CN111641357B - Dual-motor system and torque control method - Google Patents

Dual-motor system and torque control method Download PDF

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Publication number
CN111641357B
CN111641357B CN202010373561.1A CN202010373561A CN111641357B CN 111641357 B CN111641357 B CN 111641357B CN 202010373561 A CN202010373561 A CN 202010373561A CN 111641357 B CN111641357 B CN 111641357B
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torque
direct current
motor
phase
control
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CN111641357A (en
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张守旭
崔荣鑫
严卫生
王银涛
李俊兵
房新鹏
左磊
林海
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Northwestern Polytechnical University
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H02P2006/045—Control of current
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference

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  • Power Engineering (AREA)
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Abstract

The invention discloses a double-motor system and a torque control method, wherein the rotating speed of double direct current motors is detected by a speed sensor, the steady state performance of the system is improved by a PI controller, the PI controller outputs reference currents, the reference currents of the double direct current motors are respectively sent to a reference torque calculation module to obtain three paths of reference torques, the detected actual currents are sent to a torque reconstruction calculation module to output three-phase reconstruction torques, finally hysteresis loop control is carried out on torque errors, PWM (pulse width modulation) waveforms of a three-phase inverter are output and controlled, the switch of the inverter is controlled, the three-phase inverter drives the double direct current motors to work under the action of external direct current voltage, and meanwhile, the currents on branches are fed back to two groups of steady state currents to complete a whole control loop and realize the control of a forward series control system of the double direct current motors. The method has the advantages of low cost, high rapidity, high power, simple control, few parameters and easy debugging.

