Deviation coupling multi-machine cooperative control method and device based on cooperative error compensator, equipment and medium

Abstract

The application relates to a deviation coupling multi-machine cooperative control method, device and equipment based on a cooperative error compensator and a medium, and relates to the field of motor control. The application is to solve the problem that the existing deviation coupling multi-machine cooperative control method has insufficient synchronization accuracy and poor dynamic response consistency. The application collects actual rotating speeds of all the motors in a multi-machine cooperative control system, and calculates an actual rotating speed average value of all the motors; calculates a rotating speed variance according to the deviation of the actual rotating speed of each motor from the actual rotating speed average value; generates a speed compensation value according to the rotating speed variance of a current motor and the rotating speed error between the current motor and other motors; and superimposes the speed compensation value on the speed given value of the current motor, thereby inhibiting the rotating speed asynchronization phenomenon among the motors and realizing multi-machine cooperative control.

Description

Technical Field

[0001] This application belongs to the field of motor control. Background Technology

[0002] Multi-motor cooperative control technology is widely used in industrial automation, intelligent manufacturing (such as automated production lines and robot collaborative systems), and new energy fields (such as four-wheel drive systems for electric vehicles and pitch control systems for wind power) to achieve more complex motion trajectories, higher load capacity, and better power performance. Compared with single-motor control, multi-motor cooperation can meet the complex operation requirements of precise handling and installation of parts in automotive assembly lines, and can also optimize torque distribution and energy recovery in electric vehicles.

[0003] Currently, one of the mainstream methods for multi-motor cooperative control is the deviation coupling control structure. This structure constructs a synchronization error compensator by subtracting the speeds of each motor pairwise, and then adds the compensation to the speed setpoints of each motor, thereby suppressing the speed asynchrony between motors. Deviation coupling control is widely used in industrial multi-motor systems due to its simple structure and ease of implementation; however, this method still has the following problems:

[0004] 1. Insufficient synchronization accuracy between motors, and traditional compensators struggle to dynamically adapt to actual deviations.

[0005] In actual operation, factors such as load disturbances and parameter differences among motors can cause speed deviations. Traditional deviation coupling compensators typically use fixed gain or linear summation methods (e.g., multiplying the speed errors of each motor by a fixed coefficient and then adding them together as the compensation amount). Their design is based solely on the linear combination of speed errors, without considering the dynamic changes in the dispersion of speeds among multiple motors. When one motor is disturbed, the speeds of other motors may remain stable. In this case, the traditional error summation compensation amount cannot accurately reflect the true compensation needs of the disturbed motor, causing the fixed gain to fail to adaptively adjust with changes in operating conditions. The compensation effect is either lagging or excessive, thereby reducing the synchronization accuracy between multiple motors.

[0006] 2. Poor dynamic response consistency stems from a lack of real-time perception of the degree of speed variation.

[0007] When a multi-motor system starts, changes speed, or is subjected to external disturbances, the speeds of each motor must quickly follow the command changes and remain consistent with each other. Traditional compensators lack the ability to perceive the real-time dispersion of speeds among multiple motors. When speed fluctuations occur, the compensation amount is based solely on the algebraic summation of errors, failing to distinguish between "overall trend changes" and "abnormal fluctuations in individual motors," resulting in compensation actions that cannot accurately match the severity of the disturbance. Furthermore, the compensator's response speed is limited by a fixed gain parameter: if a fast response is desired, the fixed gain may cause overshoot or oscillation; if the gain is reduced for stability, the response becomes slower. Therefore, the system often struggles to simultaneously meet the requirements of fast response and stable consistency, resulting in poor dynamic response consistency.

[0008] 3. Limited anti-interference capability under complex operating conditions because the dispersion of speed data cannot be quantified.

[0009] In real-world production environments, multi-motor systems often face complex operating conditions such as sudden load changes, power fluctuations, and variations in mechanical clearance. Traditional compensator designs lack statistical measures to gauge the dispersion of speed data, making it impossible to adaptively adjust the compensation intensity based on the actual severity of disturbances. Statistical indicators such as variance can quantify the non-uniformity of motor speeds—a larger variance indicates more dispersed speeds and more severe disturbances; a smaller variance indicates more concentrated speeds and a more stable system. However, traditional compensators, with their fixed structure, cannot utilize this information. When the disturbance exceeds the design range, the compensation effect significantly decreases, potentially even amplifying errors, causing system oscillations or loss of synchronization, resulting in limited anti-interference capabilities.

