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CN115276478A - Design method of multi-motor speed synchronous compensator - Google Patents

Design method of multi-motor speed synchronous compensator Download PDF

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Publication number
CN115276478A
CN115276478A CN202210943272.XA CN202210943272A CN115276478A CN 115276478 A CN115276478 A CN 115276478A CN 202210943272 A CN202210943272 A CN 202210943272A CN 115276478 A CN115276478 A CN 115276478A
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speed
motor
error
motors
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杜钦君
冯晗
张学义
尹红彬
刘丛臻
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Shandong University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention provides a design method of a multi-motor speed synchronous compensator, which aims to solve the problems of low coupling degree and poor synchronism among motors in the running process of the multi-motor. According to the method, on the basis of deviation coupling synchronous control, a speed error and a speed error evaluation function are introduced, a mean deviation coupling function is designed, overall coupling control over the speed of multiple motors is achieved, and synchronous control accuracy of the system speed is improved. When the speed fluctuation is caused by external disturbance or load change of a single motor, the speed synchronous compensator quickly compensates the synchronous error among the motors, and the purposes of reducing the speed synchronous error and improving the dynamic performance of the multi-motor driving system are achieved.

Description

一种多电机速度同步补偿器的设计方法A design method of multi-motor speed synchronous compensator

技术领域technical field

本发明属于多电机速度协同控制领域，具体提供一种多电机速度同步补偿器的设计方法The invention belongs to the field of multi-motor speed coordinated control, and specifically provides a design method for a multi-motor speed synchronous compensator

背景技术Background technique

随着科技的发展以及工业生产领域自动化程度的不断提高，对电机的运行性能进行提高，以减小能耗和企业成本成为当今工业生产领域研究的主要方向。驱动系统作为工业上设备的动力核心供给设备，其电机速度协同的精度直接决定了设备稳定运行的效率。因此，提高驱动系统多电机的速度协同性能，是提高工业设备运行效率的核心。在多电机运行过程中，电机之间耦合程度低、同步性能差，影响运输效率；相比于现有多电机所采用的主从控制，设计均值偏差耦合函数，使得电机之间的转速实现全局耦合，能够有效提高多电机运行时速度的同步性。With the development of science and technology and the continuous improvement of automation in the field of industrial production, improving the operating performance of the motor to reduce energy consumption and enterprise costs has become the main direction of research in the field of industrial production today. As the core power supply equipment of industrial equipment, the drive system's motor speed coordination accuracy directly determines the efficiency of stable operation of the equipment. Therefore, improving the speed coordination performance of multiple motors in the drive system is the core of improving the operating efficiency of industrial equipment. In the process of multi-motor operation, the coupling degree between the motors is low and the synchronization performance is poor, which affects the transportation efficiency; compared with the master-slave control adopted by the existing multi-motor, the design of the mean deviation coupling function makes the speed between the motors realize the global Coupling can effectively improve the speed synchronization during multi-motor operation.

发明内容Contents of the invention

本发明的目的是提出一种多电机速度同步补偿器的设计方法，主要解决多电机运行速度同步性能差的问题。本发明采用均值偏差耦合函数，使得控制系统速度同步误差可在有限时间内收敛到零，各电机速度同步误差降低。其技术内容包括：The purpose of the present invention is to propose a design method of a multi-motor speed synchronous compensator, which mainly solves the problem of poor synchronous performance of multi-motor operation speed. The invention adopts the mean value deviation coupling function, so that the speed synchronization error of the control system can converge to zero within a limited time, and the speed synchronization errors of each motor are reduced. Its technical content includes:

针对多电机运行过程中，电机之间耦合程度低，同步性能差的问题，提出一种多电机速度补偿器的设计方法，采用均值偏差耦合控制方法对多电机速度同步补偿器进行设计，通过设计均值偏差耦合函数，实现多电机运行过程中的速度耦合控制，提高多电机运行时速度的同步精度，减小速度误差。其具体方案如下：Aiming at the problem of low coupling between motors and poor synchronization performance during multi-motor operation, a design method for multi-motor speed compensator is proposed, and the multi-motor speed synchronous compensator is designed by using the mean value deviation coupling control method. The average deviation coupling function realizes the speed coupling control in the process of multi-motor operation, improves the synchronization accuracy of speed during multi-motor operation, and reduces the speed error. The specific plan is as follows:

采用均值偏差耦合控制方法设计的速度补偿函数如下：The speed compensation function designed using the mean-deviation coupling control method is as follows:

Figure BDA0003786622860000011
Figure BDA0003786622860000011

式中，Kp，Ki为补偿器中PI控制器的参数；

Figure BDA0003786622860000012
Ji为第i台电机的转动惯量，Jj为第j台电机的转动惯量，Jr为第r台电机的转动惯量；
Figure BDA0003786622860000021
为转速跟踪误差，ω*(t)为期望转速，
Figure BDA0003786622860000022
为第i台电机的观测转速；
Figure BDA0003786622860000023
为第i台电机的评价速度误差的跟随误差，
Figure BDA0003786622860000024
为速度误差评价函数，定义为：In the formula, K p and K i are the parameters of the PI controller in the compensator;
Figure BDA0003786622860000012
J i is the moment of inertia of the i-th motor, J j is the moment of inertia of the j-th motor, J r is the moment of inertia of the r-th motor;
Figure BDA0003786622860000021
is the speed tracking error, ω * (t) is the expected speed,
Figure BDA0003786622860000022
is the observed rotational speed of the i-th motor;
Figure BDA0003786622860000023
is the following error of the evaluated speed error of the i motor,
Figure BDA0003786622860000024
is the speed error evaluation function, defined as:

Figure BDA0003786622860000025
Figure BDA0003786622860000025

式中：n为电机的数目。Where: n is the number of motors.

