CN-121973647-A - Multi-motor load distribution method, device, program product and storage medium

CN121973647ACN 121973647 ACN121973647 ACN 121973647ACN-121973647-A

Abstract

A multi-motor load distribution method, equipment, a program product and a storage medium relate to the technical field of motor control. The method comprises the steps of monitoring a load state switching signal, collecting first torque data of a first motor and second torque data of a second motor during the period that the load state switching signal is not received, calculating a first reference torque value of the first motor, a second reference torque value of the second motor and a reference difference value of the first motor and the second motor under the first load state according to the first torque data and the second torque data, calculating a first target torque value of the first motor and a second target torque value of the second motor according to the first reference torque value, the second reference torque value and the reference difference value when the load state switching signal is received, and adjusting output torques of the first motor and the second motor according to the first target torque value and the second target torque value respectively. By implementing the technical scheme provided by the application, the overall operation efficiency of the multi-motor driving system can be improved.

Inventors

ZHANG WENCHAO
ZHANG DAI
FENG LONGHAI

Assignees

杭州蓝海拓凡科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260316

Claims (10)

1. A multi-motor load distribution method for use in a multi-motor drive system including a first motor and a second motor for driving an industrial device to switch from a first load state to a second load state, the method comprising: The method comprises the steps of monitoring a load state switching signal of the industrial equipment in real time, wherein the load state switching signal is used for indicating the industrial equipment to switch from a first load state to a second load state, the first load state is a load state of each of the first motor and the second motor when the first motor or the second motor are respectively and independently driven, and the second load state is a load state common to the first motor and the second motor when the first motor and the second motor are cooperatively driven; During the period that the load state switching signal is not received, acquiring first torque data of the first motor and second torque data of the second motor in a preset sampling period; Calculating a first reference torque value of the first motor, a second reference torque value of the second motor and a reference difference value of the first motor and the second motor in the first load state according to the first torque data and the second torque data; when the load state switching signal is received, calculating a first target torque value of the first motor and a second target torque value of the second motor according to the first reference torque value, the second reference torque value and the reference difference value; And adjusting the output torques of the first motor and the second motor according to the first target torque value and the second target torque value respectively.
2. The multi-motor load distribution method according to claim 1, wherein the calculating a first reference torque value of the first motor, a second reference torque value of the second motor, and a reference difference value of the first motor and the second motor in the first load state from the first torque data and the second torque data includes: Storing the first torque data into a first torque data queue in time sequence, and simultaneously storing the second torque data into a second torque data queue in time sequence, wherein when the queue length of the first torque data queue or the second torque data queue reaches a preset maximum length, removing the earliest stored torque data when new torque data is stored; calculating the arithmetic average of the first torque data queue to obtain a first reference torque value, and calculating the arithmetic average of the second torque data queue to obtain a second reference torque value; Calculating the torque difference between the first torque data and the second torque data at corresponding time, storing the torque difference into a torque difference queue according to time sequence, wherein when the queue length of the torque difference queue reaches a preset maximum length, and when a new torque difference is stored, removing the earliest stored torque difference; And calculating the arithmetic average of the torque difference value queue to obtain a reference difference value of the first motor and the second motor.
3. The multi-motor load distribution method according to claim 1, wherein the calculating the first target torque value of the first motor and the second target torque value of the second motor from the first reference torque value, the second reference torque value, and the reference difference value when the load state switching signal is received includes: Acquiring an additional load feedforward value newly added by the multi-motor driving system when the first load state is switched to the second load state; Calculating the distribution proportion of the additional load feedforward value between the first motor and the second motor according to a preset load distribution coefficient to obtain a first initial torque compensation amount of the first motor and a second initial torque compensation amount of the second motor; The first initial torque compensation amount and the second initial torque compensation amount are adjusted according to the reference difference value, so that a first torque compensation amount of the first motor and a second torque compensation amount of the second motor are obtained; And adding the first reference torque value and the first torque compensation amount to obtain a first target torque value of the first motor, and adding the second reference torque value and the second torque compensation amount to obtain a second target torque value of the second motor.
4. A multi-motor load distribution method according to claim 3, wherein said adjusting the first initial torque compensation amount and the second initial torque compensation amount according to the reference difference value includes: calculating a balance adjustment quantity according to the reference difference value, wherein the balance adjustment quantity is obtained by multiplying the absolute value of the reference difference value by a preset balance adjustment coefficient; subtracting the balance adjustment amount from the first initial torque compensation amount to obtain the first torque compensation amount and adding the balance adjustment amount to the second initial torque compensation amount to obtain the second torque compensation amount when the reference difference is a positive value; And when the reference difference is a negative value, adding the balance adjustment amount to the first initial torque compensation amount to obtain the first torque compensation amount, and subtracting the balance adjustment amount from the second initial torque compensation amount to obtain the second torque compensation amount.
5. The multi-motor load distribution method according to claim 1, characterized by further comprising, after receiving the load state switching signal: Generating a first torque adjustment track for smoothly transitioning the first motor from the first reference torque value to the first target torque value and a second torque adjustment track for smoothly transitioning the second motor from the second reference torque value to the second target torque value according to a preset transition time parameter; in the load state switching process, adjusting the output torque of the first motor according to the first torque adjustment track, and adjusting the output torque of the second motor according to the second torque adjustment track; Monitoring in real time a first deviation of a current output torque of the first motor from the first target torque value and a second deviation of a current output torque of the second motor from the second target torque value; and when the first deviation and the second deviation are smaller than a preset torque convergence threshold value, judging that the load state switching is completed.
6. The multi-motor load distribution method according to claim 5, further comprising, after the determination that the load state switching is completed: setting a steady state evaluation window with preset duration in the second load state, and continuously collecting real-time torque feedback data of the first motor and the second motor in the steady state evaluation window; Calculating a load distribution health index according to the real-time torque feedback data, and comparing the load distribution health index with a preset health reference threshold value to obtain a comparison result; Adjusting the first target torque value and the second target torque value according to the comparison result to obtain an optimized target torque value; and replacing the first target torque value and the second target torque value by using the optimized target torque value.
7. The method of claim 6, wherein adjusting the first target torque value and the second target torque value according to the comparison result to obtain the optimized target torque value comprises: When the comparison result shows that the load distribution health index is lower than the health reference threshold, respectively applying positive trial adjustment quantity and negative trial adjustment quantity to the first target torque value and the second target torque value to obtain a first trial torque combination and a second trial torque combination; Calculating load distribution health indexes again based on the first trial torque combination and the second trial torque combination respectively to obtain a first trial health index and a second trial health index; selecting an adjustment direction corresponding to the first heuristic health index or the second heuristic health index with the smallest load distribution health index error as an optimization direction; calculating a torque adjustment amount according to the optimization direction and a preset iteration step length, and overlapping the torque adjustment amount to the first target torque value and the second target torque value to obtain an updated torque value; And recalculating a load distribution health index by using the updated torque value, judging whether the health reference threshold is reached, if not, reducing the preset iteration step length according to a preset step length attenuation coefficient until the load distribution health index reaches the health reference threshold, and determining the updated torque value as an optimized target torque value.
8. A multi-motor load distribution apparatus comprising one or more processors and memory coupled to the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors invoke to cause the multi-motor load distribution apparatus to perform the method of any of claims 1-7.
9. A computer program product containing instructions which, when run on a multi-motor load distribution apparatus, cause the multi-motor load distribution apparatus to perform the method of any of claims 1-7.
10. A computer readable storage medium comprising instructions which, when run on a multi-motor load distribution apparatus, cause the multi-motor load distribution apparatus to perform the method of any of claims 1-7.

