CN109986173A - A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system - Google Patents
A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system Download PDFInfo
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- CN109986173A CN109986173A CN201910304660.1A CN201910304660A CN109986173A CN 109986173 A CN109986173 A CN 109986173A CN 201910304660 A CN201910304660 A CN 201910304660A CN 109986173 A CN109986173 A CN 109986173A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
- B23K9/1336—Driving means
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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
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The embodiment of the invention discloses a kind of bi-motor cooperative control method, device, electric machine controller and wire feed systems, bi-motor cooperative control method includes: the second operating parameters of the first operating parameters and the second motor that obtain first motor, first operating parameters include the first current feedback values, and second operating parameters include the second current feedback values；The operating deviant of second motor is calculated according to first current feedback values and second current feedback values；Second motor operation is controlled according to first operating parameters, the operating deviant and second operating parameters.By the above-mentioned means, the embodiment of the present invention can be such that the second motor and first motor runs simultaneously, and be enable to respond quickly load variation, the stability of wire feed system is kept.
Description
Technical field
The present embodiments relate to welding technology fields, more particularly to a kind of wire feed system of bi-motor Collaborative Control.
Background technique
Welding wire is generally transported to the front end of welding torch using wire-feed motor, for welding in welding system.But in some occasions,
The source of such as big application of shipbuilding, special-purpose vehicle opereating specification, weld job position and welding wire conveying farther out, needs long distance
From conveying welding wire, the driving of welding wire needs to overcome biggish frictional resistance in path, and relying only on wire feeding motor at this time cannot achieve
Stable wire feed.In this case, common method is to increase relaying wire-feed motor or pushing motor is arranged in welding wire source, with
It realizes long-distance wire, or realizes the welding of middle and long distance.
The mode that existing bi-motor cooperative control system drives two motors using the same instruction, or
Person, the difference instructed by two or synchronizes and realizes the control to two motors, when two motor loads are inconsistent, is easy
It causes two motors asynchronous, and can not be adjusted in real time according to the wire feed load of two motors, in fact it could happen that an electricity
The case where excessive motor of machine power output is not contributed.
Summary of the invention
The embodiment of the present invention is mainly solving the technical problems that provide a kind of bi-motor cooperative control method, device, motor
Controller and wire feed system can be such that the second motor and first motor runs simultaneously, and be enable to respond quickly load variation, keep
The stability of wire feed system.
To achieve the above object, technical solution used in the embodiment of the present invention is: in a first aspect, providing a kind of bi-motor association
Same control method is applied to electric machine controller, and the electric machine controller with first motor and the second motor for connecting, the side
Method includes:
Obtain the first operating parameters of the first motor and the second operating parameters of second motor, first fortune
Turning parameter includes the first current feedback values, and second operating parameters include the second current feedback values；
The operating offset of second motor is calculated according to first current feedback values and second current feedback values
Value；
Second motor is controlled according to first operating parameters, the operating deviant and second operating parameters
Operation.
In one embodiment, first operating parameters further include First Speed value of feedback or first voltage value of feedback, institute
Stating the second operating parameters further includes second voltage value of feedback；
Then the operating deviant is voltage offset values, described according to first operating parameters, the operating deviant
Second motor operation is controlled with second operating parameters, comprising:
The voltage for calculating second motor according to the First Speed value of feedback or the first voltage value of feedback is given
Value；
The voltage desired value of output second motor is calculated extremely according to the voltage given value and the voltage offset values
Voltage loop；
The voltage desired value and the second voltage value of feedback are made into difference, after Voltage loop adjusting, export institute
The current target value of the second motor is stated to electric current loop；
The current target value and second current feedback values are made into difference, after electric current loop adjusting, export institute
The driving voltage for stating the second motor controls second motor operation according to the driving voltage；
Alternatively, described control institute according to first operating parameters, the operating deviant and second operating parameters
State the second motor operation, comprising:
The voltage for calculating second motor according to the First Speed value of feedback or the first voltage value of feedback is given
Value；
The voltage desired value of output second motor is calculated extremely according to the voltage given value and the voltage offset values
Voltage loop；
The voltage desired value and the second voltage value of feedback are made into difference, after Voltage loop adjusting, export institute
The driving voltage for stating the second motor controls second motor operation according to the driving voltage.
In one embodiment, first operating parameters further include First Speed value of feedback or first voltage value of feedback, institute
Stating the second operating parameters further includes second speed value of feedback；
Then the operating deviant is velocity shift value, described according to first operating parameters, the operating deviant
Second motor operation is controlled with second operating parameters, comprising:
The speed preset of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback
Value；
The speed desired value of output second motor is calculated extremely according to the speed preset value and the velocity shift value
Speed ring；
The speed desired value and the second speed value of feedback are made into difference, after speed ring adjusting, export institute
The current target value of the second motor is stated to electric current loop；
The current target value and second current feedback values are made into difference, after electric current loop adjusting, export institute
The driving voltage for stating the second motor controls second motor operation according to the driving voltage；
Alternatively, described control institute according to first operating parameters, the operating deviant and second operating parameters
State the second motor operation, comprising:
The speed preset of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback
Value；
The speed desired value of output second motor is calculated extremely according to the speed preset value and the velocity shift value
Speed ring；
The speed desired value and the second speed value of feedback are made into difference, after speed ring adjusting, export institute
The driving voltage for stating the second motor controls second motor operation according to the driving voltage.