[0010] In summary, existing deviation-coupled multi-motor cooperative control methods have drawbacks such as insufficient synchronization accuracy, poor dynamic response consistency, and limited anti-interference capability. Summary of the Invention

[0011] This application aims to address the problems of insufficient synchronization accuracy and poor dynamic response consistency in existing deviation-coupled multi-motor cooperative control methods. It provides a deviation-coupled multi-motor cooperative control method, device, equipment, and medium based on a cooperative error compensator, which achieves rapid response among multiple motors while reducing cooperative errors.

[0012] The first aspect of this application provides a deviation-coupled multi-machine cooperative control method based on a cooperative error compensator, including:

[0013] Collect the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors;

[0014] The speed variance is calculated based on the deviation between the actual speed of each motor and the average actual speed.

[0015] A speed compensation value is generated based on the current motor speed variance and the speed error between the current motor and other motors;

[0016] The speed compensation value is superimposed on the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

[0017] In one possible design, generating speed compensation values ​​based on the current motor speed variance and the error between the current motor and other motors includes:

[0018] Variance compensation components are generated based on the aforementioned speed variance and fixed speed compensation gain coefficient;

[0019] Error compensation components are generated based on the speed error between the current motor and other motors, as well as the coupling gain coefficient.

[0020] The variance compensation component and the error compensation component are superimposed to obtain the current speed compensation value of the motor.

[0021] In one possible design, the expression for the velocity compensation value is:

[0022] ,

[0023] in, For the first Output value of the collaborative speed compensator of the tektek motor. For the number of motors, For the first The actual speed of the motor. This represents the average motor speed. For the first Taiwan Electric and the first Coupling gain coefficient between the two motors For the first The fixed speed compensation gain coefficient of the motor.

[0024] In one possible design, the expression for the fixed speed compensation gain coefficient is:

[0025] ,

[0026] in, For the first The moment of inertia of the trolley motor The reference moment of inertia.

[0027] In one possible design, the expression for the coupling gain coefficient is:

[0028] ,

[0029] in, For the first The moment of inertia of the trolley motor For the first The moment of inertia of the motor.

[0030] In one possible design, the motor is a permanent magnet synchronous motor, employing dual closed-loop vector control with an outer speed loop and an inner current loop.

[0031] In one possible design, the outer speed loop outputs a q-axis current reference command after comparing the deviation between the given speed value and the actual speed value.

[0032] The inner current loop tracks the deviation between the given value and the actual value of the dq axis current in real time and outputs a voltage control signal.

[0033] The voltage control signal is transformed by IPark coordinate transformation and SVPWM modulation algorithm to generate a drive signal to control the operation of the three-phase inverter.

[0034] The actual speed and electrical angle of the permanent magnet synchronous motor are collected in real time by an encoder, forming a complete closed-loop control system.

[0035] The second aspect of this application provides a deviation-coupled multi-machine cooperative control device based on a cooperative error compensator, comprising:

[0036] Data acquisition unit: Used to acquire the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors;

[0037] Variance calculation unit: used to calculate the speed variance based on the deviation between the actual speed of each motor and the average value of the actual speed;

[0038] Compensation value calculation unit: used to generate speed compensation values ​​based on the current motor speed variance and the speed error between the current motor and other motors;

[0039] Control unit: used to superimpose the speed compensation value onto the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

[0040] A third aspect of this application provides a deviation-coupled multi-machine cooperative control device based on a cooperative error compensator. The deviation-coupled multi-machine cooperative control device based on a cooperative error compensator includes a processor and a memory. The memory stores at least one instruction, which is loaded and executed by the processor to implement the deviation-coupled multi-machine cooperative control method based on the cooperative error compensator described above.

[0041] A fourth aspect of this application provides a computer storage medium storing at least one instruction, which is loaded and executed by a processor to implement the deviation-coupled multi-machine cooperative control method based on a cooperative error compensator as described above.