Description

Dual-motor system and torque control method
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a double-motor system and a torque control method.
Background
With the development of control theory, computer level and motor process manufacturing level, motors are widely applied in the industrial fields of household appliances, electric automobiles and the like, and direct current motors have good starting characteristics and speed regulation characteristics, and are more energy-saving and environment-friendly compared with alternating current motors, so that the invention carries out a series of researches on the direct current motors, enables the double motor windings to normally run under the condition of sharing one bridge arm, and ensures that the double direct current motors realize four motion states of forward electromotion, reverse electromotion, forward feedback braking and reverse feedback braking.
The dual-motor driving system has the advantages of large power output, high power density, fault-tolerant operation and the like, and is widely regarded. In a dual-motor dual-closed-loop control system, if the controllers adopt PI control, excessive negative effects are introduced due to integral feedback in actual motor control, and the difficulty of system parameter adjustment is increased, so that the torque hysteresis control is added in the design of the controller, harmonic components in waveforms can be reduced, carriers are not needed, the design of a hysteresis control hardware circuit is relatively simple, the torque reflection is fast, given torque can be tracked in real time, and the control efficiency of the system can be improved by controlling the torque. How to obtain reasonable three-phase torque to drive the three-phase inverter is the core content of the invention, the control method of the invention can improve the control precision of the system, reduce the number of inverters compared with the traditional control method, and provide an effective method for realizing the operation in four quadrants by a direct torque control system with two direct current motors connected in series.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a dual-motor system and a torque control method for reducing the number of inverter arms and the number of PI controllers, aiming at overcoming the disadvantages in the prior art, and to provide a method based on torque control for realizing direct torque driving and control of the dual-motor system.
The invention adopts the following technical scheme:
a double-motor torque control method comprises the steps of detecting the rotating speeds of a direct current motor DCM1 and a direct current motor DCM2 through speed sensors, improving the steady-state performance of a system through a PI controller according to the rotating speeds of the direct current motor DCM1 and the direct current motor DCM2, outputting reference currents through the PI controller, respectively sending the reference currents of the direct current motor DCM1 and the direct current motor DCM2 into a reference torque calculation module, obtaining three paths of reference torques, sending the detected actual current into a torque reconstruction calculation module, outputting a three-phase reconstruction torque, finally performing hysteresis control on a torque error, outputting a PWM waveform for controlling a three-phase inverter, controlling the switch of the inverter to be switched off, driving the direct current motor DCM1 and the direct current motor DCM2 to work under the action of external direct current voltage by the three-phase inverter, and meanwhile, the current on the branch circuits is fed back to the two groups of steady-state currents to complete the whole control loop, so that the control on the direct current motor DCM1 and the direct current motor DCM2 forward series control system is realized.
Specifically, the method comprises the following steps:
s1, initializing the system, and acquiring current signals and speed signals of a direct current motor DCM1 and a direct current motor DCM2 to the main control unit, the direct current motor DCM1 and the direct current motor DCM2 by the current sensor and the speed sensor respectively at given rotating speeds W1 *、W2 *With the actual rotational speed W1、W2Obtaining a rotating speed error e after passing through a speed adjusting modulew1、ew2Carrying out PI regulation on the rotating speed error to obtain a two-phase reference current Im1、Im2；
S2, since the three-bridge arm is controlled to be turned on and off, two-phase reference current needs to be converted into three-phase reference torque T1ref、T2ref、T3ref；
S3, detecting the actual current of the two motors as X1，X2Reconstructing the two-phase current into a three-phase torque;