In one embodiment, the operating deviant is current offset value, then described according to first operating parameters, institute
It states operating deviant and second operating parameters controls second motor operation, comprising:
The given value of current value of second motor is calculated according to first current feedback values；
The current target value of output second motor is calculated extremely according to the given value of current value and the current offset value
Electric current loop；
It after the current target value and second current feedback values are made difference, is adjusted through the electric current loop, exports institute
The driving voltage for stating the second motor controls second motor operation according to the driving voltage.
Optionally, described to calculate second motor according to first current feedback values and second current feedback values
Operating deviant, comprising:
First current feedback values and second current feedback values are subtracted each other, current differential are obtained, according to preset
Piecewise function and the current differential calculate the operating deviant of second motor.
Second aspect, the embodiment of the present invention also provide a kind of bi-motor Collaborative Control device, are applied to electric machine controller, institute
Electric machine controller is stated for connecting with first motor and the second motor, described device includes:
Operating parameters acquiring unit, for obtain the first motor the first operating parameters and second motor
Two operating parameters, first operating parameters include the first current feedback values, and second operating parameters include that the second electric current is anti-
Feedback value；
Comparing unit, for calculating second electricity according to first current feedback values and second current feedback values
The operating deviant of machine；
Main control unit, for according to first operating parameters, the operating deviant and the second operating parameters control
Make second motor operation.
In one embodiment, first operating parameters further include First Speed value of feedback or first voltage value of feedback, institute
Stating the second operating parameters further includes second voltage value of feedback；
Then the operating deviant is voltage offset values, and the main control unit specifically includes:
Voltage conversion unit, for calculating described the according to the First Speed value of feedback or the first voltage value of feedback
The voltage given value of two motors；
Voltage sums it up unit, for calculating output second electricity according to the voltage given value and the voltage offset values
The voltage desired value of machine is to Voltage loop；
First voltage control unit, for the voltage desired value and the second voltage value of feedback to be made difference, through institute
It states after Voltage loop adjusts, exports the current target value of second motor to electric current loop；
Current control unit, for the current target value and second current feedback values to be made difference, through the electricity
After flowing ring adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, the main control unit specifically includes:
Voltage conversion unit, for calculating described the according to the First Speed value of feedback or the first voltage value of feedback
The voltage given value of two motors；
Voltage sums it up unit, for calculating output second electricity according to the voltage given value and the voltage offset values
The voltage desired value of machine is to Voltage loop；
Second voltage control unit, for the voltage desired value and the second voltage value of feedback to be made difference, through institute
After stating Voltage loop adjusting, the driving voltage of second motor is exported, second motor is controlled according to the driving voltage and is transported
Row.
In one embodiment, first operating parameters further include First Speed value of feedback or first voltage value of feedback, institute
Stating the second operating parameters further includes second speed value of feedback；
Then the operating deviant is velocity shift value, and the main control unit specifically includes:
Speed conversion unit, for calculating described the according to the First Speed value of feedback or the first voltage value of feedback
The speed preset value of two motors；
Speed sums it up unit, for calculating output second electricity according to the speed preset value and the velocity shift value
The speed desired value of machine is to speed ring；
First Speed control unit, for the speed desired value and the second speed value of feedback to be made difference, through institute
It states after speed ring adjusts, exports the current target value of second motor to electric current loop；
Current control unit, for the current target value and second current feedback values to be made difference, through the electricity
After flowing ring adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, the main control unit specifically includes:
Speed conversion unit, for calculating described the according to the First Speed value of feedback or the first voltage value of feedback
The speed preset value of two motors；
Speed sums it up unit, for calculating output second electricity according to the speed preset value and the velocity shift value
The speed desired value of machine is to speed ring；
Second speed control unit, for the speed desired value and the second speed value of feedback to be made difference, through institute
After stating speed ring adjusting, the driving voltage of second motor is exported, second motor is controlled according to the driving voltage and is transported
Row.
Optionally, the main control unit specifically includes:
Current conversion unit, for calculating the given value of current value of second motor according to first current feedback values；
Electric current sums it up unit, for calculating output second electricity according to the given value of current value and the current offset value
The current target value of machine is to electric current loop；
Current control unit, after the current target value and second current feedback values are made difference, through described
Electric current loop is adjusted, and exports the driving voltage of second motor, controls second motor operation according to the driving voltage.
The third aspect, the embodiment of the present invention also provide a kind of electric machine controller, and the electric machine controller includes:
At least one processor；And
The memory being connect at least one described processor communication；Wherein, the memory be stored with can by it is described extremely
The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing
Device can be used in executing bi-motor cooperative control method as described above.
Fourth aspect, the embodiment of the present invention also provide a kind of wire feed system of bi-motor Collaborative Control, the wire feed system
Include:
First driving device, including first motor, the first motor is for transmitting welding wire；
Second driving device, including the second motor, second motor transmit the welding wire or for drawing for relaying
Move the welding wire；
And electric machine controller as described above, wherein the electric machine controller respectively with the first motor and described
The connection of second motor.
