CN-122001248-A - Synchronous control system of gearless double permanent magnet air compressor motor

CN122001248ACN 122001248 ACN122001248 ACN 122001248ACN-122001248-A

Abstract

The invention relates to the technical field of motor driving and industrial automation control, in particular to a synchronous control system of a gearless double-permanent magnet air compressor motor, which comprises a data acquisition module, a vector analysis module, a spatial domain feedforward observation module, a cross coupling control module and a synchronous execution module, wherein the data acquisition module is used for acquiring absolute space angles and phase currents of rotors of a first motor and a second motor, the vector analysis module is used for carrying out coordinate transformation analysis on the phase currents to acquire current quadrature axis currents and current direct axis currents, the spatial domain feedforward observation module is used for respectively converting the current into a first feedforward current instruction corresponding to the first motor and a second feedforward current instruction corresponding to the second motor, the cross coupling control module is used for converting synchronous errors into a first compensation current and a second compensation current by combining self-adaptive weight coefficients calculated in real time based on the running state of the motors, the synchronous execution module is used for generating voltage instructions, and generating driving signals through spatial vector pulse width modulation.

Inventors

CHEN JIANGUO
HE CHAO
DING PENG
ZHAO RUI

Assignees

福建艾唯特智能装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (9)

1. The synchronous control system of the gearless double permanent magnet motors is used for controlling a first motor and a second motor which drive the same load together and is characterized by comprising a main control chip, wherein the main control chip is in communication connection with a data acquisition module, a vector analysis module, a spatial domain feedforward observation module, a cross coupling control module and a synchronous execution module; The vector analysis module is used for carrying out coordinate transformation analysis on the phase currents to obtain current quadrature-axis current and current direct-axis current; The space domain feedforward observation module is used for acquiring expected load torque according to the absolute space angle of the rotor and a preset space mapping table, and converting the expected load torque into a first feedforward current instruction corresponding to the first motor and a second feedforward current instruction corresponding to the second motor respectively; the cross coupling control module is used for calculating a synchronous error according to the absolute space angle of the rotor and converting the synchronous error into a first compensation current and a second compensation current by combining with an adaptive weight coefficient calculated in real time based on the running state of the motor; The synchronous execution module is used for respectively fusing the first feedforward current instruction with the first compensation current, fusing the second feedforward current instruction with the second compensation current to generate a first current instruction and a second current instruction, generating a voltage instruction with the fed-back phase current in a closed-loop mode, generating a driving signal through space vector pulse width modulation, and controlling an inverter electrically connected with the first motor and the second motor to execute synchronous driving operation on the two motors.
2. The synchronous control system of a gearless double permanent magnet machine of claim 1, wherein the process of the data acquisition module acquiring the absolute spatial angle and phase current of the rotors of the first and second machines comprises: The absolute space angles of the rotors of the first motor and the second motor are obtained through absolute value encoders arranged on the first motor and the second motor, and the phase currents of the first motor and the second motor are obtained through current sensors arranged on the bridge arm of the inverter.
3. The synchronous control system of a gearless double permanent magnet motor according to claim 1, wherein the generating process of the preset space mapping table comprises: The first motor and the second motor are controlled to rotate at a preset calibration rotating speed, and the quadrature current of the first motor and the second motor is collected; binding the load torque curve and the absolute space angle of the rotor, generating the space mapping table and writing the space mapping table into a nonvolatile memory.
4. The synchronous control system of a gearless double permanent magnet machine of claim 1, wherein the process of the spatial domain feed forward observation module obtaining an expected load torque and converting the expected load torque into the first and second feed forward current commands, respectively, comprises: addressing matching is carried out in the space mapping table by taking the absolute space angle of the rotor as an index address; And respectively calculating the corresponding first feedforward current instruction and the corresponding second feedforward current instruction according to the expected load torque and the pre-acquired electromagnetic torque conversion relation of the corresponding motor.
5. The synchronous control system of a gearless double permanent magnet machine of claim 1, wherein the process of the cross coupling control module calculating the synchronization error comprises: Dividing the first pole logarithm by the second pole logarithm to obtain a virtual electronic gear ratio; multiplying the absolute space angle of the rotor of the second motor by the virtual electronic gear ratio to obtain a converted space angle; and subtracting the converted space angle from the absolute space angle of the rotor of the first motor to obtain the synchronous error.
6. The synchronous control system of the gearless double permanent magnet motor of claim 1, wherein the process of obtaining the self-adaptive weight coefficient by the cross-coupling control module comprises calculating a rotor angular velocity according to the absolute space angle of the rotor and combining a preset first rotational inertia of the first motor and a preset second rotational inertia of the second motor; and carrying out weight distribution based on the kinetic energy proportion to generate a first self-adaptive weight coefficient and a second self-adaptive weight coefficient.
7. The synchronous control system of the gearless double permanent magnet motor of claim 6, wherein the process of the cross coupling control module converting the synchronous error into the first compensation current and the second compensation current comprises inputting the synchronous error into a preset error-torque compensation function to generate a basic compensation torque; Multiplying the basic compensation torque by the second adaptive weight coefficient to obtain a second compensation torque; Converting the first compensation torque into the first compensation current; converting the second compensation torque into the second compensation current.
8. The synchronous control system of a gearless double permanent magnet machine of claim 7, wherein the process of the synchronous execution module generating the first current command and the second current command comprises: Subtracting the first compensation current from the first feedforward current command to generate the first current command; And adding the second feedforward current instruction to the second compensation current with the polarity opposite to that of the first compensation current to generate the second current instruction.
9. The synchronous control system of the gearless double permanent magnet motor according to claim 1, wherein the cross coupling control module further comprises a condition determination process of the synchronous error before converting the first compensation current and the second compensation current, wherein the condition determination process comprises a preset synchronous error threshold value; If the absolute value of the synchronous error is larger than or equal to the synchronous error threshold value, starting the calculation process of the self-adaptive weight coefficient and generating the first compensation current and the second compensation current; And if the absolute value of the synchronous error is smaller than the synchronous error threshold value, assigning the first compensation current and the second compensation current to be zero.

