Motor control method, system and multi-motor synchronous driving device

Abstract

The application relates to the technical field of motor control, and provides a motor control method, a system and a multi-motor synchronous driving device, wherein the method comprises the following steps: obtaining feedback torques of each motor driving module connected with a plurality of motors respectively after the driving device is connected with a constant load and executes a torque control instruction, the torque control instruction being a given torque allocated to the motor; determining a to-be-adjusted motor not satisfying a preset execution condition in the plurality of motors based on the given torque and the feedback torques, the preset execution condition being that a torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold; and adjusting a conversion control parameter of the motor driving module to the to-be-adjusted motor until the to-be-adjusted motor satisfies the preset execution condition. The application is used to solve the defects that the output torque difference caused by the motor itself cannot be corrected in the prior art, torque output balance cannot be effectively ensured, and torque output balance of the multi-motor synchronous driving device is realized.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a motor control method, system, and multi-motor synchronous drive device. Background Technology

[0002] Currently, the application of multi-motor synchronous drive devices is increasing, such as electric fracturing pumps and tunnel boring machine shields. Taking electric fracturing pumps as an example, multiple motors synchronously drive the pump through gear meshing. In driving an electric fracturing pump, when the actual torque of a motor does not match the input torque, i.e., when there is a difference in the actual torque of each motor, some gears will operate under overload for extended periods, while others will operate under light load for extended periods. Consequently, the actual service life of the gears operating under overload for extended periods will be far less than their designed service life.

[0003] In current multi-motor synchronous drives, PID control is mostly used to ensure consistent output torque. This involves first inputting a given torque to the motor driver, and then determining the feedback adjustment based on the motor driver's output torque. Specifically, when the output torque is greater than the input torque, a negative compensation torque is applied to the motor driver; conversely, when the output torque is less than the input torque, a positive compensation torque is applied to achieve a basic balance in torque output.

[0004] However, PID control adjusts the motor's output torque by compensating for a given torque. Therefore, it is only suitable for regulating output torque changes caused by external torque load fluctuations. It cannot correct uneven load distribution caused by inherent equipment issues. Consequently, it cannot guarantee that the output torque of each motor will be balanced after adjustment. Summary of the Invention

[0005] This invention provides a motor control method, system, and multi-motor synchronous drive device to solve the defects in the prior art that cannot correct the output torque difference caused by the motor itself, which makes it impossible to effectively guarantee torque output balance, and realizes torque output balance of the multi-motor synchronous drive device.

[0006] This invention provides a motor control method applied to a drive device synchronously driven by multiple motors, wherein the method includes:

[0007] When the drive device is connected to a constant load, the feedback torque is obtained after each motor drive module connected to multiple motors executes the torque control command, wherein the torque control command is a given torque allocated to the motor.

[0008] Based on the given torque and the feedback torque, motors that do not meet the preset execution conditions among the multiple motors are identified as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold.

[0009] Adjust the conversion control parameters of the motor drive module for the motor to be tested until the motor to be tested meets the preset execution conditions.

[0010] According to the motor control method of the present invention, adjusting the conversion control parameters of the motor drive module for the motor to be tested includes:

[0011] Based on the given torque and the feedback torque, the motor drive module adjusts the modulation voltage of the motor to be tested.

[0012] According to the motor control method of the present invention, adjusting the modulation voltage of the motor to be tested by the motor drive module based on the given torque and the feedback torque includes:

[0013] If the given torque is less than the feedback torque, the modulation voltage of the motor to be tested will be reduced by a preset adjustment amount;

[0014] If the given torque is greater than the feedback torque, the modulation voltage of the motor to be tested will be increased by the preset adjustment amount.

[0015] According to the motor control method of the present invention, adjusting the conversion control parameters of the motor drive module for the motor under test until the motor under test meets the preset execution conditions includes:

[0016] Adjust the modulation voltage of the motor drive module for the motor to be tested until the torque deviation between the feedback torque and the given torque after the motor to be tested executes the torque control command under the adjusted modulation voltage is less than or equal to a preset threshold.

[0017] Each time the modulation voltage is adjusted, the motor to be tested responds to the adjusted modulation voltage.

[0018] The motor control method according to the present invention further includes:

[0019] Real-time monitoring of the feedback torque fed back by each motor drive module after executing the torque control command during the actual working phase of the drive device;

[0020] Based on the given torque and the feedback torque, motors that do not meet the preset execution conditions are identified as motors to be repaired.

