CN107666258A - D.c. motor system and its synchronization method - Google Patents
D.c. motor system and its synchronization method Download PDFInfo
- Publication number
- CN107666258A CN107666258A CN201610609552.1A CN201610609552A CN107666258A CN 107666258 A CN107666258 A CN 107666258A CN 201610609552 A CN201610609552 A CN 201610609552A CN 107666258 A CN107666258 A CN 107666258A
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- Prior art keywords
- motor
- rotating speed
- control circuit
- speed
- voltage commands
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The present invention provides a kind of d.c. motor system and its synchronization method.D.c. motor system includes multiple d.c. motors, motor drive circuit and motor control circuit.Multiple d.c. motors receive driving voltage respectively, and provide tach signal respectively.Motor drive circuit couples these d.c. motors, and receives multiple voltage commands, and wherein motor drive circuit provides these driving voltages to d.c. motor according to these voltage commands.Motor control circuit provides these voltage commands, and these d.c. motors are coupled to receive these tach signals, wherein motor control circuit judges the rotating speed of these d.c. motors according to tach signal, and according to these voltage commands of the speed setting of these d.c. motors to adjust the rotating speed of these d.c. motors to be identical.Whereby, the rotating speed that can adjust multiple d.c. motors is identical.
Description
Technical field
The present invention relates to a kind of motor system, more particularly to a kind of d.c. motor system and its synchronization method.
Background technology
D.c. motor has accurate position and speed control, and good stability, therefore d.c. motor is gradually applied to respectively
The occasion of kind Industry Control.However, even if same size and the d.c. motor of identical manufacturing conditions, its inner parameter (such as inductance
With armature resistance ... etc.) little bit different is still had, therefore in the case where multiple d.c. motors are run simultaneously, rotating speed can still occur
Nonsynchronous situation.
The content of the invention
The present invention provides a kind of d.c. motor system and its synchronization method, can adjust the rotating speed phase of multiple d.c. motors
Together.
The d.c. motor system of the present invention, including multiple d.c. motors, motor drive circuit and motor control circuit.It is multiple
D.c. motor receives driving voltage respectively, and provides tach signal respectively.Motor drive circuit couples these d.c. motors, and
Multiple voltage commands are received, wherein motor drive circuit provides these driving voltages to d.c. motor according to these voltage commands.
Motor control circuit provides these voltage commands, and couples these d.c. motors to receive these tach signals, wherein motor control
Circuit processed judges the rotating speed of these d.c. motors according to tach signal, and according to these electricity of the speed setting of these d.c. motors
Pressure order is to adjust the rotating speed of these d.c. motors to be identical.
The synchronization method of the d.c. motor system of the present invention, comprises the following steps.Received by motor drive circuit
Multiple voltage commands, to provide multiple driving voltages to multiple d.c. motors.These rotating speeds are received by motor control circuit to believe
Number, to judge the rotating speed of these d.c. motors.And by motor control circuit and according to the speed setting of these d.c. motors
These voltage commands are to adjust the rotating speed of these d.c. motors to be identical.
Based on above-mentioned, the d.c. motor system and its synchronization method of the embodiment of the present invention, it judges multiple direct current horses
The rotating speed reached, and the voltage commands of these d.c. motors are accordingly adjusted, to control the rotating speed of these d.c. motors to be identical.
For features described above of the invention and advantage can be become apparent, special embodiment below, and it is detailed to coordinate accompanying drawing to make
Carefully it is described as follows.
Brief description of the drawings
Fig. 1 is the system schematic of the d.c. motor system according to one embodiment of the invention；
Fig. 2 is the system schematic of the d.c. motor system according to another embodiment of the present invention；
Fig. 3 is the flow chart of the synchronization method of the d.c. motor system according to one embodiment of the invention.
