An adaptive load sharing control method and device

Abstract

The application provides a self-adaptive load sharing control method and device, and relates to the field of mechanical control, which comprises the following steps: performing droop control on a first motor according to the connection mode of the first motor and a second motor driving the same load; performing torque control on the first motor according to the droop control result, the set rotating speed and the current rotating speed of the first motor to obtain a torque control result; and performing vector control on the torque control result to make the first motor reach a load sharing state. The application can make each motor for driving the same load reach a load sharing state by improving the droop control method.

Description

Technical Field

[0001] This application relates to the field of mechanical control, specifically an adaptive load-sharing control method and device. Background Technology

[0002] When multiple motors are controlled in a coordinated manner, the distribution of power among them needs to be considered. In coordinated control, the motors are connected rigidly or with a slightly loose connection to jointly drive the rotation of mechanical components. Sudden changes in external load can easily lead to uneven load distribution among the motors. Even small fluctuations in load or speed can be amplified on the motor side, potentially causing damage to the transmission mechanism or even accidents. Summary of the Invention

[0003] To address the problems in the prior art, this application provides an adaptive load sharing control method and apparatus, which can improve the droop control method to enable each motor used for driving the same load to achieve a load-sharing state.

[0004] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0005] Firstly, this application provides an adaptive load-sharing control method, including:

[0006] The first motor is drooped according to the connection method between the first motor and the second motor that drives the same load;

[0007] Based on the droop control result, the set speed and current speed of the first motor, the torque control of the first motor is performed to obtain the torque control result;

[0008] The torque control result is subjected to vector control to make the first motor reach a load-equalizing state.

[0009] Further, the connection method includes: a rigid connection; the step of controlling the droop of the first motor according to the connection method between the first motor and the second motor driving the same load includes:

[0010] The feedback torque of the first motor is determined based on the set torque of the first motor and the output torque of the second motor.

[0011] Droop control is performed based on the droop control coefficient and the feedback torque.

[0012] Furthermore, the connection method includes: a weakly rigid connection; the step of controlling the droop of the first motor according to the connection method between the first motor and the second motor driving the same load includes:

[0013] The feedback torque of the first motor is determined based on the current torque of the first motor and the output torque of the second motor.

[0014] Droop control is performed based on the droop control coefficient and the feedback torque.

[0015] Further, the step of performing torque control on the first motor based on the droop control result, the set speed of the first motor, and the current speed to obtain the torque control result includes:

[0016] The speed output result is determined based on the difference between the set speed, the droop control result, and the current speed of the first motor.

[0017] The torque control result is obtained by proportionally controlling the speed output result.

[0018] Furthermore, the connection method includes: a rigid connection; the proportional control of the speed output result includes:

[0019] According to the set torque (T) of the first motor 设定 ) and the feedback torque (T) e Determine the proportional control parameters;

[0020] The speed output result is proportionally controlled according to the proportional control parameters.

[0021] Furthermore, the connection method includes: a weakly rigid connection; the proportional control of the speed output result includes:

[0022] Based on the current torque (T) of the first motor i ) and the feedback torque (T) e Determine the proportional control parameters;

[0023] The speed output result is proportionally controlled according to the proportional control parameters.

[0024] Secondly, this application provides an adaptive load-sharing control device, including:

[0025] A droop control unit is used to control the droop of the first motor according to the connection method between the first motor and the second motor that drives the same load;

[0026] The torque control unit is used to perform torque control on the first motor based on the droop control result, the set speed of the first motor and the current speed, and obtain the torque control result.

[0027] The vector control unit is used to perform vector control on the torque control result so that the first motor reaches a load-equalizing state.

[0028] Furthermore, the connection method includes: a rigid connection; the droop control unit includes:

[0029] The feedback torque determination module is used to determine the feedback torque of the first motor based on the set torque of the first motor and the output torque of the second motor.

[0030] The droop control module is used to perform droop control based on the droop control coefficient and the feedback torque.

[0031] Furthermore, the connection method includes: a weakly rigid connection; the droop control unit includes:

[0032] The feedback torque determination module is used to determine the feedback torque of the first motor based on the current torque of the first motor and the output torque of the second motor.

[0033] The droop control module is used to perform droop control based on the droop control coefficient and the feedback torque.

[0034] Further, the torque control unit includes:

[0035] The speed output determination module is used to determine the speed output result based on the difference between the set speed, the droop control result, and the current speed of the first motor.

