Method and device for determining slope time and synchronous deceleration control system

Abstract

The embodiment of the invention provides a slope time determination method and device and a synchronous deceleration control system. The method comprises the following steps: in response to a synchronous deceleration instruction, determining the total kinetic energy of a plurality of current rotating bodies and the total friction power of the plurality of current rotating bodies; wherein direct-current buses of a plurality of frequency converters used for controlling operation of a plurality of motors are in a common connection state at least from the current moment to the end of synchronous speed reduction, and the motors are used for driving the rotating bodies to rotate in a one-to-one correspondence mode; and according to the total kinetic energy of the current multiple rotating bodies and the total friction power of the current multiple rotating bodies, slope time capable of achieving synchronous speed reduction of the multiple rotating bodies is determined. According to the embodiment of the invention, synchronous speed reduction of a plurality of rotating bodies can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of deceleration control of rotating loads, and in particular to a method and device for determining a ramp time and a synchronous deceleration control system. Background Art

[0002] Transmission systems for various large inertia rotating loads (such as cable winding equipment) usually include multiple rotating units, each of which is equipped with production materials (such as copper wire, steel wire) to form a rotating body. Usually, the weight and inertia of the rotating body are very large, especially the rotating body after full load. In actual production, due to the large and different inertia of the rotating body, it is difficult to achieve synchronous ramp deceleration and parking of multiple different large inertia rotating bodies, especially when the system is in a free parking state when the system is powered off.

[0003] The traditional method of achieving synchronous ramp deceleration on the same slope is to arrange a mechanical brake for each rotating body, and control the braking strength of the mechanical brake through a controller to achieve approximately the same deceleration ramp. This method has two problems: 1) The mechanical brake is prone to wear and tear due to frequent braking, and requires production suspension and replacement; 2) As the brake is put into and removed, the braking effect is not smooth enough. Summary of the invention

[0004] In view of this, the present invention provides a method and device for determining a ramp time and a synchronous deceleration control system, which are used to at least partially solve the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a ramp time for synchronous deceleration of multiple rotating bodies, comprising:

[0006] In response to the synchronous deceleration instruction, the total kinetic energy of the current multiple rotating bodies and the total friction power of the current multiple rotating bodies are determined; wherein the DC buses of the multiple inverters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence;

[0007] A ramp time capable of achieving synchronous deceleration of the plurality of rotating bodies is determined according to the total kinetic energy of the plurality of rotating bodies and the total friction power of the plurality of rotating bodies.

[0008] In a second aspect, the present application provides a method for determining a ramp time for synchronous deceleration of multiple rotating bodies, comprising:

[0009] Determine the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body; wherein the DC buses of the multiple frequency converters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence;

[0010] The ramp time for achieving synchronous deceleration of the multiple rotating bodies is determined according to the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, and the preset friction coefficient between each rotating body side and the motor shaft side.

[0011] In a third aspect, the present application provides a device for determining a ramp time for synchronous deceleration of multiple rotating bodies, comprising:

[0012] A first determination module is used to determine the total kinetic energy of the current multiple rotating bodies and the total friction power of the current multiple rotating bodies in response to the synchronous deceleration instruction; wherein the DC buses of the multiple inverters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence;

[0013] The second determination module is used to determine a ramp time capable of achieving synchronous deceleration of the multiple rotating bodies according to the total kinetic energy of the multiple rotating bodies and the total friction power of the multiple rotating bodies.

[0014] In a fourth aspect, the present application provides a device for determining a ramp time for synchronous deceleration of multiple rotating bodies, comprising:

[0015] A third determination module is used to determine the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body in response to the synchronous deceleration instruction; wherein the DC buses of the multiple inverters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence;

[0016] The fourth determination module is used to determine the ramp time that can achieve synchronous deceleration of the multiple rotating bodies based on the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, and the preset friction coefficient between each rotating body side and the motor shaft side.