s4, comparing the three-phase reference torque and the three-phase reconstruction torque obtained in the step S3 to obtain an error delta T1、ΔT2、ΔT3The three-phase torque error is used as the input of a hysteresis control unit; when the error is larger than the threshold value of the hysteresis comparator, the hysteresis comparator outputs a negative level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual torque is reduced, when the actual torque is reduced to be equal to the reference torque, the hysteresis comparator keeps low-level output, the actual torque is continuously reduced, and when the error is increased to the threshold value of the hysteresis comparator again, the controller is arranged to overturn and output a high-level signal;
and S5, the output of the hysteresis comparator is used as the input of the PWM unit to generate pulse signals for controlling the inverter switch, so that the torque control of the direct current motor DCM1 and the torque control of the direct current motor DCM2 are realized.
Further, in step S1, two phases are formedReference current Im1、Im2The method specifically comprises the following steps:
Figure BDA0002479262200000031
wherein, Kp、KIIs the PI regulator parameter.
Further, in step S2, the conversion is specifically as follows:
Figure BDA0002479262200000032
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
Further, in step S3, the reconstruction formula is as follows:
Figure BDA0002479262200000033
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
Further, in step S4, the output H of the hysteretic controlleriThe method specifically comprises the following steps:
Figure RE-GDA0002592186190000034
where i is 1,2,3, δ is a threshold of the hysteresis comparator, Q is equal to a value output at the previous time, and Δ T is an error between the three-phase reference torque and the three-phase torque.
Further, in step S5, the switching logic function is specifically:
Figure BDA0002479262200000041
wherein i is 1,2,3, UiIs the output of the PWM unit, HiOutput of hysteretic controller。
The invention adopts another technical scheme that the double-motor system adopts the torque control method and comprises a rotating speed acquisition unit and a current acquisition unit, wherein the rotating speed acquisition unit and the current acquisition unit are respectively connected with a direct current motor DCM1 and a direct current motor DCM2 and are used for acquiring the position rotating speed and the actual current of the motor, and the two-phase reference current I is regulated by PI (proportion integration) to obtain the two-phase reference current Im1、Im2The control method comprises the steps that the actual current of the motor is reconstructed into three-phase torque by the reference torque calculation module which is connected with the torque reconstruction calculation module, the main control unit adopts torque hysteresis control, the output of the switch function calculation module is connected to a hysteresis comparator to generate control pulses, the on-off state of a switch is controlled, and the control of the direct current motor DCM1 and the direct current motor DCM2 is realized through a three-phase voltage source inverter.
Specifically, the three-phase voltage source inverter comprises six IGBT modules, three branches are formed by connecting two IGBT modules in series, the three branches are connected to two ends of a direct current power supply in parallel, the first branch comprises bipolar transistor chips V1 and V4 and diode chips D1 and D4 connected to the bipolar transistor chips V1 and V4 in parallel, the second branch comprises bipolar transistor chips V3 and V6 and diode chips D3 and D6 connected to the bipolar transistor chips in parallel, and the third branch comprises bipolar transistor chips V5 and V2 and diode chips D5 and D2 connected to the bipolar transistor chips V5 and V2 in parallel.
Further, the midpoint between the bipolar transistor chip V1 and the bipolar transistor chip V4 of the first branch is a node a point, the midpoint between the bipolar transistor chip V3 and the bipolar transistor chip V6 of the second branch is a node b point, the midpoint between the bipolar transistor chip V5 and the bipolar transistor chip V2 of the third branch is a node c point, the positive port of the dc motor DCM1 is connected to the node a point, and the negative port is connected to the node b point; the positive terminal of direct current motor DCM2 is connected with node b, and the negative terminal is connected with node c.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a direct torque control method of a double-motor system.A double direct current motor is connected in a mode of serial connection of head and tail; the method comprises the steps that firstly, a position sensor detects the actual rotating speed of a double direct current motor, the actual rotating speed of the motor is compared with a reference rotating speed to obtain an error, PI adjustment is carried out on the rotating speed error to obtain two-phase reference current, the two-phase reference current is converted according to a formula to obtain three-phase reference torque, then the actual current of the two motors is obtained through a current detection means, the two-phase actual current is reconstructed to obtain three-phase reconstruction torque, finally, the error of the three-phase reference torque and the error of the three-phase reconstruction torque are obtained, hysteresis control is carried out on the error of the torque to obtain PWM waves required by driving a three-phase voltage source inverter, and the double direct current motor can be started, stopped and accelerated and decelerated normally.