The beneficial effect of the embodiment of the present invention is: being in contrast to the prior art, the bi-motor association of the embodiment of the present invention
It include: the second operating parameters of the first operating parameters and the second motor that obtain first motor, first fortune with control method
Turning parameter includes the first current feedback values, and second operating parameters include the second current feedback values；According to first electric current
Value of feedback and second current feedback values calculate the operating deviant of second motor；According to first operating parameters,
The operating deviant and second operating parameters control second motor operation, and the present embodiment will be by that will operate deviant
It gives to the second motor, the pulling force of first motor and the second motor, the effect to two motors can be adjusted in real time according to load
There is a reasonable distribution in power, so that the second motor and first motor can not only be made to run simultaneously, additionally it is possible to which quick response is negative
Variation is carried, the stability of wire feed system is kept.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 be the present embodiments relate to a kind of implementation environment schematic diagram；
Fig. 2 be the present embodiments relate to another implementation environment schematic diagram；
Fig. 3 be the present embodiments relate to electric machine controller hardware structural diagram；
Fig. 4 is a kind of schematic diagram for bi-motor cooperative control method that first embodiment of the invention provides；
Fig. 5 is a kind of schematic diagram for bi-motor cooperative control method that second embodiment of the invention provides；
Fig. 6 is a kind of schematic diagram for bi-motor cooperative control method that third embodiment of the invention provides；
Fig. 7 is a kind of schematic diagram for bi-motor cooperative control method that fourth embodiment of the invention provides；
Fig. 8 is a kind of schematic diagram for bi-motor Collaborative Control device that fifth embodiment of the invention provides；
Fig. 9 is a kind of schematic diagram for bi-motor Collaborative Control device that sixth embodiment of the invention provides；
Figure 10 is the schematic diagram for another bi-motor Collaborative Control device that sixth embodiment of the invention provides；
Figure 11 is the schematic diagram for another bi-motor Collaborative Control device that sixth embodiment of the invention provides；
Figure 12 is the schematic diagram for another bi-motor Collaborative Control device that sixth embodiment of the invention provides；
Figure 13 is the schematic diagram for another bi-motor Collaborative Control device that sixth embodiment of the invention provides；
Figure 14 is the schematic diagram for another bi-motor Collaborative Control device that seventh embodiment of the invention provides.
Specific embodiment
It is described below in conjunction with attached drawing technical solution in the embodiment of the present invention, it is clear that described embodiment
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Term "and/or" used in this specification includes the arbitrary and all of one or more relevant listed items
Combination.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element,
Or there may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be with
It is directly to another element or there may be one or more elements placed in the middle therebetween.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Fig. 1 is a kind of schematic diagram for implementation environment that each embodiment of the present invention is related to, as shown in Figure 1, the implementation environment
Including first driving device 10, the second driving device 20 and electric machine controller 30, first driving device 10 can be wire feed
Machine, the second driving device 20 can be relaying wire-feed motor or push-and-pull silk rifle.
Wherein, first driving device 10 includes first motor 11, First Speed encoder 12,13 and of the first current sensor
First voltage sample circuit 14, the First Speed encoder 12 are used to detect the speed feedback value of the first motor 11, institute
It states the first current sensor 13 and is used for detecting the current feedback values of the first motor 11, the first voltage sample circuit 14
In the voltage feedback value for detecting the first motor 11.
Second driving device 20 includes the second motor 21, the second current sensor 22 and second voltage sample circuit 23, institute
It states the second current sensor 22 and is used for detecting the current feedback values of second motor 21, the second voltage sample circuit 23
In the voltage feedback value for detecting second motor 21.
Electric machine controller 30 is connect with first driving device 10 and the second driving device 20 respectively, for driving first motor
11 and second motor 21 run simultaneously.
Specifically, electric machine controller 30 includes feedback reception module 31, control module 32 and drive module 33, feedback reception
Module 31 is used to receive the current feedback of the speed feedback value of the detection of First Speed encoder 12, the detection of the first current sensor 13
Value, and export to control module 32；Control module 32 is used to be passed according to speed preset value, above-mentioned speed feedback value and the first electric current
The current feedback values that sensor 13 detects, export first control signal to drive module by the way of speed outer ring, current inner loop
33；Drive module 33 is used to control first motor 11 according to first control signal and run.
Feedback reception module 31 is also used to receive the voltage feedback value of the detection of first voltage sample circuit 14, second voltage is adopted
The current feedback values of voltage feedback value and the detection of the second current sensor 23 that sample circuit 13 detects, and export to control module
32；Control module 32 is also used to be converted to second after being computed the voltage feedback value that above-mentioned first voltage sample circuit 14 detects
The voltage given value of motor 21, and examined according to the current feedback values and the second current sensor 22 of the first current sensor 13 detection
The current feedback values of survey calculate voltage offset values, calculate voltage desired value according to above-mentioned voltage given value and voltage offset values, into
And the voltage feedback value and the second current sensor 22 detected according to above-mentioned voltage desired value, second voltage sample circuit 23 is examined
The current feedback values of survey export second control signal to drive module 33 by the way of outer voltage, current inner loop；Drive mould
Block 33 is also used to control the operation of the second motor 21 according to second control signal.
It is understood that control module 32 can also be only according to above-mentioned voltage desired value and second voltage sample circuit 23
The voltage feedback value of detection exports second control signal by the way of univoltage ring.
In another implementation environment, as shown in Fig. 2, including first driving device 10, the second driving device 20 and first
Electric machine controller 40, the second electric machine controller 50, with the first implementation environment the difference is that, first driving device 10 and
The connection of one electric machine controller 40, the second driving device 20 connect with the second electric machine controller 50, the second electric machine controller 50 also with
First motor controller 40 connects.
Wherein, first motor controller 40 is detected according to First Speed encoder 12 speed feedback value, the first electric current pass
The current feedback values control first motor 11 that sensor 13 detects is run, and the current feedback values that the first current sensor 13 is detected
The voltage feedback value detected with first voltage sample circuit 14 is sent to the second electric machine controller 50.
