阅读说明：本技术 一种多电机速度同步控制系统及其控制方法 (Multi-motor speed synchronous control system and control method thereof ) 是由 徐文轩 于 2019-09-26 设计创作，主要内容包括：本发明提供了一种多电机速度同步控制系统,其特征在于：包括速度给定模块、辅测速模块、多个电机、多个控制模块和多个比较模块,单个所述控制模块包括转速综合处理模块、速度估算模块、主测速传感器、直接转矩控制器和逆变器。本发明还提供了一种针对上述控制系统的控制方法,其特征在于：所述控制方法分两阶段进行测量和判断,当第一阶段测量出故障时,通过第二阶段的辅测速模块来帮助判断速度估算模块或主测速传感器故障,从而获取正确的反馈速度以有效控制多电机同步。采用本发明所述的控制系统及控制方法,能准确诊断和判断故障,获取正确的反馈转速,提高控制系统的稳定性、可靠性和安全性,降低故障率、提高生产效率、降低生产成本。(The invention provides a multi-motor speed synchronous control system, which is characterized in that: the device comprises a speed giving module, an auxiliary speed measuring module, a plurality of motors, a plurality of control modules and a plurality of comparison modules, wherein each control module comprises a rotating speed comprehensive processing module, a speed estimation module, a main speed measuring sensor, a direct torque controller and an inverter. The invention also provides a control method for the control system, which is characterized in that: the control method comprises the steps of measuring and judging in two stages, and when a fault is measured in the first stage, the auxiliary speed measuring module in the second stage is used for helping to judge the fault of the speed estimation module or the main speed measuring sensor, so that correct feedback speed is obtained to effectively control multi-motor synchronization. By adopting the control system and the control method, the faults can be accurately diagnosed and judged, the correct feedback rotating speed is obtained, the stability, the reliability and the safety of the control system are improved, the fault rate is reduced, the production efficiency is improved, and the production cost is reduced.)

1. A multi-motor speed synchronous control system is characterized in that: the device comprises a speed setting module (1), an auxiliary speed measuring module (2), a plurality of motors (3), a plurality of control modules (4) and a plurality of comparison modules (5); the control modules (4) correspond to the motors (3) one by one, the comparison modules (5) correspond to the control modules (4) one by one, the control modules (4) are connected with the corresponding motors (3), and the comparison modules (5) are connected with the corresponding control modules (4); the auxiliary speed measuring module (2) comprises at least one laser speed measuring sensor (21) and a plurality of light reflecting strips (22), the light reflecting strips (22) correspond to the motors (3) one by one, the light reflecting strips (22) are arranged on the peripheral surface of a rotating shaft of the motor (3), and the laser speed measuring sensor (21) is arranged near the light reflecting strips (22); the plurality of electric machines (3) comprises a master electric machine and at least one slave electric machine; recording a control module (4) connected with a main motor as a main control module, recording a comparison module (5) connected with the main control module as a main comparison module, recording a control module (4) connected with a slave motor as a slave control module, and recording a comparison module (5) connected with the slave control module as a slave comparison module; the slave comparison module is connected with the master control module; the speed setting module (1) is connected with the main comparison module;

the single control module (4) comprises a rotating speed comprehensive processing module (41), a speed estimation module (42), a main speed measurement sensor (43), a direct torque controller (44) and an inverter (45); the speed estimation module (42) comprises a current 3/2 converter (421) and a MRAS processor (422); the input end of the current 3/2 converter (421) is connected with an inverter (45); the output end of the current 3/2 converter (421) is connected with the input end of the MRAS processor (422); the output end of the MRAS processor (422) is connected with the rotating speed comprehensive processing module (41); the MRAS processor (422) is connected with the inverter (45); the main speed measuring sensor (43) is connected with the corresponding motor (3); the main speed measuring sensor (43) is connected with the rotating speed comprehensive processing module (41); the input end of the direct torque controller (44) is connected with the corresponding comparison module (5); the output end of the direct torque controller (44) is connected with an inverter (45);

each slave comparison module is connected with a rotating speed comprehensive processing module (41) of the master control module;

the rotating speed comprehensive processing module (41) governed by each control module (4) is connected with the auxiliary speed measuring module (2);

the speed setting module (1) is used for receiving a target rotating speed omega set by an operator and transmitting a signal of the target rotating speed omega to the main comparison module;