[0017] In a fifth aspect, the present application provides a synchronous deceleration control system for multiple rotating bodies, comprising:

[0018] A controller comprising a device for determining a ramp time for synchronous deceleration of a plurality of rotating bodies according to claim 8 or 9;

[0019] The multiple frequency converters and the multiple motors, wherein each frequency converter is configured to generate a deceleration function based on the current speeds of the multiple rotating bodies, the ramp time and a preset vt function model, and control the corresponding motor operation based on the deceleration function so that the multiple rotating bodies achieve synchronous deceleration.

[0020] In a sixth aspect, the present application provides an electronic device, the electronic device comprising: a processor, a communication interface, a memory and a bus, the processor, the communication interface and the memory communicating with each other through the bus;

[0021] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the method described in any one of the first aspect and the second aspect.

[0022] In the seventh aspect, the present application provides a determination machine readable storage medium, on which determination machine instructions are stored. When the determination machine instructions are executed by a processor, the processor executes the method described in any one of the first and second aspects above.

[0023] In the embodiment of the present application, based on the energy sharing scheme of the common DC bus inverter scheme, the synchronous deceleration ramp time is automatically calculated by the algorithm and the inverter output ramp is used to control the motor deceleration, so that the equipment can achieve the effect of synchronous deceleration under the condition of inherent energy and the braking curve is smooth, while improving the energy utilization efficiency. In addition, the embodiment of the present application cancels the mechanical brake braking scheme, reduces mechanical loss and maintenance workload, and can meet the needs of synchronous deceleration of large inertia loads in many fields, such as processing equipment such as cables and steel cables, optimizes the design and control of mechanical equipment, and improves reliability and economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flowchart of a method for determining a ramp time for synchronous deceleration of multiple rotating bodies according to the first embodiment of the present application.

[0025] Figure 2 is a structural diagram of a transmission system with multiple rotating bodies according to an example of the present application.

[0026] Figure 3 It is a structural diagram of a device for determining a ramp time for synchronous deceleration of multiple rotating bodies according to a second embodiment of the present application.

[0027] Figure 4 It is a flow chart of a method for determining a ramp time for synchronous deceleration of multiple rotating bodies according to the third embodiment of the present application.

[0028] Figure 5 It is a structural diagram of a device for determining a ramp time for synchronous deceleration of multiple rotating bodies according to a fourth embodiment of the present application.

[0029] Figure 6 It is a structural diagram of a synchronous deceleration control system of multiple rotating bodies according to the fifth embodiment of the present application.

[0030] Figure 7 is a structural diagram of an electronic device according to an embodiment of the present application.

[0031] List of reference numerals:

[0032] Frequency converter 210; Motor 220;

[0033] Rotating body 230; Determining device 300 of the second embodiment;

[0034] A first determination module 310; A second determination module 320;

[0035] The determining device 500 of the fourth embodiment; The third determining module 510;

[0036] Fourth determination module 520; Synchronous deceleration control system 600 of the fifth embodiment;

[0037] Controller 610; Electronic device 700;

[0038] Processor 702; Communication interface 704;

[0039] Memory 706; Bus 708;

