Synchronous control method and synchronous control device for double driving motors at double sides

Abstract

The invention relates to a synchronous control method and a synchronous control device for double driving motors at double sides, wherein the method and the device relate to the field of control technology for double driving motors at the double sides. The method and the device mainly aim to improve synchronous control precision of the double driving motors at the double sides to a controlled object. The method comprises the steps of at least according to operation conditions of a controlled object starting position and a controlled object ending position in an operation period, planning a position-preset curve in which an independent variable is at a virtual main axis position and a dependent variable is at a controlled object position, and calculating a feedforward curve according to the position-preset curve, wherein the feedforward curve comprises a speed feedforward curve which corresponds with the position-preset curve, and a torque feedforward curve that corresponds with the position-preset curve; respectively acquiring feedback parameters of the double driving motors at the double sides; and generating a control signal for controlling operation of the first motor and the second motor according to the position-preset curve, the feedforward curve and the feedback parameters. Compared with prior art, the synchronous control method and the synchronous control device have advantages of high control precision and effective improvement of synchronous control precision of the double driving motors at the double sides to the controlled object.

Description

technical field [0001] The invention relates to the technical field of double-side drive motor control, in particular to a double-side drive quasi-rigid connection position synchronization control technology. Background technique [0002] For some mechanical equipment, it is necessary to configure double-sided driving motors to drive the same controlled object through a quasi-rigid (that is, flexible connection, such as a chain plus universal coupling) connection transmission mechanism. The transmission mechanism on the side drives the controlled object, and the slave motor side drives the controlled object through the transmission mechanism on the driving side. [0003] Such as figure 1 As shown, on the main motor side, photoelectric switch positioning or position semi-closed-loop control is often used on the main motor side to realize positioning. The main motor feeds back the position information, speed information, and current information to the main controller z1 in re...

AI Technical Summary

Problems solved by technology

[0006] In the existing speed control plus photoelectric switch positioning control method on the main motor side, after receiving the photoelectric signal of the photoelectric switch, it will stop after speed control (after reducing the speed). The position of the stop is greatly affected by the process accuracy of speed control. Low precision; the slave motor side is synchronized solely based on the ground current information implemented by the host. When the load on the master motor side is different from the load on the slave motor side, the synchronization accuracy of the master motor side and the slave motor side of the controlled object will be low.

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