[0036] The torque control module is used to perform proportional control on the speed output result to obtain the torque control result.

[0037] Furthermore, the connection method includes: a rigid connection; the torque control module includes:

[0038] The proportional parameter determination module is used to determine the proportional parameter based on the set torque (T) of the first motor. 设定 ) and the feedback torque (T) e Determine the proportional control parameters;

[0039] The proportional control module is used to proportionally control the speed output result according to the proportional control parameters.

[0040] Furthermore, the connection method includes: a weakly rigid connection; the torque control module includes:

[0041] The proportional parameter determination module is used to determine the proportional parameter based on the current torque (T) of the first motor. i ) and the feedback torque (T) e Determine the proportional control parameters;

[0042] The proportional control module is used to proportionally control the speed output result according to the proportional control parameters.

[0043] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the adaptive load sharing control method.

[0044] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the adaptive load sharing control method.

[0045] To address the problems in the prior art, the adaptive load sharing control method and device provided in this application can adaptively control the load sharing of each motor when the system is subjected to a large disturbance; increase the system response speed, prevent over-impact that is prone to occur in feedforward compensation, shorten the time for the motor to reach synchronous control, and weaken the system impact. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart of the adaptive load-sharing control method in the embodiments of this application;

[0048] Figure 2 This is one of the flowcharts for droop control in the embodiments of this application;

[0049] Figure 3 This is the second flowchart of the droop control process in the embodiments of this application;

[0050] Figure 4 This is a flowchart illustrating the torque control results obtained in the embodiments of this application;

[0051] Figure 5 This is one of the flowcharts for proportional control in the embodiments of this application;

[0052] Figure 6 This is the second flowchart of the proportional control process in the embodiments of this application;

[0053] Figure 7 This is a structural diagram of the adaptive load-sharing control device in the embodiments of this application;

[0054] Figure 8 This is one of the structural diagrams of the droop control unit in the embodiments of this application;

[0055] Figure 9This is the second structural diagram of the droop control unit in the embodiments of this application;

[0056] Figure 10 This is a structural diagram of the torque control unit in an embodiment of this application;

[0057] Figure 11 This is one of the structural diagrams of the torque control module in the embodiments of this application;

[0058] Figure 12 This is the second structural diagram of the torque control module in the embodiments of this application;

[0059] Figure 13 This is the overall logic block diagram of the adaptive load-sharing control method in the embodiments of this application;

[0060] Figure 14 This is a diagram of the motor control strategy in the rigid connection scheme one of the embodiments of this application;

[0061] Figure 15 This is a diagram of the motor control strategy in the rigid connection scheme two of the embodiments of this application;

[0062] Figure 16 This is a control strategy diagram for the i-th motor in the weak rigid connection scheme 1 of this application embodiment;

[0063] Figure 17 This is a control strategy diagram for the i-th motor in the weakly rigid connection scheme two of this application embodiment;

[0064] Figure 18 This is a schematic diagram of the structure of the electronic device in the embodiments of this application. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0066] In one embodiment, see Figure 1 In order to achieve load sharing among motors driven by the same load by improving the droop control method, this application provides an adaptive load sharing control method, including:

[0067] S101: Perform droop control on the first motor according to the connection method between the first motor and the second motor that drives the same load;

[0068] S102: Based on the droop control result, the set speed of the first motor and the current speed, perform torque control on the first motor to obtain the torque control result;

[0069] S103: Perform vector control on the torque control results to make the first motor reach the load-sharing state.

[0070] It is understandable that when multiple motors drive the same load at the same speed, if one of the motors encounters a sudden increase or decrease in external load, without load balancing control, the torque of that motor may suddenly rise or fall, making it impossible to maintain synchronization with the other motors. For example, the cutterhead drive system of a tunnel boring machine requires multiple motors to drive the rotation of the cutterhead through a reducer, a small gear ring, and a large gear ring. The adaptive load sharing control method provided in this application can be applied to achieve a load balancing state (also known as load equalization) among multiple motors driving the same load. The engineering scenarios in which this application is applied include, but are not limited to, load balancing control of multiple motors within a tunnel boring machine. The adaptive load sharing control method provided in this application involves the principle of droop control, which means that based on the given motor speed, an offset proportional to the output torque is subtracted to obtain the control result. The method for calculating this offset is usually the torque multiplied by a droop proportional coefficient, which is generally taken as 3% to 5%, but this application is not limited to this, and the coefficient can be a pre-set fixed value. While existing droop control techniques can effectively control stable loads, they are ineffective at tracking motor speeds and providing poor response to sudden changes in load. To address these issues (not limited to those mentioned above), this application provides an adaptive load-sharing control method that enhances system responsiveness and improves synchronization between multiple motors.