[0040] Procedure 710. DETAILED DESCRIPTION

[0041] In an embodiment of the present application, a frequency converter output ramp is used to control motor deceleration; in response to a synchronous deceleration instruction, a ramp time capable of achieving synchronous deceleration of the multiple rotating bodies is determined according to the total kinetic energy of the multiple rotating bodies at the beginning of deceleration and the total friction power of the multiple rotating bodies; further, the DC buses of the multiple frequency converters are kept in a common connection state at least from the current moment to the end of synchronous deceleration, so as to ensure that the total kinetic energy of the multiple rotating bodies at the current moment can be shared on the bus, and the total kinetic energy is distributed to the N rotating bodies after being shared, so that the braking power of the common deceleration ramp time of the N rotating bodies can be met, Figure 2 The arrows in the figure indicate the energy flow during the deceleration process. In this way, on the one hand, the rotating bodies with small inertia can rely on the energy of the large inertia so that the deceleration slope can be adjusted and approach each other, so that N rotating bodies can achieve synchronous deceleration while ensuring the smoothness of the deceleration slope; on the other hand, the mechanical brake is eliminated, which reduces the cost of mechanical maintenance and loss while saving energy. In order to make the purpose, technical solutions, and advantages of the present application clearer, the present application is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other technical solutions obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0042] Figure 1The method for determining the ramp time for synchronous deceleration of multiple rotating bodies in the first embodiment of the present application is shown. Figure 1 As shown, the method includes:

[0043] S110: In response to the synchronous deceleration instruction, determine the total kinetic energy of the current multiple rotating bodies 230 and the total friction power of the current multiple rotating bodies 230; wherein the DC buses of the multiple inverters 210 used to control the operation of the multiple motors 220 are in a common connection state at least from the current moment (i.e., the moment of "determining the total kinetic energy of the current multiple rotating bodies 230 and the total friction power of the current multiple rotating bodies 230") to the end of the synchronous deceleration, and the multiple motors 220 are used to drive the multiple rotating bodies 230 to rotate in a one-to-one correspondence, see Figure 2 It should be pointed out that Figure 2 This is merely exemplary, and the plurality of rotating bodies 230 in this embodiment may be two or more rotating bodies. It should be noted that the "current" in this application refers to the current moment.

[0044] The "synchronous deceleration instruction" in step S110 may be automatically generated based on the occurrence of a parking event; or may be generated based on a manual trigger, for example, by arranging a button, and the synchronous deceleration instruction is generated when the button is pressed.

[0045] In addition, in practical applications, the DC buses of the aforementioned multiple inverters 210 can be arranged to always maintain a common connection state (for example, using a common DC bus inverter, or pre-connecting multiple non-common DC bus inverters); it can also be set to respond to a synchronous deceleration instruction, and the DC buses of the multiple inverters are switched from a non-common connection state to a common connection state until the synchronous deceleration ends, and the setting can be selected as needed. Among them, the switching method for switching the DC buses of multiple inverters from a non-common connection state to a common connection state can, for example, arrange a switching unit on the DC bus side of each inverter 210, and the switching unit is configured to be in an open state before detecting a "synchronous deceleration instruction" so that the DC buses of the multiple inverters 210 are in a non-common connection state, and in response to detecting a "synchronous deceleration instruction", switch to a closed state so that the DC buses of the multiple inverters 210 are converted from a non-common connection state to a common connection state until the synchronous deceleration ends and then switch to an open state.

[0046] This embodiment is applicable to rotating bodies of any shape, preferably cylindrical or quasi-cylindrical shapes. Taking a cylindrical rotating body 230 as an example, the step S110 of "determining the total kinetic energy of the current multiple rotating bodies 230" can be further implemented as: determining the speed of the current multiple rotating bodies 230, the mass of each rotating body 230 and the rotation radius of each rotating body 230; determining the total kinetic energy of the current multiple rotating bodies 230 according to the speed of the current multiple rotating bodies 230, the rotation radius of each rotating body 230 and the mass of each rotating body 230. And, exemplarily, the step S110 of "determining the total friction power of the current multiple rotating bodies 230" can be further implemented as: determining the mass of each rotating body 230 and the rotation radius of each rotating body 230; determining the total friction power of the current multiple rotating bodies 230 according to the mass of each rotating body 230, the rotation radius of each rotating body 230 and the preset friction coefficient between each rotating body 230 side and the shaft side of the motor 220. And it can be further implemented as follows: according to the current mass of each rotating body 230, the current rotation radius of each rotating body 230 and the preset friction coefficient between each rotating body 230 side and the motor 220 side, the total friction torque of the current multiple rotating bodies 230 is determined; according to the current total friction torque of the current multiple rotating bodies 230, the total friction power of the current multiple rotating bodies 230 is determined.