Second electric machine controller 50 is converted to the voltage given value of the second motor 21 after being computed above-mentioned voltage feedback value,
Electricity is calculated according to the current feedback values of the current feedback values of the first current sensor 13 detection and the detection of the second current sensor 22
Deviant is pressed, is controlled according to the voltage feedback value that above-mentioned voltage given value, voltage offset values, second voltage sample circuit 13 detect
Second motor 21 operation, to realize the synchronous operation of the second motor 21 and first motor 11.
In above-mentioned implementation environment, first driving device 10 can not also include first voltage sample circuit 14, motor control
Device 30 processed be converted to after being computed the speed feedback value that First Speed encoder 12 detects the voltage of the second motor 21 to
Definite value；Or the speed feedback value that First Speed encoder 12 detects is sent to the second motor control by first motor controller 40
Device 50, the second electric machine controller 50 are converted to the second motor after being computed the speed feedback value that First Speed encoder 12 detects
21 voltage given value.
Similarly, electric machine controller 30 or the second electric machine controller 50 according to above-mentioned voltage given value, voltage offset values and
The voltage feedback value that second voltage sample circuit 23 detects controls the operation of the second motor 21.
In above-mentioned implementation environment, the second driving device 20 can not also include second voltage sample circuit 23, then and second
Driving device 20 can also include second speed encoder, and the speed that electric machine controller 30 detects First Speed encoder 12 is anti-
The voltage feedback value that feedback value or first voltage sample circuit 14 detect is converted to the speed preset of the second motor 21 after being computed
Value；Alternatively, speed feedback value or first voltage sample circuit that first motor controller 40 detects First Speed encoder 12
The voltage feedback values of 14 detections are sent to the second electric machine controller 50, and the second electric machine controller 50 is by above-mentioned speed feedback value or electricity
Pressure value of feedback is converted to the speed preset value of the second motor 21 after being computed.
The current feedback values that electric machine controller 30 or the second electric machine controller 50 are detected also according to the first current sensor 13
The current feedback values calculating speed deviant detected with the second current sensor 22, and then according to above-mentioned speed preset value, speed
The speed feedback value that deviant, second speed encoder detect controls the operation of the second motor 21.
In above-mentioned implementation environment, first driving device 10 can not also include First Speed encoder 12 and first voltage
Sample circuit 14, the second driving device 10 can not also include second voltage sample circuit 23, then electric machine controller 30 or the second
Electric machine controller 50 is converted to the electric current of the second motor 21 after being computed the current feedback values that the first current sensor 13 detects
Given value.
The current feedback values that electric machine controller 30 or the second electric machine controller 50 are detected also according to the first current sensor 13
The current feedback values calculating current deviant detected with the second current sensor 22, and then according to above-mentioned given value of current value, electric current
Deviant and the current feedback values of the second current sensor 22 detection control the operation of the second motor 21.
In above-mentioned implementation environment, the second control of the control module 32 of electric machine controller 30 or the second electric machine controller 50
Module includes processor and memory, below by taking electric machine controller 30 as an example, as shown in figure 3, control module 32 includes:
One or more processors 301 and memory 302, in Fig. 3 by taking a processor 301 as an example.
Processor 301 can be connected with memory 302 by bus or other modes, to be connected by bus in Fig. 3
For.
Memory 302 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, as the bi-motor cooperative control method in the embodiment of the present invention is corresponding
Program instruction/module.Processor 301 by operation storage non-volatile software program in the memory 302, instruction and
Module, thereby executing the various function application and data processing of control chip 42, i.e., realization embodiment of the present invention method is double
Motor cooperative control method.
Memory 302 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area, which can be stored, uses created number according to control module 32
According to etc..In addition, memory 302 may include high-speed random access memory, it can also include nonvolatile memory, such as extremely
A few disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory
302 it is optional include the memory remotely located relative to processor 301, these remote memories can pass through network connection to controlling
Molding block 32 or the second control module 32.The embodiment of the network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 302, when by one or more of processors
When 301 execution, the bi-motor cooperative control method in following any means embodiments is executed, and realize following apparatus embodiment
In modules function.
Based on foregoing description, the embodiment of the present invention is further elaborated with reference to the accompanying drawing.
Embodiment 1
Referring to Fig. 4, Fig. 4 is a kind of schematic diagram of bi-motor cooperative control method provided in an embodiment of the present invention, it is described
Method is applied to electric machine controller, and the electric machine controller with first motor and the second motor for connecting, which comprises
Step 110: obtain the first motor the first current feedback values and, First Speed value of feedback or first voltage are anti-
Feedback value, and obtain the second current feedback values and second voltage value of feedback of second motor.
Step 120: calculating second motor according to first current feedback values and second current feedback values
Voltage offset values.
For motor, when current feedback values are no more than rated current, current feedback values are directly proportional to Motor torque,
It can reflect the loading condition on motor, when loading increase, current feedback values increase, and when loading reduction, current feedback values subtract
It is small.The voltage offset values of second motor are calculated according to first current feedback values and second current feedback values, are led to
It crosses and gives the voltage offset values to the second motor, the pulling force of first motor and the second motor can be adjusted in real time according to load,
To there is a reasonable distribution on the active force of two motors, avoids the occurrence of another excessive motor of motor power output and do not contribute
The case where.