[0071] In specific implementation, the executing entity of steps S101 to S103 can be a controller. The so-called "first motor" and "second motor" belong to an electromechanical system that drives the same load or the same group of loads. There may be multiple "second motors", which refer to other motors in the electromechanical system other than the "first motor" used to drive the same load or the same group of loads.

[0072] Since the adaptive load-sharing control method provided in this application needs to distinguish between the connection methods of the "first motor" and the "second motor," it is necessary to perform droop control on the first motor according to the connection method between the first motor and the second motor driving the same load. See [link to relevant documentation]. Figure 13As shown. Connection methods include rigid connections and weakly rigid connections. If multiple drive motors drive the component to rotate together through a mechanical transmission system in a rigid connection manner, it is called a rigid connection; if multiple drive motors drive the component to rotate together through a mechanical transmission system in a flexible connection manner, it is called a weakly rigid connection. A weakly rigid connection can also be understood as a non-purely rigid connection, which may undergo deformation during connection.

[0073] From the equation of motion of the electric drive system and the principle of torque balance, we can obtain:

[0074]

[0075] In the formula, T ei Let T be the output torque of the i-th motor. L For the load torque, J i Let J be the moment of inertia of the i-th motor rotor. m Let ω be the moment of inertia of the load, and ω be the common angular velocity. When there is a sudden change in load, the connecting shafts will transmit torque. When the forces are balanced, it can be approximated that the forces on each shaft are balanced, thus obtaining:

[0076] T mean =(T e1 +T e2 +...+T ei -T L ) / i (2)

[0077] In the formula, T mean Let i be the average force, i be the number of motors, and the other parameters are defined in the same way as above.

[0078] Subsequently, torque control can be performed on the first motor based on the droop control results, the set speed of the first motor, and the current speed to obtain the torque control results. Then, vector control is performed on the torque control results to make the first motor reach a load-sharing state. The specific implementation method is described in detail below. Among them, vector control refers to controlling the excitation current and torque current of the asynchronous motor by measuring and controlling the stator current vector of the asynchronous motor, and controlling the excitation current and torque current of the asynchronous motor respectively according to the principle of field orientation, thereby achieving the purpose of controlling the torque of the asynchronous motor.

[0079] As can be seen from the above description, the adaptive load sharing control method provided in this application can adaptively control the load sharing of each motor when the system is subjected to a large disturbance; increase the system response speed, prevent over-impact that is easy to occur in feedforward compensation, shorten the time for the motor to reach synchronous control, and weaken the system impact.

[0080] In one embodiment, see Figure 2 The connection methods include: rigid connection; droop control of the first motor is performed according to the connection method between the first motor and the second motor driving the same load, including:

[0081] S201: Based on the set torque (T) of the first motor 设定 The feedback torque of the first motor is determined by the output torque of the second motor and the output torque of the second motor.

[0082] S202: Droop control is performed based on the droop control coefficient and feedback torque.

[0083] Understandably, see Figure 14 In step S201, the second motor includes multiple motors, and the average output torque of all second motors can be calculated based on the output torque of each second motor. It should be noted that T... mean The torque can be the average value determined by the output torque of the first motor and the output torque of (multiple) second motors. For the specific solution method, please refer to equations (1) and (2) above. The output torque of the second motor can be obtained by observing the torque sensor or by calculating the torque. In specific implementation, by adding a coefficient that changes with the torque value to the torque, the response speed of the torque to the load can be increased, as shown in equation (3).

[0084] Torque can be measured using a torque sensor or estimated using formulas by collecting electrical information from the motor.

[0085]

[0086] Among them, T e To observe the torque, n p Let i be the number of pole pairs of the motor. st ψ is the torque component of the stator current. r For rotor flux linkage, L m For mutual inductance, with L r These are the self-inductances of the rotor windings.

