Multi-motor control system, control method and textile equipment

Abstract

The invention discloses a multi-motor control system and method and textile equipment, and particularly relates to the technical field of motor control, and the system comprises a system starting self-checking module, a motor data acquisition module, an acquired data filtering processing module, a multi-motor torque detection module, a multi-motor rotating speed detection module, a multi-motor operation judgment module, and a system debugging optimization module. The system protection mechanism module is used for collecting state data of each motor in real time through a sensor, filtering the state data, calculating a motor torque coefficient of each motor through a torque detection mathematical model, calculating a motor rotating speed stability coefficient of each motor through a rotating speed detection mathematical model, and outputting the motor rotating speed stability coefficient; the multi-motor control system, the multi-motor control method and the textile equipment have the advantages that the multi-motor control system, the multi-motor control method and the textile equipment can accurately control a plurality of motors, and the asynchronous motors can be highly flexibly controlled by the aid of the multi-motor control system, the multi-motor control method and the textile equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and more specifically, to a multi-motor control system, a control method and a textile device. Background Art

[0002] With the rise of Industry 4.0 and smart manufacturing, the requirements for industrial automation systems are getting higher and higher. As an important part of the field of industrial automation, multi-motor control systems can achieve precise control and coordinated operation of multiple motors, which is of great significance for improving production efficiency, reducing energy consumption and costs. In industrial automation systems, multi-motor control is an indispensable part. Since many industrial production processes require multiple motors to work together to achieve complex motion control and process requirements, multi-motor control systems have come into being. Through precise motor control and coordination, multi-motor control systems can ensure that each motor operates precisely according to predetermined instructions and parameters, thereby improving the operating efficiency and stability of the overall system.

[0003] However, in actual use, it still has some shortcomings, such as differences in response speed: due to the different response speeds and loads of multiple motors, the system response will be uncoordinated. This incoordination may make the system unable to operate accurately according to the predetermined instructions and parameters, thus affecting production efficiency and product quality. At the same time, due to the lack of monitoring of the synchronous operation status of multiple motors, the system cannot adjust the load distribution of each motor in time, resulting in some motors being overloaded while other motors are lightly loaded or no-loaded, reducing the overall operating efficiency of the system and increasing energy consumption and costs. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a multi-motor control system, a control method and a textile device, which are used to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a multi-motor control system, comprising: A system startup self-check module includes a system startup unit and a system self-check unit. The system startup unit automatically starts i motors, i=1, 2, 3, ..., i, ..., n, and checks the connection status and working status of each motor through the system self-check unit; The motor data acquisition module collects the status data of each motor in real time through sensors, wherein the status data of each motor includes torque data and speed data, and transmits the collected status data to the collection data filtering processing module; A data acquisition filtering processing module receives the state data transmitted by the motor data acquisition module and performs filtering processing on the state data through a mathematical algorithm; The multi-motor torque detection module calculates the motor torque coefficient of each motor through the torque detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor torque coefficient to the multi-motor operation judgment module; The multi-motor speed detection module calculates the motor speed stability coefficient of each motor through the speed detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor speed stability coefficient to the multi-motor operation judgment module; The multi-motor operation judgment module receives the motor torque coefficient and the motor speed stability coefficient of each motor transmitted by the multi-motor torque detection module and the multi-motor speed detection module, and establishes a comprehensive judgment model to judge the operation status of each motor; The system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically debugs and optimizes the motors that are running normally; The system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically starts the protection mechanism.

[0006] Preferably, in the motor data acquisition module, the sensors include position sensors and speed sensors, the torque data include the armature outer diameter, stator yoke thickness, virtual groove height, effective current value, effective air gap length, motor pole pair number, air gap magnetic density, motor pole pitch, stator effective length and input armature current of each motor, and the speed data include the number of pulse signals generated by each motor in different time periods, the number of high-frequency clock pulses, the frequency of high-frequency clock pulses, the total number of pulses generated by each motor when it rotates one circle, and the rated speed of each motor.

[0007] Preferably, in the collected data filtering processing module, the calculation formula for filtering the state data using a moving average filter through a mathematical algorithm is: ,in Represents the value of the filtered output data at time m, is the value of the original input data number at time m, M is the number of samples collected at different times, and r represents the index, which is used to traverse the data sequence.

