Torque distribution control method for dual-motor system based on linear active disturbance rejection decoupling control

Abstract

The application discloses a torque distribution control method of a double-motor system based on linear active disturbance rejection decoupling control, which comprises the following steps: firstly, a decoupling model based on total torque and torque synchronization error is established by using linear active disturbance rejection decoupling, and a torque following controller and a torque synchronization controller are designed according to the decoupling model, wherein two linear extended state observers are used to observe disturbances in the torque synchronization controller; secondly, controller parameters are determined according to a Bode diagram of a disturbance transfer function; and finally, the outputs of the torque following controller and the torque synchronization controller, namely following voltage and synchronization voltage, are superposed to obtain q-axis voltages of the two motors, so that the control of the torques of the two motors is realized. The application can realize the independent operation of total torque following and each motor torque synchronization control, and realize good torque distribution. When the load changes, each motor is synchronized according to the output proportional torque; when the output proportion of each motor is adjusted, the system output torque remains unchanged.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of multi-motor control, and particularly relates to a torque distribution control method for a double-motor system based on linear active disturbance rejection decoupling control. BACKGROUND

[0002] Multi-motor drive systems play an increasingly important role in modern industry and transportation systems due to their strong flexibility and high reliability. In a multi-motor system, by adjusting the output proportion of each motor, the system performance can be optimized, such as reducing system energy consumption and gear gap. Researchers use model-based or rule-based strategies to obtain the optimal output proportion of each motor in different operating states, and apply torque distribution control based on torque following to achieve torque synchronization under the torque distribution, thereby optimizing system performance. Torque distribution control lays the foundation for optimizing control of double-motor systems and plays a crucial role.

[0003] However, due to different torque responses of different motors, the actual system cannot operate according to the preset torque distribution, and the expected torque distribution cannot be achieved. Torque distribution control can be divided into total torque following control and torque synchronization control, and the coupling between the two will affect the performance of torque distribution control. When adjusting the output proportion, the sudden change in total torque will cause a mismatch between total torque and load torque, affecting system stability; when the external load changes, the two motors cannot operate according to the set output proportion.

[0004] Document with application number 201310497209.9 discloses a multi-motor synchronous coordination control method, which realizes reasonable distribution of load among multiple motors through master-slave control. However, this method completely relies on the following of the torque reference value of each motor by each motor, is affected by the difference in motor parameters, and the torque following process of different motors is different, making it difficult to accurately synchronize operation according to the preset torque distribution scheme in actual operation. Document with application number 201610599177.7 discloses a torque balance control method for a double-motor gear transmission system, which maintains torque synchronization of each motor through torque cross-coupling. However, this method does not consider the need to adjust the output proportion of each motor in the system, and does not meet the application of double-motor torque distribution control. Therefore, a torque distribution control method that can freely adjust the output proportion of the motor and maintain good torque synchronization effect is still a problem to be studied. SUMMARY

[0005] In view of the deficiencies of the prior art, the technical problem to be solved by the present application is to provide a torque distribution control method for a double-motor system based on linear active disturbance rejection decoupling control.

[0006] The technical scheme for solving the technical problem of the present application is to provide a torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control, characterized in that the method comprises the following steps:

[0007] Step 1: Analyzing two motors as a whole, establishing a decoupling model based on total torque T, torque synchronization error T Δ , q-axis following voltage u q and q-axis synchronization voltage u qΔ as shown in formula (1):

[0008]

[0009] In formula (1), b0 is a compensation factor; w and v are both disturbances;

[0010] Step 2: According to the decoupling model, a torque following controller based on first-order linear active disturbance rejection control is designed, a tracking differentiator link is omitted, a given reference signal is a total torque reference value T ref output by a speed controller, and an output is a q-axis following voltage u q ; an observation quantity of a linear extended state observer of the torque following controller is total torque T and a disturbance w in formula (1), and an input is the q-axis following voltage u q and the total torque T;

