Drive device and drive system comprising the same

Abstract

The application provides a driving device and a driving system comprising the same. The driving device comprises a multi-axis driving control unit and N motor units, N>=2, the multi-axis driving control unit being connected with an upper controller. Each of the motor units comprises a motor module and a motor, the motor module being connected with the multi-axis driving control unit, and the motor being connected with the motor module. The motors of one driving device synchronously operate to jointly drive a load.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a drive device and a drive system including the same. Background Technology

[0002] Elevators are an important component of warehousing and logistics systems, used to vertically transport goods to a designated floor level. During elevator operation, a malfunction in its drive system can cause the following problems:

[0003] (1) Risk of cargo being suspended in mid-air: When a malfunction occurs, the lifting platform may be suspended in mid-air, and the cargo may not be able to reach the predetermined location. This not only affects the logistics process, but may also cause safety hazards due to the cargo being suspended in mid-air, such as the cargo falling or being damaged.

[0004] (2) Increased maintenance difficulty: The suspended state of the lifting platform increases the complexity and risk of maintenance work and prolongs maintenance time.

[0005] (3) Chain reaction failures: Modern warehousing and logistics systems are often designed with safety protection mechanisms. When a hoist fails, it may trigger the system protection, causing adjacent or related hoists to stop operating, or even paralyzing the entire system, which seriously interferes with logistics operations. Summary of the Invention

[0006] In view of this, this application provides a drive device and a drive system including the same, which can maintain normal operation even in the event of a failure, significantly improving the availability and reliability of the drive device and the drive system.

[0007] In a first aspect, this application provides a driving device, the driving device comprising:

[0008] A multi-axis drive control unit for connecting to a host controller;

[0009] There are N motor units, where N ≥ 2, and each motor unit includes:

[0010] A motor module connected to the multi-axis drive control unit;

[0011] An electric motor, which is connected to the motor module;

[0012] Furthermore, the various motors of a drive unit operate synchronously to jointly drive the load.

[0013] Optionally, N = 2.

[0014] Optionally, each motor of the drive device has the same power, and one motor can meet the power requirements of the load under the minimum operating conditions.

[0015] Optionally, the multi-axis drive control unit can simultaneously control M motor units, where M>N.

[0016] Optionally, one of the two motors is a master motor and the other is a slave motor, wherein the master motor is configured in position control mode and the slave motor is torque synchronized with the master motor.

[0017] Optionally, the main motor and the slave motor are rigidly connected.

[0018] Optionally, the slave motor is configured in speed control mode;

[0019] The host controller is configured to: in each processing cycle of the host controller, acquire the actual speed value and actual torque of the master motor, and output the speed setpoint and torque setpoint of the slave motor, wherein the speed setpoint of the slave motor is greater than the actual speed value of the master motor, and the torque setpoint of the slave motor is equal to the torque setpoint of the master motor.

[0020] Optionally, the slave motor is configured in torque control mode; in each servo cycle of the multi-axis drive control unit, the multi-axis drive control unit acquires the current actual torque of the master motor and outputs the torque setpoint of the slave motor, wherein the torque setpoint of the slave motor is equal to the current actual torque of the master motor.

[0021] Secondly, this application provides a drive system, which includes a host controller and two or more drive devices as described in any one of the first aspects.

[0022] As can be seen from the above technical solution, the drive device provided in this application operates synchronously under normal working conditions to jointly drive the load. When a motor module or motor fails, other motor units can be used to move the load to a safe location for maintenance, thus not affecting the normal operation of the system and greatly improving the reliability and availability of the drive device. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a driving device for an exemplary embodiment of this application.

[0024] Figure 2 This is a schematic diagram of a driving system for an exemplary embodiment of this application.

[0025] Figure 3 For when Figure 2 A schematic diagram of drive control after a failure of a multi-axis control unit in the drive system.