[0008] Preferably, in the multi-motor position matching module, the specific steps of calculating the motor torque coefficient of each motor through the torque detection mathematical model are as follows: Step S01: Calculate the number of turns of each phase winding of each motor, the calculation formula is: ,in Indicates the number of turns per phase of each motor. Indicates the outer diameter of the armature of each motor, Indicates the stator yoke thickness of each motor, Indicates the virtual height of each motor, Indicates the effective current value of each motor; Step S02: Calculate the motor pole pitch of each motor, the calculation formula is: ,in Indicates the motor pole pitch of each motor, Indicates the effective length of the air gap of each motor, Indicates the number of motor pole pairs of each motor; Step S03: Calculate the motor torque coefficient of each motor, the calculation formula is: ,in represents the motor torque coefficient of each motor, Indicates the air gap flux density of each motor, Indicates the effective stator length of each motor, represents the input armature current of each motor, Indicates the adjustment factor of the motor torque coefficient.

[0009] Preferably, in the multi-motor speed detection module, the motor speed stability coefficient of each motor is calculated by a speed detection mathematical model, and the calculation steps are as follows: Step S01: Divide the sampling detection time into t segments on average, where t=1, 2, 3, ..., T; Step S02: Calculate the motor speed of each motor in different time periods, and the calculation formula is: ,in Indicates the motor speed of each motor in different time periods, Indicates the number of pulse signals generated by each motor in different time periods. Indicates the number of high-frequency clock pulses of each motor in different time periods. Indicates the high-frequency clock pulse frequency of each motor in different time periods, Indicates the total number of pulses generated by each motor when it rotates one circle; Step S03: extract the maximum motor speed and the minimum motor speed of each motor in step S02, and calculate the motor speed stability coefficient of each motor. The calculation formula is: ,in represents the motor stability factor of each motor, Indicates the maximum motor speed of each motor, Indicates the minimum motor speed of each motor, Indicates the rated speed of each motor.

[0010] Preferably, the multi-motor operation judgment module establishes a comprehensive judgment model to judge the operation status of each motor, and the comprehensive judgment model is expressed as: ,in Indicates the comprehensive index of operation judgment of each motor, represents the motor torque coefficient of each motor, represents the motor stability factor of each motor, Indicates the motor speed of each motor in different time periods, and represents a constant; When running the comprehensive index Greater than or equal to the preset operation judgment threshold When the motor running status is judged as normal; when the running judgment comprehensive index is Less than the preset operation judgment threshold When the motor running state is judged as abnormal running.

[0011] Preferably, the system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, stores the historical operation data and debugging and optimization results of the motor, and the user interface monitors the motor status and outputs the debugging and optimization results.

[0012] Preferably, the system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically cuts off the power supply of the motor and notifies relevant personnel through sound and light alarms.

[0013] A multi-motor control method comprises the following steps: Step S11: the system automatically starts the motors and checks the connection status and working status of each motor; Step S12: collecting status data of each motor in real time through sensors; Step S13: filtering the state data using a mathematical algorithm; Step S14: Calculating the motor torque coefficient of each motor through a torque detection mathematical model; Step S15: Calculating the motor speed stability coefficient of each motor through a speed detection mathematical model; Step S16: Establishing a comprehensive judgment model to judge the operating status of each motor; Step S17: receiving the judgment result of step S16 and debugging and optimizing the motor that is running normally; Step S18: receiving the judgment result of step S16 and starting a protection mechanism for the motor with abnormal operation.

[0014] A multi-motor controlled textile equipment, characterized in that: the multi-motor controlled textile equipment includes a computer program, and when the computer program is run in the memory of a server, it implements a multi-motor control system as described in any one of claims 1-8.

[0015] Technical effects and advantages of the present invention: The present invention is provided with a system startup self-check module, a motor data acquisition module, a collection data filtering and processing module, a multi-motor torque detection module, a multi-motor speed detection module, a multi-motor operation judgment module, a system debugging and optimization module, and a system protection mechanism module. The status data of each motor is collected in real time by a sensor and filtered. The motor torque coefficient of each motor is calculated by a torque detection mathematical model, the motor speed stability coefficient of each motor is calculated by a speed detection mathematical model, and a comprehensive judgment model is established to judge the operating status of each motor. The motor is optimized and protected according to the judgment result. In short, a multi-motor control system, a control method and a textile equipment are highly flexible, and unnecessary energy waste is avoided by accurately controlling the operating status of each motor, thereby improving the overall efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a flow chart of a multi-motor control system.

