双电机刚性齿轮传动系统转矩均衡控制

Torque Balance Control of Dual-Motor Rigid Gear Drive System

传统双电机刚性齿轮传动系统长时间运行后,齿轮的磨损和形变增大,导致两台电机间输出的电磁转矩差值随之增大,此时单台电机存在过载的风险。针对上述问题,提出一种基于交叉耦合控制算法的转矩均衡控制策略,通过设计转矩同步控制器,将两台电机转矩控制作为一个整体来考虑,选取合适的耦合同步系数,通过交叉反馈对各台电机的转矩给定值分别进行补偿,最终实现输出转矩的均衡控制。仿真和实验结果验证了所提控制策略的正确性和有效性。

In traditional dual-motor rigid gear drive system, the small differences in the physical parameters caused by the abration and deformation after running for a long time, will affect the torque balance of the two drive motors, and further affect the reliability of the whole system. To solve this problem, this paper presents a torque balance strategy based on cross-coupled control algorithm. In the proposed strategy, through the design of the torque synchronization controller, the torque control of the two drive motors can be considered as a whole. With the adjustment of the coupling synchronization coefficient, the cross feedbacks would compensate the reference torque in each motor separately, balancing the control of the output torques. The simulation and experimental results verify the correctness and effectiveness of the proposed control strategy.