[0087] Among them, T 设定 The value can be preset according to the actual working conditions, and can be the rated torque of the motor or other suitable values. This application is not limited to this.

[0088]

[0089] In the formula, ω c_ei To add a variable T that varies with the average torque to the control input fed back to the given speed after the i-th droop control, the control input is... mean When the feedback T mean When the torque is large, the system responsiveness can be increased by increasing the coefficient of variation with the external load torque. At the same time, a limiting output is added to the PI loop to prevent excessive system impact.

[0090] The K value and the Drop ratio can be set according to the actual working conditions; in a preferred embodiment, it is recommended that K be ≥1 and the Drop ratio be between 0.01 and 0.1.

[0091] As can be seen from the above description, the adaptive load sharing control method provided in this application can perform droop control on the first motor according to the connection method between the first motor and the second motor driving the same load.

[0092] In one embodiment, see Figure 3 The connection methods include: a weakly rigid connection; droop control of the first motor is performed based on the connection method between the first motor and the second motor driving the same load, including:

[0093] S301: Determine the feedback torque of the first motor based on the current torque of the first motor and the output torque of the second motor;

[0094] S302: Droop control is performed based on the droop control coefficient and feedback torque.

[0095] Understandably, see Figure 16 In step S301, the second motor includes multiple second motors, and the average output torque of all second motors can be calculated based on the output torque of each second motor. It should be noted that T... mean The torque can be the average value determined by the output torque of the first motor and the output torque of (multiple) second motors. The specific solution method is shown in equations (1) and (2) above. The output torque of the second motor can be obtained by observing the torque sensor or by calculating the torque. In practice, by adding a coefficient that changes with the torque value to the torque, the response speed of the torque to the load can be increased, as shown in equation (5).

[0096]

[0097] The K value and the Drop ratio can be set according to the actual working conditions; in a preferred embodiment, it is recommended that K be ≥1 and the Drop ratio be between 0.01 and 0.1.

[0098] Equation (5) shows that each motor can adjust the proportional coefficient of the Droop control based on the difference between its torque and the average torque. The larger the difference, the stronger the adjustment effect. i Let be the current feedback torque of the i-th motor. The i-th motor can be the first motor. The first motor can be load balanced by applying formula (5).

[0099] As can be seen from the above description, the adaptive load sharing control method provided in this application can perform droop control on the first motor according to the connection method between the first motor and the second motor driving the same load.

[0100] In one embodiment, see Figure 4 Based on the droop control results, the set speed of the first motor, and the current speed, torque control is performed on the first motor to obtain the torque control results, including:

[0101] S401: Determine the speed output result based on the difference between the set speed, the droop control result, and the current speed of the first motor;

[0102] S402: Perform proportional control on the speed output to obtain the torque control result.

[0103] Understandably, see Figure 15 In step S401, ω* on the left side of the diagram represents the set speed of the first motor, T e ×Droop represents the droop control result, and ω represents the current speed of the first motor. As shown in the graph, after ω*-T... e The ×Droop-ω calculation yields the rotational speed output.

[0104] Among them, a limited asynchronous motor can be added to the motor. When observing the current speed, it can be measured by a speed sensor such as an encoder; or the current and voltage of the motor can be collected and estimated by the mathematical model of the motor.

[0105] When T e Greater than T 设定 When performing proportional control, the following methods are adopted: Figure 15 The upper pathway in; when T e Less than or equal to T 设定 When performing proportional control, the following methods are adopted: Figure 15 The lower path in the process ultimately yields the torque control result. The specific method for proportional control is detailed below.

[0106] See Figure 17 In step S401, ω* on the left side of the diagram represents the set speed of the first motor, T e ×Droop represents the droop control result, and ω represents the current speed of the first motor. As shown in the graph, after ω*-T... e The rotational speed output can be obtained by calculating ×Droop-ω.

[0107] When |T i -T mean | Greater than T 设定 When performing proportional control, the following methods are adopted: Figure 15 The upper pathway in; when |T i -T mean | Less than or equal to T 设定 When performing proportional control, the following methods are adopted: Figure 15The lower path in the process ultimately yields the torque control result. The specific method for proportional control is detailed below.

[0108] As can be seen from the above description, the adaptive load sharing control method provided in this application can perform torque control on the first motor based on the droop control result, the set speed of the first motor and the current speed, and obtain the torque control result.