[0026] Figure 4The speed-time curve and torque-time curve of the main motor of the drive device with the main motor in position control mode and the slave motor in speed control mode.

[0027] Figure 5 The speed-time curve and torque-time curve of the slave motor of the drive device where the master motor is in position control mode and the slave motor is in speed control mode.

[0028] Figure 6 The speed-time curves and torque-time curves of the main motor and the slave motor of the drive device with the main motor in position control mode and the slave motor in torque control mode.

[0029] List of reference numerals in the attached diagram:

[0030] 11: Multi-axis drive control unit;

[0031] 12: Motor Unit

[0032] 121: Motor module;

[0033] 122: Electric motor;

[0034] 31: First driving device;

[0035] 32: Second drive unit;

[0036] 33: Third drive unit;

[0037] 200: Host controller;

[0038] 210, 211, 213: Multi-axis drive control unit;

[0039] 220, 221, 222, 223, 224, 225: Motor modules;

[0040] 230, 231, 232, 233, 234, 235: Electric motors;

[0041] 811: The speed-time curve of the main motor;

[0042] 812: Torque-time curve of the main motor;

[0043] 821: From the motor's speed-time curve;

[0044] 822: From the motor's torque-time curve;

[0045] 911: The speed-time curve of the main motor;

[0046] 912: Torque-time curve of the main motor;

[0047] 921: From the motor's speed-time curve;

[0048] 922: From the motor's torque-time curve; Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0050] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit this application.

[0051] Elevators are an important component of warehousing and logistics systems, used to vertically transport goods to a designated floor level. In existing technology, an elevator is driven by a drive unit and a motor. If either of these fails, the following problems can occur:

[0052] (1) Risk of cargo being suspended in mid-air: When a malfunction occurs, the lifting platform may be suspended in mid-air, and the cargo may not be able to reach the predetermined location. This not only affects the logistics process, but may also cause safety hazards due to the cargo being suspended in mid-air, such as the cargo falling or being damaged.

[0053] (2) Increased maintenance difficulty: The suspended state of the lifting platform increases the complexity and risk of maintenance work and prolongs maintenance time.

[0054] (3) Chain reaction failures: Modern warehousing and logistics systems are often designed with safety protection mechanisms. When a hoist fails, it may trigger the system protection, causing adjacent or related hoists to stop operating, or even paralyzing the entire system, which seriously interferes with logistics operations.

[0055] In view of this, this application provides a drive device and a drive system therein that can maintain normal operation even in the event of a failure, significantly improving the availability and reliability of the drive device and drive system.

[0056] The specific implementation of each embodiment of this application will be described in detail below with reference to the accompanying drawings.

[0057] Example 1

[0058] Example 1 provides a drive device comprising a multi-axis drive control unit 11 and N motor units 12, where N ≥ 2, wherein the multi-axis drive control unit 11 is used to connect to a host controller 200.Figure 1 As shown, each motor unit 12 includes a motor module 121 and a motor 122, wherein the motor module 121 is connected to the multi-axis drive control unit 11, and the motor 122 is connected to the motor module 121.

[0059] Under normal operating conditions, the motors of a drive unit operate synchronously to jointly drive the load, such as the motors of a hoist operating synchronously. If a motor module or motor fails, other motor units can be used to move the hoist to a safe location for repair, thus not affecting the normal operation of hoists in other channels.

[0060] In some embodiments, a drive unit includes two motor units 12, such as Figure 1 As shown.

[0061] In this embodiment, a drive device includes two motor units, which achieves redundancy while avoiding a significant increase in hardware costs.

[0062] In some implementations, the two motors of the drive unit have the same power, and one motor can meet the requirements of driving the maximum design load.

[0063] In traditional implementations of single-motor driven hoists, a high-power motor is required to meet the load's driving needs. This implementation, however, uses two low-power motors of equal power. Under normal operating conditions, both low-power motors jointly drive the load. If one motor fails, the remaining motor can still independently drive the load at a relatively low speed and acceleration / deceleration. This design not only achieves drive redundancy, effectively improving the reliability and stability of the drive system, but also further reduces hardware costs.