the current 3/2 converter (421) can obtain output current i from a phase a and a phase b of the inverter (45) respectively_saAnd i_sbAnd are respectively paired with i_saAnd i_sbPerforming transformation to obtain i_sαAnd i_sβAnd combining said i_sαAnd i_sβThe signal is transmitted to a MRAS processor (422); i is described_sαAnd i_sβTwo current components at the stator side under an alpha beta static coordinate system;

the MRAS processor (422) can acquire two voltage components u on the stator side under an alpha beta static coordinate system from the inverter (45)_sαAnd u_sβAlso, can be applied to received i_sα、i_sβ、u_sαAnd u_sβProcessed to obtain the estimated rotating speed of the motor (3)And combining the aboveTransmitting the rotation speed to the rotation speed comprehensive processing module (41);

the comparison module (5) is used for receiving a target rotating speed omega signal of the motor and a feedback rotating speed omega output by the rotating speed comprehensive processing module (41)_rrSignals, and for said ω and ω_rrProcessing the speed deviation epsilon ' to obtain a speed deviation epsilon ' and transmitting a epsilon ' signal to the direct torque controller (44); the target rotating speed of the main motor is input by a worker through the speed setting module (1) and is transmitted to the main comparison module, and the target rotating speed of the slave motor is the feedback rotating speed output by the rotating speed comprehensive processing module (41) of the main motor;

the direct torque controller (44) is used for setting a magnetic flux set value of the motor (3) and can also receive a rotating speed deviation epsilon 'signal transmitted by the comparison module (5), and the direct torque controller (44) can also generate a rotating speed feedback control quantity according to the magnetic flux set value and the rotating speed deviation epsilon' and transmit the rotating speed feedback control quantity signal to the inverter (45) so as to control and adjust the rotating speed of the motor;

the main speed measuring sensor (43) can obtain the rotating speed of the motor (3), and the rotating speed of the motor (3) obtained by the main speed measuring sensor (43) is recorded as a main measuring rotating speed omega_rThe main speed measuring sensor (43) can convert the omega_rThe signals are transmitted to a rotating speed comprehensive processing module (41);

the auxiliary speed measurement module (2) can acquire the rotating speed of any one motor (3), and the rotating speed of the motor (3) acquired by the auxiliary speed measurement sensor is recorded as a reference rotating speed omega_r', an auxiliary speed measuring sensor can measure the omega_rThe signals are transmitted to a rotating speed comprehensive processing module (41);

the rotating speed comprehensive processing module (41) can control the auxiliary speed measuring module (2) to obtain the reference rotating speed omega of any motor_r' the rotational speed integrated processing module (41) can also receive the estimated rotational speedSignal and main measuring rotation speed omega_rSignal and reference rotational speed omega_rThe signal is processed to obtain the feedback rotating speed omega of the motor (3)_rr(ii) a The rotation speed comprehensive processing module (41) of the slave control module can convert the omega_rrThe speed is transmitted to a corresponding comparison module (5), and a rotating speed comprehensive processing module (41) of the main control module can transmit the omega_rrRespectively transmitted to the corresponding comparison module (5) and the comparison module (5) corresponding to each slave control module.

2. The multi-motor speed synchronous control system according to claim 1, characterized in that: the main speed measuring sensor (43) adopts a photoelectric encoder.

3. The multi-motor speed synchronous control system according to claim 1 or 2, characterized in that: the laser sensors are multiple, the laser sensors are in one-to-one correspondence with the motors (3), the laser sensors are in one-to-one correspondence with the rotating speed comprehensive processing modules (41), a single laser sensor is connected with the corresponding rotating speed comprehensive processing module (41), and the laser sensor can detect the rotating speed of the corresponding motor (3).

4. The multi-motor speed synchronous control system according to claim 1 or 2, characterized in that: the number of the laser sensors is 1, each rotating speed comprehensive processing module (41) is connected with the laser sensors, and the laser sensors can detect the rotating speed of each motor (3).