[0042] The beneficial effects of this application are:

[0043] I. Significantly improves the synchronization accuracy between multiple motors

[0044] This application constructs a novel cooperative speed compensator within a deviation-coupled control structure. First, the average speed of all motors is calculated, followed by the speed compensation value. Since variance measures the dispersion of data around its average value in statistics—that is, the smaller the variance, the more concentrated and less volatile the motor speeds; the larger the variance, the more dispersed and volatile the motor speeds—when a motor is disturbed, the speed variance can quickly reflect the difference in dispersion among the multiple motor speeds. Traditional deviation-coupled compensators rely solely on the linear summation of speed errors, failing to distinguish between "overall trend changes" and "abnormal fluctuations in individual motors." This application, by introducing a variance term, directly indicates the severity of the disturbance, allowing the compensator to dynamically adjust the compensation intensity: a larger variance indicates a higher degree of system dispersion, and the greater the compensation contributed by the variance term, thus more accurately compensating for actual disturbances. This mechanism overcomes the shortcomings of traditional fixed-gain compensators, such as lag or overcompensation, and significantly improves the synchronization accuracy among multiple motors.

[0045] II. Achieving a balance between rapid response and stable operation

[0046] The collaborative speed compensator in this application does not require complex iterations or parameter tuning to calculate its variance term. It only needs to collect the speed of each motor in real time and calculate its statistical variance, directly adding the variance result to the speed compensation value. Simultaneously, it retains the speed error weighting term to maintain the original rapid error correction capability of the deviation coupling structure. In this application, the variance term and the error weighting term work synergistically, enabling the system to maintain small speed fluctuations and stable operation while rapidly responding to command changes, achieving a balance between speed and stability. Figure 5 The waveform shows that the motor speed can quickly decrease from the initial value to a near-stable value, and the speed fluctuations of each motor are small in the subsequent time, which verifies this effect.

[0047] III. Enhancing Anti-interference Capability under Complex Operating Conditions

[0048] The cooperative speed compensator in this application uses a variance term that directly reflects the dispersion of multi-motor speed data relative to the average value. When complex operating conditions such as sudden load changes, power supply fluctuations, or changes in mechanical clearance cause speed fluctuations, the variance value changes dynamically. A larger variance indicates a more severe disturbance, and the compensator automatically increases the compensation intensity. When the disturbance decreases, the variance automatically decreases, and the compensation intensity decreases accordingly. The variance term is sensitive to outliers (motor speeds that deviate significantly from the average value). When a motor experiences a strong disturbance and its speed changes abruptly, the squared difference between that motor's speed and the average value increases significantly, causing the variance to rise rapidly, resulting in a larger compensation amount, enabling the system to effectively suppress the disturbance's impact. When the disturbance disappears, the variance returns to a small value, and the compensation amount automatically decreases, avoiding overcompensation. This variance-based adaptive compensation mechanism allows the system to maintain stable cooperative performance under complex operating conditions such as sudden load changes and power supply fluctuations, and its anti-interference capability is significantly better than that of traditional fixed-gain compensators. Figure 5 The magnified area shows that even with interference, the motor speed can quickly return to a stable state after a brief fluctuation, verifying the strong anti-interference capability of the solution under complex working conditions. Attached Figure Description

[0049] Figure 1 Structure diagram of each PMSM control loop

[0050] Figure 2 This is a diagram of the overall structure of the deviation coupling;

[0051] Figure 3 Here is a structural diagram of the collaborative compensator;

[0052] Figure 4 This is a waveform diagram of traditional deviation coupling control;

[0053] Figure 5 The waveform diagram is for the coordinated compensation deviation coupling control. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0055] Specific Implementation Method 1: The deviation coupling multi-machine cooperative control method based on a cooperative error compensator described in this implementation method includes:

[0056] Collect the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors;

[0057] The speed variance is calculated based on the deviation between the actual speed of each motor and the average actual speed.

[0058] A speed compensation value is generated based on the current motor speed variance and the speed error between the current motor and other motors;

[0059] The speed compensation value is superimposed on the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

[0060] In one implementation, generating a speed compensation value based on the current motor speed variance and the error between the current motor and other motors includes:

[0061] Variance compensation components are generated based on the aforementioned speed variance and fixed speed compensation gain coefficient;

[0062] Error compensation components are generated based on the speed error between the current motor and other motors, as well as the coupling gain coefficient.

[0063] The variance compensation component and the error compensation component are superimposed to obtain the current speed compensation value of the motor.

[0064] To further illustrate the implementation scheme of this application, each step is described in detail below:

[0065] 1. In the dp coordinate system, for the th The stator voltage equation for a PMSM (Permanent Magnet Synchronous Motor) is as follows:

[0066] (1),

[0067] in, and The first The d-axis and q-axis stator voltages of the PMSM. For stator resistance, and The first The d-axis and q-axis stator currents of the PMSM. and The first The stator flux linkages of the d-axis and q-axis of the PMSM. It represents the electric angular velocity.