[0064] It is understandable that each low-power motor, when running alone, can meet the power requirements of the load under the minimum operating conditions, with its torque, speed, and other performance parameters.

[0065] In some implementations, the multi-axis drive control unit 11 can control M motor units simultaneously, where M>N.

[0066] A drive system includes a host controller (such as a PLC) and multiple drive units, wherein the host controller, multi-axis drive control unit, and motor module of the drive system are configured in the same electrical cabinet. When one of the multi-axis drive control units of the drive system fails, the load can continue to operate simply by connecting the motor module connected to the failed multi-axis drive control unit to another normally operating multi-axis drive control unit.

[0067] Figure 2An exemplary drive system is shown, comprising a host controller and three drive units, each drive unit including a multi-axis control unit and two motor assemblies. Figure 2 As shown, motor modules 220 and 221 of the first drive unit 31 are connected to the multi-axis drive control unit 210; motor modules 222 and 223 of the second drive unit 32 are connected to the multi-axis drive control unit 211; and motor modules 224 and 225 of the third drive unit are connected to the multi-axis drive control unit 212. Under normal operating conditions, each motor component is controlled by the multi-axis drive control unit to which it belongs. When a multi-axis drive control unit fails, such as multi-axis drive control unit 210, simply connect motor modules 220 and 221 to other multi-axis drive control units, such as connecting motor modules 220 and 221 to multi-axis drive control unit 211 (e.g., ...). Figure 3 (as shown), or connected to the multi-axis drive control unit 212, and the two motor assemblies can operate normally.

[0068] In this embodiment, when a multi-axis drive control unit fails, the load can continue to operate simply by changing the wiring of the affected motor module.

[0069] In this embodiment, when a motor or motor module of a drive unit fails, other unaffected motor units of the drive unit can be used to move the hoist to a safe position for maintenance; and when a multi-axis drive control unit fails, the motor module of the drive unit can be connected to the multi-axis drive control unit of another drive unit, thereby greatly improving the availability and reliability of the drive unit.

[0070] For example, a multi-axis drive control unit can control 6 motor units simultaneously.

[0071] In some implementations, a drive unit includes two motor assemblies, one of which is a master motor and the other is a slave motor, wherein the master motor is configured in a position control mode and the slave motor is torque-synchronized with the master motor.

[0072] In position control mode, the main motor can precisely follow the preset position commands to drive the load to the target position. The slave motor maintains torque synchronization with the main motor, meaning that the magnitude and direction of the torque output by the slave motor are always matched with those of the main motor, ensuring that the two work together to complete the corresponding task.

[0073] In one embodiment, the master motor and the slave motor are rigidly connected, that is, the two motors are directly connected together by a rigid coupling, so that they rotate synchronously at the same speed. This rigid connection achieves speed synchronization between the master and slave motors and effectively prevents runaway accidents, thereby further improving the reliability of the drive unit.

[0074] For example, in one implementation, the slave motor is configured in speed control mode. During each processing cycle of the host controller, the host controller acquires the actual speed value and actual torque of the master motor, and outputs a speed setpoint and a torque setpoint for the slave motor, wherein the speed setpoint of the slave motor is greater than the actual speed value of the master motor, and the torque setpoint of the slave motor is equal to the torque setpoint of the master motor.

[0075] In this embodiment, the host controller uses the actual speed of the master motor as a reference and adds a certain incremental output to the speed setting channel of the slave motor to saturate the speed loop of the slave motor. At the same time, the host controller outputs the actual torque of the master motor to the torque limit value of the slave motor, thereby ensuring that the master motor and the slave motor operate synchronously to jointly increase the load.