5. A control method of a multi-motor speed synchronous control system is characterized in that: the related hardware comprises a speed setting module (1), an auxiliary speed measuring module (2), a plurality of motors (3), a plurality of control modules (4) and a plurality of comparison modules (5); the control modules (4) correspond to the motors (3) one by one, the comparison modules (5) correspond to the control modules (4) one by one, the control modules (4) are connected with the corresponding motors (3), and the comparison modules (5) are connected with the corresponding control modules (4); the auxiliary speed measuring module (2) comprises at least one laser speed measuring sensor (21) and a plurality of light reflecting strips (22), the light reflecting strips (22) correspond to the motors (3) one by one, the light reflecting strips (22) are arranged on the peripheral surface of a rotating shaft of the motor (3), and the laser speed measuring sensor (21) is arranged near the light reflecting strips (22); the plurality of electric machines (3) comprises a master electric machine and at least one slave electric machine; recording a control module (4) connected with a main motor as a main control module, recording a comparison module (5) connected with the main control module as a main comparison module, recording a control module (4) connected with a slave motor as a slave control module, and recording a comparison module (5) connected with the slave control module as a slave comparison module; the slave comparison module is connected with the master control module; the speed setting module (1) is connected with the main comparison module;

the single control module (4) comprises a rotating speed comprehensive processing module (41), a speed estimation module (42), a main speed measurement sensor (43), a direct torque controller (44) and an inverter (45); the speed estimation module (42) comprises a current 3/2 converter (421) and a MRAS processor (422); the input end of the current 3/2 converter (421) is connected with an inverter (45); the output end of the current 3/2 converter (421) is connected with the input end of the MRAS processor (422); the output end of the MRAS processor (422) is connected with the rotating speed comprehensive processing module (41); the MRAS processor (422) is connected with the inverter (45); the main speed measuring sensor (43) is connected with the corresponding motor (3); the main speed measuring sensor (43) is connected with the rotating speed comprehensive processing module (41); the input end of the direct torque controller (44) is connected with the corresponding comparison module (5); the output end of the direct torque controller (44) is connected with an inverter (45);

each slave comparison module is connected with a rotating speed comprehensive processing module (41) of the master control module;

the rotating speed comprehensive processing module (41) governed by each control module (4) is connected with the auxiliary speed measuring module (2);

the speed setting module (1) is used for receiving a target rotating speed omega set by an operator and transmitting a signal of the target rotating speed omega to the main comparison module;

the current 3/2 converter (421) can obtain output current i from a phase a and a phase b of the inverter (45) respectively_saAnd i_sbAnd are respectively paired with i_saAnd i_sbPerforming transformation to obtain i_sαAnd i_sβAnd combining said i_sαAnd i_sβThe signal is transmitted to a MRAS processor (422); i is described_sαAnd i_sβTwo current components at the stator side under an alpha beta static coordinate system;

the MRAS processor (422) can acquire two voltage components u on the stator side under an alpha beta static coordinate system from the inverter (45)_sαAnd u_sβAlso, can be applied to received i_sα、i_sβ、u_sαAnd u_sβProcessed to obtain the estimated rotating speed of the motor (3)And combining the aboveTransmitting the rotation speed to the rotation speed comprehensive processing module (41);

the comparison module (5) is used for receiving a target rotating speed omega signal of the motor and the feedback rotating speed output by the rotating speed comprehensive processing module (41)ω_rrSignals, and for said ω and ω_rrProcessing the speed deviation epsilon ' to obtain a speed deviation epsilon ' and transmitting a epsilon ' signal to the direct torque controller (44); the target rotating speed of the main motor is input by a worker through the speed setting module (1) and is transmitted to the main comparison module, and the target rotating speed of the slave motor is the feedback rotating speed output by the rotating speed comprehensive processing module (41) of the main motor;

the direct torque controller (44) is used for setting a magnetic flux set value of the motor (3) and can also receive a rotating speed deviation epsilon 'signal transmitted by the comparison module (5), and the direct torque controller (44) can also generate a rotating speed feedback control quantity according to the magnetic flux set value and the rotating speed deviation epsilon' and transmit the rotating speed feedback control quantity signal to the inverter (45) so as to control and adjust the rotating speed of the motor;

the main speed measuring sensor (43) can obtain the rotating speed of the motor (3), and the rotating speed of the motor (3) obtained by the main speed measuring sensor (43) is recorded as a main measuring rotating speed omega_rThe main speed measuring sensor (43) can convert the omega_rThe signals are transmitted to a rotating speed comprehensive processing module (41);