[0068] The stator flux linkage equation is:

[0069] (2),

[0070] in, and The first The d-axis and q-axis inductors of the PMSM (Technology Standard) It is a permanent magnet flux linkage.

[0071] The electromagnetic torque equation is:

[0072] (3),

[0073] in, For the first The electromagnetic torque of the PMSM, This represents the number of pole pairs of the motor.

[0074] The equation of motion is:

[0075] (4),

[0076] in, For the first The moment of inertia of the PMSM in Taiwan For the first The load torque of the PMSM For the first The viscous friction coefficient of the PMSM in Taiwan, For the first The mechanical angular velocity of the PMSM.

[0077] Since the motor speeds in a multi-motor system change synchronously, the reference speed of the motor is set as follows: Tracking error between any two motors It can be represented as:

[0078] (5),

[0079] in, and The first and Tracking error of the motor and The first and The reference speed of the motor. and The first and The actual rotational speed of the motor.

[0080] Define the coordination error of the two motors for:

[0081] (6),

[0082] Differential ratio can be obtained for:

[0083] (7),

[0084] From equations (5) and (6), we can obtain:

[0085] (8),

[0086] in, It is a transformation matrix.

[0087] Ignoring the effect of viscous friction, let the input variable be:

[0088] (9).

[0089] Therefore, the mathematical model of a multi-motor system considering synchronization error is as follows:

[0090] (10)

[0091] in, The input matrix is ​​denoted as .

[0092] Each motor loop is constructed based on a mathematical model.

[0093] Based on a mathematical model of a multi-motor system that considers synchronization errors, this embodiment employs a vector control strategy, independently constructing a dual closed-loop control circuit consisting of an outer speed loop and an inner current loop for each permanent magnet synchronous motor. For example... Figure 1 As shown, the speed is compared with the given speed through the outer speed ring. Compared with actual feedback value Output q-axis current reference command The inner current loop tracks the deviation between the dq-axis current setpoint and feedback in real time, outputting a voltage control signal. This voltage control signal undergoes IPark coordinate transformation and SVPWM modulation algorithm to generate a drive signal that controls the three-phase inverter. Simultaneously, it works in conjunction with an encoder to acquire the actual motor speed in real time. With electrical angle This constitutes a complete closed-loop control system, ensuring that each motor has good dynamic response and steady-state accuracy, and laying a reliable foundation for single-machine operation for multi-motor collaborative control at the upper level.

[0094] Based on single-machine dual-closed-loop control, an improved deviation-coupled collaborative control framework is built, such as... Figure 2 As shown.

[0095] 2. The speed coordination controller is a key part of the deviation coupling control and directly determines the coordination performance between multiple motors. In order to reduce the tracking error between motors in a multi-motor system and reduce the speed synchronization error between motors, this embodiment designs an improved speed coordination controller to achieve coordinated control of the system.

[0096] Variance measures the dispersion of data around its mean. As the control principle states, when large speed fluctuations occur in a system, the speed variance can quickly follow the speed difference between motors. Variance is an important concept in statistics, primarily used to measure the dispersion of data around its mean. The smaller the variance, the more concentrated the data and the smaller the fluctuations; the larger the variance, the more dispersed the data and the greater the fluctuations, thus greatly increasing the accuracy of the collaborative compensation algorithm. Therefore, variance processing is introduced into the speed values ​​between motors to make the compensation values ​​of other motors closer to the actual disturbance of the affected motor. Then the... The coordinated speed compensator of the tandem motor can be represented as:

[0097] (11),

[0098] in, For the first Output value of the coordinated speed compensator of the motor; For the number of motors, ; For the first The actual rotational speed of the motor; This represents the average motor speed. For the first Taiwan Electric and the first Coupling gain coefficient between the two motors; For the first The fixed speed compensation gain coefficient of the motor.

[0099] (12),

[0100] (13)

[0101] in, For the first The moment of inertia of the trolley motor For reference moment of inertia, For the first The moment of inertia of the motor.

[0102] Compared to traditional collaborative error compensators, this embodiment performs variance processing on the speeds of multiple motors. After speed gain compensation, the result is added to the sum of the speed errors to obtain the result of the first motor speed compensation. Speed ​​compensation value of the motor The structure diagram of the cooperative error compensator is as follows: Figure 3 As shown.