Further, step S1 subtracts the acquired actual rotation speed from the reference rotation speed to obtain an error, and the rotation speed error is converted into a reference current signal through PI adjustment to provide an input for the reference torque calculation module.
Further, in step S2, the two-phase reference current is converted into a three-phase reference torque signal by the reference torque calculation module, the two-phase signal cannot drive the three-bridge arm inverter, and the two-phase signal must be converted into a three-phase signal.
Furthermore, the two-phase actual current is reconstructed into three-phase torque, the reference torque is three-phase, the actual torque is also three-phase, a reconstruction formula is obtained according to the structure of the three-bridge-arm inverter and the characteristics of the direct current motor, and the accuracy of control is improved.
Further, step S4 adopts a torque hysteresis control technique, which has the characteristics of real-time control, fast response speed, strong robustness, etc., and the hysteresis comparator generates control pulses.
Further, step S5 is to output a control pulse by the hysteretic controller, and obtain a PWM signal for controlling each inverter switch through the PWM module, so as to control the turn-off of the inverter switch.
According to the double-motor system, one inverter bridge arm is saved, the cost is saved, the number of PI controllers is reduced by adopting hysteresis control, the real-time performance of the control of the whole system is enhanced, and the control error is reduced.
In summary, the present invention can be implemented only by performing a small amount of modification on the existing or future dual dc motor series connection method, and is suitable for various dual dc motor series connection driving systems, and the present invention is simple to implement and has a wide application range.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural diagram of a three-bridge-arm control dual-motor system;
FIG. 2 is a block diagram of a dual motor system direct torque control;
FIG. 3 is a schematic diagram of torque hysteresis control of a dual DC motor control system;
fig. 4 is a flow chart of the direct torque control of the dual motor system.
Detailed Description
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 and 2, the present invention provides a dual-motor system, including a dc motor DCM1, a dc motor DCM2, a rotation speed collecting unit, a current collecting unit, a three-phase voltage source inverter and a main control unit, where the rotation speed collecting unit and the current collecting unit are respectively connected to the dc motor DCM1 and the dc motor DCM2 for collecting the position rotation speed and the actual current of the motor, and the two-phase reference current I is adjusted by PI through a PI control modulem1、Im2The reference torque calculation module is connected with the torque reconstruction calculation module and used for reconstructing the actual current of the motor into three-phase torque, and the main control unit adopts rotation to the three-phase torque errorAnd controlling the torque hysteresis, namely connecting the torque error as an input to a hysteresis comparator, outputting three control signals by the hysteresis comparator, and then using the output of the hysteresis comparator as the input of a PWM (pulse-width modulation) module to generate control pulses to control the on-off state of a switch, so that the control of the DC motor DCM1 and the DC motor DCM2 is realized by a three-phase voltage source inverter.
The main control unit comprises a PI control module, a hysteresis comparator and a PWM module.
Referring to fig. 1, the three-phase voltage source inverter adopts six IGBT modules, and three branches are formed by connecting two IGBT modules in series and are connected in parallel to two ends of the dc power supply, where the first branch includes bipolar transistor dies V1 and V4 and diode dies D1 and D4 connected in parallel thereto, the second branch includes bipolar transistor dies V3 and V6 and diode dies D3 and D6 connected in parallel thereto, and the third branch includes bipolar transistor dies V5 and V2 and diode dies D5 and D2 connected in parallel thereto.
Referring to fig. 3, the midpoint between the bipolar transistor chip V1 and the bipolar transistor chip V4 of the first branch is a node a, the midpoint between the bipolar transistor chip V3 and the bipolar transistor chip V6 of the second branch is a node b, the midpoint between the bipolar transistor chip V5 and the bipolar transistor chip V2 of the third branch is a node c, the positive port of the dc motor DCM1 is connected to the node a, and the negative port is connected to the node b; the positive terminal of direct current motor DCM2 is connected with node b, and the negative terminal is connected with node c.
