CN110076412B - Double-motor cooperative control method and device, motor controller and wire feeding system - Google Patents
Double-motor cooperative control method and device, motor controller and wire feeding system Download PDFInfo
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- CN110076412B CN110076412B CN201910304656.5A CN201910304656A CN110076412B CN 110076412 B CN110076412 B CN 110076412B CN 201910304656 A CN201910304656 A CN 201910304656A CN 110076412 B CN110076412 B CN 110076412B
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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
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/06—Solder feeding devices; Solder melting pans
- B23K3/0607—Solder feeding devices
- B23K3/063—Solder feeding devices for wire feeding
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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
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
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Abstract
The embodiment of the invention discloses a double-motor cooperative control method, a double-motor cooperative control device, a motor controller and a wire feeding system, wherein the double-motor cooperative control method comprises the following steps: acquiring a speed feedback value or a voltage feedback value of a first motor, and calculating a back electromotive force given value of a second motor according to the speed feedback value or the voltage feedback value; after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time; and controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in the next first preset time period. Through the mode, the embodiment of the invention can enable the second motor and the first motor to synchronously operate.
Description
Technical Field
The embodiment of the invention relates to the technical field of welding, in particular to a double-motor cooperative control method and device, a motor controller and a wire feeding system.
Background
Wire feeders are commonly employed in welding systems to feed welding wire to the front end of a welding torch for welding. However, in some occasions, such as shipbuilding, special vehicles and other application occasions with a large operation range, the welding operation position and the source of welding wire feeding are far away, the welding wire needs to be fed remotely, the welding wire needs to be driven to overcome large friction resistance in a path, and stable wire feeding cannot be realized only by a wire feeding motor. Under the circumstance, the common method is to add the relay wire feeder, so that the long-distance wire feeding can be realized, the relay wire feeder is convenient to move, the working range is wider, and the relay wire feeder is more suitable for narrow spaces.
The existing double-motor cooperative control method adopts a mode that the same instruction drives two motors, or realizes the control of the two motors by means of the difference or synchronization of the two instructions, although the wire feeding motor and the relay wire feeding motor adopt the same motor and have the same control mode, the single-motor control method is directly copied into the double-motor control method, and the two motors are easily out of synchronization.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing a double-motor cooperative control method, a double-motor cooperative control device, a motor controller and a wire feeding system, which can enable a second motor and a first motor to synchronously operate.
In order to achieve the purpose, the embodiment of the invention adopts the technical scheme that: in a first aspect, a dual-motor cooperative control method is provided, and is applied to a motor controller, where the motor controller is used to connect with a first motor and a second motor, and the method includes:
acquiring a speed feedback value or a voltage feedback value of the first motor, and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time;
and controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in the next first preset time period.
In an embodiment, the method further comprises:
acquiring a current feedback value of the first motor, acquiring a current feedback value of the second motor, and calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor;
controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value, comprising:
calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force ring according to the back electromotive force given value and the back electromotive force offset value;
the back electromotive force expected value and the back electromotive force feedback value are subjected to difference value adjustment through the back electromotive force loop, and then a current target value of the second motor is output to a current loop;
the current target value and the current feedback value of the second motor are used as a difference value, the difference value is regulated by the current loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
or, the controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value comprises:
calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force ring according to the back electromotive force given value and the back electromotive force offset value;
and the expected value of the back electromotive force and the feedback value of the back electromotive force are subjected to difference value, the back electromotive force loop is used for adjusting and then outputting the driving voltage of the second motor, and the second motor is controlled to operate according to the driving voltage.
In one embodiment, the calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor includes:
and subtracting the current feedback value of the first motor from the current feedback value of the second motor to obtain a current difference value, and calculating the back electromotive force deviation value of the second motor according to a preset piecewise function and the current difference value.