[0047] It should be noted that the "total friction power of multiple rotating bodies at present" involved in this application refers to the sum of the friction power of each rotating body, and the friction power of each rotating body refers to the product of the friction force between each rotating body side and the corresponding motor shaft side and the sliding speed. Taking the example of the rotating body and the motor shaft being connected through a rotating bearing, the friction power of the rotating body is the friction force between the rotating outer ring and the stationary inner ring of the rotating bearing.

[0048] It can be understood that in this embodiment, the friction coefficient between each rotating body 230 side and the motor 220 shaft side is usually a constant, which can be confirmed and input by the user in advance (for example, input through the HMI interface). In some common application scenarios, any one or more of the speed of the rotating body 230, the mass of the rotating body 230 and the rotation radius of the rotating body 230 may be variable, so the changing parameters can be obtained by real-time detection, real-time measurement or real-time calculation respectively; for example, the real-time speed of the rotating body 230 can be directly measured and calculated by a sensor or an encoder; for example, the real-time rotation radius of the rotating body 230 can be detected by a sensor; for example, the force or torque required for the rotation of the rotating body 230 is detected by a force sensor or a torque sensor, and then the real-time mass of the rotating body 230 is calculated using the measured force or torque value and the speed, radius and other parameters of the rotation. In addition, in other application scenarios, the speed of the rotating body 230, the mass of the rotating body 230 and the rotation radius of the rotating body 230 may remain unchanged and be constants, and these parameters can be obtained by pre-setting by the user (for example, input setting through the HMI interface).

[0049] S120: Determine a ramp time (or deceleration time) capable of achieving synchronous deceleration of the plurality of rotating bodies 230 according to the total kinetic energy of the plurality of rotating bodies 230 and the total friction power of the plurality of rotating bodies 230 .

[0050] In addition, the aforementioned steps S110 to S120 are, for example but not limited to, performed in the controller 610, and the following steps may be further included after step S120: outputting the ramp time to the multiple frequency converters 210. Further, each frequency converter 210 is also configured to generate a deceleration function based on the received ramp time, the current speeds of the multiple rotating bodies 230, and a preset vt ramp function model, and then control the operation of the corresponding motor 220 based on the deceleration function to achieve synchronous deceleration of the multiple rotating bodies 230.

[0051] Exemplarily, step S120 may be further implemented as follows: based on the formula E=P*t*h, according to the total kinetic energy E of the current multiple rotating bodies 230 and the total friction power P of the current multiple rotating bodies 230, determine the ramp time t that can achieve synchronous deceleration of the multiple rotating bodies 230, wherein, E k is the current kinetic energy of the kth rotating body 230 among the N rotating bodies 230, P kf is the current friction power of the kth rotating body 230 among the N rotating bodies 230. Wherein, h is a constant, which is usually determined based on the preset vt function model. Taking the vt function model as a linear ramp function model as an example, h is usually 1 / 2.

[0052] In order to implement the method for determining the ramp time of synchronous deceleration of multiple rotating bodies in the first embodiment, the second embodiment of the present application further provides a device for determining the ramp time of synchronous deceleration of multiple rotating bodies. Figure 3 As shown, the device 300 includes a first determination module 310 and a second determination module 320. It should be noted that since the device 300 is for implementing the aforementioned method embodiment, each module in the device 300 is provided for implementing each step of the aforementioned method, and therefore the present application is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present application.

[0053] Specifically, the first determination module 310 is used to determine the total kinetic energy of the current multiple rotating bodies 230 and the total friction power of the current multiple rotating bodies 230 in response to the synchronous deceleration instruction; the second determination module 320 is used to determine the ramp time that can achieve synchronous deceleration of the multiple rotating bodies 230 according to the total kinetic energy of the current multiple rotating bodies 230 and the total friction power of the current multiple rotating bodies 230. Among them, the DC busbars of the multiple inverters 210 used to control the operation of the multiple motors 220 are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors 220 are used to drive the multiple rotating bodies 230 to rotate in a one-to-one correspondence.

