation of single-machine overload and burning in multi-drive equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a flow chart of a method for balancing and controlling multiple machines with a fuzzy adaptively tuned permanent magnet coupling and constant torque load provided by an embodiment of the present invention.

[0054] Figure 2 This is a flow chart of multi-machine power balancing control provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0056] In this embodiment, a fuzzy adaptive tuning method for balancing multiple machines with a constant torque load using a permanent magnet coupling is used. A speed-regulating permanent magnet coupling is installed between the motor and the reducer. The magnetic field is used as a medium to adjust the transmission capacity of the transmission device by adjusting the gap between the permanent magnet and the copper conductor. This method has the advantages of vibration isolation and stepless speed regulation. When the device is used, it only requires the motor to be moved back, without any other investment. The speed-regulating permanent magnet coupling uses an angular stroke electric actuator to adjust the air gap of the transmission device. The signal of the angular stroke electric actuator is given by the PLC in the integrated control system of the permanent magnet coupling. The control program is pre-programmed and stored in the PLC. Figure 1 As shown, the specific steps include:

[0057] Step 1: determining the effect of a change in the air gap of a single permanent magnet coupler on the output torque of the permanent magnet coupler when multiple permanent magnet couplers are connected through a constant torque load;

[0058] Since the output torque of the permanent magnetic coupling is related to the two variables of slip rate and air gap, the output torque of the permanent magnetic coupling is expressed as the following two-variable polynomial using polynomial fitting:

[0059]

[0060] Where, M is the output torque of the permanent magnetic coupling, unit is N·m; δ is the slip rate of the permanent magnetic coupling; g is the air gap of the permanent magnetic coupling, unit is mm; a ji is the coefficient of a certain air gap and a certain slip rate of the permanent magnetic coupling; I is the highest degree of the δ polynomial; J is the highest degree of the g polynomial;

[0061] If K permanent magnetic couplings are connected through a constant torque load, K ≥ 2, and the total load of the K permanent magnetic coupling devices is constant, then

[0062]

[0063] Where, k is the serial number of a permanent magnetic coupler in the multi-machine working mode; M k is the output torque of the kth permanent magnet coupling, in N·m; g k is the air gap of the kth permanent magnet coupler, in mm; M m is the total load torque, in N·m;

[0064] The multi-machine working mode means that a load is composed of multiple drive systems. Usually, a drive system includes a motor, a permanent magnet coupling, and a reducer. The K-machine system is composed of K motors, K permanent magnet couplings, and K reducers.

[0065] Combining formula (1), formula (2) can be written as:

[0066]

[0067] According to formula (1), the output torque M of the p-th permanent magnetic coupling is p for

[0068]

[0069] Among them, g p is the air gap of the p-th permanent magnetic coupler;

[0070] Apply both sides of equation (4) to the air gap g of the p-th permanent magnetic coupler p Taking the derivative, we have:

[0071]

[0072] The air gap g of the p-th permanent magnetic coupler is calculated by both sides of formula (3) p Derivative and sorting:

[0073]

[0074] Substituting equation (6) into equation (5), when multiple permanent magnetic couplers are connected through a constant torque load, the effect of the air gap change of the pth permanent magnetic coupler on its output torque is:

[0075]

[0076] Step 2: Determine the relationship between the air gap of the permanent magnetic coupler and the output angle of the angular travel electric actuator;

[0077] The characteristic equation of the angular stroke electric actuator is shown in the following formula:

[0078]

[0079] Where c(t) is the actual value of the output opening of the angular stroke electric actuator; t is the feedback opening of the angular stroke electric actuator, and its value range is 0≤t≤1; υ is the input opening command of the angular stroke electric actuator, and its value range is 0≤υ≤1; T Z The time for the angular stroke electric actuator to open from 0% to 100%, unit: s;

[0080] The relationship between the output angle and actual opening of the angular travel electric actuator is:

[0081]

[0082] Where, θ(t) is the output angle of the angular travel electric actuator, unit is rad;

[0083] The relationship between the air gap of the permanent magnetic coupling and the output angle of the angular stroke electric actuator is:

[0084] g=g m -g a sinθ (10)

[0085] Where g m is the maximum air gap of the permanent magnetic coupler, in mm; g a is the actual air gap variation range of the permanent magnetic coupler, in mm;

[0086] Step 3: Determine, for the pth permanent magnetic coupler in the multi-machine working mode, a transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnetic coupler;

[0087] From equations (9) and (10), and by derivatizing the air gap of the permanent magnetic coupling with the actual opening of the angular stroke electric actuator, we can obtain:

[0088]

[0089] The transmission torque of the p-th speed-regulating permanent magnetic coupling changes with the position of its own angular stroke electric actuator by combining equations (7) and (11), as shown in the following formula:

[0090]

[0091] Combine equations (11) and (12) in the multi-machine working mode. For the p-th coupler, the transfer function G from the opening command υ of the angular stroke electric actuator to the output torque of the permanent magnet coupler after Laplace transformation is: O (s) is:

[0092]