The current feedback values of acquisition can be the peak point current or average current obtained within a sampling period, average
Current sample is of less demanding to sample circuit, and strong interference immunity；Peak point current sampling is higher to the design requirement of sample circuit,
It is anti-interference weak, but electric current real-time is stronger.
Preferably scheme calculates the voltage according to first current feedback values and second current feedback values
Deviant, comprising:
First current feedback values and second current feedback values are subtracted each other, current differential are obtained, according to preset
Piecewise function and the current differential calculate the voltage offset values.
Wherein, preset piecewise function can be linear function, for example, Volt2=CurrErr*0.1+100, current difference
Value is bigger, and the slope of preset piecewise function is bigger, can be made as early as possible to the pulling force between two motors according to load variation
Adjustment.
Step 130: second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback
Voltage given value.
There are corresponding relationship between the voltage and speed of each motor, according to voltage-rate curve of first motor and
The First Speed value of feedback or the first voltage value of feedback can be become through function according to voltage-rate curve of the second motor
The voltage given value of the second motor is converted into after changing.
In one embodiment, when obtaining the First Speed value of feedback of first motor, the First Speed can be fed back
After value converts and filter output by linear function Volt1=Speed*0.95+300, the voltage for being converted into the second motor is given
Value.
Step 140: the voltage for exporting second motor is calculated according to the voltage given value and the voltage offset values
Desired value is to Voltage loop.
For example, the voltage given value is added with the voltage offset values, the voltage expectation of second motor is obtained
Value, Volt=Volt1+Volt2.
Step 150: the voltage desired value and the second voltage value of feedback being made into difference, adjusted through the Voltage loop
Afterwards, the current target value of second motor is exported to electric current loop.
By the voltage desired value and the second voltage value of feedback does PI adjusting in Voltage loop or PID is adjusted, and calculates defeated
The current target value of second motor is to electric current loop out.
Step 160: the current target value and second current feedback values being made into difference, adjusted through the electric current loop
Afterwards, the driving voltage for exporting second motor controls second motor operation according to the driving voltage.
By the current target value and second current feedback values do PI adjusting in electric current loop or PID is adjusted, and calculate defeated
The driving voltage of second motor out controls second motor operation according to the driving voltage.
The present embodiment is by making adjustment to the voltage given value given to the second motor according to voltage offset values, wherein
The voltage offset values are calculated according to the first current feedback values of first motor and the second current feedback values of the second motor,
The voltage given value is calculated according to the First Speed value of feedback or first voltage value of feedback of the first motor, can
The speed of service of the speed of service and first motor that make the second motor is consistent, and the first electricity can be adjusted in real time according to load
The pulling force of machine and the second motor keeps the stability of wire feed system.
Embodiment 2
Referring to Fig. 5, Fig. 5 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute
The method of stating includes step 210- step 250, wherein step 210- step 240 can refer to embodiment 1, not with above-described embodiment 1
It is with place:
Step 250 are as follows: the voltage desired value and the second voltage value of feedback are made into difference, adjusted through the Voltage loop
Afterwards, the driving voltage for exporting second motor controls second motor operation according to the driving voltage.
Also that is, in step 250, described the directly is calculated according to the voltage desired value and the second voltage value of feedback
The step of driving voltage of two motors controls second motor operation according to the driving voltage, eliminates into electric current loop.
Specifically, using the system last time according to the voltage desired value being calculated as positive feedback, last time sampling obtains
Second voltage value of feedback as negative-feedback, after Voltage loop is adjusted, the driving voltage of second motor is exported, according to driving
Voltage controls second motor operation.
Embodiment 3
Referring to Fig. 6, Fig. 6 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute
The method of stating includes:
Step 310: obtain the first motor the first current feedback values and, First Speed value of feedback or first voltage are anti-
Feedback value, and obtain the second current feedback values and second speed value of feedback of second motor.
Step 320: calculating second motor according to first current feedback values and second current feedback values
Velocity shift value.
Preferably scheme calculates the speed according to first current feedback values and second current feedback values
Deviant, comprising:
First current feedback values and second current feedback values are subtracted each other, current differential are obtained, according to preset
Piecewise function and the current differential calculate the velocity shift value.
Wherein, preset piecewise function can be linear function, for example, Speed2=0.1*CurrErr, current differential is got over
Greatly, the slope of preset piecewise function is bigger, can be made adjustment as early as possible to the pulling force between two motors according to load variation.
Step 330: second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback
Speed preset value.
There are corresponding relationship between the voltage and speed of each motor, according to voltage-rate curve of first motor and
The First Speed value of feedback or the first voltage value of feedback can be become through function according to voltage-rate curve of the second motor
The speed preset value of the second motor is converted into after changing.
It in one embodiment, can be directly by the First Speed when obtaining the First Speed value of feedback of first motor
Value of feedback is converted into the speed preset value of the second motor, Speed1=Speedpush.
Step 340: the speed for exporting second motor is calculated according to the speed preset value and the velocity shift value
Desired value is to speed ring.
For example, the speed preset value is added with the velocity shift value, the speed expectation of second motor is obtained
Value, Speedpull=Speed1+Speed2.
Step 350: the speed desired value and the second speed value of feedback being made into difference, adjusted through the speed ring
Afterwards, the current target value of second motor is exported to electric current loop.
By the speed desired value and the second speed value of feedback does PI adjusting in speed ring or PID is adjusted, and calculates defeated
The current target value of second motor is to electric current loop out.