[0021] Adjust the conversion control parameters of the motor drive module for the motor under maintenance and trigger an alarm.

[0022] The present invention also provides a motor control system applied to a drive device synchronously driven by multiple motors, wherein the system includes:

[0023] The acquisition module is used to acquire the feedback torque fed back by each motor drive module connected to multiple motors after executing the torque control command when the drive device is connected to a constant load. The torque control command is a given torque allocated to the motor.

[0024] The judgment module is used to determine, based on the given torque and the feedback torque, the motors that do not meet the preset execution conditions among the multiple motors, and to identify them as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold.

[0025] The processing module is used to adjust the conversion control parameters of the motor drive module for the motor to be tested until the motor to be tested meets the preset execution conditions.

[0026] The motor control system according to the present invention further includes:

[0027] An alarm module is used to issue an alarm when the feedback torque fed back by each of the motor drive modules after executing the torque control command during the actual working phase of the drive device deviates from the given torque by a preset threshold.

[0028] The present invention also provides a multi-motor synchronous drive device including the motor control system described in any of the above embodiments.

[0029] The present invention also 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 motor control method as described above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the motor control method as described above.

[0031] This invention provides a motor control method, system, and multi-motor synchronous drive device. First, it acquires the feedback torque from each motor drive module connected to multiple motors after executing torque control commands when the drive device is connected to a constant load. Then, based on the torque deviation between the given torque in the torque control command and the feedback torque, it identifies motors among the multiple motors that do not meet preset execution conditions as motors to be debugged. Finally, it adjusts the conversion control parameters of the motor drive module for the motors to be debugged to achieve matching between the feedback torque of the motor drive module and the given torque. By adjusting the conversion control parameters of the motor in the motor drive module, the output characteristics of the motor itself are adjusted. This achieves adjustment of the motor's output torque based on the given torque from the motor's own perspective, solving the problem in existing technologies where feedback torque adjustment is achieved by compensating for the given torque, which cannot correct for feedback torque variations caused by factors such as the motor itself or installation. This ensures the effectiveness of motor output torque adjustment and guarantees the balance of multi-motor output torque. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic flowchart of a motor control method provided in an embodiment of the present invention;

[0034] Figure 2 This is a cross-sectional schematic diagram of the gear transmission structure of an electrically driven fracturing pump;

[0035] Figure 3 This is a control logic diagram of applying the motor control method provided in the embodiments of the present invention to an electrically driven fracturing pump;

[0036] Figure 4 This is a schematic diagram of the structure of a motor control system provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention;

[0038] Figure label:

[0039] 1: Motor; 2: Pinion; 3: Gear; 4: Drive shaft; 5: Load. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] It is understandable that, on the one hand, motors from the same manufacturer and of the same model may have slight differences in output characteristics. Furthermore, even two motors with identical output characteristics can have their output characteristics affected by external factors such as installation and load during actual installation and use, resulting in different output characteristics. For example, in a fracturing pump driven synchronously by multiple motors through gear meshing, slight differences in gear manufacturing, installation, or motor characteristics can cause the motor drive module to receive the same torque data, but the actual torque of the motor may not be the same as the input torque.

[0042] However, commonly used PID control calculates the compensation torque based on the deviation between the output torques of each motor, and then achieves balance among the output torques by compensating the input torque. Therefore, if only the PID method is used to compensate for the input torque, it cannot solve the problem of output torque imbalance caused by uneven load distribution due to the motor itself, and it also cannot detect changes in the load on the transmission gears in advance.

[0043] On the other hand, the control process of the motor output torque based on the given torque is as follows: the controller sends the given torque to the motor driver, the motor driver converts the given torque into a current vector and sends it to the motor to execute the action.

[0044] Based on this, embodiments of the present invention provide a motor control method for compensating the output characteristic curves of each motor before the drive device is put into use, so as to ensure that each motor can output the same output torque based on the same input torque data during the operation of the drive device.

[0045] The following is combined Figures 1 to 3 This invention describes a motor control method executed by a controller and / or its software or hardware in a multi-motor synchronous drive device. The controller can be an existing controller on the drive device or a separately configured controller specifically for motor control, such as... Figure 1 As shown, the motor control method provided in this embodiment of the invention includes the following steps:

[0046] 101. Obtain the feedback torque after each motor drive module connected to multiple motors executes the torque control command when the drive device is connected to a constant load, wherein the torque control command is a given torque allocated to the motor;

[0047] It is understandable that the output characteristics of the same motor may change after it is installed and connected to a load. For drive devices based on multi-motor synchronous drive, when multiple motors with the same input torque cannot output the same output torque, the load will be unbalanced.