[0076] Figure 4 The speed-time curve and torque-time curve of the main motor in this embodiment are shown. Figure 5 This is from the speed-time curve and torque-time curve of the motor. (From...) Figure 4 and Figure 5 As can be seen, in this embodiment of the drive device, high-precision speed synchronization is achieved between the main motor and the slave motor. For example... Figure 4 and Figure 5 As shown, the speed-time curves of the slave motor and the master motor almost perfectly overlap. Whether accelerating, moving at a constant speed, or decelerating, the speed changes of both remain highly consistent with minimal error. Simultaneously, the torque of the slave motor is also essentially consistent with that of the master motor: when the master motor torque increases, the slave motor torque increases accordingly; when the master motor torque decreases, the slave motor torque decreases promptly. Therefore, the drive device in this embodiment achieves the basic synchronization requirements between the two motors.

[0077] In another embodiment, the slave motor is configured in torque control mode; in each servo cycle of the multi-axis drive control unit, the multi-axis drive control unit acquires the current actual torque of the master motor and outputs the torque setpoint of the slave motor, wherein the torque setpoint of the slave motor is equal to the current actual torque of the master motor.

[0078] In this embodiment, the master motor and slave motor are rigidly connected, ensuring that their speeds are kept consistent. By setting the torque setpoint of the slave motor equal to the current actual torque of the master motor, the load is evenly distributed across the two motors, guaranteeing smooth operation of the drive unit. In this embodiment, the current actual torque of the master motor is directly fed to the torque setting channel of the slave motor through the multi-axis drive control unit, resulting in higher synchronization accuracy compared to using a host controller. Figure 6 As shown, the speed-time curve of the slave motor almost completely overlaps with that of the main motor, and the torque-time curve of the slave motor is also highly synchronized with that of the main motor.

[0079] Example 2

[0080] Example 2 provides a drive system that includes a host controller and two or more drive devices as described in Example 1. Since the drive system includes the drive devices from Example 1, it possesses the same technical effects as the drive devices, and will not be described further here.

[0081] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0082] The present application has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present application can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present application.

Claims

1. A driving device, characterized in that, The driving device includes: A multi-axis drive control unit (11) is used to connect to a host controller (200); N motor units (12), N≥2, wherein each motor unit (12) comprises: A motor module (121) is connected to the multi-axis drive control unit (11); A motor (122) is connected to the motor module (121); Furthermore, the various motors of a drive unit operate synchronously to jointly drive the load.

2. The driving device as described in claim 1, characterized in that, N=2。 3. The driving device as described in claim 2, characterized in that, Each motor (122) of the drive device has the same power, and one motor (122) can meet the power requirements of the load under the minimum operating requirements.

4. The driving device as described in claim 2 or 3, characterized in that, The multi-axis drive control unit (11) can simultaneously control M motor units (12), where M>N.

5. The driving device as described in claim 4, characterized in that, One of the two motors (122) is a master motor and the other is a slave motor, wherein the master motor is configured in position control mode and the slave motor is torque synchronized with the master motor.

6. The driving device as described in claim 5, characterized in that, The main motor and the slave motor are rigidly connected.

7. The driving device as claimed in claim 6, characterized in that, The slave motor is configured in speed control mode; The host controller (200) is configured to: in each processing cycle of the host controller (200), the host controller (200) acquires the actual speed value and actual torque of the master motor, and outputs the speed setpoint and torque setpoint of the slave motor, wherein the speed setpoint of the slave motor is greater than the actual speed value of the master motor, and the torque setpoint of the slave motor is equal to the torque setpoint of the master motor.

8. The driving device as described in claim 6, characterized in that, The slave motor is configured in torque control mode; in each servo cycle of the multi-axis drive control unit (11), the multi-axis drive control unit (11) acquires the current actual torque of the master motor and outputs the torque setpoint of the slave motor, wherein the torque setpoint of the slave motor is equal to the current actual torque of the master motor.

9. A drive system, characterized in that, The drive system includes a host controller (200) and two or more drive devices as described in any one of claims 1-8.

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