[0109] In one embodiment, see Figure 5 The connection methods include: rigid connection; proportional control of the speed output results includes:

[0110] S501: Based on the set torque (T) of the first motor 设定 ) and feedback torque (T) e Determine the proportional control parameters;

[0111] S502: Performs proportional control on the speed output based on the proportional control parameters.

[0112] Understandably, see Figure 15 When performing proportional control on the speed output, the mode can be switched (upper path or lower path as mentioned above) by the magnitude of the feedback torque. When the feedback torque is large, an adaptive PI algorithm based on torque changes is used for control to increase the system's responsiveness. When the torque is small, a regular PI is used to adjust the speed loop. Similarly, the output is limited in the PI controller to prevent excessive system impact. For details, see equation (4).

[0113]

[0114] In the formula, ω * To set the rotational speed, when the motor has an encoder, ω can be the feedback speed from the encoder; when the motor does not have an encoder, ω is the estimated motor speed, T e K is the motor feedback torque. P K i These are the proportional coefficient and the integral coefficient, respectively.

[0115] As can be seen from the above description, the adaptive load sharing control method provided in this application can perform proportional control on the speed output result.

[0116] In one embodiment, see Figure 6 Connection methods include: weakly rigid connection; proportional control of speed output results includes:

[0117] S601: Determine the proportional control parameters based on the current torque (Ti) and feedback torque (Te) of the first motor;

[0118] S602: Performs proportional control on the speed output based on the proportional control parameters.

[0119] Understandably, see Figure 17 When performing proportional control on the speed output, the mode can be switched (upper path or lower path as mentioned above) by the magnitude of the feedback torque. When the feedback torque is large, an adaptive PI algorithm based on torque changes is used for control to increase the system's responsiveness. When the torque is small, a regular PI is used to adjust the speed loop. Similarly, the output is limited in the PI controller to prevent excessive system impact. For details, see equation (6).

[0120]

[0121] In the formula, T i * ω is the output torque of the i-th motor in the speed loop. * To set the rotational speed, T i The feedback torque of the i-th motor is determined based on the actual system conditions and is a value greater than zero. When the force on a motor deviates from the average value, the output is adjusted according to the deviation.

[0122] As can be seen from the above description, the adaptive load sharing control method provided in this application can perform proportional control on the speed output result.

[0123] Based on the same inventive concept, this application also provides an adaptive load-sharing control device, which can be used to implement the method described in the above embodiments, as described in the following embodiments. Since the principle of the adaptive load-sharing control device in solving the problem is similar to that of the adaptive load-sharing control method, the implementation of the adaptive load-sharing control device can refer to the implementation of the method based on software performance benchmarks, and will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0124] In one embodiment, see Figure 7 In order to achieve load sharing among motors driven by the same load by improving the droop control method, this application provides an adaptive load sharing control device, including:

[0125] The droop control unit 701 is used to control the droop of the first motor according to the connection method between the first motor and the second motor that drives the same load;

[0126] The torque control unit 702 is used to perform torque control on the first motor based on the droop control result, the set speed of the first motor and the current speed, and to obtain the torque control result.

[0127] The vector control unit 703 is used to perform vector control on the torque control result so that the first motor reaches a load-equalizing state.

[0128] In one embodiment, see Figure 8 The connection method includes: rigid connection; the droop control unit 701 includes:

[0129] The first feedback torque determination module 801 is used to determine the feedback torque of the first motor based on the set torque of the first motor and the output torque of the second motor.

[0130] The first droop control module 802 is used to perform droop control based on the droop control coefficient and the feedback torque.

[0131] In one embodiment, see Figure 9 The connection method includes: a weakly rigid connection; the droop control unit 701 includes:

[0132] The second feedback torque determination module 901 is used to determine the feedback torque of the first motor based on the current torque of the first motor and the output torque of the second motor.

[0133] The second droop control module 902 is used to perform droop control based on the droop control coefficient and the feedback torque.

[0134] In one embodiment, see Figure 10 The torque control unit 702 includes:

[0135] The speed output determination module 1001 is used to determine the speed output result based on the difference between the set speed, the droop control result, and the current speed of the first motor.

[0136] The torque control module 1002 is used to perform proportional control on the speed output result to obtain the torque control result.

[0137] In one embodiment, see Figure 11 The connection method includes: rigid connection; the torque control module 1002 includes:

[0138] The first proportional parameter determination module 1101 is used to determine proportional control parameters based on the set torque of the first motor and the feedback torque.