Step 360: the current target value and second current feedback values being made into difference, adjusted through the electric current loop
Afterwards, the driving voltage for exporting second motor controls second motor operation according to the driving voltage.
By the current target value and second current feedback values do PI adjusting in electric current loop or PID is adjusted, and calculate defeated
The driving voltage of second motor out controls second motor operation according to the driving voltage.
Embodiment 4
Referring to Fig. 7, Fig. 7 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, institute
The method of stating includes step 410- step 450, wherein step 410- step 440 can refer to embodiment 3, not with above-described embodiment 3
It is with place:
Step 450 are as follows: the speed desired value and the second speed value of feedback are made into difference, adjusted through the speed ring
Afterwards, the driving voltage for exporting second motor controls second motor operation according to the driving voltage.
Also that is, in step 450, described the directly is calculated according to the speed desired value and the second speed value of feedback
The step of driving voltage of two motors controls second motor operation according to the driving voltage, eliminates into electric current loop.
Specifically, the speed desired value system last time being calculated as positive feedback, last time sampling obtain the
Two speed feedback values are as negative-feedback, after speed ring is adjusted, the driving voltage of second motor exported, according to driving voltage
Control second motor operation.
Embodiment 5
Refering to Fig. 8, Fig. 8 is the schematic diagram of another bi-motor cooperative control method provided in an embodiment of the present invention, described
Method includes:
Step 510: obtaining the first current feedback values of the first motor and the second current feedback of second motor
Value.
Step 520: calculating second motor according to first current feedback values and second current feedback values
Current offset value.
Preferably scheme calculates the electric current according to first current feedback values and second current feedback values
Deviant, comprising:
First current feedback values and second current feedback values are subtracted each other, current differential are obtained, according to preset
Piecewise function and the current differential calculate the velocity shift value.
Wherein, preset piecewise function can be linear function, and current differential is bigger, and the slope of preset piecewise function is got over
Greatly, it can be made adjustment as early as possible to the pulling force between two motors according to load variation.
Step 530: the given value of current value of second motor is calculated according to first current feedback values.
There is also corresponding relationship between the speed and electric current of each motor, according to speed-current curve of first motor with
And the second motor can be converted for first current feedback values after functional transformation according to speed-current curve of the second motor
Voltage given value.
Step 540: the electric current for exporting second motor is calculated according to the given value of current value and the current offset value
Target value is to electric current loop.
For example, the given value of current value is added with the current offset value, the current target of second motor is obtained
Value.
Step 550: after the current target value and second current feedback values are made difference, through the electric current loop tune
Section exports the driving voltage of second motor, controls second motor operation according to the driving voltage.
By the current target value and second current feedback values do PI adjusting in electric current loop or PID is adjusted, and calculate defeated
The driving voltage of second motor out controls second motor operation according to the driving voltage.
Embodiment 6
Referring to Fig. 9, Fig. 9 is a kind of schematic device of bi-motor Collaborative Control device provided in an embodiment of the present invention,
Wherein, bi-motor Collaborative Control device 600 is applied to electric machine controller, and the electric machine controller is used for and first motor and second
Motor connection.
Bi-motor Collaborative Control device 600 is configured in any suitable type, the core with certain logical operation capability
In piece, such as it is configured in the control chip (e.g., Fig. 1-control module shown in Fig. 3) of motor.
As shown in figure 9, device 600 includes:
Operating parameters acquiring unit 610, for obtaining the first operating parameters and second motor of the first motor
The second operating parameters, first operating parameters include the first current feedback values, second operating parameters include second electricity
Flow value of feedback；
Comparing unit 620, for calculating described the according to first current feedback values and second current feedback values
The operating deviant of two motors；
Main control unit 630, for according to first operating parameters, the operating deviant and second operating parameters
Control second motor operation.
In one embodiment, the first operating parameters further include First Speed value of feedback or first voltage value of feedback, described
Second operating parameters further include second voltage value of feedback；Then the operating deviant is voltage offset values, as shown in Figure 10, device
700 main control unit 730 specifically includes:
Voltage conversion unit 731, for calculating institute according to the First Speed value of feedback or the first voltage value of feedback
State the voltage given value of the second motor；
Voltage sums it up unit 732, for calculating output described the according to the voltage given value and the voltage offset values
The voltage desired value of two motors is to Voltage loop；
First voltage control unit 733 is passed through for the voltage desired value and the second voltage value of feedback to be made difference
After the Voltage loop is adjusted, the current target value of second motor is exported to electric current loop；
Current control unit 734, for the current target value and second current feedback values to be made difference, through described
After electric current loop is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, as shown in figure 11, the main control unit 830 of device 800 specifically includes:
Voltage conversion unit 831, for calculating institute according to the First Speed value of feedback or the first voltage value of feedback
State the voltage given value of the second motor；
Voltage sums it up unit 832, for calculating output described the according to the voltage given value and the voltage offset values
The voltage desired value of two motors is to Voltage loop；
Second voltage control unit 833 is passed through for the voltage desired value and the second voltage value of feedback to be made difference
After the Voltage loop is adjusted, the driving voltage of second motor is exported, second motor is controlled according to the driving voltage
Operation.