Description of reference numerals：
100、200：D.c. motor system；
110、210：Motor control circuit；
120、220：Motor drive circuit；
131、133、231、233、235：D.c. motor；
CM11、CM12、CM21、CM22、CM23：Voltage commands；
S310、S320、S330：The process step of the synchronization method of d.c. motor system；
SPS11、SPS12、SPS21、SPS22、SPS23：Tach signal；
VD11、VD12、VD21、VD22、VD23：Driving voltage.
Embodiment
Fig. 1 is the system schematic of the d.c. motor system according to one embodiment of the invention.Fig. 1 is refer to, in this implementation
D.c. motor system 100 includes motor control circuit 110, motor drive circuit 120 and two d.c. motors 131,133 in example,
And d.c. motor system 100 can be the dynamical system of any device/structure, such as the running gear of vehicle or robot,
The flight system of the roller systems of curtain, empty bat machine.
Motor control circuit 110 couples motor drive circuit 120, to provide voltage commands CM11 and CM12 to motor drive
Dynamic circuit 120, and d.c. motor 131,133 is coupled to receive tach signal SPS11 and SPS12, wherein voltage commands CM11
It is, for example, PM signal with CM12, and the default pulse widths of voltage commands CM11 and CM12 are identical.Motor drives
Circuit 120 couples d.c. motor 131,133, and receiving voltage order CM11 and CM12, to provide driving voltage VD11, VD12
To d.c. motor 131,133, wherein driving voltage VD11 voltage/current corresponding voltage order CM11 pulse width, driving
Voltage VD12 voltage/current corresponding voltage order CM12 pulse width.
D.c. motor 131 starts to rotate after driving voltage VD11 is received, and provides tach signal according to its rotating speed
SPS11 is to motor control circuit 110.D.c. motor 133 starts to rotate after driving voltage VD12 is received, and according to its rotating speed
Tach signal SPS12 is provided to motor control circuit 110.After motor control circuit 110 receives tach signal SPS11, horse
The rotating speed of d.c. motor 131 can be judged according to tach signal SPS11 up to control circuit 110；When motor control circuit 110 receives
After tach signal SPS12, motor control circuit 110 can judge the rotating speed of d.c. motor 133 according to tach signal SPS12.Then,
When the rotating speed of d.c. motor 131,133 is identical, voltage commands CM11 and CM12 can remain unchanged；When d.c. motor 131,133
Rotating speed difference when, motor control circuit 110 can adjust voltage commands CM11 and CM12 at least first, to adjust d.c. motor
131st, 133 at least one of rotating speed, the rotating speed for controlling d.c. motor 131,133 whereby are identical.
In one embodiment of this invention, when the rotating speed difference of d.c. motor 131,133, motor control circuit 110 can
Select d.c. motor 131, one of 133 rotating speed be reference rotation velocity, and the rotating speed according to d.c. motor 131,133 and
Speed discrepancy adjustment the voltage commands CM11 and CM12 of reference rotation velocity.Assuming that using the rotating speed of d.c. motor 131 as reference rotation velocity, then
The rotating speed of d.c. motor 131 and the speed discrepancy of reference rotation velocity are 0, i.e., voltage commands CM11 will not be adjusted, and voltage commands
CM12 can be adjusted according to the rotating speed of d.c. motor 133 and the speed discrepancy of reference rotation velocity.
Furthermore, it is understood that when the rotating speed of d.c. motor 133 is more than reference rotation velocity, motor control circuit 110 can be according to straight
The ratio for flowing the rotating speed of motor 133 and the rotating speed of the speed discrepancy of reference rotation velocity and d.c. motor 133 shortens voltage commands CM12's
Pulse width, to reduce driving voltage VD12 power；When the rotating speed of d.c. motor 133 is more than reference rotation velocity, motor control
Circuit 110 can elongate according to the ratio of the rotating speed of d.c. motor 133 and the rotating speed of the speed discrepancy of reference rotation velocity and d.c. motor 133
Voltage commands CM12 pulse width, to lift driving voltage VD12 power.