[0103] Specific Implementation Method Two: The deviation coupling multi-machine cooperative control device based on a cooperative error compensator described in this implementation method includes:

[0104] Data acquisition unit: Used to acquire the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors;

[0105] Variance calculation unit: used to calculate the speed variance based on the deviation between the actual speed of each motor and the average value of the actual speed;

[0106] Compensation value calculation unit: used to generate speed compensation values ​​based on the current motor speed variance and the speed error between the current motor and other motors;

[0107] Control unit: used to superimpose the speed compensation value onto the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

[0108] Specific Implementation Method 3: The deviation-coupled multi-machine cooperative control device based on the cooperative error compensator described in this embodiment includes a processor and a memory. The memory stores at least one instruction, which is loaded and executed by the processor to implement the deviation-coupled multi-machine cooperative control method based on the cooperative error compensator as described in Specific Implementation Method 1.

[0109] Specific Implementation Method Four: A computer storage medium as described in this embodiment stores at least one instruction, which is loaded and executed by a processor to implement the deviation coupling multi-machine cooperative control method based on a cooperative error compensator as described in Specific Implementation Method One.

[0110] While specific embodiments of this application have been described herein with reference to them, it should be understood that these embodiments are merely examples of the principles and applications of this application. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of this application as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A deviation-coupled multi-machine cooperative control method based on a cooperative error compensator, characterized in that, include: Collect the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors; The speed variance is calculated based on the deviation between the actual speed of each motor and the average actual speed. A speed compensation value is generated based on the current motor speed variance and the speed error between the current motor and other motors; The speed compensation value is superimposed on the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

2. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 1, characterized in that, The step of generating a speed compensation value based on the current motor speed variance and the error between the current motor and other motors includes: Variance compensation components are generated based on the aforementioned speed variance and fixed speed compensation gain coefficient; Error compensation components are generated based on the speed error between the current motor and other motors, as well as the coupling gain coefficient. The variance compensation component and the error compensation component are superimposed to obtain the current speed compensation value of the motor.

3. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 1 or 2, characterized in that, The expression for the velocity compensation value is: ， in, For the first Output value of the collaborative speed compensator of the tektek motor. For the number of motors, For the first The actual speed of the motor. This represents the average motor speed. For the first Taiwan Electric and the first Coupling gain coefficient between the two motors For the first The fixed speed compensation gain coefficient of the motor.

4. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 3, characterized in that, The expression for the fixed speed compensation gain coefficient is as follows: ， in, For the first The moment of inertia of the trolley motor The reference moment of inertia.

5. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 3, characterized in that, The expression for the coupling gain coefficient is: ， in, For the first The moment of inertia of the trolley motor For the first The moment of inertia of the motor.

6. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 1, characterized in that, The motor is a permanent magnet synchronous motor, which adopts dual closed-loop vector control with an outer speed loop and an inner current loop.

7. The deviation-coupled multi-machine cooperative control method based on a cooperative error compensator according to claim 6, characterized in that, The outer speed ring outputs a q-axis current reference command after comparing the deviation between the given speed value and the actual speed value. The inner current loop tracks the deviation between the given value and the actual value of the dq axis current in real time and outputs a voltage control signal. The voltage control signal is transformed by IPark coordinate transformation and SVPWM modulation algorithm to generate a drive signal to control the operation of the three-phase inverter. The actual speed and electrical angle of the permanent magnet synchronous motor are collected in real time by an encoder, forming a complete closed-loop control system.

8. A deviation-coupled multi-machine cooperative control device based on a cooperative error compensator, characterized in that, include: Data acquisition unit: Used to acquire the actual speed of all motors in the multi-motor cooperative control system and calculate the average actual speed of all motors; Variance calculation unit: used to calculate the speed variance based on the deviation between the actual speed of each motor and the average value of the actual speed; Compensation value calculation unit: used to generate speed compensation values ​​based on the current motor speed variance and the speed error between the current motor and other motors; Control unit: used to superimpose the speed compensation value onto the current speed setpoint of the motor, thereby suppressing the asynchronous speed phenomenon between motors and realizing multi-motor collaborative control.

9. A deviation-coupled multi-machine cooperative control device based on a cooperative error compensator, characterized in that, The deviation-coupled multi-machine cooperative control device based on a cooperative error compensator includes a processor and a memory. The memory stores at least one instruction, which is loaded and executed by the processor to implement the deviation-coupled multi-machine cooperative control method based on a cooperative error compensator as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores at least one instruction, which is loaded and executed by a processor to implement the deviation-coupled multi-machine cooperative control method based on a cooperative error compensator as described in any one of claims 1 to 7.

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