In one embodiment, first operating parameters further include First Speed value of feedback or first voltage value of feedback,
Second operating parameters further include second speed value of feedback；Then the operating deviant is velocity shift value, as shown in figure 12,
The main control unit 930 of device 900 specifically includes:
Speed conversion unit 931, for calculating institute according to the First Speed value of feedback or the first voltage value of feedback
State the speed preset value of the second motor；
Speed sums it up unit 932, for calculating output described the according to the speed preset value and the velocity shift value
The speed desired value of two motors is to speed ring；
First Speed control unit 933 is passed through for the speed desired value and the second speed value of feedback to be made difference
After the speed ring is adjusted, the current target value of second motor is exported to electric current loop；
Current control unit 934, for the current target value and second current feedback values to be made difference, through described
After electric current loop is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, as shown in figure 13, the main control unit 1030 of device 1000 specifically includes:
Speed conversion unit 1031, for calculating institute according to the First Speed value of feedback or the first voltage value of feedback
State the speed preset value of the second motor；
Speed sums it up unit 1032, for calculating output described the according to the speed preset value and the velocity shift value
The speed desired value of two motors is to speed ring；
Second speed control unit 1031, for the speed desired value and the second speed value of feedback to be made difference,
After speed ring adjusting, the driving voltage of second motor is exported, according to driving voltage control second electricity
Machine operation.
In one embodiment, the main control unit 1130 of device 1100 specifically includes:
Current conversion unit 1131, for calculating the given value of current of second motor according to first current feedback values
Value；
Electric current sums it up unit 1132, for calculating output described the according to the given value of current value and the current offset value
The current target value of two motors is to electric current loop；
Current control unit 1131, after the current target value and second current feedback values are made difference, warp
The electric current loop is adjusted, and exports the driving voltage of second motor, is controlled second motor according to the driving voltage and is transported
Row.
It should be noted that in embodiments of the present invention, device 600- device 1100 can be performed the embodiment of the present invention and be mentioned
The bi-motor cooperative control method of confession has the corresponding functional module of execution method and beneficial effect.Not in the embodiment of device
In detailed description technical detail, reference can be made to bi-motor cooperative control method provided by the embodiment of the present invention.
Embodiment 7
The embodiment of the present invention provides a kind of computer program product, and the computer program product is non-volatile including being stored in
Property computer readable storage medium on computer program, the computer program includes program instruction, when described program instruct
When being computer-executed, the computer is made to execute bi-motor cooperative control method as described above.For example, executing above description
Fig. 4-method shown in Fig. 8, realize Fig. 9-Figure 14 in modules function.
The embodiment of the present invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage medium
Matter is stored with computer executable instructions, and the computer executable instructions are for making computer execute bi-motor as described above
Cooperative control method.For example, executing Fig. 4-described above method shown in Fig. 8, the modules in Fig. 9-Figure 14 are realized
Function.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The module that part illustrates may or may not be physically separated, and the component shown as module can be or can also
Not to be physical module, it can it is in one place, or may be distributed on multiple network modules.It can be according to reality
Need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow
Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage
All or part of the process in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete
At the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as each method
Embodiment process.Wherein, the storage medium can for read-only memory (Read-Only Memory, ROM) or
Random access memory (RandomAccessMemory, RAM) etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (11)
1. a kind of bi-motor cooperative control method, be applied to electric machine controller, which is characterized in that the electric machine controller be used for
First motor is connected with the second motor, which comprises
Obtain the first operating parameters of the first motor and the second operating parameters of second motor, the first operating ginseng
Number includes the first current feedback values, and second operating parameters include the second current feedback values；
The operating deviant of second motor is calculated according to first current feedback values and second current feedback values；
The second motor fortune is controlled according to first operating parameters, the operating deviant and second operating parameters
Row.
2. the method according to claim 1, wherein
First operating parameters further include First Speed value of feedback or first voltage value of feedback, and second operating parameters also wrap
Include second voltage value of feedback；
Then the operating deviant is voltage offset values, described according to first operating parameters, the operating deviant and institute
It states the second operating parameters and controls second motor operation, comprising:
The voltage given value of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback；
According to the voltage desired value of the voltage given value and voltage offset values calculating output second motor to voltage
Ring；
The voltage desired value and the second voltage value of feedback are made into difference, after Voltage loop adjusting, export described the
The current target value of two motors is to electric current loop；
The current target value and second current feedback values are made into difference, after electric current loop adjusting, export described the
The driving voltage of two motors controls second motor operation according to the driving voltage；
Alternatively, described according to first operating parameters, the operating deviant and second operating parameters control described the
Two motor operations, comprising:
The voltage given value of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback；
According to the voltage desired value of the voltage given value and voltage offset values calculating output second motor to voltage
Ring；
The voltage desired value and the second voltage value of feedback are made into difference, after Voltage loop adjusting, export described the
The driving voltage of two motors controls second motor operation according to the driving voltage.
3. the method according to claim 1, wherein
First operating parameters further include First Speed value of feedback or first voltage value of feedback, and second operating parameters also wrap
Include second speed value of feedback；
Then the operating deviant is velocity shift value, described according to first operating parameters, the operating deviant and institute
It states the second operating parameters and controls second motor operation, comprising:
The speed preset value of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback；
It is calculated according to the speed preset value and the velocity shift value and exports the speed desired value of second motor to speed
Ring；
The speed desired value and the second speed value of feedback are made into difference, after speed ring adjusting, export described the
The current target value of two motors is to electric current loop；
The current target value and second current feedback values are made into difference, after electric current loop adjusting, export described the
The driving voltage of two motors controls second motor operation according to the driving voltage；
Alternatively, described according to first operating parameters, the operating deviant and second operating parameters control described the
Two motor operations, comprising:
The speed preset value of second motor is calculated according to the First Speed value of feedback or the first voltage value of feedback；
It is calculated according to the speed preset value and the velocity shift value and exports the speed desired value of second motor to speed
Ring；
The speed desired value and the second speed value of feedback are made into difference, after speed ring adjusting, export described the
The driving voltage of two motors controls second motor operation according to the driving voltage.
