精密伺服锻压机双电机同步控制方案分析

Scheme analysis of high precision servo forging press with double motor synchronization control

针对新型伺服锻压机存在电机精确同步的瓶颈问题,引入了双电机交叉耦合同步控制方案。该方案将主、从电机的电流进行比较,得到了一个差值作为从电机的附加反馈信号。从电机根据这一附加反馈信号对自身的速度进行了动态调整,从而获得了较好的同步精度。先从理论角度对比分析了主令双电机同步控制方案和交叉耦合双电机同步控制方案两者的控制效果以及存在的问题。接着分别使用主令双电机同步控制方案和交叉耦合双电机同步控制方案控制锻压机执行相同的工艺曲线,通过实验对比分析了两种同步方案下的耦合误差和两电机的扭矩曲线。研究结果表明,在紧耦合的双电机系统中,交叉耦合双电机同步控制方案能满足系统的位置和扭矩同步要求,两电机的同步误差在0.35°以内。

Aiming at the bottleneck problems of motor accurate synchronization existing in the new servo forging press machines,the scheme of dual motor cross coupling control was presented.The current of master-salve motor was compared in the scheme,and then a different value as an additional feedback signal of the motor was acquired.Based on the attached feedback signal,the motor dynamically adjusts the speed so that a better synchronization precision could be obtained.A comparison and analysis about control effect and existing problems between the scheme of the master-slave double motor synchronization control scheme and the scheme of cross coupling double motor synchronization control was firstly made from the perspective of theory.Then master-slave double motor synchronization control scheme and the cross coupling double motor synchronization control scheme were separately used to control forging machine so that the same process curve could be implemented,and then the comparison and analysis between synchronization errors and coupling torque curve was made under the experiments.The results indicate that the scheme of double motor differential current coupling synchronization control could meet the position and torque requirements of the system in a tightly coupled dual motor system,and two synchronous errors are within 0.35 degrees.