the auxiliary speed measurement module (2) can acquire the rotating speed of any one motor (3), and the rotating speed of the motor (3) acquired by the auxiliary speed measurement sensor is recorded as a reference rotating speed omega_r', an auxiliary speed measuring sensor can measure the omega_rThe signals are transmitted to a rotating speed comprehensive processing module (41);

the rotating speed comprehensive processing module (41) can control the auxiliary speed measuring module (2) to obtain the reference rotating speed omega of any motor_r' the rotational speed integrated processing module (41) can also receive the estimated rotational speedSignal and main measuring rotation speed omega_rSignal and reference rotational speed omega_rThe signal is processed to obtain the feedback rotating speed omega of the motor (3)_rr(ii) a The rotation speed comprehensive processing module (41) of the slave control module can convert the omega_rrThe speed is transmitted to a corresponding comparison module (5), and a rotating speed comprehensive processing module (41) of the main control module can transmit the omega_rrRespectively transmitted to the corresponding comparison module (5) and each slaveAnd the comparison module (5) corresponds to the control module.

The control method comprises the following steps:

after the synchronous control system is started, an operator sets a target rotating speed omega of a main motor through a speed setting module (1), the speed setting module (1) transmits a target rotating speed omega signal of the main motor to a main comparison module, the operator sets a corresponding motor magnetic flux set value through each direct torque controller (44), and then a control module (4) and a comparison module (5) corresponding to each motor (3) are controlled according to the following steps:

one) the control module (4) acquires the current feedback rotating speed omega of the corresponding motor (3) according to the first method_rrThe control module (4) controls the current feedback rotating speed omega_rrTransmitting to a comparison module (5); wherein the slave control module obtains the current feedback rotating speed omega_rrTransmitting to the corresponding slave comparison module; the main control module obtains the current feedback rotating speed omega_rrTransmitting the feedback rotation speed to a main comparison module, and simultaneously, the main control module further obtains the current feedback rotation speed omega_rrA target rotational speed ω transmitted to each slave comparison module as each slave comparison module;

two) the comparison module (5) receives the current feedback rotating speed omega_rrThe target rotating speed omega is subjected to superposition processing according to a formula I to obtain a current rotating speed deviation epsilon ', and a comparison module (5) transmits a current rotating speed deviation epsilon' signal to the direct torque controller (44);

thirdly) the direct torque controller (44) generates a corresponding control quantity according to the given magnetic flux value and the received current rotating speed deviation epsilon', the direct torque controller (44) transmits a control quantity signal to an inverter (45), and the inverter (45) adjusts the rotating speed of the corresponding motor (3) according to the received control quantity signal; then returning to the step one);

the first formula is as follows:

ε′＝ω*-ω_rr

the first method comprises the following steps:

1) the speed estimation module (42) acquires the current estimated rotating speed of the motor (3) according to the second methodAnd calculating the estimated rotation speedThe signals are transmitted to a rotating speed comprehensive processing module (41); meanwhile, the main speed measuring sensor (43) obtains the current first main measuring rotating speed omega of the motor (3)_r1And the first main measurement rotating speed omega is measured_r1The signals are transmitted to a rotating speed comprehensive processing module (41);

2) the rotating speed comprehensive processing module (41) receives the current estimated rotating speed according to two pairs of formulasAnd the current first main measuring rotating speed omega_r1Processing to obtain a current first relative error e₁；

3) The rotating speed comprehensive processing module (41) continuously acquires the first relative error e each time in a time period delta t₁With a first speed threshold epsilon₁Comparisons were made, after each comparison: if Δ t<Δ t', then return to step 1); if Deltat ≧ Deltat', and during time interval Deltat₁Are all less than or equal to epsilon₁Entering step 4); if Deltat ≧ Deltat', and during time interval Deltat₁Are all greater than epsilon₁Entering step 5); the first speed threshold ε₁Is a set value, the delta t 'is a first specified continuous time, and the first specified continuous time delta t' is a set value;

4) the rotating speed comprehensive processing module (41) is used for receiving the first main measuring rotating speed omega for the last time_r1As a feedback speed omega_rrTransmitting the data to a comparison module (5), and then entering a step two);