[0054] It can be understood that since the device 300 of the second embodiment is a corresponding device to the method of the first embodiment, all technical details in the method of the first embodiment are applicable to the device 300 of the second embodiment. For the sake of simplicity, some details that are the same as those in the method of the above-mentioned embodiment are omitted here.

[0055] Figure 4 FIG. 4 shows a method for determining the ramp time for synchronous deceleration of multiple rotating bodies according to the third embodiment of the present application. Figure 4 As shown, the method includes:

[0056] S410: In response to the synchronous deceleration instruction, determine the current speed of each rotating body 230, the current mass of each rotating body 230 and the current rotation radius of each rotating body 230; wherein the DC bus of the multiple inverters 210 used to control the operation of the multiple motors 220 is in a commonly connected state at least from the current moment (i.e., the moment of "determining the current speed of each rotating body 230, the current mass of each rotating body 230 and the current rotation radius of each rotating body 230") to the end of the synchronous deceleration, and the multiple motors 220 are used to drive the multiple rotating bodies 230 to rotate in a one-to-one manner.

[0057] It can be understood that the friction coefficient between each rotating body 230 side and the motor 220 shaft side in step S410 is usually a constant, which can be preset by the user (for example, by inputting the setting through the HMI interface). In addition, in some application scenarios, the speed of the rotating body 230, the mass of the rotating body 230 and the rotation radius of the rotating body 230 remain unchanged and are constants, and these parameters can be preset by the user (for example, by inputting the setting through the HMI interface). In other application scenarios, any one or more of the speed of the rotating body 230, the mass of the rotating body 230 and the rotation radius of the rotating body 230 are changing, and the changing parameters can be obtained through real-time detection, real-time measurement or real-time calculation; for example, the real-time speed (angular velocity ω, linear velocity v or rotational speed n) of the rotating body 230 can be calculated through the motion state parameters fed back by the frequency converter 210; for example, the real-time rotation radius of the rotating body 230 can be obtained through sensor detection; for example, the force or torque required for the rotation of the rotating body 230 can be detected by a force sensor or a torque sensor, and then the real-time mass of the rotating body 230 can be calculated using the measured force or torque value and the angular velocity, radius and other parameters of the rotation.

[0058] The "synchronous deceleration instruction" in step S410 can be automatically generated based on the occurrence of a parking event; or it can be generated based on a manual trigger, for example, a button is set, and the synchronous deceleration instruction is generated when the button is pressed. In addition, in actual applications, the DC buses of the aforementioned multiple inverters 210 can be arranged to always maintain a common connection state (for example, using a common DC bus inverter, or pre-connecting multiple non-common DC bus inverters); it can also be set to respond to the synchronous deceleration instruction, and the DC buses of multiple inverters are switched from a non-common connection state to a common connection state until the synchronous deceleration ends, and the setting can be selected as needed. Among them, the switching method for switching the DC buses of multiple inverters from a non-connected state to a connected state can, for example, arrange a switching unit on the DC bus side of each inverter 210, and the switching unit is configured to be in a disconnected state before detecting a "synchronous deceleration instruction" so that the DC buses of the multiple inverters 210 are in a non-connected state, and in response to detecting a "synchronous deceleration instruction", switch to a closed state so that the DC buses of the multiple inverters 210 are converted from a non-connected state to a connected state until the synchronous deceleration ends and then switch to a disconnected state.

[0059] S420: Determine the ramp time that can achieve synchronous deceleration of multiple rotating bodies 230 based on the current speed of each rotating body 230, the current mass of each rotating body 230, the current rotation radius of each rotating body 230, and the preset friction coefficient between each rotating body 230 side and the motor 220 side.