As an example it is assumed that the rotating speed of d.c. motor 131 is 2000 degree per second, the rotating speed of d.c. motor 133 is per second
1900 degree, and the speed setting of d.c. motor 131 is reference rotation velocity, then and voltage commands CM12 pulse width is extended for presetting
The amplitude that the pulse width of pulse width × (2000/1900), i.e. voltage commands CM12 is elongated for default pulse width ×
((2000-1900)/1900).It is on the contrary, it is assumed that the rotating speed of d.c. motor 131 is 1900 degree per second, and the rotating speed of d.c. motor 133 is
2000 degree per second, and the speed setting of d.c. motor 131 is reference rotation velocity, then and voltage commands CM12 pulse width is shorten to
The amplitude that the pulse width of predetermined pulse width × (1900/2000), i.e. voltage commands CM12 shortens for default pulse width ×
((2000-1900)/2000)。
In another embodiment of the invention, when the rotating speed difference of d.c. motor 131,133, motor control circuit 110
Meeting is using the mean speed of d.c. motor 131,133 as reference rotation velocity, and rotating speed that can be according to d.c. motor 131,133 and reference
Speed discrepancy adjustment the voltage commands CM11 and CM12 of rotating speed.Now, when the rotating speed of d.c. motor 131 is more than reference rotation velocity, horse
Can be according to the rotating speed of d.c. motor 131 and the ratio of the speed discrepancy of reference rotation velocity and the rotating speed of d.c. motor 131 up to control circuit 110
Example shortens voltage commands CM11 pulse width；When the rotating speed of d.c. motor 131 is more than reference rotation velocity, motor control circuit
110 can elongate voltage according to the ratio of the rotating speed of d.c. motor 131 and the rotating speed of the speed discrepancy of reference rotation velocity and d.c. motor 131
Order CM11 pulse width.
As an example it is assumed that the rotating speed of d.c. motor 131 is 2000 degree per second, the rotating speed of d.c. motor 133 is per second
1900 degree, and reference rotation velocity is 1950 (i.e. (2000+1900)/2).Now, voltage commands CM11 pulse width is shorten to
The amplitude that the pulse width of predetermined pulse width × (1950/2000), i.e. voltage commands CM11 shortens for default pulse width ×
((2000-1950)/2000)；Voltage commands CM12 pulse width is extended for predetermined pulse width × (1950/1900), i.e., electric
The amplitude that pressure order CM12 pulse width is elongated is default pulse width × ((1950-1900)/1900).
Fig. 2 is the system schematic of the d.c. motor system according to another embodiment of the present invention.Referring to Fig.1 and 2,
In the present embodiment, d.c. motor system 200 includes motor control circuit 210, motor drive circuit 220 and three in the present embodiment
Individual d.c. motor 231,233,235, the wherein running of motor control circuit 210 is similar with motor control circuit 110, motor driving
The running of circuit 220 is similar with motor drive circuit 120, the running of d.c. motor 231,233,235 and d.c. motor 131,
133。
Motor control circuit 210 couples motor drive circuit 220, to provide voltage commands CM21, CM22, CM23 to horse
Up to drive circuit 220.The coupling d.c. motor 231,233,235 of motor drive circuit 220, and receiving voltage order CM21,
CM22, CM23, to provide driving voltage VD21, VD22, VD23 to d.c. motor 231,233,235, wherein driving voltage VD21
Voltage/current corresponding voltage order CM21 pulse width, driving voltage VD22 voltage/current corresponding voltage order CM22
Pulse width, driving voltage VD23 voltage/current corresponding voltage order CM23 pulse width.
D.c. motor 231 starts to rotate after driving voltage VD21 is received, and provides tach signal according to its rotating speed
SPS21 is to motor control circuit 210.D.c. motor 233 starts to rotate after driving voltage VD22 is received, and according to its rotating speed
Tach signal SPS22 is provided to motor control circuit 210.D.c. motor 235 starts to rotate after driving voltage VD23 is received, and
And tach signal SPS23 is provided to motor control circuit 210 according to its rotating speed.