5) the main speed measuring sensor (43) obtains the current second main measuring rotating speed omega of the motor (3)_r2And the current second main measurement rotating speed omega is measured_r2The signals are transmitted to a rotating speed comprehensive processing module (41); meanwhile, the auxiliary speed measurement module (2) acquires the current reference rotating speed omega of the motor (3)_r', and will be presentThe reference rotation speed omega_rThe signals are transmitted to a rotating speed comprehensive processing module (41);

6) the rotating speed comprehensive processing module (41) receives the current second main measuring rotating speed omega according to three pairs of formulas_r2And said current reference speed ω_r' processing to obtain the current second relative error e₂；

7) The rotating speed comprehensive processing module (41) continuously obtains the second relative error e each time in a time period delta t₂With a second speed threshold epsilon₂Comparisons were made, after each comparison: if Δ t<Δ t ", return to step 5); if Deltat ≧ Deltat ″, and during time period Deltat₂Are all less than or equal to epsilon₂And then go to step 8); if Deltat ≧ Deltat ″, and during time period Deltat₂Are all greater than epsilon₂Entering step 9); the second speed threshold ε₂Is a set value, the delta t 'is a second specified continuous time, and the second specified continuous time delta t' is a set value;

8) the rotating speed comprehensive processing module (41) is used for receiving the second main measuring rotating speed omega for the last time_r2As a feedback speed omega_rrTransmitting the data to a comparison module (5), and then entering a step two);

9) the speed estimation module (42) obtains the current estimated rotating speed of the motor (3) according to the second methodAnd calculating the estimated rotation speedThe signal is transmitted to a rotating speed comprehensive processing module (41), and the rotating speed comprehensive processing module (41) receives the current estimated rotating speedAs a feedback speed omega_rrTransmitting the data to a comparison module (5), and then entering a step two);

the second method comprises the following steps:

A) the current 3/2 converter (421) obtains output currents i from phases a and b of the inverter (45), respectively_saAnd i_sbSaid current 3/2 transformers (421) for said i respectively_saAnd i_sbPerforming conversion processing to obtain two current components i on the stator side under an alpha beta static coordinate system_sαAnd i_sβSaid current 3/2 converter (421) converts said i_sαAnd i_sβTransmitting a signal to the MRAS processor (422);

at the same time, the MRAS processor (422) acquires two voltage components u on the stator side under an alpha beta static coordinate system from a control circuit of the inverter (45)_sαAnd u_sβ；

B) The MRAS processor (422) pair the received i_sα、i_sβ、u_sαAnd u_sβPerforming a speed estimation process to obtain an estimated rotational speed of the motor (3)

The second formula is:

the third formula is:

Technical Field

The invention relates to the technical field of motor control, in particular to a multi-motor speed synchronous control system and a control method thereof.

Background

The synchronous control of the motor is widely applied to electric transmission control equipment at present, such as the fields of packaging machinery, coal mine equipment, numerical control machines, textile printing and dyeing machinery, robot control and the like. For example, in a long-distance belt conveying system of an open coal mine, double motors are arranged at the same side position of the same plane, an output shaft of a reducer drives 2 large rollers to drive a belt to run, and the belt is ensured to run safely and stably under the simultaneous driving of the motors 2; the large numerical control machine tool usually adopts 2 independent servo motors to drive the workbench together; for another example, the span gantry type lifting platform is used in the occasions with low requirements on operation speed and position accuracy, and the dragging system of the platform mostly uses a master-slave mode, that is, two motors with the same power and the same manufacturer are adopted to synchronously drive the gantry or the platform mechanism to operate.

The current common motor synchronous control schemes comprise master-slave control, virtual spindle control, cross coupling control, deviation coupling control and the like. The master-slave control scheme generally uses one shaft as a main shaft and the other shaft as a slave shaft, and the input rotating speed of the slave shaft is set as the output rotating speed of the main shaft, so that the speed synchronization with the main shaft is achieved. In the master-slave control system, the slave shaft can receive the change of the rotating speed state and the parameter of the main shaft in real time to make corresponding adjustment, so that a better synchronization effect is achieved.