[0048] Specifically, by connecting a constant load to the drive unit before maintenance, repair, or other formal use, the feedback torque from each motor drive module after executing torque control commands is obtained. By determining whether the feedback torque after each motor drive module controls the motor to operate at the same given torque is the same as the given torque, it can be ensured that the output torque of each motor is the same for the same given torque before the drive unit is put into operation.

[0049] 102. Based on the given torque and the feedback torque, determine the motors among the multiple motors that do not meet the preset execution conditions as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold.

[0050] Specifically, when the motor drive module controls the motor to operate according to a given torque, the motor's output torque should theoretically be the same as the given torque. However, due to the influence of various factors such as environment and installation, the output torque, i.e., the feedback torque fed back by the motor drive module, can have a certain difference from the given torque, that is, an acceptable error is allowed.

[0051] More specifically, by setting a preset threshold and then comparing the torque deviation between the given torque and the feedback torque with the preset threshold, motors with a large difference between the given torque and the feedback torque can be identified, i.e., motors that need to be adjusted.

[0052] Furthermore, by adjusting the motor to be adjusted so that its feedback torque matches the given torque, the output torque of multiple motors driving the drive device can be balanced, thereby improving the stability of the drive device and extending its service life.

[0053] 103. Adjust the conversion control parameters of the motor drive module for the motor to be tested until the motor to be tested meets the preset execution conditions.

[0054] Specifically, by adjusting the conversion control parameters of the motor to be tested in the motor drive module, such as the modulation voltage and carrier frequency, the output characteristic curve of the motor can be changed, that is, the output torque of the motor to be tested for the same given torque can be altered. Therefore, during actual operation of the drive device, it can be ensured that for the same given torque, a substantially identical output torque can be output, without the need for compensation for each given torque based on the output torque of each motor during the use of the drive device.

[0055] More specifically, when the output characteristic curves of each motor have been adjusted to be basically the same during the maintenance phase or other stages before the drive unit is put into formal use, if the feedback torque of a certain motor is significantly different from that of other motors during actual operation, the drive unit can effectively identify changes in the motor load, thereby avoiding the drawback of only discovering the problem when actual damage occurs.

[0056] As an embodiment of the present invention, adjusting the conversion control parameters of the motor drive module for the motor to be debugged includes:

[0057] Based on the given torque and the feedback torque, the motor drive module adjusts the modulation voltage of the motor to be tested.

[0058] Specifically, by adjusting the modulation voltage of the motor drive module for the motor under test based on the given torque and feedback torque, the output characteristic curve of the motor under test can be adjusted.

[0059] More specifically, the modulation voltage is adjusted based on the relationship between the given torque and the feedback torque; that is, the output is adjusted by increasing or decreasing the motor input. For example, when the given torque is greater than the feedback torque, the modulation voltage is increased; when the given torque is less than the feedback torque, the modulation voltage is decreased. Furthermore, the change in modulation voltage is proportional to the torque difference between the given torque and the feedback torque.

[0060] As an embodiment of the present invention, adjusting the modulation voltage of the motor drive module for the motor under test based on the given torque and the feedback torque includes:

[0061] If the given torque is less than the feedback torque, the modulation voltage of the motor to be tested will be reduced by a preset adjustment amount;

[0062] If the given torque is greater than the feedback torque, the modulation voltage of the motor to be tested will be increased by the preset adjustment amount.

[0063] It is understandable that the output torque of a motor is proportional to the square of the input voltage. When adjusting the output characteristics of a motor, changing the input voltage to the motor, i.e., modulating the voltage, is a common method.

[0064] Specifically, when the given torque is less than the feedback torque (i.e., the given torque is less than the motor's output torque), decreasing the modulation voltage can reduce the motor's output torque based on the given torque. When the given torque is greater than the feedback torque (i.e., the given torque is greater than the motor's output torque), increasing the modulation voltage can increase the motor's output torque based on the given torque.

[0065] More specifically, when the difference between the given torque and the feedback torque is large, directly making a large adjustment to the modulation voltage will cause a sudden change in the motor's output torque, which can easily damage the motor. By presetting the adjustment amount, and then gradually adjusting the motor according to the preset adjustment amount when the motor's output torque needs to be adjusted, the motor's output torque can change smoothly, thereby ensuring the operational stability of the drive device and effectively avoiding over-adjustment.