After motor control circuit 210 receives tach signal SPS21, motor control circuit 210 can be according to tach signal
SPS21 judges the rotating speed of d.c. motor 231；After motor control circuit 210 receives tach signal SPS22, motor control electricity
Road 210 can judge the rotating speed of d.c. motor 233 according to tach signal SPS22；When motor control circuit 210 receives tach signal
After SPS23, motor control circuit 210 can judge the rotating speed of d.c. motor 235 according to tach signal SPS23.
Then, when the rotating speed of d.c. motor 231,233,235 is identical, voltage commands CM21, CM22, CM23 can be maintained not
Become；When the rotating speed difference of d.c. motor 231,233,235, motor control circuit 210 can adjust voltage commands CM21, CM22,
CM23 at least second, with adjust d.c. motor 231,233,235 at least secondly rotating speed, whereby control d.c. motor 231,
233rd, 235 rotating speed is identical.
Fig. 3 is the flow chart of the synchronization method of the d.c. motor system according to one embodiment of the invention.It refer to
Fig. 3, in the present embodiment, the synchronization method of d.c. motor system comprise the following steps.First, electricity can be driven by motor
Road receives multiple voltage commands, to provide multiple driving voltages to multiple d.c. motors (step S310).Then, motor control is passed through
Circuit processed receives these tach signals, to judge the rotating speed (step S320) of these d.c. motors.Finally, motor control electricity is passed through
Road and according to these voltage commands of the speed setting of these d.c. motors to adjust the rotating speed of these d.c. motors as identical (step
S330).Wherein, step S310, S320 and S330 order is that the embodiment of the present invention is not limited to illustrate.Also, walk
Rapid S310, S320 and S330 details can refer to shown in the embodiment of Fig. 1~2, then be repeated no more at this.
In summary, the d.c. motor system and its synchronization method of the embodiment of the present invention, it judges multiple direct current horses
The rotating speed reached, and the voltage commands of these d.c. motors are accordingly adjusted, to control the rotating speed of these d.c. motors to be identical.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
- A kind of 1. d.c. motor system, it is characterised in that including：Multiple d.c. motors, driving voltage is received respectively, and tach signal is provided respectively；Motor drive circuit, couple the multiple d.c. motor and receive multiple voltage commands, wherein the motor drive circuit The multiple driving voltage is provided to the multiple d.c. motor according to the multiple voltage commands；AndMotor control circuit, the multiple d.c. motor is coupled to receive the multiple tach signal, and the multiple electricity is provided Pressure order, wherein the motor control circuit judges the rotating speed of the multiple d.c. motor according to the tach signal, and according to According to the multiple voltage commands of the speed setting of the multiple d.c. motor to adjust the rotating speed of the multiple d.c. motor as phase Together.
- 2. d.c. motor system according to claim 1, it is characterised in that described in wherein described motor control circuit selection The rotating speed of one of multiple d.c. motors is reference rotation velocity, and the rotating speed according to each d.c. motor and the reference rotation velocity Speed discrepancy adjustment corresponding to voltage commands.
- 3. d.c. motor system according to claim 2, it is characterised in that wherein when the rotating speed of each d.c. motor is more than institute When stating reference rotation velocity, the motor control circuit is according to corresponding to the shortening of the ratio of the speed discrepancy and the rotating speed of each d.c. motor The pulse width of voltage commands, when the rotating speed of each d.c. motor is less than the reference rotation velocity, the motor control circuit foundation The pulse width of voltage commands corresponding to the ratio elongation of the rotating speed of the speed discrepancy and each d.c. motor.