本发明的有益之处在于，通过构建均值偏差耦合函数，设计多电机速度同步补偿器，实现多台电机转速的耦合控制。实现对多电机速度的全局耦合控制，提高系统速度的同步控制精度。当单台电机受到外部扰动或负载变化而引起速度波动时，速度同步补偿器对电机间的同步误差快速补偿，达到降低速度同步误差，提高多电机驱动系统动态性能的目的。The invention is beneficial in that, by constructing the mean deviation coupling function and designing a multi-motor speed synchronous compensator, the coupling control of the rotational speeds of multiple motors is realized. Realize the global coupling control of multi-motor speed, and improve the synchronous control accuracy of system speed. When a single motor is subject to external disturbances or load changes that cause speed fluctuations, the speed synchronization compensator quickly compensates the synchronization error between the motors to reduce the speed synchronization error and improve the dynamic performance of the multi-motor drive system.

本发明的设计方法对多电机速度协同控制要求较高的场合有一定的参考价值。The design method of the invention has a certain reference value for occasions where the speed coordination control of multiple motors is highly required.

附图说明Description of drawings

图1是采用均值偏差耦合速度同步补偿器的控制系统整体结构框图；Figure 1 is a block diagram of the overall structure of the control system using the mean deviation coupled speed synchronous compensator;

图2是采用均值偏差耦合函数设计的速度同步补偿器的原理结构图；Fig. 2 is a schematic structural diagram of a speed synchronous compensator designed using a mean-deviation coupling function;

具体实施方式Detailed ways

下面结合附图对本发明作进一步说明Below in conjunction with accompanying drawing, the present invention will be further described

一种多电机速度同步补偿器的设计方法，其整体控制系统结构图如图1所示，速度同步补偿器结构图如图2所示，采用均值偏差耦合控制方法对多电机速度同步补偿器进行设计。针对多电机运行过程中，电机之间耦合程度低，同步性能差的问题，通过设计均值偏差耦合函数，实现多电机运行过程中的速度耦合控制，提高多电机运行时速度的同步精度，减小速度误差。A design method for a multi-motor speed synchronous compensator. The structure diagram of the overall control system is shown in Figure 1, and the structure diagram of the speed synchronous compensator is shown in Figure 2. design. Aiming at the problem of low coupling between motors and poor synchronization performance during multi-motor operation, the speed coupling control during multi-motor operation is realized by designing the mean deviation coupling function, which improves the speed synchronization accuracy during multi-motor operation and reduces speed error.

采用均值偏差耦合控制方法的多电机速度同步补偿器设计如下：The multi-motor speed synchronous compensator adopting the mean-deviation coupling control method is designed as follows:

定义异步电动机定义第i台电机的跟踪误差为：Define the asynchronous motor and define the tracking error of the i-th motor as:

Figure BDA0003786622860000026
Figure BDA0003786622860000026

式中：ω*(t)为期望转速，

Figure BDA0003786622860000027
为第ii台电机的观测转速，并定义矿用输送机多台电机的期望转速相同。Where: ω * (t) is the desired speed,
Figure BDA0003786622860000027
is the observed rotational speed of the ii motor, and defines that the expected rotational speeds of multiple motors of the mine conveyor are the same.

所有电机的速度跟踪误差的平均值为：The average value of the speed tracking errors of all motors is:

Figure BDA0003786622860000028
Figure BDA0003786622860000028

式中：n为电机的数目。Where: n is the number of motors.

定义一个速度误差的评价函数：Define a merit function for velocity error:

Figure BDA0003786622860000031
Figure BDA0003786622860000031

式中：

Figure BDA0003786622860000032
为速度误差评价函数。In the formula:
Figure BDA0003786622860000032
is the speed error evaluation function.

将第i台电机的实际速度误差与评价速度误差作差得第i台电机的评价速度误差的跟随误差：The following error of the evaluated speed error of the ith motor is obtained by making a difference between the actual speed error of the i motor and the evaluated speed error:

Figure BDA0003786622860000033
Figure BDA0003786622860000033

式中：ηi(t)为第i台电机的评价速度误差的跟随误差。In the formula: η i (t) is the following error of the evaluation speed error of the i motor.

由式(7)、(8)、(9)、(10)定义第i台电机的速度补偿函数为：The speed compensation function of the i-th motor is defined by equations (7), (8), (9), and (10) as:

Figure BDA0003786622860000034
Figure BDA0003786622860000034

式中：Kp，Ki为PI控制器参数；

Figure BDA0003786622860000035
Ji为第i台电机的转动惯量，Jj为第j台电机的转动惯量，Jr为第r台电机的转动惯量。In the formula: K p , K i are PI controller parameters;
Figure BDA0003786622860000035
J i is the moment of inertia of the i-th motor, J j is the moment of inertia of the j-th motor, and J r is the moment of inertia of the r-th motor.

采用均值偏差耦合控制方法设计的多电机速度同步补偿器不仅实现了被控电机与系统其他电机的速度耦合，同时也考虑了其他电机之间的速度耦合以及其他电机速度与给定速度之间的误差。当整个电机同步控制系统处在运行状态时，若某一电机受到外部扰动或负载变化而引起速度变化，速度补偿器可以将电机的速度跟踪误差的差值降至最低。当该电机发生较大的速度波动时，速度补偿器中的评价速度误差的跟随误差部分将在调节过程中起到主要作用，为实现其跟随误差部分的快速收敛在其后加入PI控制器，实现了电机速度误差前馈，使得其他电机能够在短时间内跟踪到发生速度波动较大的电机，使系统各电机速度达到同步，最后通过控制器使同步的各电机跟踪到系统给定参考速度，提高控制系统全局补偿能力。The multi-motor speed synchronous compensator designed with the mean deviation coupling control method not only realizes the speed coupling between the controlled motor and other motors in the system, but also considers the speed coupling between other motors and the speed between other motors and the given speed. error. When the entire motor synchronous control system is running, if a motor is subject to external disturbances or load changes that cause speed changes, the speed compensator can minimize the difference in the speed tracking error of the motor. When the motor has a large speed fluctuation, the following error part of the evaluation speed error in the speed compensator will play a major role in the adjustment process. In order to realize the rapid convergence of the following error part, a PI controller is added afterwards. The motor speed error feedforward is realized, so that other motors can track the motor with large speed fluctuation in a short time, so that the speed of each motor in the system can be synchronized, and finally the synchronized motors can track to the given reference speed of the system through the controller , to improve the global compensation capability of the control system.

具体实施中，将各台电机的速度跟踪误差以及速度误差的评价函数作为速度同步补偿器的输入，补偿器通过运算后输出对各台电机的速度补偿值。本发明中多电机速度同步补偿器的原理结构图如图2所示。In the specific implementation, the speed tracking error of each motor and the evaluation function of the speed error are used as the input of the speed synchronous compensator, and the compensator outputs the speed compensation value for each motor after calculation. The principle structure diagram of the multi-motor speed synchronous compensator in the present invention is shown in FIG. 2 .

Claims (2)

1.一种多电机速度同步补偿器的设计方法，其特征在于，采用均值偏差耦合控制方法，设计多电机速度同步补偿器，通过设计均值偏差耦合函数，实现多电机运行过程中的速度耦合控制，提高多电机运行时速度的同步精度，减小速度误差。1. A design method of a multi-motor speed synchronous compensator, characterized in that, adopting the mean value deviation coupling control method to design a multi-motor speed synchronous compensator, by designing a mean value deviation coupling function, realizing the speed coupling control in the multi-motor operation process , improve the synchronization accuracy of the speed when multiple motors are running, and reduce the speed error. 2.如权利要求1所述的多电机速度同步补偿器的设计方法，其特征在于，采用均值偏差耦合控制方法的速度补偿函数设计如下：2. the design method of multi-motor speed synchronous compensator as claimed in claim 1, is characterized in that, adopts the speed compensation function design of mean deviation coupling control method as follows:
Figure FDA0003786622850000011
Figure FDA0003786622850000011
 式中，Kp，Ki为补偿器中PI控制器的参数；
Figure FDA0003786622850000012
Ji为第i台电机的转动惯量，Jj为第j台电机的转动惯量，Jr为第r台电机的转动惯量；
Figure FDA0003786622850000013
为转速跟踪误差，ω*(t)为期望转速，
Figure FDA0003786622850000014
为第i台电机的观测转速；
Figure FDA0003786622850000015
为第i台电机的评价速度误差的跟随误差，
Figure FDA0003786622850000016
为速度误差评价函数，定义为：In the formula, K p and K i are the parameters of the PI controller in the compensator;
Figure FDA0003786622850000012
J i is the moment of inertia of the i-th motor, J j is the moment of inertia of the j-th motor, J r is the moment of inertia of the r-th motor;
Figure FDA0003786622850000013
is the speed tracking error, ω * (t) is the expected speed,
Figure FDA0003786622850000014
is the observed rotational speed of the i-th motor;
Figure FDA0003786622850000015
is the following error of the evaluated speed error of the i motor,
Figure FDA0003786622850000016
is the speed error evaluation function, defined as:
Figure FDA0003786622850000017
Figure FDA0003786622850000017
 式中：n为电机的数目。Where: n is the number of motors.
CN202210943272.XA 2022-08-08 2022-08-08 Design method of multi-motor speed synchronous compensator Withdrawn CN115276478A (en)

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