[0066] As an embodiment of the present invention, adjusting the conversion control parameters of the motor drive module for the motor to be tested until the motor to be tested meets the preset execution conditions includes:

[0067] Adjust the modulation voltage of the motor drive module for the motor to be tested until the torque deviation between the feedback torque and the given torque after the motor to be tested executes the torque control command under the adjusted modulation voltage is less than or equal to a preset threshold.

[0068] Each time the modulation voltage is adjusted, the motor to be tested responds to the adjusted modulation voltage.

[0069] Specifically, the controller collects speed feedback from the motor under test based on the adjusted modulation voltage, and then performs closed-loop regulation. The controller sends torque control commands to the motor drive module. When the feedback torque is lower than the given torque, the motor drive module increases the modulation voltage of the motor under test by a preset adjustment amount, thereby increasing the output torque of the motor and accelerating its movement. Then, it checks whether the feedback torque matches the given torque. If the feedback torque is still lower than the given torque, the motor drive module further increases the modulation voltage of the motor under test by the preset adjustment amount, and the comparison between the feedback torque and the given torque is repeated to gradually adjust the output torque until the feedback torque matches the given torque.

[0070] As one embodiment of the present invention, the motor control method provided by the present invention further includes:

[0071] Real-time monitoring of the feedback torque fed back by each motor drive module after executing the torque control command during the actual working phase of the drive device;

[0072] Based on the given torque and the feedback torque, motors that do not meet the preset execution conditions are identified as motors to be repaired.

[0073] Adjust the conversion control parameters of the motor drive module for the motor under maintenance and trigger an alarm.

[0074] Specifically, by real-time detection of whether the feedback torque of each motor drive module matches the given torque after executing the torque control command during the actual operation of the drive device, motors that do not meet the preset execution conditions can be identified. Then, the conversion control parameters of the motors that do not meet the preset execution conditions are adjusted, and an alarm is triggered at the same time. On the one hand, this ensures that the load among the motors is balanced during actual operation of the drive device. On the other hand, it enables real-time monitoring of each motor, so that when there is a serious deviation in the load of the motor, an early warning will be issued in time, which will facilitate the user to repair the device in a timely manner and reduce the possibility of substantial damage to the components of the drive device.

[0075] More specifically, the torque deviation in the preset execution conditions applied to the actual operation phase of the drive unit can be distinguished from the preset threshold in the preset execution conditions during the maintenance phase. The preset threshold in the actual operation phase can be set higher than the preset threshold in the maintenance phase, thereby ensuring the correction effect on the output characteristic curves of each motor during the maintenance phase. In the actual operation phase, the preset threshold can be set slightly higher to monitor whether there is a substantial deviation in the load of each motor; for example, the preset threshold can be set to 3% or 5% of the motor load exceeding the allowable deviation range.

[0076] The motor control method provided in the above embodiments of the present invention corrects the motor torque output characteristic curve during the maintenance phase of the drive device, or before it is put into formal use, so that the output torque of each motor remains the same, thereby ensuring that the driving force of each motor is the same. This method can not only adjust for output torque changes caused by external torque load fluctuations, but also correct for uneven load distribution caused by the drive device itself. Furthermore, it can monitor changes in the load driven by each motor in advance, thereby providing early warning of potential drive device failures.

[0077] Specifically, taking an electrically driven fracturing pump as an example, the application of the motor control method provided in the embodiments of the present invention is illustrated. For example... Figure 2 As shown, the output shaft of the motor 1 of the electric fracturing pump is connected to the pinion 2, the pinion 2 meshes with the gear 3, and the gear 3 is connected to the load 5 through the drive shaft 4 to drive the load 5.

[0078] The controller of the electric fracturing pump is based on Figure 3 The control flow shown describes the control of each motor. The controller sends a torque control command (i.e., a given torque) to the motor driver of each motor. The motor driver converts the torque data in the torque control command into a vector signal and sends it to the motor. The motor then operates based on the vector signal. The motor driver obtains the motor's output torque from the motor and generates a feedback torque, which is sent to the controller. The controller generates a control command based on the feedback torque and the given torque and sends it to the motor driver. The motor driver adjusts its conversion control parameters according to the control command. The controller again collects motor speed feedback and performs closed-loop regulation. The controller sends a torque control command to the motor driver. When the motor's output torque is lower than the given torque, the motor driver increases the conversion control parameters, and the motor accelerates; when the motor's output torque is higher than the given torque, the motor driver decreases the conversion control parameters, and the motor decelerates, thereby correcting the motor's output characteristics.