4. the method according to claim 1, wherein
The operating deviant is current offset value, then described according to first operating parameters, the operating deviant and institute
It states the second operating parameters and controls second motor operation, comprising:
The given value of current value of second motor is calculated according to first current feedback values；
According to the current target value of the given value of current value and current offset value calculating output second motor to electric current
Ring；
It after the current target value and second current feedback values are made difference, is adjusted through the electric current loop, exports described the
The driving voltage of two motors controls second motor operation according to the driving voltage.
5. method according to claim 1-4, which is characterized in that
The operating for calculating second motor according to first current feedback values and second current feedback values deviates
Value, comprising:
First current feedback values and second current feedback values are subtracted each other, current differential is obtained, according to preset segmentation
Function and the current differential calculate the operating deviant of second motor.
6. a kind of bi-motor Collaborative Control device, be applied to electric machine controller, which is characterized in that the electric machine controller be used for
First motor is connected with the second motor, and described device includes:
Operating parameters acquiring unit, for obtaining the first operating parameters of the first motor and the second fortune of second motor
Turn parameter, first operating parameters include the first current feedback values, and second operating parameters include the second current feedback values；
Comparing unit, for calculating second motor according to first current feedback values and second current feedback values
Operate deviant；
Main control unit, for controlling institute according to first operating parameters, the operating deviant and second operating parameters
State the second motor operation.
7. device according to claim 6, which is characterized in that
First operating parameters further include First Speed value of feedback or first voltage value of feedback, and second operating parameters also wrap
Include second voltage value of feedback；
Then the operating deviant is voltage offset values, and the main control unit specifically includes:
Voltage conversion unit, for calculating second electricity according to the First Speed value of feedback or the first voltage value of feedback
The voltage given value of machine；
Voltage sums it up unit, exports second motor for calculating according to the voltage given value and the voltage offset values
Voltage desired value is to Voltage loop；
First voltage control unit, for the voltage desired value and the second voltage value of feedback to be made difference, through the electricity
After pressure ring is adjusted, the current target value of second motor is exported to electric current loop；
Current control unit, for the current target value and second current feedback values to be made difference, through the electric current loop
After adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, the main control unit specifically includes:
Voltage conversion unit, for calculating second electricity according to the First Speed value of feedback or the first voltage value of feedback
The voltage given value of machine；
Voltage sums it up unit, exports second motor for calculating according to the voltage given value and the voltage offset values
Voltage desired value is to Voltage loop；
Second voltage control unit, for the voltage desired value and the second voltage value of feedback to be made difference, through the electricity
After pressure ring is adjusted, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.
8. device according to claim 6, which is characterized in that
First operating parameters further include First Speed value of feedback or first voltage value of feedback, and second operating parameters also wrap
Include second speed value of feedback；
Then the operating deviant is velocity shift value, and the main control unit specifically includes:
Speed conversion unit, for calculating second electricity according to the First Speed value of feedback or the first voltage value of feedback
The speed preset value of machine；
Speed sums it up unit, exports second motor for calculating according to the speed preset value and the velocity shift value
Speed desired value is to speed ring；
First Speed control unit, for the speed desired value and the second speed value of feedback to be made difference, through the speed
It spends after ring adjusts, exports the current target value of second motor to electric current loop；
Current control unit, for the current target value and second current feedback values to be made difference, through the electric current loop
After adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage；
Alternatively, the main control unit specifically includes:
Speed conversion unit, for calculating second electricity according to the First Speed value of feedback or the first voltage value of feedback
The speed preset value of machine；
Speed sums it up unit, exports second motor for calculating according to the speed preset value and the velocity shift value
Speed desired value is to speed ring；
Second speed control unit, for the speed desired value and the second speed value of feedback to be made difference, through the speed
After spending ring adjusting, the driving voltage of second motor is exported, second motor operation is controlled according to the driving voltage.
9. device according to claim 6, which is characterized in that
The main control unit specifically includes:
Current conversion unit, for calculating the given value of current value of second motor according to first current feedback values；
Electric current sums it up unit, exports second motor for calculating according to the given value of current value and the current offset value
Current target value is to electric current loop；
Current control unit, after the current target value and second current feedback values are made difference, through the electric current
Ring is adjusted, and exports the driving voltage of second motor, controls second motor operation according to the driving voltage.
10. a kind of electric machine controller, which is characterized in that the electric machine controller includes:
At least one processor；And
The memory being connect at least one described processor communication；Wherein, be stored with can be by described at least one for the memory
The instruction that a processor executes, described instruction is executed by least one described processor, so that at least one described processor energy
It is enough in and executes bi-motor cooperative control method according to any one of claims 1 to 5.
11. a kind of wire feed system of bi-motor Collaborative Control, which is characterized in that the wire feed system includes:
First driving device, including first motor, the first motor is for transmitting welding wire；
Second driving device, including the second motor, second motor transmit the welding wire or for pulling for relaying
State welding wire；
And electric machine controller as claimed in claim 10, wherein the electric machine controller respectively with the first motor and
The second motor connection.
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