In an embodiment, the method further comprises:
acquiring a current feedback value of the second motor;
controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value, comprising:
making a difference value between the back electromotive force set value and the back electromotive force feedback value, and outputting a current target value of the second motor to a current loop after the back electromotive force loop is adjusted;
and the current target value and the current feedback value of the second motor are used as a difference value, the difference value is regulated by the current loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
Optionally, after the second motor is controlled to operate for a first preset time period by the periodic pulse signal, the operation is suspended for a second preset time period, the period range of the pulse signal is 80Hz to 100Hz, and the range of the second preset time period is 2.0ms to 3.0 ms.
In a second aspect, an embodiment of the present invention further provides a dual-motor cooperative control apparatus, which is applied to a motor controller, where the motor controller is used to connect a first motor and a second motor, and the apparatus includes:
the back electromotive force conversion unit is used for acquiring a speed feedback value or a voltage feedback value of the first motor and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
the back electromotive force sampling unit is used for controlling the second motor to operate for a first preset time period, then suspending operation for a second preset time period, and acquiring a back electromotive force feedback value of the second motor within the second preset time period;
and the main control unit is used for controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in the next first preset time period.
In one embodiment, the apparatus further comprises:
the comparison unit is used for acquiring a current feedback value of the first motor, acquiring a current feedback value of the second motor, and calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor;
the main control unit specifically includes:
the counter electromotive force adding unit is used for calculating and outputting a counter electromotive force expected value of the second motor to a counter electromotive force ring according to the counter electromotive force given value and the counter electromotive force offset value;
the first back electromotive force main control unit is used for making a difference value between the back electromotive force expected value and the back electromotive force feedback value, and outputting a current target value of the second motor to a current loop after being regulated by the back electromotive force loop;
the current main control unit is used for making a difference value between the current target value and a current feedback value of the second motor, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit specifically includes:
the counter electromotive force adding unit is used for calculating and outputting a counter electromotive force expected value of the second motor to a counter electromotive force ring according to the counter electromotive force given value and the counter electromotive force offset value;
and the second back electromotive force main control unit is used for making a difference value between the back electromotive force expected value and the back electromotive force feedback value, outputting the driving voltage of the second motor after the back electromotive force loop is adjusted, and controlling the second motor to operate according to the driving voltage.
In one embodiment, the apparatus further comprises:
the current sampling unit is used for acquiring a second current feedback value of the second motor;
the main control unit specifically includes:
the third back electromotive force main control unit is used for making a difference value between the back electromotive force given value and the back electromotive force feedback value, and outputting the current target value of the second motor to a current loop after being regulated by a back electromotive force loop;
and the current main control unit is used for making a difference value between the current target value and the current feedback value of the second motor, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage.
In a third aspect, an embodiment of the present invention further provides a motor controller, where the motor controller includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the dual-motor cooperative control method as described above.
In a third aspect, an embodiment of the present invention further provides a wire feeding system cooperatively controlled by two motors, where the wire feeding system includes:
a wire feeder including a first motor for delivering welding wire;
a relay wire feeder including a second motor for relaying the welding wire;
and the motor controller as described above, wherein the motor controller is connected to the first motor and the second motor, respectively.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the dual-motor cooperative control method of the embodiment of the invention comprises the following steps: acquiring a speed feedback value or a voltage feedback value of a first motor, and calculating a back electromotive force given value of a second motor according to the speed feedback value or the voltage feedback value; after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time; in the embodiment, the operation of the second motor is controlled according to the back electromotive force given value and the back electromotive force feedback value within the next first preset time period, and the second motor and the first motor can operate synchronously by accurately acquiring the back electromotive force feedback value of the second motor and controlling the operation of the second motor in a time-sharing slice mode.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic illustration of an implementation environment to which embodiments of the invention relate;
FIG. 2 is a schematic illustration of another implementation environment to which embodiments of the invention relate;
fig. 3 is a schematic diagram of a hardware configuration of a motor controller according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a dual-motor cooperative control method according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram of the speed variation and voltage variation during operation of the motor provided by the first embodiment of the present invention;
fig. 6 is a schematic diagram of a dual-motor cooperative control method according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a dual-motor cooperative control method according to a third embodiment of the present invention;
fig. 8 is a schematic diagram of a dual-motor cooperative control method according to a fourth embodiment of the present invention;
fig. 9 is a schematic diagram of a two-motor cooperative control apparatus according to a fifth embodiment of the present invention;
fig. 10 is a schematic diagram of a two-motor cooperative control apparatus according to a sixth embodiment of the present invention;
fig. 11 is a schematic diagram of a two-motor cooperative control apparatus according to a seventh embodiment of the present invention;
fig. 12 is a schematic diagram of a two-motor cooperative control apparatus according to an eighth embodiment of the present invention.