[0093] Where, T is the inertia time constant of torque change when considering the dynamic characteristics of torque transmission of the belt, and the unit is s; υ is the input opening command of the angular stroke electric actuator, and the value range is 0≤υ≤1; s is the symbol in Laplace transform, representing the frequency domain;

[0094] Further express Equation (12) as follows

[0095]

[0096] in

[0097]

[0098] Step 4: Use the motor connected to the permanent magnetic coupler with the smallest air gap in the multi-motor driven belt conveyor as the reference motor; if there are two or more permanent magnetic couplers with the smallest air gap, then select the motor with the smallest current as the reference motor;

[0099] Step 5. In field application, the transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnetic coupling in formula (14) is compiled into the integrated control system of the speed-regulating permanent magnetic coupling. By adjusting the air gap size of one or several permanent magnetic couplings, the output torque of the permanent magnetic coupling is changed, and then the output torque of the motor corresponding to the speed-regulating permanent magnetic coupling is adjusted to achieve power balance among multiple motors, such as Figure 2 As shown, the specific method is:

[0100] Step 5.1: After the belt conveyor is soft-started, the integrated control system detects and stores the operating current of the drive motor in real time, performs real-time logical judgment, and determines whether there is power imbalance between multiple motors based on the deviation value of the motor operating current;

[0101] Step 5.2: When the operating current deviation of multiple motors is greater than the set threshold, it is determined that power imbalance occurs. The operating current of the current drive motor is used as a reference, and the motor with the smallest current input current is determined as the reference motor;

[0102] Step 5.3: Use the reference motor current as the target value in fuzzy PID control, and use the difference between the operating current of other motors and the reference current for discrete PID control. Perform fuzzy tuning on the PID parameters through fuzzification, fuzzy reasoning, and defuzzification. Use the difference between the operating current of other motors and the reference current as the control target for power balancing through the PID controller.

[0103] Step 5.4: Except for the permanent magnetic coupling connected to the reference motor, which does not adjust its air gap, the integrated control system of the remaining permanent magnetic couplings calculates their respective transfer functions, and the angular stroke electric actuators begin to operate to adjust the air gaps of their corresponding permanent magnetic couplings toward the target air gaps.

[0104] Step 5.5: During the operation of the angular stroke electric actuator, the operating current of the drive motor will change. At this time, the operating current of the drive motor must be judged to determine whether the reference motor has changed. If the reference motor has changed, return to step 5.2 to re-judge the reference motor. If the reference motor has not changed, power balance has been achieved and the permanent magnet coupler air gap adjustment is completed. If the air gap of the permanent magnet coupler is adjusted by the angular stroke electric actuator, when the adjustment amount reaches the set threshold, the input current of multiple motors is still unbalanced, then multi-machine power balance has not been achieved. After re-tuning the PID parameters, return to step 5.2 to start recalculation and adjustment.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. A fuzzy adaptive setting method for constant torque load multi-machine balanced control of permanent magnetic couplings, characterized by: A speed-regulating permanent magnetic coupling is used as a transmission device and installed between the motor and the reducer. The magnetic field is used as a medium to change the transmission capacity of the transmission device by adjusting the gap between the permanent magnet and the copper conductor. The speed-regulating permanent magnetic coupling uses an angular stroke electric actuator to adjust the air gap of the transmission equipment. The signal of the angular stroke electric actuator is given by the PLC in the integrated control system of the permanent magnetic coupling. The method specifically comprises the following steps: Step 1: determining the effect of a change in the air gap of a single permanent magnet coupler on the output torque of the permanent magnet coupler when multiple permanent magnet couplers are connected through a constant torque load; Step 2: Determine the relationship between the air gap of the permanent magnetic coupler and the output angle of the angular travel electric actuator; Step 3: Determine, for the pth permanent magnetic coupler in the multi-machine working mode, a transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnetic coupler; Step 4: Use the motor connected to the permanent magnetic coupler with the smallest air gap in the multi-motor driven belt conveyor as the reference motor; if there are two or more permanent magnetic couplers with the smallest air gap, then select the motor with the smallest current as the reference motor; Step 5. Compile the transfer function from the opening command of the angular stroke electric actuator to the output torque of the permanent magnet coupling into the integrated control system of the speed-regulating permanent magnet coupling. By adjusting the air gap size of one or several permanent magnet couplings, the output torque of the permanent magnet coupling is changed, and then the output torque of the motor corresponding to the speed-regulating permanent magnet coupling is adjusted to achieve power balance among multiple motors.

2. The method for controlling multiple machines with a fuzzy adaptive setting of a permanent magnet coupling constant torque load by balancing the balancing of multiple machines according to claim 1, characterized in that: The multi-machine working mode means that a load is composed of multiple drive systems. A drive system includes a motor, a permanent magnet coupler, and a reducer. The K-machine system is composed of K motors, K permanent magnet couplers, and K reducers.