[0079] The present invention provides a motor control system, which can be referred to in correspondence with the motor control method described above.

[0080] This invention provides a motor control system applicable to drive devices synchronously driven by multiple motors, such as... Figure 4 As shown, it includes: an acquisition module 410, a judgment module 420, and a processing module 430; wherein,

[0081] The acquisition module 410 is used to acquire the feedback torque fed back by each motor drive module connected to multiple motors after executing the torque control command when the drive device is connected to a constant load. The torque control command is a given torque allocated to the motor.

[0082] The judgment module 420 is used to determine, based on the given torque and the feedback torque, the motors that do not meet the preset execution conditions among the multiple motors, and to identify them as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold.

[0083] The processing module 430 is used to adjust the conversion control parameters of the motor drive module for the motor to be tested until the motor to be tested meets the preset execution conditions.

[0084] The motor control system provided in this embodiment of the invention first obtains the feedback torque from each motor drive module connected to multiple motors after executing torque control commands when the drive device is connected to a constant load. Then, based on the torque deviation between the given torque in the torque control command and the feedback torque, the motors among the multiple motors that do not meet the preset execution conditions are identified as motors to be debugged. Finally, the conversion control parameters of the motor drive module for the motors to be debugged are adjusted to achieve matching between the feedback torque of the motor drive module and the given torque. By adjusting the conversion control parameters of the motor in the motor drive module, the output characteristics of the motor itself are adjusted. This achieves adjustment of the motor's output torque based on the given torque from the perspective of the motor itself, solving the problem in the prior art that adjusts the feedback torque by compensating for the given torque, which cannot correct the feedback torque changes caused by factors such as the motor itself or installation. This ensures the effectiveness of the motor output torque adjustment and thus guarantees the balance of the output torque of multiple motors.

[0085] As one embodiment of the present invention, the motor control system provided by the present invention further includes: an alarm module;

[0086] The alarm module is used to issue an alarm when it detects that the feedback torque fed back by each of the motor drive modules after executing the torque control command during the actual working phase of the drive device deviates from the given torque by a preset threshold.

[0087] Specifically, based on the alarm module settings, when the feedback torque of any one or more motors deviates from the given torque by a preset threshold during actual operation of the drive unit, an alarm is issued, thereby realizing health warnings for each component of the drive unit.

[0088] Preferably, the processing module is specifically used to adjust the modulation voltage of the motor to be debugged by the motor drive module based on the given torque and the feedback torque.

[0089] More preferably, the processing module is further configured to reduce the modulation voltage of the motor to be tested by a preset adjustment amount if the given torque is less than the feedback torque; and to increase the modulation voltage of the motor to be tested by the preset adjustment amount if the given torque is greater than the feedback torque.

[0090] More preferably, the processing module is specifically used to adjust the modulation voltage of the motor drive module on the motor to be tested until the torque deviation between the feedback torque and the given torque after the motor to be tested executes the torque control command under the adjusted modulation voltage is less than or equal to a preset threshold; wherein, each time the modulation voltage is adjusted, the motor to be tested responds to the adjusted modulation voltage once.

[0091] This invention also provides a multi-motor synchronous drive device including the motor control system provided in any of the above embodiments.

[0092] It is understood that the multi-motor synchronous drive device, including the motor control system provided in any of the above embodiments, has all the advantages and technical effects of the motor control system provided in the embodiments, and will not be repeated here.

[0093] Specifically, the multi-motor synchronous drive device provided in the embodiments of the present invention can be any device that drives multiple motors synchronously, such as an electric fracturing pump, a tunnel boring machine shield, etc.

[0094] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logic instructions in the memory 530 to execute a motor control method. The method is applied to a drive device synchronously driven by multiple motors, and includes: obtaining the feedback torque fed back by each motor drive module connected to multiple motors after executing a torque control command when the drive device is connected to a constant load, wherein the torque control command is a given torque allocated to the motor; based on the given torque and the feedback torque, identifying the motors among the multiple motors that do not meet a preset execution condition as motors to be debugged, wherein the preset execution condition is that the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold; and adjusting the conversion control parameters of the motor drive module for the motors to be debugged until the motors to be debugged meet the preset execution condition.

