一种多电机刚性连接系统转矩均衡控制方法

A Kind of Torque Balancing Control Method for Multi-motor Rigid Connection System

多电机刚性连接结构的同步控制系统,在传统PI并行控制策略下,会出现电机转矩输出不均衡的问题,严重时会有断轴的风险;以多电机齿轮传动刚性连接结构为研究对象,建立齿轮—电机耦合模型,根据模型的强耦合特性,分析转矩误差的影响因素,并针对这些问题提出一种基于偏差耦合思想的多电机转矩均衡控制策略,通过综合所有电机输出转矩信息,再选取合适的耦合增益系数,对电机转矩进行补偿控制,以实现电机转矩均衡输出。通过对比PI并行控制策略的仿真验证,所提出方案可有效降低各电机之间的转矩误差,并且由刚性齿轮传动结构引起的转矩输出波动也趋于平缓。

Under traditional PI parallel control strategies,synchronous control systems of multi-motor rigid connection structure have the problem of unbalanced motor torque output,and there is even a serious risk of shaft breakage.Taking the rigid connection structure of multi-motor gear transmission as the research object,a gearmotor coupling model was established.According to the strong coupling characteristics of the model,the influencing factors of torque error were analyzed,and then a multi-motor torque balance control strategy based on the idea of deviation coupling was proposed.By synthesizing all motor output torque information and selecting an appropriate coupling gain coefficient,the control strategy compensates the motor torque to achieve a balanced output of motor torque.Compared with the simulation of a traditional PI parallel control strategy,the proposed scheme can effectively reduce the torque error among motors,and the torque output fluctuation caused by rigid gear transmission structure tends to be gentle.