[0139] The first proportional control module 1102 is used to perform proportional control on the speed output result according to the proportional control parameters.

[0140] In one embodiment, see Figure 12 The connection method includes: a weakly rigid connection; the torque control module 1002 includes:

[0141] The second proportional parameter determination module 1201 is used to determine proportional control parameters based on the current torque of the first motor and the feedback torque.

[0142] The second proportional control module 1202 is used to perform proportional control on the speed output result according to the proportional control parameters.

[0143] From a hardware perspective, in order to achieve load sharing among motors driven by the same load by improving the droop control method, this application provides an embodiment of an electronic device for implementing all or part of the aforementioned adaptive load sharing control method. The electronic device specifically includes the following components:

[0144] The system comprises a processor, a memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the communications interface is used to realize information transmission between the adaptive load sharing control device and core business systems, user terminals, and related databases and other related devices; the logic controller can be a desktop computer, tablet computer, or mobile terminal, etc., and this embodiment is not limited to these. In this embodiment, the logic controller can be implemented with reference to the embodiments of the adaptive load sharing control method and the adaptive load sharing control device in the embodiments, the contents of which are incorporated herein, and repeated details will not be described again.

[0145] It is understood that the user terminal may include smartphones, tablet computers, network set-top boxes, portable computers, desktop computers, personal digital assistants (PDAs), in-vehicle devices, smart wearable devices, etc. Among these, the smart wearable devices may include smart glasses, smartwatches, smart bracelets, etc.

[0146] In practical applications, the adaptive load-sharing control method can be partially executed on the electronic device side as described above, or all operations can be completed in the client device. The choice can be made based on the processing power of the client device and the limitations of the user's usage scenario. This application does not impose any limitations on this. If all operations are completed in the client device, the client device may further include a processor.

[0147] The aforementioned client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission. The server may include a server on the task scheduling center side; in other implementation scenarios, it may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, a server cluster consisting of multiple servers, or a distributed server structure.

[0148] Figure 18 This is a schematic block diagram illustrating the system configuration of the electronic device 9600 according to an embodiment of this application. Figure 18 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that... Figure 18 This is an example; other types of structures can also be used to supplement or replace this structure to achieve telecommunications functions or other functions.

[0149] In one embodiment, the adaptive load-sharing control method function can be integrated into the central processing unit 9100. The central processing unit 9100 can be configured to perform the following control:

[0150] S101: Perform droop control on the first motor according to the connection method between the first motor and the second motor that drives the same load;

[0151] S102: Based on the droop control result, the set speed of the first motor and the current speed, perform torque control on the first motor to obtain the torque control result;

[0152] S103: Perform vector control on the torque control result to make the first motor reach a load-equalizing state.

[0153] As can be seen from the above description, the adaptive load sharing control method and device provided in this application can adaptively control the load sharing of each motor when the system where the load is located is subjected to a large disturbance impact; it can better distribute the load to each motor as the output torque of each motor changes, increase the system response speed, prevent over-impact that is easy to occur in feedforward compensation, shorten the time for the motor to reach synchronous control, and weaken the system impact.

[0154] In another embodiment, the adaptive load sharing control device can be configured separately from the central processing unit 9100. For example, the adaptive load sharing control device of the data composite transmission device can be configured as a chip connected to the central processing unit 9100, and the function of the adaptive load sharing control method can be realized through the control of the central processing unit.

[0155] like Figure 18As shown, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily need to include these components. Figure 18 All components shown; in addition, the electronic device 9600 may also include Figure 18 For components not shown, please refer to existing technologies.

[0156] like Figure 18 As shown, the central processing unit 9100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device, which receives inputs and controls the operation of various components of the electronic device 9600.

[0157] The memory 9140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 9100 may execute the program stored in the memory 9140 to perform information storage or processing, etc.

[0158] Input unit 9120 provides input to central processing unit 9100. Input unit 9120 may be, for example, a keypad or touch input device. Power supply 9170 provides power to electronic device 9600. Display 9160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0159] The memory 9140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 9140 can also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 via the central processing unit 9100.