[0095] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer is able to execute the motor control method provided by the above methods, the method being applied to a drive device synchronously driven by multiple motors, including: obtaining feedback torques fed back by each motor drive module connected to multiple motors after executing torque control instructions when the drive device is connected to a constant load, the torque control instructions being a given torque allocated to the motor; based on the given torque and the feedback torque, determining the motors among the multiple motors that do not meet a preset execution condition as motors to be debugged, the preset execution condition being: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold; adjusting the conversion control parameters of the motor drive module for the motors to be debugged until the motors to be debugged meet the preset execution condition.

[0097] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a motor control method. The method is applied to a drive device synchronously driven by multiple motors, comprising: acquiring feedback torques from each motor drive module connected to multiple motors after executing torque control commands when the drive device is connected to a constant load, wherein the torque control commands are given torques allocated to the motors; determining, based on the given torques and the feedback torques, motors among the multiple motors that do not meet preset execution conditions as motors to be debugged, wherein the preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold; and adjusting the conversion control parameters of the motor drive modules for the motors to be debugged until the motors to be debugged meet the preset execution conditions.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motor control method, characterized in that, The method, applied to a drive device synchronously driven by multiple motors, includes: Before the maintenance, repair, or formal use of the drive device, the drive device is connected to a constant load; the feedback torque is obtained after the motor drive modules connected to multiple motors execute torque control commands when the drive device is connected to the constant load, wherein the torque control commands are the given torques allocated to the motors; Based on the given torque and the feedback torque, motors that do not meet the preset execution conditions among the multiple motors are identified as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold. Adjusting the modulation voltage of the motor drive module on the motor under test until the motor under test meets the preset execution conditions, specifically including: If the given torque is less than the feedback torque, the modulation voltage of the motor to be tested will be reduced by a preset adjustment amount; If the given torque is greater than the feedback torque, the modulation voltage of the motor to be tested will be increased by the preset adjustment amount; the modulation voltage of the motor drive module on the motor to be tested will be adjusted until the torque deviation between the feedback torque and the given torque after the motor to be tested executes the torque control command under the adjusted modulation voltage is less than or equal to a preset threshold. Each time the modulation voltage is adjusted, the motor to be tested responds to the adjusted modulation voltage and compares the feedback torque with the given torque again, thereby gradually adjusting the output torque until the feedback torque matches the given torque, so as to adjust the output characteristic curve of the motor to be tested.

2. The motor control method according to claim 1, characterized in that, Also includes: Real-time monitoring of the feedback torque fed back by each motor drive module after executing the torque control command during the actual working phase of the drive device; Based on the given torque and the feedback torque, motors that do not meet the preset execution conditions are identified as motors to be repaired. Adjust the conversion control parameters of the motor drive module for the motor under maintenance and trigger an alarm.

3. A motor control system, characterized in that, A drive unit applied to synchronously driven multiple motors, including: The acquisition module is used to connect the drive device to a constant load during the maintenance, repair, or formal use of the drive device; and to acquire the feedback torque fed back by each motor drive module connected to multiple motors after executing torque control commands when the drive device is connected to the constant load, wherein the torque control commands are given torques allocated to the motors. The judgment module is used to determine, based on the given torque and the feedback torque, the motors that do not meet the preset execution conditions among the multiple motors, and to identify them as motors to be debugged. The preset execution conditions are: the torque deviation between the given torque and the feedback torque is less than or equal to a preset threshold. The processing module is used to adjust the modulation voltage of the motor drive module on the motor under test until the motor under test meets the preset execution conditions, specifically for: If the given torque is less than the feedback torque, the modulation voltage of the motor to be tested will be reduced by a preset adjustment amount; If the given torque is greater than the feedback torque, the modulation voltage of the motor to be tested will be increased by the preset adjustment amount; the modulation voltage of the motor drive module on the motor to be tested will be adjusted until the torque deviation between the feedback torque and the given torque after the motor to be tested executes the torque control command under the adjusted modulation voltage is less than or equal to a preset threshold. Each time the modulation voltage is adjusted, the motor to be tested responds to the adjusted modulation voltage and compares the feedback torque with the given torque again, thereby gradually adjusting the output torque until the feedback torque matches the given torque, so as to adjust the output characteristic curve of the motor to be tested.

4. The motor control system according to claim 3, characterized in that, Also includes: An alarm module is used to issue an alarm when the feedback torque fed back by each of the motor drive modules after executing the torque control command during the actual working phase of the drive device deviates from the given torque by a preset threshold.

5. A multi-motor synchronous drive device, characterized in that, Includes the motor control system as described in claim 3 or 4.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the motor control method as described in any one of claims 1 to 2.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motor control method as described in any one of claims 1 to 2.

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