[0017] Figure 2 The figure is a flow chart of a multi-motor control method. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1 As shown, the present invention provides a multi-motor control system, including a system startup self-check module, a motor data acquisition module, an acquisition data filtering and processing module, a multi-motor torque detection module, a multi-motor speed detection module, a multi-motor operation judgment module, a system debugging and optimization module, and a system protection mechanism module; The system startup self-check module includes a system startup unit and a system self-check unit. The system startup unit automatically starts i motors, i=1, 2, 3, ..., i, ..., n, and checks the connection status and working status of each motor through the system self-check unit; The motor data acquisition module collects the status data of each motor in real time through sensors, wherein the status data of each motor includes torque data and speed data, and transmits the collected status data to the collection data filtering processing module; The data acquisition filtering processing module receives the state data transmitted by the motor data acquisition module and performs filtering processing on the state data through a mathematical algorithm; The multi-motor torque detection module calculates the motor torque coefficient of each motor through a torque detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor torque coefficient to the multi-motor operation judgment module; The multi-motor speed detection module calculates the motor speed stability coefficient of each motor through the speed detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor speed stability coefficient to the multi-motor operation judgment module; The multi-motor operation judgment module receives the motor torque coefficient and the motor speed stability coefficient of each motor transmitted by the multi-motor torque detection module and the multi-motor speed detection module, and establishes a comprehensive judgment model to judge the operation status of each motor; The system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically debugs and optimizes the motors that are operating normally; The system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically starts the protection mechanism.

[0020] In this embodiment, it should be specifically explained that in the motor data acquisition module, the sensors include position sensors and speed sensors, the torque data include the armature outer diameter, stator yoke thickness, virtual groove height, effective current value, effective air gap length, motor pole pair number, air gap magnetic density, motor pole pitch, stator effective length and input armature current of each motor, and the speed data include the number of pulse signals generated by each motor in different time periods, the number of high-frequency clock pulses, the frequency of high-frequency clock pulses, the total number of pulses generated by each motor when it rotates one circle, and the rated speed of each motor.

[0021] In this embodiment, it should be specifically explained that in the collected data filtering processing module, the calculation formula for filtering the state data using a moving average filter through a mathematical algorithm is: ,in Represents the value of the filtered output data at time m, is the value of the original input data number at time m, M is the number of samples collected at different times, and r represents the index, which is used to traverse the data sequence.

[0022] In this embodiment, it should be specifically explained that, in the multi-motor position matching module, the specific steps of calculating the motor torque coefficient of each motor through the torque detection mathematical model are as follows: Step S01: Calculate the number of turns of each phase winding of each motor, the calculation formula is: ,in Indicates the number of turns per phase of each motor. Indicates the outer diameter of the armature of each motor, Indicates the stator yoke thickness of each motor, Indicates the virtual height of each motor, Indicates the effective current value of each motor; Step S02: Calculate the motor pole pitch of each motor, the calculation formula is: ,in Indicates the motor pole pitch of each motor, Indicates the effective length of the air gap of each motor, Indicates the number of motor pole pairs of each motor; Step S03: Calculate the motor torque coefficient of each motor, the calculation formula is: ,in represents the motor torque coefficient of each motor, Indicates the air gap flux density of each motor, Indicates the effective stator length of each motor, represents the input armature current of each motor, Indicates the adjustment factor of the motor torque coefficient.

[0023] In this embodiment, it should be specifically explained that in the multi-motor speed detection module, the motor speed stability coefficient of each motor is calculated by the speed detection mathematical model, and the calculation steps are as follows: Step S01: Divide the sampling detection time into t segments on average, where t=1, 2, 3, ..., T; Step S02: Calculate the motor speed of each motor in different time periods, and the calculation formula is: ,in Indicates the motor speed of each motor in different time periods, Indicates the number of pulse signals generated by each motor in different time periods. Indicates the number of high-frequency clock pulses of each motor in different time periods. Indicates the high-frequency clock pulse frequency of each motor in different time periods, Indicates the total number of pulses generated by each motor when it rotates one circle; Step S03: extract the maximum motor speed and the minimum motor speed of each motor in step S02, and calculate the motor speed stability coefficient of each motor. The calculation formula is: ,in represents the motor stability factor of each motor, Indicates the maximum motor speed of each motor, Indicates the minimum motor speed of each motor, Indicates the rated speed of each motor.

