基于主从控制结构的多电机转矩均衡控制研究  

Study of Multi-motor Torque Balancing Control System Based on Master-slave Control Structure

作　　者：靳运莘 徐永向[1] 王骞[1] 胡建辉[1] 

机构地区：[1]哈尔滨工业大学电气工程系,哈尔滨150001

出　　处：《微电机》2016年第8期58-61,共4页Micromotors

基　　金：国家科技重大专项资助(2012ZX04001-051)

摘　　要：在重载工业应用中,常采用多电机系统代替单电机,其主要目标是使各台电机保持电磁转矩一致或保持某一比例。实际中各台电机输出转矩会受电机本体参数,负载转矩变化等因素影响,难以保持一致。以典型的多电机刚性连接为例,首先对电机本体进行简化,给出了多电机同轴连接的数学模型。然后对主从控制结构仿真分析,并与传统的开环控制结构进行对比,分析了转矩分配不均的影响因素。结果表明,主从控制结构对本体参数变化和负载转矩变化的敏感度都比较低,在适应性和稳定性方面都有较好的表现。In the industrial applications of heavy load, multi-motor system is often used to replace the single motor. The purpose of this kind of system is to make the torque of each motors stay the same or proportional. In practical applications, the output torque of each motors is influenced by motor parameters and load torque, which leads to a difference of the output torque. This paper teek the typical rigid connection for an example. First, the model of the BLDCM was simplified and a mathematical analysis of multi-motor connect- ed coaxially was given. And then, simulations of master-slave control structure were studied, and compared with the structure of open loop control with the analysis of influence factors of torque distribution difference. It turns out that the master-slave control structure has a relatively low sensitivity at the change of motor pa- rameters and the load torque, and performs a better adaptability and stability.

关 键 词：协调控制 转矩均衡 同轴 无刷直流电机 

分 类 号：TM361[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]