Detailed Description
Technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
FIG. 1 is a schematic illustration of an implementation environment, as shown in FIG. 1, including a wire feeder 10, a relay wire feeder 20, and a motor controller 30, to which various embodiments of the present invention are directed.
The wire feeder 10 includes a first motor 11, a first speed encoder 12, a first current sensor 13, and a first voltage sampling circuit 14, where the first speed encoder 12 is configured to detect a speed feedback value of the first motor 11, the first current sensor 13 is configured to detect a current feedback value of the first motor 11, and the first voltage sampling circuit 14 is configured to detect a voltage feedback value of the first motor 11.
The relay wire feeder 20 includes a second motor 21, a second current sensor 22, and a second voltage sampling circuit 23, the second current sensor 22 is configured to detect a current feedback value of the second motor 21, and the second voltage sampling circuit 23 is configured to detect a back electromotive force feedback value when the second motor 21 stops driving.
The motor controller 30 is connected to the wire feeder 10 and the relay wire feeder 20, respectively, for driving the first motor 11 and the second motor 21 to operate synchronously.
When the second motor 21 is in operation, a back electromotive force is generated during the period of cutting off the power supply, and the back electromotive force has a linear relationship with the speed thereof, so that the speed of the second motor 21 can be accurately obtained by accurately acquiring the back electromotive force feedback value of the second motor 21, and further, the speed of the second motor 21 can be adjusted by the motor controller 30 according to the speed feedback value and the speed feedback value of the first motor 11 by taking the back electromotive force feedback value as the speed feedback value of the second motor 21.
Further, there is a correspondence between the voltage and the speed of the motor, and based on the above principle, the motor controller 30 can directly adjust the speed of the second motor 21 according to the speed feedback value or the voltage feedback value of the first motor 11 and the back electromotive force feedback value of the second motor 21.
Specifically, the motor controller 30 includes a feedback receiving module 31, a control module 32 and a driving module 33, where the feedback receiving module 31 is configured to receive a speed feedback value detected by the first speed encoder 12 and a current feedback value detected by the first current sensor 13, and output the speed feedback value and the current feedback value to the control module 32; the control module 32 is configured to output a first control signal to the driving module 33 in a speed outer loop or a current inner loop manner according to the speed set value, the speed feedback value, and the current feedback value detected by the first current sensor 13; the driving module 33 is configured to control the operation of the first motor 11 according to the first control signal.
The feedback receiving module 31 is further configured to receive a voltage feedback value detected by the first voltage sampling circuit 14, a back electromotive force feedback value detected by the second voltage sampling circuit 23, and a current feedback value detected by the second current sensor 22, and output the voltage feedback value, the back electromotive force feedback value, and the current feedback value to the control module 32; the control module 32 is further configured to convert the voltage feedback value detected by the first voltage sampling circuit 14 into a back electromotive force set value of the second motor 21 after calculation, and output a second control signal to the driving module 33 in a back electromotive force outer loop or a current inner loop manner according to the back electromotive force set value, the back electromotive force feedback value, and the current feedback value detected by the second current sensor 22; the driving module 33 is further configured to control the operation of the second motor 21 according to a second control signal.
The relay wire feeder 20 is a relay wire feeding system during the whole wire feeding process, and the wire feeding speed of the second motor 21 is kept consistent with the wire feeding speed of the first motor 11, so that the whole wire feeding system is stable and reliable during the welding process, and the arc state of the welding is not changed.
In another implementation environment, as shown in fig. 2, including a wire feeder 10, a relay wire feeder 20, and a first motor controller 40, a second motor controller 50, the difference from the first implementation environment is that the wire feeder 10 is connected to the first motor controller 40, the relay wire feeder 20 is connected to the second motor controller 50, and the second motor controller 50 is also connected to the first motor controller 40.
The first motor controller 40 controls the first motor 11 to operate according to a speed feedback value detected by the first speed encoder 12 and a current feedback value detected by the first current sensor 13, and sends a voltage feedback value detected by the first voltage sampling circuit 14 to the second motor controller 50; the second motor controller 50 converts the calculated voltage feedback value into a back electromotive force set value of the second motor 21, and controls the second motor 21 to operate according to the back electromotive force set value, the back electromotive force feedback value, and a current feedback value detected by the second current sensor 22, so as to realize synchronous operation of the second motor 21 and the first motor 11.
In the above implementation environment, the wire feeder 10 may not include the first voltage sampling circuit 14, and the motor controller 30 calculates the speed feedback value detected by the first speed encoder 12 and converts the calculated speed feedback value into the back electromotive force set value of the second motor 21; or the first motor controller 40 sends the speed feedback value detected by the first speed encoder 12 to the second motor controller 50, and the second motor controller 50 converts the speed feedback value into the back electromotive force set value of the second motor 21 after calculation.
Likewise, the motor controller 30 or the second motor controller 50 controls the second motor 21 to operate according to the counter electromotive force set value, the counter electromotive force feedback value, and the current feedback value detected by the second current sensor 22.
In the above-described implementation environment, the motor controller 30 may also calculate the back electromotive force offset value from the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22; alternatively, the first motor controller 40 may also transmit a current feedback value detected by the first current sensor 13 to the second motor controller 50, and the second motor controller 50 may also calculate a back electromotive force offset value from the current feedback value detected by the first current sensor 13 and the current feedback value detected by the second current sensor 22.
Further, the motor controller 30 or the second motor 21 controller 50 controls the second motor 21 to operate according to the counter electromotive force set value, the counter electromotive force offset value, the counter electromotive force feedback value, and the current feedback value detected by the second current sensor 22.
In the above-described embodiment, the relay wire feeder 20 may not include the second current sensor 22, and the motor controller 30 or the second motor controller 50 controls the operation of the second motor 21 according to the calculated back electromotive force set value and the back electromotive force feedback value.
In the above embodiment, the control module 32 of the motor controller 30 or the second control module of the second motor controller 50 each includes a processor and a memory, and taking the motor controller 30 as an example, as shown in fig. 3, the control module 32 includes:
one or more processors 301 and a memory 302, with one processor 301 being illustrated in fig. 3.
The processor 301 and the memory 302 may be connected by a bus or other means, such as the bus connection in fig. 3.
The memory 302 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the dual-motor cooperative control method in the embodiment of the present invention. The processor 301 executes various functional applications and data processing of the control chip 42 by running the nonvolatile software program, instructions and modules stored in the memory 302, that is, implements the dual-motor cooperative control method of the embodiment of the method of the present invention.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the control module 32, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 302 may optionally include memory located remotely from the processor 301, which may be connected to the control module 32 or the second control module 32 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 302, and when executed by the one or more processors 301, perform a dual-motor cooperative control method in any of the method embodiments described below, and implement the functions of the respective modules in the apparatus embodiments described below.
Based on the above description, the embodiments of the present invention will be further explained with reference to the drawings.
Example 1
Referring to fig. 4, fig. 4 is a schematic diagram of a dual-motor cooperative control method according to an embodiment of the present invention, where the method is applied to a motor controller, and the motor controller is used to connect a first motor and a second motor, and the method includes:
step 110: and acquiring a speed feedback value or a voltage feedback value of the first motor, and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value.
When the Speed feedback value of the first motor is obtained, the Speed feedback value of the first motor may be subjected to a first order function transformation (for example, Emf 0.95 Speed +300) and then used as a back electromotive force set value of the second motor.
When the voltage feedback value of the first motor is obtained, the voltage feedback value may be filtered and then subjected to a first function transformation (for example, Emf is 1.2 Volt +200), which is used as the back electromotive force set value of the second motor.
Fig. 5 shows the speed change of the motor during operation and the corresponding voltage change, and it can be seen that there is an overshoot in the voltage when the speed rises and when the speed falls, and there is no overshoot in the back emf given value calculated from the speed feedback value of the first motor, so that the trend of the back emf given value calculated from the voltage feedback value of the first motor will be consistent with the actual voltage trend of the second motor, and the trend of the speed change of the first motor can be reflected better.
Step 120: and after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time.
In this embodiment, the back electromotive force feedback value of the second motor is acquired by controlling the driving of the second motor again. Specifically, in addition to driving the second motor according to a PWM (pulse width modulation) signal, a periodic pulse signal is additionally added to control the driving time of the second motor, so that the second motor is operated for a first preset time period and then is suspended for a second preset time period.
And the second motor has no driving source within a second preset time, and can automatically respond to a back electromotive force, so that the back electromotive force feedback value of the second motor can be accurately acquired by sampling and averaging the back electromotive force feedback value within the time period.
In specific implementation, according to the stability of the welding arc, the additional pulse signal has a period ranging from 80Hz to 100Hz, and the second preset duration ranges from 2.0ms to 3.0ms, for example, the additional pulse signal of 80Hz can be added to control the driving time of the second motor, so that the driving of the second motor is stopped for 2.5ms after 10 ms.
Step 130: and controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in the next first preset time period.
Different from the existing real-time control mode, the embodiment controls the second motor to operate in a time-sharing mode, controls the second motor according to the back electromotive force set value and the back electromotive force feedback value within a first preset time period during which the second motor operates, and stops controlling the second motor within a second preset time period during which the second motor stops operating.
In an embodiment, in a next first preset time period, a back electromotive force given value obtained by last calculation of the system may be used as positive feedback, a back electromotive force feedback value obtained by last sampling may be used as negative feedback, and after being adjusted by a back electromotive force loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
It should be noted that, in practical applications, the step 110 and the step 120 are not sequentially distinguished, the speed feedback value or the voltage feedback value of the first motor may be obtained at a first preset frequency, the back electromotive force feedback value of the second motor may be obtained at a second preset frequency, and the first preset frequency and the second preset frequency may be the same or higher than the second preset frequency.
The second motor is controlled to operate by a back electromotive force control method, wherein a back electromotive force given value of the second motor is calculated according to a speed feedback value or a voltage feedback value of the first motor; additionally adding a periodic pulse signal to control the driving time of a second motor so as to accurately acquire a back electromotive force feedback value of the second motor when the second motor is in pause; and controlling the second motor to operate according to the back electromotive force set value and the back electromotive force feedback value in a time-sharing mode, so that the operating speed of the second motor can be kept consistent with that of the first motor.
Example 2
Referring to fig. 6, fig. 6 is a schematic diagram of another dual-motor cooperative control method according to an embodiment of the present invention, where the method includes:
step 210: and acquiring a speed feedback value or a voltage feedback value of the first motor, and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value.
Step 220: and calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor.
For the motor, when the current feedback value does not exceed the rated current, the current feedback value is in direct proportion to the motor torque and can reflect the load condition of the motor, when the load is increased, the current feedback value is increased, and when the load is decreased, the current feedback value is decreased. And calculating the counter electromotive force deviation value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor, and giving the counter electromotive force deviation value to the second motor, so that the pulling forces of the first motor and the second motor can be adjusted in real time according to the load, the acting forces of the two motors are reasonably distributed, and the condition that one motor does not output too much force and the other motor does not output too much force is avoided.
The obtained current feedback value can be peak current or average current obtained in a sampling period, and the average current sampling has low requirement on a sampling circuit and strong anti-interference performance; the peak current sampling has higher design requirements on a sampling circuit, the interference resistance is weak, and the current real-time performance is stronger.
Preferably, calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor includes:
and subtracting the current feedback value of the first motor from the current feedback value of the second motor to obtain a current difference value, and calculating the back electromotive force deviation value of the second motor according to a preset piecewise function and the current difference value.
The preset segment function may be a linear function, for example, Emf1 ═ CurrErr 0.2+200, or Emf2 ═ CurrErr 0.25, and the larger the current difference is, the larger the slope of the preset segment function is, and the tension between the two motors can be adjusted as soon as possible according to the load change.
Step 230: and after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time.
Step 240: and in the next first preset time period, calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force ring according to the back electromotive force given value and the back electromotive force offset value.
For example, in the next first preset time period, the back electromotive force given value obtained by the last calculation of the system is added to the back electromotive force offset value obtained by the last sampling of the system, so as to obtain the back electromotive force expected value of the second motor.
Step 250: and the expected value of the back electromotive force and the feedback value of the back electromotive force are subjected to difference value, and the current target value of the second motor is output to the current after the back electromotive force is regulated by the back electromotive force loop.
And performing PI regulation or PID regulation on the back electromotive force expected value and the back electromotive force feedback value in a back electromotive force loop, and calculating and outputting a current target value of the second motor to a current loop.
Step 260: and the current target value and the current feedback value of the second motor are used as a difference value, the difference value is regulated by the current loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
And performing PI regulation or PID regulation on the current target value and the current feedback value of the second motor in a current loop, calculating and outputting the driving voltage of the second motor, and controlling the second motor to operate according to the driving voltage.
In the embodiment, the current feedback value of the first motor and the current feedback value of the second motor are obtained, the back electromotive force offset value of the second motor is calculated according to the current feedback value of the first motor and the current feedback value of the second motor, and the back electromotive force given value of the second motor is adjusted according to the back electromotive force offset value, so that the pulling forces of the first motor and the second motor can be adjusted in real time according to the load.
Example 3
Referring to fig. 7, fig. 7 is a schematic diagram of another two-motor cooperative control method according to an embodiment of the present invention, where the method includes steps 310 to 350, where the steps 310 to 340 refer to embodiment 2, and the difference from the foregoing embodiment 2 is that:
step 350 is: and the expected value of the back electromotive force and the feedback value of the back electromotive force are subjected to difference value, the back electromotive force loop is used for adjusting and then outputting the driving voltage of the second motor, and the second motor is controlled to operate according to the driving voltage.
That is, in step 350, the driving voltage of the second motor is directly calculated according to the expected value of the back electromotive force and the feedback value of the back electromotive force, and the second motor is controlled to operate according to the driving voltage, so that the step of entering a current loop is omitted.
Specifically, the expected counter electromotive force value obtained by the last calculation of the system is used as positive feedback, the feedback counter electromotive force value obtained by the last sampling is used as negative feedback, the back electromotive force feedback value is adjusted by a counter electromotive force loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
Example 4
Referring to fig. 8, fig. 8 is a schematic diagram of another two-motor cooperative control method according to an embodiment of the present invention, where the method includes:
step 410: acquiring a speed feedback value or a voltage feedback value of the first motor, and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
step 420: and acquiring a second current feedback value of the second motor.
Step 430: and after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time.
Step 440: within the next first preset time, making a difference value between the back electromotive force set value and the back electromotive force feedback value, and outputting a current target value of the second motor to a current loop after the back electromotive force loop is adjusted;
step 450: and the current target value and the current feedback value of the second motor are used as a difference value, the difference value is regulated by the current loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage.
This embodiment differs from embodiment 2 described above in that the step of calculating the back emf offset value, i.e. the step of correcting the back emf setpoint of the second motor, is omitted, and in the event of a load change, the tension is distributed between the first and second motors in a freely responsive manner.
Example 5
Referring to fig. 9, fig. 9 is a schematic device diagram of a two-motor cooperative control device according to an embodiment of the present invention, in which the two-motor cooperative control device 500 is applied to a motor controller, and the motor controller is used for being connected to a first motor and a second motor.
The dual-motor cooperative control apparatus 500 may be configured in any suitable type of chip with certain logic operation capability, such as a control chip (e.g., the control module shown in fig. 1-3) configured in the motor.
As shown in fig. 9, the apparatus 500 includes:
a back electromotive force conversion unit 510, configured to obtain a speed feedback value or a voltage feedback value of the first motor, and calculate a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
the back electromotive force sampling unit 520 is configured to control the second motor to operate for a first preset time period, suspend operation for a second preset time period, and obtain a back electromotive force feedback value of the second motor within the second preset time period;
and the main control unit 530 is configured to control the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in a next first preset time period.
Example 6
Fig. 10 is a schematic device diagram of a two-motor cooperative control apparatus according to an embodiment of the present invention, which is different from the foregoing embodiment 5 in that the apparatus 600 further includes:
a comparing unit 640, configured to obtain a current feedback value of the first motor, obtain a current feedback value of the second motor, and calculate a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor;
the main control unit 630 specifically includes:
a back electromotive force adding unit 631 for calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force loop according to the back electromotive force given value and the back electromotive force offset value;
the first back electromotive force main control unit 632 is configured to make a difference between the expected back electromotive force value and the back electromotive force feedback value, and output the current target value of the second motor to the current loop after being adjusted by the back electromotive force loop;
and the current main control unit 633 is configured to make a difference between the current target value and the current feedback value of the second motor, output a driving voltage of the second motor after the current loop adjustment, and control the second motor to operate according to the driving voltage.
Example 7
Fig. 11 is a schematic diagram of another apparatus for cooperative dual-motor control according to an embodiment of the present invention, which is different from embodiment 6 in that a main control unit 730 of an apparatus 700 specifically includes:
a back electromotive force adding unit 731 for calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force loop according to the back electromotive force given value and the back electromotive force offset value;
and a second back electromotive force main control unit 732, configured to make a difference between the expected back electromotive force value and the back electromotive force feedback value, and output a driving voltage of the second motor after being adjusted by the back electromotive force loop, so as to control the second motor to operate according to the driving voltage.
Example 8
Fig. 12 is a schematic diagram of another apparatus for cooperatively controlling two motors according to an embodiment of the present invention, which is different from the apparatus according to embodiment 6 in that the apparatus 800 obtains a second current feedback value of the second motor through the current sampling unit 840, and the main control unit 830 specifically includes:
a third back electromotive force main control unit 831, configured to make a difference between the back electromotive force given value and the back electromotive force feedback value, and output the current target value of the second motor to a current loop after being adjusted by a back electromotive force loop;
and the current main control unit 832 is configured to make a difference between the current target value and a current feedback value of the second motor, output a driving voltage of the second motor after the current loop adjustment, and control the second motor to operate according to the driving voltage.
It should be noted that, in the embodiment of the present invention, the apparatuses 500 to 800 may execute the dual-motor cooperative control method provided in the embodiment of the present invention, and have corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiments of the apparatus, reference may be made to the dual-motor cooperative control method provided in the embodiments of the present invention.
Example 9
An embodiment of the present invention provides a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the dual-motor cooperative control method as described above. For example, the methods illustrated in fig. 4-8 described above are performed to implement the functions of the various modules in fig. 9-12.
An embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the dual-motor cooperative control method described above. For example, the methods illustrated in fig. 4-8 described above are performed to implement the functions of the various modules in fig. 9-12.
It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a Read-Only Memory (ROM) or a Random Access Memory (RAM).
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A double-motor cooperative control method is applied to a motor controller, and is characterized in that the motor controller is used for being connected with a first motor and a second motor, and the method comprises the following steps:
acquiring a speed feedback value or a voltage feedback value of the first motor, and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
acquiring a current feedback value of the first motor, acquiring a current feedback value of the second motor, and calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor;
after the second motor is controlled to operate for a first preset time, the operation is suspended for a second preset time, and a back electromotive force feedback value of the second motor is obtained within the second preset time;
calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force ring of the second motor according to the back electromotive force given value and the back electromotive force offset value in the next first preset time period;
and the expected value of the back electromotive force and the feedback value of the back electromotive force are subjected to difference value, and the second motor is controlled to operate after the back electromotive force is adjusted by the back electromotive force loop.
2. The method of claim 1, further comprising:
the step of controlling the second motor to operate after the back electromotive force loop adjusts the difference between the back electromotive force expected value and the back electromotive force feedback value, includes:
the back electromotive force expected value and the back electromotive force feedback value are subjected to difference value adjustment through the back electromotive force loop, and then a current target value of the second motor is output to a current loop;
the current target value and the current feedback value of the second motor are used as a difference value, the difference value is regulated by the current loop, the driving voltage of the second motor is output, and the second motor is controlled to operate according to the driving voltage;
alternatively, it comprises:
and the expected value of the back electromotive force and the feedback value of the back electromotive force are subjected to difference value, the back electromotive force loop is used for adjusting and then outputting the driving voltage of the second motor, and the second motor is controlled to operate according to the driving voltage.
3. The method of claim 2,
the calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor includes:
and subtracting the current feedback value of the first motor from the current feedback value of the second motor to obtain a current difference value, and calculating the back electromotive force deviation value of the second motor according to a preset piecewise function and the current difference value.
4. The method according to any one of claims 1 to 3,
and after the second motor is controlled to operate for a first preset time period through the periodic pulse signal, the operation is suspended for a second preset time period, the period range of the pulse signal is 80Hz-100Hz, and the range of the second preset time period is 2.0ms-3.0 ms.
5. A dual-motor cooperative control device is applied to a motor controller and is characterized in that the motor controller is used for being connected with a first motor and a second motor, and the device comprises:
the back electromotive force conversion unit is used for acquiring a speed feedback value or a voltage feedback value of the first motor and calculating a back electromotive force given value of the second motor according to the speed feedback value or the voltage feedback value;
the comparison unit is used for acquiring a current feedback value of the first motor, acquiring a current feedback value of the second motor, and calculating a back electromotive force offset value of the second motor according to the current feedback value of the first motor and the current feedback value of the second motor;
the back electromotive force sampling unit is used for controlling the second motor to operate for a first preset time period, then suspending operation for a second preset time period, and acquiring a back electromotive force feedback value of the second motor within the second preset time period;
the main control unit is used for controlling the second motor to operate according to the back electromotive force given value and the back electromotive force feedback value in the next first preset time period, and the main control unit comprises:
and the back electromotive force adding unit is used for calculating and outputting a back electromotive force expected value of the second motor to a back electromotive force ring of the second motor according to the back electromotive force given value and the back electromotive force offset value.
6. The apparatus of claim 5, wherein the master unit further comprises:
the first back electromotive force main control unit is used for making a difference value between the back electromotive force expected value and the back electromotive force feedback value, and outputting a current target value of the second motor to a current loop after being regulated by the back electromotive force loop;
the current main control unit is used for making a difference value between the current target value and a current feedback value of the second motor, outputting the driving voltage of the second motor after the current loop adjustment, and controlling the second motor to operate according to the driving voltage;
or, the main control unit further includes:
and the second back electromotive force main control unit is used for making a difference value between the back electromotive force expected value and the back electromotive force feedback value, outputting the driving voltage of the second motor after the back electromotive force loop is adjusted, and controlling the second motor to operate according to the driving voltage.
7. A motor controller, characterized in that the motor controller comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the dual-motor cooperative control method of any one of claims 1 to 4.
8. A dual-motor cooperatively controlled wire feeding system, comprising:
a wire feeder including a first motor for delivering welding wire;
a relay wire feeder including a second motor for relaying the welding wire;
and a motor controller as claimed in claim 7, wherein the motor controller is connected to the first and second motors, respectively.
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