Referring to fig. 2 and 4, the operation principle of the torque control method based on the series connection of the dual dc motors according to the present invention is as follows:
the speed sensor detects the rotating speed of the motors, the rotating speed of two direct current motors in the system is improved through the PI controller, the PI controller outputs reference current, the reference current of the two motors is respectively sent into the reference torque calculation module to obtain three reference torques, the detected actual current is sent into the torque reconstruction calculation module to output three-phase reconstruction torque, finally hysteresis loop control is carried out on torque errors, PWM waveforms of the three-phase inverter are output and controlled, the three-phase inverter drives the two direct current motors to work under the action of external direct current voltage, and meanwhile current on branches is fed back to the two groups of steady-state currents to complete the whole control loop and realize control on the forward series control system of the two direct current motors.
The method comprises the following specific steps:
s1, initializing the system, collecting the current signal and the speed signals of the two motors to the main control unit by the current sensor and the speed sensor respectively, and setting the rotating speed W of the two direct current motors1 *、W2 *With the actual rotational speed W1、W2Obtaining a rotating speed error e after passing through a speed adjusting modulew1、ew2Carrying out PI regulation on the rotating speed error to obtain a two-phase reference current Im1、Im2；
Figure BDA0002479262200000081
Wherein, Kp、KIIs the PI regulator parameter.
S2, since the three-bridge arm is controlled to be turned on and off, two-phase reference current needs to be converted into three-phase reference torque T1ref、T2ref、T3refThe conversion formula is as follows:
Figure BDA0002479262200000082
wherein, K1、K2The physical characteristics of dc motor DCM1 and dc motor DCM2 are related.
S3, detecting the actual current of the two motors as X1，X2Reconstructing two-phase current into three-phase torque, wherein the reconstruction formula is as follows:
Figure BDA0002479262200000083
S4、comparing the obtained three-phase reference torque with the three-phase reconstruction torque to obtain an error delta T1、ΔT2、ΔT3The three-phase torque error is used as the input of a hysteresis control unit, and the hysteresis control unit not only can adjust the torque of the double motors, but also can play the role of a PWM modulator; when the error is larger than a certain value, the hysteresis comparator outputs a negative level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual torque is reduced, when the error is reduced to be equal to the reference torque, the hysteresis comparator still keeps low level output, the actual torque is continuously reduced until the error is increased to a certain value again, the controller is arranged to turn over and output a high level signal, and the torque signal is circularly and alternately converted into a corresponding switch instruction signal, so that the error is kept in a certain range, and the given torque is subjected to zigzag change up and down to achieve the purpose of tracking the torque, which is specifically as follows:
Figure RE-GDA0002592186190000083
wherein i is 1,2,3, HiThe output of the hysteresis controller, δ is the threshold of the hysteresis comparator, and Q represents the value equal to the output at the previous time.
S5, the output of the hysteresis comparator is used as the input of the PWM unit to generate a pulse signal for controlling the switch of the inverter;
the switching logic function is calculated as:
Figure BDA0002479262200000092
wherein i is 1,2,3, UiThe PWM unit is used for outputting, and controlling the on-off of the inverter switch so as to control the operation of the motor.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The double-motor system and the torque control method can enable the double-motor system to have higher output power, can be applied to the occasions of double direct current motor driving, the traditional double direct current motor needs a four-bridge arm inverter for driving, and the invention adopts three-bridge arm driving, thereby reducing the cost of the inverter. Two-phase current is reconstructed into three-phase torque, hysteresis control is carried out on the torque, compared with the traditional voltage control, the torque hysteresis control can realize real-time tracking of the torque, the system torque is always in a certain range from top to bottom of the reference torque, and therefore the double motors can stably run according to a given target.
In conclusion, the dual-motor system and the torque control method can reduce cost, are good in rapidity, high in power, simple to control, few in parameters and easy to debug.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.