Description

Synchronous control system of gearless double permanent magnet air compressor motor Technical Field The invention relates to the technical field of motor driving and industrial automatic control, in particular to a synchronous control system of a gearless double permanent magnet air compressor motor. Background The synchronous control of the gearless double permanent magnet motors is mainly used for controlling a plurality of motors which jointly drive the same load, and the technical essence is that the driven part keeps a stable spatial phase relation in a continuous working period by adjusting the torque and the rotating speed of different motors, which is a high-precision industrial control method; Some existing dual-motor synchronous control modes comprise data exchange control and master-slave following control based on an external communication bus. For these conventional control strategies, the load is usually deduced and regulated by real-time error feedback during operation, and the two problems of following matching of the basic rotation speeds and phases of the two motors under conventional stable load are solved. At present, for the application scenes of the double-screw air compressor and the like facing deterministic pulsation loads highly related to space positions, for example, when a compression cavity rapidly enters a high-voltage area, a conventional error feedback mechanism is easy to generate physical step-out and then compensate, inherent control hysteresis exists, and meanwhile, continuous accumulation of position errors is caused by external bus data exchange. Therefore, how to avoid error accumulation and realize high-rigidity synchronous control under the condition of no gear and low current fluctuation becomes a problem to be solved. Disclosure of Invention The invention aims to provide a synchronous control system of a gearless double permanent magnet air compressor motor, which solves the following technical problems: The method avoids position error accumulation caused by external bus exchange and phase deviation caused by feedback lag, and can map and compensate deterministic pulsation load in advance and dynamically distribute compensation tasks according to real-time energy states, thereby realizing high synchronous stiffness control under lower current fluctuation and equivalent electronic engagement synchronization more conforming to physical inertia. The aim of the invention can be achieved by the following technical scheme: The synchronous control system of the gearless double permanent magnet motors is used for controlling a first motor and a second motor which drive the same load together and comprises a main control chip, wherein the main control chip is in communication connection with a data acquisition module, a vector analysis module, a spatial domain feedforward observation module, a cross coupling control module and a synchronous execution module; The vector analysis module is used for carrying out coordinate transformation analysis on the phase currents to obtain current quadrature-axis current and current direct-axis current; The space domain feedforward observation module is used for acquiring expected load torque according to the absolute space angle of the rotor and a preset space mapping table, and converting the expected load torque into a first feedforward current instruction corresponding to the first motor and a second feedforward current instruction corresponding to the second motor respectively; the cross coupling control module is used for calculating a synchronous error according to the absolute space angle of the rotor and converting the synchronous error into a first compensation current and a second compensation current by combining with an adaptive weight coefficient calculated in real time based on the running state of the motor; The synchronous execution module is used for respectively fusing the first feedforward current instruction with the first compensation current, fusing the second feedforward current instruction with the second compensation current to generate a first current instruction and a second current instruction, generating a voltage instruction with the fed-back phase current in a closed-loop mode, generating a driving signal through space vector pulse width modulation, and controlling an inverter electrically connected with the first motor and the second motor to execute synchronous driving operation on the two motors. Optionally, the process of acquiring the absolute spatial angles and the phase currents of the rotors of the first motor and the second motor by the data acquisition module includes: the absolute space angles of the rotors of the first motor and the second motor are obtained through absolute value encoders arranged on the first motor and the second motor, and the phase currents of the first motor and the second motor are obtained through current sensors arranged on an inverter bridge arm. Optionally, the gener