[0160] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for the electronic device's communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0161] The communication module 9110 is a transmitter / receiver 9110 that transmits and receives signals via the antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processing unit 9100 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0162] Based on different communication technologies, multiple communication modules 9110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby realizing typical telecommunications functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 9130 is also coupled to a central processing unit 9100, enabling on-device recording via the microphone 9132 and on-device playback of stored sound via the speaker 9131.

[0163] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the adaptive load sharing control method with a server or client as the execution subject in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the adaptive load sharing control method with a server or client as the execution subject in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0164] S101: Perform droop control on the first motor according to the connection method between the first motor and the second motor that drives the same load;

[0165] S102: Based on the droop control result, the set speed of the first motor and the current speed, perform torque control on the first motor to obtain the torque control result;

[0166] S103: Perform vector control on the torque control result to make the first motor reach a load-equalizing state.

[0167] As can be seen from the above description, the adaptive load sharing control method and device provided in this application can adaptively control the load sharing of each motor when the system where the load is located is subjected to a large disturbance impact; it can better distribute the load to each motor as the output torque of each motor changes, increase the system response speed, prevent over-impact that is easy to occur in feedforward compensation, shorten the time for the motor to reach synchronous control, and weaken the system impact.

[0168] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0172] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An adaptive load-sharing control method, characterized in that, The method comprises: determine a feedback torque of the first motor according to a set torque of the first motor and an output torque of the second motor; perform droop control according to a droop control coefficient and the feedback torque; wherein the connection mode comprises weak rigid connection; and the droop control unit comprises: determine a feedback torque of the first motor according to a current torque of the first motor and an output torque of the second motor; perform droop control according to a droop control coefficient and the feedback torque. The torque control unit comprises: determine a speed output result according to a difference between the set speed and the difference between the droop control result and the current speed of the first motor; perform proportional control on the speed output result to obtain the torque control result. The connection mode comprises rigid connection; and the proportional control on the speed output result comprises:

2. The adaptive load sharing control method of claim 1, wherein, perform proportional control on the speed output result according to the proportional control parameter. The connection mode comprises weak rigid connection; and the proportional control on the speed output result comprises: perform proportional control on the speed output result according to the proportional control parameter.

3. The adaptive load sharing method of claim 2, wherein, The method comprises: determining a proportional control parameter according to a set torque (T 设定 ) of the first motor and the feedback torque (T e ); a droop control unit configured to perform droop control on the first motor according to a connection mode of the first motor and a second motor driving a same load; 4. The adaptive load sharing method of claim 2, wherein, a torque control unit configured to perform torque control on the first motor according to a droop control result, a set speed and a current speed of the first motor, and obtain a torque control result; determining a proportional control parameter based on a current torque (T i ) of the first electric motor and the feedback torque (T e ); a vector control unit configured to perform vector control on the torque control result, and make the first motor reach a load sharing state; 5. An adaptive load sharing control device, characterized by, wherein the connection mode comprises rigid connection; and the droop control unit comprises: a feedback torque determination module configured to determine a feedback torque of the first motor according to a set torque of the first motor and an output torque of the second motor; a droop control module configured to perform droop control according to a droop control coefficient and the feedback torque; wherein the connection mode comprises weak rigid connection; and the droop control unit comprises: a feedback torque determination module configured to determine a feedback torque of the first motor according to a current torque of the first motor and an output torque of the second motor; a droop control module configured to perform droop control according to a droop control coefficient and the feedback torque. The torque control unit comprises: ​ ​ ​ 6. The adaptive load sharing control device of claim 5, wherein, ​ The speed output determination module is configured to determine a speed output result according to the difference between the set speed and the droop control result and the current speed of the first motor. The torque control module is configured to perform proportional control on the speed output result to obtain the torque control result.

7. The adaptive load sharing control device of claim 6, wherein, The connection mode includes rigid connection, and the torque control module includes: The proportional parameter determination module is configured to determine a proportional control parameter according to the set torque of the first motor and the feedback torque. The proportional control module is configured to perform proportional control on the speed output result according to the proportional control parameter.

8. The adaptive load sharing control device of claim 6, wherein, The connection mode includes weak rigid connection, and the torque control module includes: The proportional parameter determination module is configured to determine a proportional control parameter according to the current torque of the first motor and the feedback torque. The proportional control module is configured to perform proportional control on the speed output result according to the proportional control parameter.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the adaptive equal-load control method of any one of claims 1 to 4.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the adaptive equal-load control method of any one of claims 1 to 4.

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