[0060] Exemplarily, step S420 may be further implemented as follows: Determine the ramp time t that can achieve synchronous deceleration of multiple rotating bodies 230, where q is a constant (≈4.19), m k , μ k 、r k 、n k They are respectively the mass, friction coefficient, rotation radius, and rotation speed of the kth rotating body among the current N rotating bodies.

[0061] It should be noted that the "current" mentioned in this application refers to the current moment. The "speed" mentioned in this application can be the angular velocity ω, the linear velocity v or the rotational speed n. In addition, although the "speed" used in the above formulas is the rotational speed n, the formula can also be transformed into a form in which the angular velocity ω or the linear velocity v is used as the "speed" according to the known relationship between the rotational speed n and the angular velocity ω or the linear velocity v.

[0062] In addition, the aforementioned steps S410 to S420 are, for example but not limited to, performed in the controller 610, and the following steps may be further included after step S420: outputting the ramp time to the multiple frequency converters 210. Further, each frequency converter 210 is also configured to generate a deceleration function based on the received ramp time, the current speeds of the multiple rotating bodies 230, and a preset vt ramp function model, and then control the operation of the corresponding motor 220 based on the deceleration function to achieve synchronous deceleration of the multiple rotating bodies 230.

[0063] It should be pointed out that this embodiment is mainly applicable to rotating bodies in a cylindrical or quasi-cylindrical shape.

[0064] In order to implement the method for determining the ramp time of synchronous deceleration of multiple rotating bodies of the third embodiment, the fourth embodiment of the present application further provides a device for determining the ramp time of synchronous deceleration of multiple rotating bodies. Figure 5 As shown, the device 500 includes a third determination module 510 and a fourth determination module 520. It should be noted that since the device embodiment is to implement the aforementioned method embodiment, each module in the device is provided to implement each step of the aforementioned method, and therefore the present application is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present application.

[0065] Specifically, the third determination module 510 is used to determine the current speed of each rotating body 230, the current mass of each rotating body 230 and the current rotation radius of each rotating body 230 in response to the synchronous deceleration instruction; wherein the DC bus of the multiple inverters 210 used to control the operation of the multiple motors 220 is in a common state at least from the current moment to the end of the synchronous deceleration, and the multiple motors 220 are used to drive the multiple rotating bodies 230 to rotate in a one-to-one manner; the fourth determination module 520 is used to determine the ramp time that can achieve synchronous deceleration of multiple rotating bodies 230 based on the current speed of each rotating body 230, the current mass of each rotating body 230 and the current rotation radius of each rotating body 230 and the preset friction coefficient between each rotating body 230 side and the motor 220 side.

[0066] It can be understood that since the device 500 of the fourth embodiment is a corresponding device to the method of the third embodiment, all technical details in the method of the third embodiment are applicable to the device 500 of the fourth embodiment. For the sake of simplicity, some details that are the same as those of the method of the aforementioned embodiment are omitted here.

[0067] Figure 6 FIG. 6 shows a synchronous deceleration control system 600 for multiple rotating bodies according to a fifth embodiment of the present application. Figure 6 As shown, the system 600 includes a controller 610, a plurality of frequency converters 210 and a plurality of motors 220. Each frequency converter 210 is connected to the controller 610 in communication, and the plurality of frequency converters 210 are connected to the plurality of motors 220 in one-to-one correspondence, and the plurality of motors 220 are used to drive the plurality of rotating bodies 230 to rotate in one-to-one correspondence.

[0068] Specifically, the controller 610 includes the device 300 of the second embodiment or the device 500 of the fourth embodiment. Therefore, the technical details in the device 300 of the second embodiment and the device 500 of the fourth embodiment are applicable to the system 600 of this embodiment, and are omitted here for the sake of simplicity. In addition, in this embodiment, each inverter 210 is configured to generate a deceleration function based on the speed, ramp time and preset vt function model of the current multiple rotating bodies 230, and control the operation of the corresponding motor 220 based on the deceleration function so that the multiple rotating bodies 230 can achieve synchronous deceleration.