The speed sensor is used for accurately detecting the speed of the motor, which is the most fundamental problem of the synchronous control of the double motors. Commonly used tachometer sensors include photoelectric encoders, tachometer generators, and the like. The speed sensors are arranged on a shaft of the motor, work in a severe environment for a long time and are easily influenced by factors such as noise, mechanical vibration, surge voltage, impact current and the like, so that the performance of the sensors is degraded, a fault and failure are caused, and the safety, reliability and stability of the whole vehicle are seriously influenced. In the case of hardware sensor failure, the current mainstream method is to realize dual-motor synchronous control by adopting a software method. The software method is a method without a speed sensor, and can realize accurate estimation of the rotating speed of the motor by calculation only according to voltage and current signals output by a frequency converter. The software method comprises a plurality of methods such as a Model Reference Adaptive (MRAS) algorithm, a full-order observer, extended Kalman filtering and the like. Therefore, in the existing technical scheme, after a motor speed sensor fails, a software rotating speed estimation method is adopted, and if the relative deviation of the speeds of software and hardware is greater than a certain set threshold value, the hardware sensor is determined to be a hardware sensor fault, and the hardware sensor is isolated, and simultaneously switched to a software rotating speed estimation value and used for subsequent fault-tolerant control.

However, a serious problem in the prior art is that a software method is at least required to detect a current signal output by a frequency converter, and if a current sensor fails, or other interferences such as excessive noise and the like cause inaccuracy of a software rotation speed estimated value, at this time, although a hardware rotation speed sensor is intact, a relative deviation between the speeds of software and hardware may be initially selected to be greater than a set threshold value, so that erroneous judgment is caused, and a control system is switched to an error of performing fault-tolerant control on the rotation speed estimated value by using the software.

Disclosure of Invention

The invention provides a multi-motor speed synchronous control system and a control method aiming at the synchronous control system, aiming at solving the problems that in the prior art, when a speed measuring sensor or a speed measuring estimation module has a fault, accurate judgment cannot be carried out, even misjudgment is caused, and the synchronous control system is unstable and unreliable, so that the synchronous control effect of a motor is influenced.

The invention provides a multi-motor speed synchronous control system, which has the innovation points that: the device comprises a speed giving module, an auxiliary speed measuring module, a plurality of motors, a plurality of control modules and a plurality of comparison modules; the control modules correspond to the motors one by one, the comparison modules correspond to the control modules one by one, the control modules are connected with the corresponding motors, and the comparison modules are connected with the corresponding control modules; the auxiliary speed measuring module comprises at least one laser speed measuring sensor and a plurality of reflecting strips, the reflecting strips correspond to the motors one by one, the reflecting strips are arranged on the peripheral surface of a rotating shaft of the motor, and the laser speed measuring sensor is arranged near the reflecting strips; the plurality of motors comprises a master motor and at least one slave motor; recording a control module connected with a main motor as a main control module, recording a comparison module connected with the main control module as a main comparison module, recording a control module connected with a slave motor as a slave control module, and recording a comparison module connected with the slave control module as a slave comparison module; the slave comparison module is connected with the master control module; the speed setting module is connected with the main comparison module;

the single control module comprises a rotating speed comprehensive processing module, a speed estimation module, a main speed measurement sensor, a direct torque controller and an inverter; the speed estimation module includes a current 3/2 converter and a MRAS processor; the input end of the current 3/2 converter is connected with an inverter; the output end of the current 3/2 converter is connected with the input end of the MRAS processor; the output end of the MRAS processor is connected with the rotating speed comprehensive processing module; the MRAS processor is connected with the inverter; the main speed measuring sensor is connected with the corresponding motor; the main speed measuring sensor is connected with the rotating speed comprehensive processing module; the input end of the direct torque controller is connected with the corresponding comparison module; the output end of the direct torque controller is connected with the inverter;

each slave comparison module is connected with the rotating speed comprehensive processing module of the master control module;

the rotating speed comprehensive processing module governed by each control module is connected with the auxiliary speed measuring module;

the speed setting module is used for receiving a target rotating speed omega set by an operator and transmitting a target rotating speed omega signal to the main comparison module;

the current 3/2 converter can obtain output current i from a phase a and a phase b of the inverter respectively_saAnd i_sbAnd are respectively paired with i_saAnd i_sbPerforming transformation to obtain i_sαAnd i_sβAnd combining said i_sαAnd i_sβThe signals are transmitted to an MRAS processor; i is described_sαAnd i_sβTwo current components at the stator side under an alpha beta static coordinate system;