Description

Multi-motor load distribution method, device, program product and storage medium Technical Field The present application relates to the technical field of motor control, and in particular, to a method, an apparatus, a program product, and a storage medium for distributing loads of multiple motors. Background In the field of industrial automation, multi-motor drive systems are widely used in the scenes of lifting equipment, large-scale conveying devices, double-drive printers, gantry machining centers and the like. Such systems typically include multiple motors that may be in an independent drive mode or a coordinated drive mode under different operating conditions. For example, in a dual motor hoist system, two motors may each first drive a different mechanism to perform a preparatory action, and then switch to a coordinated drive mode to jointly drive the main hoist to perform a hoist task. How to reasonably distribute the load of each motor during mode switching is a key technical problem for ensuring the stable operation of the system. Currently, multi-motor co-drive systems typically employ a fixed ratio distribution strategy based on motor ratings to determine torque commands for each motor when switching from independent drive mode to co-drive mode. Specifically, the control system sets in advance a torque distribution ratio of each motor in cooperative driving according to nameplate parameters such as rated power and rated torque of each motor, and issues a torque command to each motor in accordance with the fixed ratio after receiving the mode switching signal. The method is simple to realize and can rapidly complete mode switching. However, the fixed ratio allocation strategy based on the rated parameters described above is prone to cause a problem of unbalanced load allocation in practical applications. Because the actual working loads of the motors in the independent driving stages often have differences (such as a motor driving no-load mechanism and another motor driving a mechanism with heavier load), the fixed proportion distribution strategy cannot reflect the actual load differences, so that after the motors are switched to the cooperative driving, part of the motors can bear excessive load and the other part of the motors bear lower load, and the overall operation efficiency of the system is affected. Disclosure of Invention The application provides a multi-motor load distribution method, equipment, a program product and a storage medium, which can improve the overall operation efficiency of a multi-motor driving system. In a first aspect of the present application, there is provided a multi-motor load distribution method, specifically including: The method comprises the steps of monitoring a load state switching signal of the industrial equipment in real time, wherein the load state switching signal is used for indicating the industrial equipment to switch from a first load state to a second load state, the first load state is a load state of each of the first motor and the second motor when the first motor or the second motor are respectively and independently driven, and the second load state is a load state common to the first motor and the second motor when the first motor and the second motor are cooperatively driven; During the period that the load state switching signal is not received, acquiring first torque data of the first motor and second torque data of the second motor in a preset sampling period; Calculating a first reference torque value of the first motor, a second reference torque value of the second motor and a reference difference value of the first motor and the second motor in the first load state according to the first torque data and the second torque data; when the load state switching signal is received, calculating a first target torque value of the first motor and a second target torque value of the second motor according to the first reference torque value, the second reference torque value and the reference difference value; And adjusting the output torques of the first motor and the second motor according to the first target torque value and the second target torque value respectively. By adopting the technical scheme, under the first load state, namely when the first motor and the second motor are respectively and independently driven, the first torque data of the first motor and the second torque data of the second motor are continuously collected through the preset sampling period, and the first reference torque value, the second reference torque value and the reference difference value are obtained by calculation based on the actual operation data, so that the actual load level and the difference degree of the two motors in the independent driving stage are accurately mastered. When the load state switching signal is received, the control system can fully utilize the obtained reference torque value and the reference difference value information to reasonab