[0069] In actual applications, the controller performs the deceleration ramp time calculation according to the program of the device 300 of the second embodiment or the device 500 of the fourth embodiment, and outputs the calculated deceleration ramp time t to each inverter 210 as the deceleration ramp time of the inverter 210. The inverter 210 controls the corresponding motor 220 to achieve ramp deceleration, so that the deceleration time of each rotating body 230 is the same, achieving the effect of synchronous deceleration.

[0070] Figure 7FIG. 7 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. It should be noted that the present embodiment does not limit the specific implementation of the electronic device 700. Figure 7 As shown, the electronic device 700 includes: a processor (processor) 702, a communication interface (Communications Interface) 704, a memory (memory) 706, and a bus 708. Among them:

[0071] The processor 702 , the communication interface 704 , and the memory 706 communicate with each other via a bus 708 .

[0072] The communication interface 704 is used to communicate with other electronic devices or servers.

[0073] The processor 702 is used to execute the program 710, and specifically can execute the relevant steps in the aforementioned method embodiments.

[0074] Specifically, the program 710 may include program codes, which include computer operation instructions.

[0075] The processor 702 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0076] The memory 706 is used to store the program 710. The memory 706 may include a high-speed RAM memory 706, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0077] The program 710 may be specifically configured to enable the processor 702 to execute the method in any of the foregoing embodiments.

[0078] The specific implementation of each step in program 710 can refer to the corresponding description of the corresponding steps and units in the method of the aforementioned embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiment, which will not be repeated here.

[0079] The present disclosure also provides a computer-readable storage medium storing instructions for causing a machine to execute the method embodiments described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device is enabled to read and execute the program code stored in the storage medium.

[0080] In this case, the program code itself read from the storage medium can realize the function of any one of the above embodiments, and thus the program code and the storage medium storing the program code constitute part of the present disclosure.

[0081] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0082] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0083] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0084] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0085] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0086] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0087] While the present disclosure has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure.

[0088] The present disclosure has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present disclosure is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present disclosure, and these embodiments are also within the protection scope of the present disclosure.

Claims

1. A method for determining the ramp time for synchronous deceleration of multiple rotating bodies, characterized in that: include: In response to the synchronous deceleration instruction, determining the total kinetic energy of the current plurality of rotating bodies and the total friction power of the current plurality of rotating bodies; The DC buses of the multiple frequency converters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence; A ramp time capable of achieving synchronous deceleration of the plurality of rotating bodies is determined according to the total kinetic energy of the plurality of rotating bodies and the total friction power of the plurality of rotating bodies.

2. The method according to claim 1, characterized in that The step of determining the total kinetic energy of the current plurality of rotating bodies and the total friction power of the current plurality of rotating bodies in response to the synchronous deceleration instruction further comprises: In response to the synchronous deceleration instruction, determining the current speeds of the plurality of rotating bodies, the current mass of each rotating body, and the current rotation radius of each rotating body; Determine the total kinetic energy of the current multiple rotating bodies according to the current speeds of the multiple rotating bodies, the rotation radius of each of the current rotating bodies, and the mass of each of the current rotating bodies; The total friction power of the current plurality of rotating bodies is determined according to the mass of each current rotating body, the rotation radius of each current rotating body and a preset friction coefficient between each rotating body side and the motor shaft side.

3. The method according to claim 2, characterized in that The method further comprises: determining the total friction power of the current plurality of rotating bodies according to the mass of each rotating body, the rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side. Determine the total friction torque of the current multiple rotating bodies according to the mass of each rotating body, the rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side; The total friction power of the current multiple rotating bodies is determined according to the total friction torque of the current multiple rotating bodies.

4. The method according to any one of claims 1 to 3, characterized in that After determining the ramp time capable of achieving synchronous deceleration of the multiple rotating bodies according to the total kinetic energy of the multiple rotating bodies and the total friction power of the multiple rotating bodies, the method further includes: Output the ramp time to the multiple frequency converters; wherein each frequency converter is configured to generate a deceleration function based on the ramp time, the current speeds of the multiple rotating bodies and a preset vt function model, and control the corresponding motor operation based on the deceleration function to achieve synchronous deceleration of the multiple rotating bodies.

5. The method according to claim 4, characterized in that The step of determining the ramp time capable of achieving synchronous deceleration of the plurality of rotating bodies according to the total kinetic energy of the plurality of rotating bodies and the total friction power of the plurality of rotating bodies further comprises: Based on the formula E=P*t*h, the ramp time that can achieve synchronous deceleration of the multiple rotating bodies is determined according to the total kinetic energy E of the current multiple rotating bodies and the total friction power P of the current multiple rotating bodies, and h is determined based on the preset vt function model.

6. The method according to claim 5, characterized in that The vt function model is a linear ramp function model, h=1 / 2.

7. A method for determining the ramp time for synchronous deceleration of multiple rotating bodies, characterized in that: include: Determine the current speed of each rotating body, the current mass of each rotating body, and the current rotation radius of each rotating body; The DC buses of the multiple frequency converters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence; The ramp time for achieving synchronous deceleration of the multiple rotating bodies is determined according to the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, and the preset friction coefficient between each rotating body side and the motor shaft side.

8. A device for determining the ramp time for synchronous deceleration of multiple rotating bodies, characterized in that: include: A first determination module (310) is used to determine the total kinetic energy of the current plurality of rotating bodies and the total friction power of the current plurality of rotating bodies in response to a synchronous deceleration instruction; The DC buses of the multiple frequency converters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence; The second determination module (320) is used to determine the ramp time capable of achieving synchronous deceleration of the multiple rotating bodies according to the total kinetic energy of the multiple rotating bodies and the total friction power of the multiple rotating bodies.

9. A device for determining the ramp time for synchronous deceleration of multiple rotating bodies, characterized in that: include: A third determination module (510) is used to determine the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body in response to the synchronous deceleration instruction; The DC buses of the multiple frequency converters used to control the operation of the multiple motors are in a common connection state at least from the current moment to the end of the synchronous deceleration, and the multiple motors are used to drive the multiple rotating bodies to rotate in a one-to-one correspondence; The fourth determination module (520) is used to determine the ramp time that can achieve synchronous deceleration of the multiple rotating bodies based on the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, and the preset friction coefficient between each rotating body side and the motor shaft side.

10. A synchronous deceleration control system for multiple rotating bodies, characterized in that: include: A controller (610) comprising a device for determining a ramp time for synchronous deceleration of a plurality of rotating bodies (230) according to claim 8 or 9; The plurality of frequency converters (210) and the plurality of motors (220), wherein each frequency converter (210) is configured to generate a deceleration function based on the current speed of the plurality of rotating bodies (230), the ramp time and a preset vt function model, and to control the operation of the corresponding motor (220) based on the deceleration function so that the plurality of rotating bodies (230) achieve synchronous deceleration.

11. An electronic device, the electronic device (700) comprising: A processor (702), a communication interface (704), a memory (706) and a bus (708), wherein the processor (702), the communication interface (704) and the memory (706) communicate with each other via the bus (708); The memory (706) is used to store at least one executable instruction, and the executable instruction enables the processor (702) to perform an operation corresponding to the method as described in any one of claims 1 to 7.

12. A determination machine readable storage medium, wherein determination machine instructions are stored on the determination machine readable storage medium, and when the determination machine instructions are executed by a processor, the processor executes the method according to any one of claims 1 to 7.

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