the MRAS processor can obtain two voltage components u on the stator side under an alpha beta static coordinate system from the inverter_sαAnd u_sβAlso, can be applied to received i_sα、i_sβ、u_sαAnd u_sβProcessed to obtain the estimated rotating speed of the motorAnd combining the aboveTransmitting the rotation speed to the comprehensive processing module;

the comparison module is used for receiving a target rotating speed omega signal of the motor and the feedback rotating speed omega output by the rotating speed comprehensive processing module_rrSignals, and for said ω and ω_rrProcessing to obtain a rotating speed deviation epsilon 'and transmitting a epsilon' signal to the direct torque controller; the target rotating speed of the main motor is input by a worker through the speed setting module and is transmitted to the main comparison module, and the target rotating speed of the slave motor is the feedback rotating speed output by the rotating speed comprehensive processing module of the main motor;

the direct torque controller is used for setting a magnetic flux set value of the motor and can also receive a rotating speed deviation epsilon 'signal transmitted by the comparison module, and the direct torque controller can also generate a rotating speed feedback control quantity according to the magnetic flux set value and the rotating speed deviation epsilon' and transmit the rotating speed feedback control quantity signal to the inverter so as to control and adjust the rotating speed of the motor;

the main speed measuring sensor can acquire the rotating speed of the motor, and the rotating speed of the motor acquired by the main speed measuring sensor is recorded as a main measuring rotating speed omega_rThe main speed measuring sensor can measure the omega_rThe signals are transmitted to a rotating speed comprehensive processing module;

the auxiliary speed measurement module can acquire the rotating speed of any one motor, and the rotating speed of the motor acquired by the auxiliary speed measurement sensor is recorded as a reference rotating speed omega_r', an auxiliary speed measuring sensor can measure the omega_rThe signals are transmitted to a rotating speed comprehensive processing module;

the rotating speed comprehensive processing module can control the auxiliary speed measuring module to obtain the reference rotating speed omega of any motor_r' the rotational speed comprehensive processing module can also estimate the received rotational speedSignal and main measuring rotation speed omega_rSignal and reference rotational speed omega_r' obtaining the feedback rotation speed omega of the motor by processing the signal_rr(ii) a The rotation speed comprehensive processing module of the slave control module can convert the omega_rrThe rotation speed is transmitted to a corresponding comparison module, and the rotation speed comprehensive processing module of the main control module can transmit the omega_rrAnd respectively transmitting the data to the corresponding comparison module and the comparison module corresponding to each slave control module.

And optimally, the main speed measuring sensor adopts a photoelectric encoder.

As optimization, the laser sensors are multiple, the laser sensors correspond to the motors one by one, the laser sensors correspond to the rotating speed comprehensive processing modules one by one, a single laser sensor is connected with the corresponding rotating speed comprehensive processing module, and the single laser sensor can detect the rotating speed of the corresponding motor.

As optimization, the number of the laser sensors is 1, each rotating speed comprehensive processing module is connected with the laser sensor, and the laser sensors can detect the rotating speed of each motor.

The invention also provides a control method for the multi-motor speed synchronous control system, and the innovation points are as follows: the control method comprises the following steps:

after the synchronous control system is started, an operator sets a target rotating speed omega of the main motor through a speed setting module, the speed setting module transmits a target rotating speed omega signal of the main motor to the main comparison module, the operator sets a corresponding motor flux set value through each direct torque controller, and then the control module and the comparison module corresponding to each motor are controlled according to the following steps:

firstly), the control module obtains the current feedback rotating speed omega of the corresponding motor according to the first method_rrThe control module controls the current feedback rotating speed omega_rrTransmitting to a comparison module; wherein the slave control module obtains the current feedback rotating speed omega_rrTransmitting to the corresponding slave comparison module; the main control module obtains the current feedback rotating speed omega_rrTransmitting the feedback rotation speed to a main comparison module, and simultaneously, the main control module further obtains the current feedback rotation speed omega_rrTo each slave comparison moduleThe block is used as the target rotating speed omega of each slave comparison module;

two) the comparison module receives the current feedback rotating speed omega_rrThe target rotating speed omega is subjected to superposition processing according to a formula I to obtain a current rotating speed deviation epsilon ', and a comparison module transmits a current rotating speed deviation epsilon' signal to the direct torque controller;

thirdly) the direct torque controller generates corresponding control quantity according to the given magnetic flux value and the received current rotating speed deviation epsilon', the direct torque controller transmits the control quantity signal to the inverter, and the inverter adjusts the rotating speed of the corresponding motor according to the received control quantity signal; then returning to the step one);

the first formula is as follows:

ε′＝ω*-ω_rr

the first method comprises the following steps:

1) the speed estimation module acquires the current estimated rotating speed of the motor according to the second methodAnd calculating the estimated rotation speedThe signals are transmitted to a rotating speed comprehensive processing module; meanwhile, the main speed measuring sensor obtains the current first main measuring rotating speed omega of the motor_r1And the first main measurement rotating speed omega is measured_r1The signals are transmitted to a rotating speed comprehensive processing module;

2) the rotating speed comprehensive processing module receives the current estimated rotating speed according to two pairs of formulasAnd the current first main measuring rotating speed omega_r1Processing to obtain a current first relative error e₁；

3) The rotating speed comprehensive processing module continuously obtains the first relative error e each time in a time period delta t₁With a first speed threshold epsilon₁Comparisons were made, after each comparison: if Δ t<Δ t', then return to step 1); if Δt ≧ Δ t', and each e₁Are all less than or equal to epsilon₁Entering step 4); if Deltat ≧ Deltat', and during time interval Deltat₁Are all greater than epsilon₁Entering step 5); the first speed threshold ε₁Is a set value, the delta t 'is a first specified continuous time, and the first specified continuous time delta t' is a set value;

4) the rotating speed comprehensive processing module is used for receiving the first main measuring rotating speed omega for the last time_r1As a feedback speed omega_rrTransmitting to a comparison module, and then entering the step two);

5) the main speed measuring sensor obtains the current second main measuring rotating speed omega of the motor_r2And the current second main measurement rotating speed omega is measured_r2The signals are transmitted to a rotating speed comprehensive processing module; meanwhile, the auxiliary speed measurement module acquires the current reference rotating speed omega of the motor_r', and applying the current reference rotation speed ω_rThe signals are transmitted to a rotating speed comprehensive processing module;

6) the rotating speed comprehensive processing module receives the current second main measuring rotating speed omega according to the formula three pairs_r2And said current reference speed ω_r' processing to obtain the current second relative error e₂；

7) The rotating speed comprehensive processing module continuously obtains the second relative error e each time in the time period delta t₂With a second speed threshold epsilon₂Comparisons were made, after each comparison: if Δ t<Δ t ", return to step 5); if Deltat ≧ Deltat ″, and during time period Deltat₂Are all less than or equal to epsilon₂And then go to step 8); if Deltat ≧ Deltat ″, and during time period Deltat₂Are all greater than epsilon₂Entering step 9); the second speed threshold ε₂Is a set value, the delta t 'is a second specified continuous time, and the second specified continuous time delta t' is a set value;

8) the rotating speed comprehensive processing module is used for receiving the second main measurement rotating speed omega for the last time_r2As a feedback speed omega_rrThe data is transmitted to a comparison module,then entering the step two);

9) the speed estimation module acquires the current estimated rotating speed of the motor according to the second methodAnd calculating the estimated rotation speedThe signal is transmitted to a rotating speed comprehensive processing module, and the rotating speed comprehensive processing module receives the current estimated rotating speedAs a feedback speed omega_rrTransmitting to a comparison module, and then entering the step two);

the second method comprises the following steps:

A) the current 3/2 converter obtains output current i from a phase a and a phase b of the inverter respectively_saAnd i_sbSaid current 3/2 transformers are respectively coupled to said i_saAnd i_sbPerforming conversion processing to obtain two current components i on the stator side under an alpha beta static coordinate system_sαAnd i_sβSaid current 3/2 converter converts said i_sαAnd i_sβTransmitting the signal to the MRAS processor;

meanwhile, the MRAS processor acquires two voltage components u on the stator side under an alpha beta static coordinate system from a control circuit of the inverter_sαAnd u_sβ；

B) The MRAS processor receives the i_sα、i_sβ、u_sαAnd u_sβCarrying out speed estimation processing to obtain the estimated rotating speed of the motor

The second formula is:

the third formula is:

the principle of the invention is as follows:

Drawings

Detailed Description

The present invention will be further described with reference to the following examples.

The multi-motor speed synchronous control system provided by the invention comprises the following components: