一种多电机刚性连接系统转矩均衡控制方法  

A Kind of Torque Balancing Control Method for Multi-motor Rigid Connection System

作　　者：牛宗贤 范波[1,2] 付雨林 王春光 吴晓丹 杨晨辉 NIU Zongxian;FAN Bo;FU Yulin;WANG Chunguang;WU Xiaodan;YANG Chenhui(School of Information Engineering,Henan University of Science and Technology,Luoyang 471003,Henan,China;Henan Key Laboratory of Robot and Intelligent Systems,Henan University of Science and Technology,Luoyang 471023,Henan,China;Qian Xuesen College,Xi’an Jiaotong University,Xi’an 710049,Shaanxi,China)

机构地区：[1]河南科技大学信息工程学院,河南洛阳471003 [2]河南科技大学河南省机器人与智能系统重点实验室,河南洛阳471023 [3]西安交通大学钱学森学院,陕西西安710049

出　　处：《电气传动》2023年第10期3-9,共7页Electric Drive

基　　金：国家自然科学基金(U1704157)。

摘　　要：多电机刚性连接结构的同步控制系统,在传统PI并行控制策略下,会出现电机转矩输出不均衡的问题,严重时会有断轴的风险;以多电机齿轮传动刚性连接结构为研究对象,建立齿轮—电机耦合模型,根据模型的强耦合特性,分析转矩误差的影响因素,并针对这些问题提出一种基于偏差耦合思想的多电机转矩均衡控制策略,通过综合所有电机输出转矩信息,再选取合适的耦合增益系数,对电机转矩进行补偿控制,以实现电机转矩均衡输出。通过对比PI并行控制策略的仿真验证,所提出方案可有效降低各电机之间的转矩误差,并且由刚性齿轮传动结构引起的转矩输出波动也趋于平缓。Under traditional PI parallel control strategies,synchronous control systems of multi-motor rigid connection structure have the problem of unbalanced motor torque output,and there is even a serious risk of shaft breakage.Taking the rigid connection structure of multi-motor gear transmission as the research object,a gearmotor coupling model was established.According to the strong coupling characteristics of the model,the influencing factors of torque error were analyzed,and then a multi-motor torque balance control strategy based on the idea of deviation coupling was proposed.By synthesizing all motor output torque information and selecting an appropriate coupling gain coefficient,the control strategy compensates the motor torque to achieve a balanced output of motor torque.Compared with the simulation of a traditional PI parallel control strategy,the proposed scheme can effectively reduce the torque error among motors,and the torque output fluctuation caused by rigid gear transmission structure tends to be gentle.

关 键 词：多电机同步 刚性连接 偏差耦合 转矩均衡 

分 类 号：TM343[电气工程—电机]