[0024] In this embodiment, it should be specifically explained that the multi-motor operation judgment module establishes a comprehensive judgment model to judge the operation status of each motor, and the comprehensive judgment model is expressed as: ,in Indicates the comprehensive index of operation judgment of each motor, represents the motor torque coefficient of each motor, represents the motor stability factor of each motor, Indicates the motor speed of each motor in different time periods, and represents a constant; When running the comprehensive index Greater than or equal to the preset operation judgment threshold When the motor running status is judged as normal; when the running judgment comprehensive index is Less than the preset operation judgment threshold When the motor running state is judged as abnormal running.

[0025] In this embodiment, it should be specifically explained that the system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, stores the historical operation data and debugging and optimization results of the motor, and the user interface monitors the motor status and outputs the debugging and optimization results.

[0026] In this embodiment, it should be specifically explained that the system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically cuts off the motor power supply and notifies relevant personnel through sound and light alarms.

[0027] See also Figure 2 As shown, in this embodiment, it should be specifically explained that a multi-motor control method is used, including the following steps: Step S11: the system automatically starts the motors and checks the connection status and working status of each motor; Step S12: collecting status data of each motor in real time through sensors; Step S13: filtering the state data using a mathematical algorithm; Step S14: Calculating the motor torque coefficient of each motor through a torque detection mathematical model; Step S15: Calculating the motor speed stability coefficient of each motor through a speed detection mathematical model; Step S16: Establishing a comprehensive judgment model to judge the operating status of each motor; Step S17: receiving the judgment result of step S16 and debugging and optimizing the motor that is running normally; Step S18: receiving the judgment result of step S16 and starting a protection mechanism for the motor with abnormal operation.

[0028] In this embodiment, it is necessary to specifically explain that a multi-motor controlled textile device includes a computer program, and when the computer program is executed in the memory of a server, the multi-motor control system described in any one of claims 1 to 8 is implemented.

[0029] In the present embodiment, it needs to be specifically explained that the difference between the present embodiment and the prior art mainly lies in that the present embodiment is provided with a system startup self-check module, a motor data acquisition module, a collection data filtering and processing module, a multi-motor torque detection module, a multi-motor speed detection module, a multi-motor operation judgment module, a system debugging and optimization module, and a system protection mechanism module. The status data of each motor is collected in real time by sensors and filtered, the motor torque coefficient of each motor is calculated by a torque detection mathematical model, the motor speed stability coefficient of each motor is calculated by a speed detection mathematical model, and a comprehensive judgment model is established to judge the operating status of each motor, and the motor is optimized and protected according to the judgment result. In short, a multi-motor control system, a control method and a textile equipment can realize precise control of multiple motors, and control asynchronous motors with high flexibility.

[0030] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-motor control system, characterized in that: include: A system startup self-check module includes a system startup unit and a system self-check unit. The system startup unit automatically starts i motors, i=1, 2, 3, ..., n, and checks the connection status and working status of each motor through the system self-check unit; The motor data acquisition module collects the status data of each motor in real time through sensors, wherein the status data of each motor includes torque data and speed data, and transmits the collected status data to the collection data filtering processing module; A data acquisition filtering processing module receives the state data transmitted by the motor data acquisition module and performs filtering processing on the state data through a mathematical algorithm; The multi-motor torque detection module calculates the motor torque coefficient of each motor through the torque detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor torque coefficient to the multi-motor operation judgment module; The multi-motor speed detection module calculates the motor speed stability coefficient of each motor through the speed detection mathematical model based on the state data after filtering by the collected data filtering processing module, and transmits the calculated motor speed stability coefficient to the multi-motor operation judgment module; The multi-motor operation judgment module receives the motor torque coefficient and the motor speed stability coefficient of each motor transmitted by the multi-motor torque detection module and the multi-motor speed detection module, and establishes a comprehensive judgment model to judge the operation status of each motor; The system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically debugs and optimizes the motors that are running normally; The system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically starts the protection mechanism.

2. A multi-motor control system according to claim 1, characterized in that: In the motor data acquisition module, the sensors include position sensors and speed sensors, the torque data include the armature outer diameter, stator yoke thickness, virtual groove height, effective current value, effective air gap length, motor pole pair number, air gap magnetic density, motor pole pitch, stator effective length and input armature current of each motor, and the speed data include the number of pulse signals generated by each motor in different time periods, the number of high-frequency clock pulses, the frequency of high-frequency clock pulses, the total number of pulses generated by each motor when it rotates one circle, and the rated speed of each motor.