3. The method for balancing and controlling multiple machines with a constant torque load using a fuzzy adaptive setting permanent magnet coupling according to claim 2 is characterized in that: The specific method of step 2 is: The output torque of the permanent magnetic coupling is expressed as the following two-variable polynomial using polynomial fitting: Where, M is the output torque of the permanent magnetic coupling; δ is the slip rate of the permanent magnetic coupling; g is the air gap of the permanent magnetic coupling; a ji is the coefficient of a certain air gap and a certain slip rate of the permanent magnetic coupling; I is the highest degree of the δ polynomial; J is the highest degree of the g polynomial; If K permanent magnetic couplings are connected through a constant torque load, K ≥ 2, and the total load of the K permanent magnetic coupling devices is constant, then Where, k is the serial number of a permanent magnetic coupler in the multi-machine working mode; M k is the output torque of the kth permanent magnet coupler; g k is the air gap of the kth permanent magnet coupler; M m is the total load torque; Combining formula (1), formula (2) can be written as: According to formula (1), the output torque M of the p-th permanent magnetic coupling is p for Among them, g p is the air gap of the p-th permanent magnetic coupler; Apply both sides of equation (4) to the air gap g of the p-th permanent magnetic coupler p Taking the derivative, we have: The air gap g of the p-th permanent magnetic coupler is calculated by both sides of formula (3) p Derivative and sorting: Substituting equation (6) into equation (5), when multiple permanent magnetic couplers are connected through a constant torque load, the effect of the air gap change of the pth permanent magnetic coupler on its output torque is:

4. The method for balancing and controlling multiple machines with a constant torque load using a fuzzy adaptive setting permanent magnet coupling according to claim 3 is characterized by: The specific method of step 2 is: The characteristic equation of the angular stroke electric actuator is shown in the following formula: Where c(t) is the actual value of the output opening of the angular stroke electric actuator; t is the feedback opening of the angular stroke electric actuator, and its value range is 0≤t≤1; υ is the input opening command of the angular stroke electric actuator, and its value range is 0≤υ≤1; T Z It is the time for the angular stroke electric actuator to open from 0% to 100%; The relationship between the output angle and actual opening of the angular travel electric actuator is: Where, θ(t) is the output angle of the angular travel electric actuator; The relationship between the air gap of the permanent magnetic coupling and the output angle of the angular stroke electric actuator is: g=g m -g a sinθ (10) Where g m is the maximum air gap of the permanent magnet coupler; g a is the actual air gap variation range of the permanent magnet coupler.

5. The method for balancing and controlling multiple machines with a fuzzy adaptive setting permanent magnet coupling constant torque load according to claim 4 is characterized in that: The specific method of step 3 is: From equations (9) and (10), and by derivatizing the air gap of the permanent magnetic coupling with the actual opening of the angular stroke electric actuator, we can obtain: The transmission torque of the p-th speed-regulating permanent magnetic coupling changes with the position of its own angular stroke electric actuator by combining equations (7) and (11), as shown in the following formula: Combine equations (11) and (12) in the multi-machine working mode. For the p-th coupler, the transfer function G from the opening command υ of the angular stroke electric actuator to the output torque of the permanent magnet coupler after Laplace transformation is: O (s) is: Where T is the inertia time constant of torque change when considering the dynamic characteristics of torque transmission of the belt, υ is the input opening command of the angular stroke electric actuator, and its value range is 0≤υ≤1; s is the symbol in Laplace transform, representing the frequency domain.

6. The method for balancing and controlling multiple machines with a constant torque load using a fuzzy adaptive setting permanent magnet coupling according to claim 5 is characterized by: The specific method of step 5 is: Step 5.1: After the belt conveyor is soft-started, the integrated control system detects and stores the operating current of the drive motor in real time, performs real-time logical judgment, and determines whether there is power imbalance between multiple motors based on the deviation value of the motor operating current; Step 5.2: When the operating current deviation of multiple motors is greater than the set threshold, it is determined that power imbalance occurs. The operating current of the current drive motor is used as a reference, and the motor with the smallest current input current is determined as the reference motor; Step 5.3: Use the reference motor current as the target value in fuzzy PID control, and use the difference between the operating current of other motors and the reference current for discrete PID control; perform fuzzy tuning on the PID parameters through fuzzification, fuzzy reasoning, and defuzzification; Through the PID controller, the difference between the operating current of other motors and the reference current is used as the control target for power balance; Step 5.4: Except for the permanent magnetic coupling connected to the reference motor, which does not adjust its air gap, the integrated control system of the remaining permanent magnetic couplings calculates their respective transfer functions, and the angular stroke electric actuators begin to operate to adjust the air gaps of their corresponding permanent magnetic couplings toward the target air gaps. Step 5.5: During the operation of the angular stroke electric actuator, the operating current of the drive motor will change. At this time, the operating current of the drive motor must be judged to determine whether the reference motor has changed. If the reference motor changes, return to step 5.2 to re-determine the reference motor; If the reference motor has not changed, power balance has been achieved and the permanent magnet coupling air gap adjustment is complete. If the permanent magnet coupling air gap is adjusted using the angular stroke electric actuator, and the input currents of multiple motors are still unbalanced after the adjustment amount reaches the set threshold, multi-machine power balance has not been achieved. After re-tuning the PID parameters, return to step 5.2 to start recalculation and adjustment.

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