Claims (7)

1. A dual-motor torque control method is characterized in that speed sensors are used for detecting the rotating speeds of a direct current motor DCM1 and a direct current motor DCM2, the rotating speeds of the direct current motor DCM1 and the direct current motor DCM2 are improved through a PI controller, the PI controller outputs reference currents, the reference currents of the direct current motor DCM1 and the direct current motor DCM2 are respectively sent into a reference torque calculation module to obtain three paths of reference torques, detected actual currents are sent into a torque reconstruction calculation module to output three-phase reconstruction torques, finally hysteresis control is conducted on torque errors, PWM waveforms of a three-phase inverter are output and controlled, the switch of the inverter is controlled to be turned off, the three-phase inverter drives the direct current motor DCM1 and the direct current motor DCM2 to work under the action of external direct current voltage, currents on branches are simultaneously fed back to two groups of steady-state currents, a whole control loop is completed, and control over the direct current motor DCM1 and the direct current motor DCM2 to a forward series control system is achieved, the method comprises the following steps:
s1, initializing the system, and acquiring current signals and speed signals of a direct current motor DCM1 and a direct current motor DCM2 to the main control unit, the direct current motor DCM1 and the direct current motor DCM2 by the current sensor and the speed sensor respectively at given rotating speeds W of the main control unit, the direct current motor DCM1 and the direct current motor DCM21 *、W2 *With the actual rotational speed W1、W2Obtaining a rotating speed error e after passing through a speed adjusting modulew1、ew2Carrying out PI regulation on the rotating speed error to obtain a two-phase reference current Im1、Im2；
S2, since the three-bridge arm is controlled to be turned on and off, two-phase reference current needs to be converted into three-phase reference torque T1ref、T2ref、T3refThe transformation is specifically as follows:
Figure FDA0003152609730000011
wherein, K1、K2Is the torque constant of the direct current motors of the motor 1 and the motor 2;
s3, detecting the actual current of the two motors as X1，X2Reconstructing two-phase current into three-phase torque, wherein the reconstruction formula is as follows:
Figure FDA0003152609730000012
wherein, K1、K2Is the torque constant of the direct current motors of the motor 1 and the motor 2;
s4, comparing the three-phase reference torque obtained in the step S2 with the three-phase reconstruction torque obtained in the step S3 to obtain an error delta T1、ΔT2、ΔT3The three-phase torque error is used as the input of a hysteresis control unit; when the error is greater than the threshold value of the hysteresis comparator, the hysteresis comparator outputs a low level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual torque is reduced, when the actual torque is reduced to be equal to the reference torque, the hysteresis comparator keeps outputting the low level, the actual torque is continuously reduced, and until the error is increased to the threshold value of the hysteresis comparator again, the hysteresis controller is turned over to output a high level signal;
and S5, the output of the hysteresis comparator is used as the input of the PWM unit to generate a pulse signal for controlling the switch of the inverter, so that the torque control of the direct current motor DCM1 and the torque control of the direct current motor DCM2 are realized.
2. The dual-motor torque control method according to claim 1, wherein in step S1, the two-phase reference current Im1、Im2The method specifically comprises the following steps:
Figure FDA0003152609730000021
wherein, Kp、KIIs the PI regulator parameter.
3. The dual-motor torque control method according to claim 1, wherein in step S4, the output H of the hysteresis controlleriThe method specifically comprises the following steps:
Figure FDA0003152609730000022
where i is 1,2,3, δ is the threshold of the hysteresis comparator, Q is equal to the value output at the previous time, and Δ TiAnd error of the three-phase reference torque and the three-phase reconstruction torque.
4. The dual-motor torque control method according to claim 1, wherein in step S5, the switching logic function is specifically:
Figure FDA0003152609730000023
Figure FDA0003152609730000024
wherein i is 1,2,3, UiIs the output of the PWM unit, HiThe output of the hysteretic controller.
5. A double-motor system is characterized in that the torque control method of claim 1 is adopted, the double-motor system comprises a rotating speed acquisition unit and a current acquisition unit, the rotating speed acquisition unit and the current acquisition unit are respectively connected with a direct current motor DCM1 and a direct current motor DCM2 and are used for acquiring the position rotating speed and the actual current of the motor, and the difference value between the given rotating speed and the actual rotating speed is subjected to PI regulation to enable two-phase reference current I to be obtainedm1、Im2The control method comprises the steps that the actual current of the motor is reconstructed into three-phase torque by the reference torque calculation module which is connected with the torque reconstruction calculation module, the main control unit adopts torque hysteresis control, the input of the switch function calculation module is connected to a hysteresis comparator to generate control pulses, the on-off state of a switch is controlled, and the control of the direct current motor DCM1 and the direct current motor DCM2 is realized through a three-phase voltage source inverter.
6. The dual-motor system as claimed in claim 5, wherein the three-phase voltage source inverter comprises six IGBT modules, and three branches are formed by connecting two IGBT modules in series and are connected in parallel with two ends of the DC power supply, the first branch comprises bipolar transistor chips V1 and V4 and diode chips D1 and D4 connected in parallel with the bipolar transistor chips V3 and V6 and diode chips D3 and D6 connected in parallel with the bipolar transistor chips V5 and V2 and diode chips D5 and D2 connected in parallel with the bipolar transistor chips V5 and V2.
7. The dual-motor system of claim 6, wherein a midpoint between the bipolar transistor chip V1 and the bipolar transistor chip V4 of the first branch is a node a point, a midpoint between the bipolar transistor chip V3 and the bipolar transistor chip V6 of the second branch is a node b point, a midpoint between the bipolar transistor chip V5 and the bipolar transistor chip V2 of the third branch is a node c point, a positive port of the DC motor DCM1 is connected to the node a point, and a negative port is connected to the node b point; the positive terminal of direct current motor DCM2 is connected with node b, and the negative terminal is connected with node c.
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CN108696197A (en) * 2018-06-20 2018-10-23 长安大学 A kind of double direct current generator forward direction series control system and methods

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DE102015220854A1 (en) * 2015-10-26 2017-04-27 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Electrical arrangement and method for driving at least two electric motors

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CN106787988A (en) * 2016-12-22 2017-05-31 东南大学 A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor
CN108696197A (en) * 2018-06-20 2018-10-23 长安大学 A kind of double direct current generator forward direction series control system and methods

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