3. A multi-motor control system according to claim 1, characterized in that: In the collected data filtering processing module, the calculation formula for filtering the state data using a moving average filter through a mathematical algorithm is: ,in Represents the value of the filtered output data at time m, is the value of the original input data number at time m, M is the number of samples collected at different times, and r represents the index, which is used to traverse the data sequence.

4. A multi-motor control system according to claim 1, characterized in that: In the multi-motor position matching module, the specific steps of calculating the motor torque coefficient of each motor through the torque detection mathematical model are as follows: Step S01: Calculate the number of turns of each phase winding of each motor, the calculation formula is: ,in Indicates the number of turns per phase of each motor. Indicates the outer diameter of the armature of each motor, Indicates the stator yoke thickness of each motor, Indicates the virtual height of each motor, Indicates the effective current value of each motor; Step S02: Calculate the motor pole pitch of each motor, the calculation formula is: ,in Indicates the motor pole pitch of each motor, Indicates the effective length of the air gap of each motor, Indicates the number of motor pole pairs of each motor; Step S03: Calculate the motor torque coefficient of each motor, the calculation formula is: ,in represents the motor torque coefficient of each motor, Indicates the air gap flux density of each motor, Indicates the effective stator length of each motor, represents the input armature current of each motor, Indicates the adjustment factor of the motor torque coefficient.

5. A multi-motor control system according to claim 1, characterized in that: In the multi-motor speed detection module, the motor speed stability coefficient of each motor is calculated by the speed detection mathematical model, and the calculation steps are as follows: Step S01: Divide the sampling detection time into t segments on average, where t=1, 2, 3, ..., T; Step S02: Calculate the motor speed of each motor in different time periods, and the calculation formula is: ,in Indicates the motor speed of each motor in different time periods, Indicates the number of pulse signals generated by each motor in different time periods. Indicates the number of high-frequency clock pulses of each motor in different time periods. Indicates the high-frequency clock pulse frequency of each motor in different time periods, Indicates the total number of pulses generated by each motor when it rotates one circle; Step S03: extract the maximum motor speed and the minimum motor speed of each motor in step S02, and calculate the motor speed stability coefficient of each motor. The calculation formula is: ,in represents the motor stability factor of each motor, Indicates the maximum motor speed of each motor, Indicates the minimum motor speed of each motor, Indicates the rated speed of each motor.

6. A multi-motor control system according to claim 1, characterized in that: The multi-motor operation judgment module establishes a comprehensive judgment model to judge the operation status of each motor. The comprehensive judgment model is expressed as: ,in Indicates the comprehensive index of operation judgment of each motor, represents the motor torque coefficient of each motor, represents the motor stability factor of each motor, Indicates the motor speed of each motor in different time periods, and represents a constant; When running the comprehensive index Greater than or equal to the preset operation judgment threshold When , the motor running status is judged as normal; When running the comprehensive index Less than the preset operation judgment threshold When the motor running state is judged as abnormal running.

7. A multi-motor control system according to claim 1, characterized in that: The system debugging and optimization module receives the normal operation judgment result transmitted by the multi-motor operation judgment module, stores the historical operation data and debugging and optimization results of the motor, and the user interface monitors the motor status and outputs the debugging and optimization results.

8. A multi-motor control system according to claim 1, characterized in that: The system protection mechanism module receives the abnormal operation judgment result transmitted by the multi-motor operation judgment module, and the system automatically cuts off the power supply of the motor and notifies relevant personnel through sound and light alarms.

9. A multi-motor control method, using a multi-motor control system as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step S11: the system automatically starts the motors and checks the connection status and working status of each motor; Step S12: collecting status data of each motor in real time through sensors; Step S13: filtering the state data using a mathematical algorithm; Step S14: Calculating the motor torque coefficient of each motor through a torque detection mathematical model; Step S15: Calculating the motor speed stability coefficient of each motor through a speed detection mathematical model; Step S16: Establishing a comprehensive judgment model to judge the operating status of each motor; Step S17: receiving the judgment result of step S16 and debugging and optimizing the motor that is running normally; Step S18: receiving the judgment result of step S16 and starting a protection mechanism for the motor with abnormal operation.

10. A multi-motor controlled textile equipment, characterized in that: The multi-motor controlled textile equipment includes a computer program, and when the computer program is run in the memory of the server, it implements a multi-motor control system as described in any one of claims 1 to 8.

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