Driving control method and system of equipment

A kind of equipment and multi-axis drive technology, which is applied in the direction of control system, vector control system, motor generator control, etc., can solve the problems of control point control divergence, unbalanced torque distribution on the same side, etc., and achieve synchronous torque synchronization on the same side, two Effect of side torque synchronization

Active Publication Date: 2021-11-02
BEIJING RUNKE GENERAL TECH
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Problems solved by technology

[0003] However, there are problems in the above two multi-axis drive control methods: the torque distributed by the drive motor on the same side is independent of the given reference value. When one control point is controlled by one control point, the control of each control point will diverge, making the torque distribution on the same side unbalanced during multi-axis drive

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  • Driving control method and system of equipment
  • Driving control method and system of equipment
  • Driving control method and system of equipment

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Embodiment Construction

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0056] The embodiment of the present invention discloses a device drive control method and system. By setting a virtual axis in the motion controller in advance, both the left main motor shaft and the right main motor shaft move synchronously with the virtual axis, and at the same time, each Each left slave motor shaft moves synchronously with the left main motor shaft, and each right slave motor shaft moves synchronously with the right main motor shaft, so tha...

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Abstract

The invention discloses a driving control method and system of equipment, a virtual shaft is preset in a motion controller, and a position reference value of the virtual shaft is used as a position ring reference value of a left main motor shaft and a right main motor shaft, so that primary synchronous control of main motors on two sides is realized; the product of the speed ring feedback value of the left main motor shaft and the speed coefficient is used as the speed ring reference value of a left slave motor shaft, and the product of the speed ring feedback value of the right main motor shaft and the speed coefficient is used as the speed ring reference value of a right slave motor shaft, so that the primary synchronous control of a slave motor and a main motor is realized; control of a left motor is executed based on the position ring reference value of the left main motor shaft and the speed ring reference value of the left slave motor shaft; and based on the position ring reference value of the right main motor shaft and the speed ring reference value of the right slave motor shaft, a right motor is controlled, and same-side torque synchronization and two-side torque synchronization of the equipment are realized.

Description

technical field [0001] The present invention relates to the technical fields of power electronic systems and AC drives, and more specifically, relates to a device drive control method and system. Background technique [0002] For transportation equipment that can transport dozens of tons or more and has a large self-weight, it is generally driven by multi-drive shafts, so this type of equipment is also called multi-axis drive equipment. At present, there are mainly two control methods for multi-drive shafts. The first one is to use single-axis speed control and other shaft torque control methods, that is, to control one of the multiple drive shafts to rotate in a speed closed-loop mode, and then configure Other drive shafts except this drive shaft are output in torque mode; the second is that all drive shafts adopt speed control mode. [0003] However, there are problems in the above two multi-axis drive control methods: the torque distributed by the drive motor on the same...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P5/48H02P5/50H02P6/04H02P21/00
CPCH02P5/48H02P5/50H02P6/04H02P21/0003
Inventor 黄山
Owner BEIJING RUNKE GENERAL TECH
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