[0011] According to the decoupling model, a torque synchronization controller based on first-order linear active disturbance rejection control is designed, a tracking differentiator link is omitted, a given reference signal is a torque synchronization error reference value T Δref , an output is a q-axis synchronization voltage u qΔ , and an observation quantity of a feedback quantity is the torque synchronization error T Δ ; the torque synchronization error T Δ is decomposed into an electromagnetic torque T e1 of motor 1 and an electromagnetic torque T e2 of motor 2, a disturbance v in formula (1) is decomposed into two parts v1 and v2 belonging to motor 1 and motor 2, and an observation value of the torque synchronization error T Δ and an observation value of the disturbance v are obtained by using a bilinear extended state observer; inputs of the bilinear extended state observer are the electromagnetic torque T e1 of motor 1 and the electromagnetic torque T e2 of motor 2, and a q-axis voltage u q1 of motor 1 and a q-axis voltage u q 2 of motor 2;

[0012] Step 3: The bandwidth ω0 of the linear extended state observer of the torque following controller and the torque synchronization controller, the linear state error feedback control law gain K p1The linear state error feedback control law gain K of the torque synchronization controller p2 ;

[0013] Step 4, the q-axis follow voltage u output by the torque follow controller and the torque synchronization controller q and the q-axis synchronization voltage u qΔ The q-axis voltages u of the two motors are obtained q1 and u q2 ; and the respective d-axis voltages u d are input into the modulation module of the motor control system together, so that the torque distribution control of the two motors is realized.

[0014] Compared with the prior art, the present application has the following beneficial effects:

[0015] (1) The present application firstly establishes a decoupling model based on the total torque and the torque synchronization error by using the linear active disturbance rejection decoupling, and designs the torque follow controller and the torque synchronization controller according to the decoupling model, wherein two linear extended state observers are used in the torque synchronization controller to observe the disturbance; the controller parameters are determined according to the Bode diagram of the disturbance transfer function; the outputs of the torque follow controller and the torque synchronization controller, i.e. the follow voltage and the synchronization voltage, are superimposed to obtain the q-axis voltages of the two motors, so that the torque control of the two motors is realized. The present application can realize the independent operation of the total torque follow and the torque synchronization control of each motor, and realizes good torque distribution. When the load changes, each motor follows the torque synchronization according to the output proportion; when the output proportion of each motor is adjusted, the system output torque remains unchanged.

[0016] (2) The present application decomposes the torque control into the total torque follow control and the torque synchronization control, and realizes the decoupling control of the total torque and the torque synchronization error by using the linear active disturbance rejection, so that good torque distribution effect can be realized.

[0017] (3) The present application regards the two motors as a whole, and directly controls the total torque in a closed loop. The output proportion of each motor can be freely adjusted while maintaining good torque synchronization control, and the system output total torque is ensured to be unchanged when the output proportion of each motor is changed.

[0018] (4) The present application realizes the torque synchronization of the two motors by controlling the torque synchronization error of the two motors, and ensures that the two motors operate strictly according to the set output proportion.

[0019] (5) In order to realize the need to adjust the output proportion, the present application decomposes the torque synchronization error and the disturbance in the torque synchronization control into two parts without abrupt change, so that accurate observation values are obtained, and good torque synchronization control is realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1Flow chart of torque distribution control method based on linear active disturbance rejection decoupling control of double-motor system of the present application;

[0021] Figure 2 Structure block diagram of torque synchronization controller of the present application;

[0022] Figure 3 Structure block diagram of torque synchronization controller of the present application;

[0023] Figure 4 Schematic diagram of gear transmission between double motors in embodiment 1 of the present application;

[0024] Figure 5 Bode diagram of disturbance transfer function in embodiment 1 of the present application;

[0025] Figure 6 Experimental waveform diagram of two-motor output ratio of 1:1 under variable load using existing master-slave control method in embodiment 1 of the present application;

[0026] Figure 7 Experimental waveform diagram of two-motor output ratio of 1:1 under variable load using the method of the present application in embodiment 1 of the present application;

[0027] Figure 8 Experimental waveform diagram of two-motor output ratio of 1:4 under variable load using existing master-slave control method in embodiment 1 of the present application;

[0028] Figure 9 Experimental waveform diagram of two-motor output ratio of 1:4 under variable load using the method of the present application in embodiment 1 of the present application;

[0029] Figure 10 Experimental waveform diagram of two-motor output ratio changing from 1:1 to 1:4 using existing master-slave control method in embodiment 1 of the present application;

[0030] Figure 11 Experimental waveform diagram of two-motor output ratio changing from 1:1 to 1:4 using the method of the present application in embodiment 1 of the present application. DETAILED DESCRIPTION

[0031] The specific embodiments of the present application are given below. The specific embodiments are only used to further illustrate the present application and do not limit the protection scope of the present application.

[0032] The present application provides a torque distribution control method (hereinafter referred to as the method) based on linear active disturbance rejection decoupling control of double-motor system, characterized in that the method comprises the following steps:

[0033] Step 1, for realizing linear active disturbance rejection control on total torque T and torque synchronization error T Δeffective decoupling, two motors are analyzed as a whole, and a decoupling model based on total torque T, torque synchronization error T Δ , q-axis following voltage u q and q-axis synchronization voltage u qΔ is established as shown in equation (1):

[0034]

[0035] In equation (1), b0 is a compensation factor; w and v are both disturbances;

[0036] Preferably, in step 1, the disturbances w, v and the compensation factor b0 satisfy:

[0037]

[0038] In equation (2), b i = 1.5pΨ fi / L i , i = 1 or 2, from which the compensation factor b0 is calculated; a i = -1.5pΨ fi (R i i qi + ωL i i di + ωΨ fi ) / L i ; R i , L i and Ψ fi are the stator resistance, stator inductance and permanent magnet flux linkage of motor i, p is the motor pole pair number; i qi is the q-axis current of motor i; ω is the rotation speed of the two motors; i di is the d-axis current of motor i; Δb1 is the difference between b1 and the compensation factor b0; Δb2 is the difference between b2 and the compensation factor b0; u q1 , u q2 are the q-axis voltages of motor 1 and motor 2; k1 and k2 are the output ratios set for motor 1 and motor 2.

[0039] Preferably, in step 1, the total torque T, torque synchronization error T Δ , q-axis following voltage u q and q-axis synchronization voltage u qΔ satisfy:

[0040]

[0041] In equation (3), T e1 , T e2 are the electromagnetic torques of motor 1 and motor 2; k1 and k2 are the output ratios set for motor 1 and motor 2; u q1 , uq2 q-axis voltage of motor 1 and motor 2.

[0042] Step 2, according to the decoupled model, design a torque following controller based on first order linear active disturbance rejection control, omit the tracking differentiator, the given reference signal is the total torque reference value T ref , the output is q-axis following voltage u q ; the observation of the linear extended state observer (LESO) of the torque following controller is the total torque T and the disturbance w in equation (1), the input is q-axis following voltage u q and total torque T;

[0043] According to the decoupled model, design a torque synchronization controller based on first order linear active disturbance rejection control, omit the tracking differentiator, the given reference signal is the torque synchronization error reference value T Δref , the output is q-axis synchronization voltage u qΔ , the feedback quantity is the observation of torque synchronization error T Δ ; the torque synchronization error T Δ is decomposed into the electromagnetic torque of motor 1 T e1 and the electromagnetic torque of motor 2 T e2 , the disturbance v in equation (1) is decomposed into two parts v1 and v2 belonging to motor 1 and motor 2, and the observation of torque synchronization error T Δ and the observation of disturbance v are obtained by using the bilinear extended state observer; the input of the bilinear extended state observer is the electromagnetic torque of motor 1 T e1 and the electromagnetic torque of motor 2 T e2 , and the q-axis voltage of motor 1 u q1 and the q-axis voltage of motor 2 u q 2.

[0044] Preferably, in step 2, the algorithmic equation of the torque following controller (as shown in equation (2)) is: Figure 2

[0045]

[0046] In equation (4), · represents derivation; ^ represents observation; A1 and A2 are linear extended state observer output error correction gains, which are related to the bandwidth ω0 of the linear extended state observer, A1 = 2ω0, A2 = ω0 2 ; K p1 is the gain of the linear state error feedback control law (LSEF) of the torque following controller; u0 is the output of the linear state error feedback control law of the torque following controller.

[0047] Preferably, in step 2, the torque synchronization error T Δ and the disturbance v are each decomposed into two parts:​

[0048]

[0049] In equation (5), v1 and v2 are the parts of the disturbance v decomposed into motor 1 and motor 2, respectively.

[0050] Preferably, in step 2, for the torque synchronization controller, the instantaneous switching of motor output causes a sudden change in disturbance v, which the extended state observer cannot observe. Therefore, the traditional first-order linear active disturbance rejection control structure is no longer applicable. However, when the compensation factors for the total torque following control and the torque synchronization control are the same, both being b0, the observed values ​​calculated by motors 1 and 2 according to the compensation factor b0 satisfy the first and second terms of disturbance v. Therefore, accurate observation can be achieved by decomposing the torque proportional difference and disturbance v; using the electromagnetic torque T of motor 1... e1 The electromagnetic torque T of motor 2 e2 The q-axis voltage u of motor 1 q1 and the q-axis voltage u of motor 2 q2 The disturbance v is directly observed, and the observed value of the disturbance v is calculated directly using the set output ratios k1 and k2. The algorithm equations of the torque synchronization controller using the bilinear extended state observer (e.g.) Figure 3 As shown below:

[0051]

[0052] In equation (6), · represents differentiation; ^ represents the observed value; A1 and A2 are the output error correction gains of the two linear extended state observers of the torque synchronization controller, which are the same as the output error correction gains of the linear extended state observer of the torque follower controller; k1 and k2 are the output ratios of motor 1 and motor 2 that are set; K p2 is the gain of the linear state error feedback control law of the torque synchronization controller; u0 is the output of the linear state error feedback control law of the torque synchronization controller, which is the same as the output of the linear state error feedback control law of the torque follower controller.

[0053] Step 3: Determine the linear extended state observer bandwidth ω0 and the linear state error feedback control law gain K of the torque follower controller and torque synchronization controller using the Bode plot of the disturbance transfer function. p1 The linear state error feedback control law gain K of the torque synchronization controller p2 This enhances the disturbance tracking capability and improves the system's ability to suppress disturbances;

[0054] Preferably, in step 3, utilizing the concept of active disturbance rejection decoupling control, if the disturbance is completely compensated, the torque control loop is simplified to a first-order integral element. At this time, the total torque T and the torque synchronization error T ΔThe control of the two motors is independent of each other and does not affect each other. However, in practice, it is impossible to completely compensate for the disturbance, and the decoupling control effect of the system is related to the observation effect of the extended state observer and the gain of the state error feedback control law.

[0055] Preferably, in step 3, the disturbance transfer function of the torque following controller, i.e., the transfer function between the total torque T and the disturbance w, is:

[0056]

[0057] In formula (7), s represents a complex number; A1 and A2 are the output error correction gains of the linear extended state observer of the torque following controller; K p1 is the linear state error feedback control law gain of the torque following controller.

[0058] Preferably, in step 3, the disturbance transfer function of the torque synchronization controller, i.e., the transfer function between the torque synchronization error T Δ and the disturbance v, is:

[0059]

[0060] In formula (8), s represents a complex number; A1 and A2 are the output error correction gains of the two linear extended state observers of the torque synchronization controller; K p2 is the linear state error feedback control law gain of the torque synchronization controller.

[0061] Step 4, the q-axis following voltage u q and the q-axis synchronization voltage u qΔ output by the torque following controller and the torque synchronization controller are obtained to obtain the q-axis voltages u q1 and u q2 of the two motors; and the respective d-axis voltages u d are input into the modulation module of the existing motor control system to realize torque distribution control of the two motors.

[0062] Preferably, in step 4, the q-axis following voltage u q and the q-axis synchronization voltage u qΔ are obtained to obtain the q-axis voltages u q1 and u q 2:

[0063]

[0064] In formula (9), k1 and k2 are the output proportions set for motor 1 and motor 2.

[0065] Embodiment 1:

[0066] The two motors used in the embodiment are surface-mounted permanent magnet synchronous motors, and the pole pairs are both 5. The resistance of motor 1 is 1.083 Ω, the inductance is 3.177 mH, and the permanent magnet flux linkage is 0.1398 Wb; the resistance of motor 2 is 1.5685 Ω, the inductance is 4.256 mH, and the permanent magnet flux linkage is 0.1389 Wb. The difference between the parameters of the two motors is the main reason for the coupling of the total torque following control and the torque synchronization control. In the embodiment, a two-in-single-out gearbox is used to connect the two motors to drive the load together, as shown in Figure 4 .

[0067] In step 2, the reference signal T Δref is set to 0.

[0068] In step 3, the linear extended state observer bandwidth ω0 of the torque following controller and the torque synchronization controller is set to 700 rad / s, the linear state error feedback control law gain K p1 of the torque following controller and the linear state error feedback control law gain K p2 of the torque synchronization controller are both 200, at this time, the transfer functions shown in equations (7) and (8) are the same, and the Bode diagram is as shown in Figure 5 . The gain of the disturbance signal w to the total output torque T and the gain of the disturbance signal v to the torque synchronization error T Δ are both -52.5 dB, i.e. 0.0024, in the full frequency band. It can be seen that under the above parameter conditions, the proposed torque distribution control method has obvious suppression effect on the disturbance, and the decoupling of the torque following control and the torque synchronization control is realized.

[0069] As can be seen from Figure 6 , 7 , when the motor output ratio is set to 1:1, using the method proposed in the application, the torque distribution ratio of the two motors remains 1:1 when the load changes, while the output ratio changes under the existing master-slave control method.

[0070] As can be seen from Figure 8 , 9 , when the motor output ratio is set to 1:4, using the method proposed in the application, the torque distribution ratio of the two motors also remains 1:4 when the load changes, and the torque synchronization effect is much stronger than the existing master-slave control method.

[0071] As can be seen from Figure 10 and Figure 11 , when the motor output ratio is adjusted, the total torque output only has a slight fluctuation, and compared with the method based on master-slave control, the torque change amplitude is reduced by 90%. The application can realize decoupling control of the total torque and the torque synchronization error, and provide excellent torque distribution control effect.

[0072] The invention is applicable where not mentioned.

Claims

1. A torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control, characterized in that, The method includes the following steps: Step 1: Analyze the two motors as a whole, establishing a system based on the total torque T and torque synchronization error T. Δ q-axis following voltage u q and q-axis synchronous voltage u qΔ The decoupling model is shown in equation (1): In equation (1), b0 is the compensation factor; w and v are both disturbances; Step 2: Based on the decoupling model, design a torque follower controller based on first-order linear active disturbance rejection control, omitting the tracking differentiator stage. The given reference signal is the total torque reference value T output by the speed controller. ref The output is the q-axis following voltage u. q The observations of the linear extended state observer of the torque follower controller are the total torque T and the disturbance w in equation (1), and its input is the q-axis follower voltage u. q and total torque T; Based on the decoupling model, a torque synchronization controller based on first-order linear active disturbance rejection control is designed, eliminating the tracking differentiator stage. The given reference signal is the torque synchronization error reference value T. Δref The output is the q-axis synchronous voltage u. qΔ The feedback quantity is the torque synchronization error T. Δ The observed values; the torque synchronization error T Δ Decomposed into the electromagnetic torque T of motor 1 e1 The electromagnetic torque T of motor 2 e2 The disturbance v in equation (1) is decomposed into two parts, v1 and v2, belonging to motor 1 and motor 2 respectively, and the torque synchronization error T is obtained by observing the bilinear extended state observer. Δ The observed values ​​of the disturbance v and the observed values ​​of the bilinear extended state observer; the input of the bilinear extended state observer is the electromagnetic torque T of motor 1. e1 The electromagnetic torque T of motor 2 e2 And the q-axis voltage u of motor 1 q1 and the q-axis voltage u of motor 2 q2 ; Step 3: Determine the linear extended state observer bandwidth ω0 and the linear state error feedback control law gain K of the torque follower controller and torque synchronization controller using the Bode plot of the disturbance transfer function. p1 The linear state error feedback control law gain K of the torque synchronization controller p2 ; Step 4: The q-axis following voltage u output by the torque follower controller and the torque synchronization controller. q and q-axis synchronous voltage u qΔ Obtain the q-axis voltage u of the two motors q1 and u q2 Then, compared with their respective d-axis voltages u d The inputs are fed into the modulation module of the motor control system to achieve torque distribution control between the two motors.

2. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 1, the disturbance w, disturbance v, and compensation factor b0 satisfy: In equation (2), b i =1.5pΨ fi / L i i = 1 or 2, from which the compensation factor b0 is calculated; a i =-1.5pΨ fi (R i i qi +ωL i i di +ωΨ fi ) / L i ;R i L i and Ψ fi Let i be the stator resistance, stator inductance, and permanent magnet flux linkage of motor i, and p be the number of pole pairs of the motor; qi ω represents the q-axis current of motor i; ω represents the rotational speed of the two motors; i di Let be the d-axis current of motor i; Δb1 is the difference between b1 and compensation factor b0; Δb2 is the difference between b2 and compensation factor b0; u q1 u q2 k1 and k2 are the q-axis voltages of motor 1 and motor 2, respectively; k1 and k2 are the output ratios set for motor 1 and motor 2.

3. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 1, the total torque T and the torque synchronization error T Δ q-axis following voltage u q and q-axis synchronous voltage u qΔ satisfy: In equation (3), T e1 T e2 The electromagnetic torques of motor 1 and motor 2 are given; k1 and k2 are the output ratios of motor 1 and motor 2 as set; u q1 u q2 Let be the q-axis voltage of motor 1 and motor 2.

4. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 2, the algorithm equation for the torque follower controller is: In equation (4), · represents differentiation; ^ represents the observed value; A1 and A2 are the output error correction gains of the linear extended state observer of the torque follower controller; K p1 is the gain of the linear state error feedback control law of the torque follower controller; u0 is the output of the linear state error feedback control law of the torque follower controller.

5. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 2, the torque synchronization error T Δ The disturbance v is each decomposed into two parts: In equation (5), v1 and v2 are the parts of the disturbance v decomposed to motor 1 and motor 2, respectively; k1 and k2 are the output ratios set for motor 1 and motor 2; Δb1 is the difference between b1 and compensation factor b0; Δb2 is the difference between b2 and compensation factor b0; a i =-1.5pΨ fi (R i i qi +ωL i i di +ωΨ fi ) / L i i = 1 or 2; R i L i and Ψ fi Let i be the stator resistance, stator inductance, and permanent magnet flux linkage of motor i, and p be the number of pole pairs of the motor; qi ω represents the q-axis current of motor i; ω represents the rotational speed of the two motors; i di Let be the d-axis current of motor i.

6. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 2, the algorithm equation for the torque synchronization controller using the bilinear extended state observer is as follows: In equation (6), · represents differentiation; ^ represents the observed value; A1 and A2 are the output error correction gains of the two linear extended state observers of the torque synchronization controller, which are the same as the output error correction gains of the linear extended state observer of the torque follower controller; k1 and k2 are the output ratios of motor 1 and motor 2 that are set; K p2 is the gain of the linear state error feedback control law of the torque synchronization controller; u0 is the output of the linear state error feedback control law of the torque synchronization controller, which is the same as the output of the linear state error feedback control law of the torque follower controller.

7. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 3, the disturbance transfer function of the torque follower controller, that is, the transfer function between the total torque T and the disturbance w, is: In equation (7), s represents a complex number; A1 and A2 are the output error correction gains of the linear extended state observer of the torque follower controller; K p1 This is the gain of the linear state error feedback control law for the torque follower controller.

8. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 3, the disturbance transfer function of the torque synchronization controller, i.e., the torque synchronization error T Δ The transfer function between the disturbance v and the disturbance v is: In equation (8), s represents a complex number; A1 and A2 are the output error correction gains of the two linear extended state observers of the torque synchronization controller; K p2 This is the gain of the linear state error feedback control law for the torque synchronization controller.

9. The torque distribution control method for a dual-motor system based on linear active disturbance rejection decoupling control according to claim 1, characterized in that, In step 4, the q-axis follows the voltage u. q and q-axis synchronous voltage u qΔ Obtain the q-axis voltage u of the two motors q1 and u q2 : In equation (9), k1 and k2 are the output ratios of motor 1 and motor 2.

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