- 4. d.c. motor system according to claim 1, it is characterised in that described in wherein described motor control circuit calculates The mean speed of the rotating speed of multiple d.c. motors is as reference rotation velocity, and the rotating speed according to each d.c. motor turns with the reference Voltage commands corresponding to the speed discrepancy adjustment of speed.
- 5. d.c. motor system according to claim 2, it is characterised in that wherein when the rotating speed of each d.c. motor is more than institute When stating reference rotation velocity, the motor control circuit is according to corresponding to the shortening of the ratio of the speed discrepancy and the rotating speed of each d.c. motor The pulse width of voltage commands, when the rotating speed of each d.c. motor is less than the reference rotation velocity, the motor control circuit foundation The pulse width of voltage commands corresponding to the ratio elongation of the rotating speed of the speed discrepancy and each d.c. motor.
- A kind of 6. synchronization method of d.c. motor system, it is characterised in that including:Multiple voltage commands are received by motor drive circuit, to provide multiple driving voltages to multiple d.c. motors；The multiple tach signal is received by motor control circuit, to judge the rotating speed of the multiple d.c. motor；AndBy the motor control circuit and according to the multiple voltage commands of the speed setting of the multiple d.c. motor to adjust The rotating speed of whole the multiple d.c. motor is identical.
- 7. the synchronization method of d.c. motor system according to claim 6, it is characterised in that wherein according to described more The step of the multiple voltage commands of the speed setting of individual d.c. motor, includes：The rotating speed that one of the multiple d.c. motor is selected by the motor control circuit is reference rotation velocity；AndRotating speed by the motor control circuit and according to each d.c. motor is corresponding with the speed discrepancy adjustment of the reference rotation velocity Voltage commands.
- 8. the synchronization method of d.c. motor system according to claim 7, it is characterised in that wherein according to each direct current The step of rotating speed of motor adjusts corresponding voltage commands with the speed discrepancy of the reference rotation velocity includes：When the rotating speed of each d.c. motor is more than the reference rotation velocity, the motor control circuit according to the speed discrepancy with it is each straight Flow the pulse width of voltage commands corresponding to the ratio shortening of the rotating speed of motor；AndWhen the rotating speed of each d.c. motor is less than the reference rotation velocity, the motor control circuit according to the speed discrepancy with it is each straight Flow the pulse width of voltage commands corresponding to the ratio elongation of the rotating speed of motor.
- 9. the synchronization method of d.c. motor system according to claim 6, it is characterised in that wherein according to described more The step of the multiple voltage commands of the speed setting of individual d.c. motor, includes：The mean speed that the rotating speed of the multiple d.c. motor is calculated by the motor control circuit is used as reference rotation velocity；AndRotating speed by the motor control circuit and according to each d.c. motor is corresponding with the speed discrepancy adjustment of the reference rotation velocity Voltage commands.
- 10. the synchronization method of d.c. motor system according to claim 9, it is characterised in that wherein according to described in The step of the multiple voltage commands of the speed settings of multiple d.c. motors, includes：When the rotating speed of each d.c. motor is more than the reference rotation velocity, the motor control circuit according to the speed discrepancy with it is each straight Flow the pulse width of voltage commands corresponding to the ratio shortening of the rotating speed of motor；AndWhen the rotating speed of each d.c. motor is less than the reference rotation velocity, the motor control circuit according to the speed discrepancy with it is each straight Flow the pulse width of voltage commands corresponding to the ratio elongation of the rotating speed of motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610609552.1A CN107666258A (en) | 2016-07-29 | 2016-07-29 | D.c. motor system and its synchronization method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610609552.1A CN107666258A (en) | 2016-07-29 | 2016-07-29 | D.c. motor system and its synchronization method |
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| CN107666258A true CN107666258A (en) | 2018-02-06 |
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| CN201610609552.1A Pending CN107666258A (en) | 2016-07-29 | 2016-07-29 | D.c. motor system and its synchronization method |
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Application publication date: 20180206 |