基于转矩跟随的双电机同步控制策略研究

Double Motor Synchronous Control Strategy Based on Torque Following

在双轴同步控制策略中,主从控制方案应用较多,而在双轴通过齿轮硬连接的机械系统中,采用主从位置同步或速度同步控制的方案无法取得良好效果,极易因双轴定位误差发生偏载情况,甚至发生电机过载停机的故障。采用主从控制方案中的转矩同步控制策略,主轴工作在速度控制模式,从轴工作在转矩控制模式,从轴跟随主轴的实时转矩输出而运动,以西门子S120为基础搭建整套伺服控制系统。结果显示,采用转矩跟随同步控制策略,机械系统运行过程平稳,在保证定位精度的基础上,负载可以均衡分布在双轴上,伺服电机工况良好,无过载、偏载现象发生。

During the double-axis synchronous control strategy, the Master-slaver control strategy has been widely applied. If the double-axis connected through the gears in the mechanical system, it can not get good results from using the position or speed synchronous control strategy of Master-slaver control. Offset load is likely to occur or even cause the motor overload and shutdown because of the positioning Deviation. Torque synchronous control strategy was used, the main axis in the speed control mode and the slaver axis in the torque control mode, while the slaver axis received the real-time torque data of the main axis. The results showed that the use of torque synchronous control strategy was more effective, the process of the mechanical system was running smoothly and the load could be balanced distribution on the double axis while ensuring the positioning accuracy.