CN115313926A - Load damping control method for double-step motor - Google Patents
Load damping control method for double-step motor Download PDFInfo
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- CN115313926A CN115313926A CN202211050229.7A CN202211050229A CN115313926A CN 115313926 A CN115313926 A CN 115313926A CN 202211050229 A CN202211050229 A CN 202211050229A CN 115313926 A CN115313926 A CN 115313926A
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- 238000013016 damping Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 6
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- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- 230000004308 accommodation Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
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- Stopping Of Electric Motors (AREA)
Abstract
The application relates to the technical field of double-motor driving, in particular to a load damping control method for a double-step motor, which comprises the following steps: step 1: selecting two identical motors, wherein one motor is an active motor, and the other motor is a standby motor; step 2: connecting a rotating shaft of the driving motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load; and 3, step 3: connecting a coil in the standby motor with a control circuit through a load resistor; and 4, step 4: connecting the active motor with a power supply; and 5: starting a power supply, enabling the active motor to normally rotate, and enabling the standby motor to rotate along with the active motor; and 6: and adjusting the active motor to enable the standby motor to rotate at a constant speed, and adjusting the resistance value of the load resistor of the standby motor through the control circuit to realize the adjustment of the load damping of the active motor. This application does not increase extra sensor, compares in the mode that traditional clutch adjusted, and the cost is lower, and the reliability is higher.
Description
Technical Field
The application relates to the technical field of double-motor driving, in particular to a load damping control method for a double-step motor.
Background
Space electromechanical products often have special requirements on high reliability, and in order to meet the requirements, one driving mechanism is usually designed in a manner of mutual redundant backup of double motors. When the main motor fails, the system is automatically switched to the standby motor to ensure the reliable action of the mechanism.
The main and standby motors are designed in an axial series connection mode on the mounting structure, when one motor is powered on to work, the other motor is in a driven following mode and is driven to rotate together with the driving motor, and the driving motor is called as a driven motor. One application scenario is that the load damping of a working motor needs to be adjusted when a mechanism works, and a common method is to use a clutch to realize variable load damping. In consideration of factors such as cost, reliability and mechanism complexity, a load damping control method in the double-step motor driving mechanism is designed, and the control method with variable load damping is realized.
In the main-standby double-step motor driving mechanism, when one motor is electrified to rotate, the rotor of the step motor in a driven following mode performs cutting magnetic induction line motion in the rotor, induced electromotive force can be generated at two ends of a coil of the rotor, and the magnitude and the phase of the induced electromotive force are related to the rotating speed and the rotating direction of the motor rotor. In the rotation process of the mechanism, if two ends of a coil of the driven motor are open-circuited, the resistance of the driven motor is mainly inherent resistance such as rotor inertia, bearing friction and the like. If the coil of the driven motor is in short circuit, the induced current is short-circuited, a reverse magnetic field is formed in the coil, the reverse magnetic field can block the rotation of the driven motor, electromagnetic resistance except inherent resistance is generated, and the magnitude of the electromagnetic resistance is positively correlated with the magnitude of the reverse current in the coil.
When the motor is powered on to work, the driven motor and the mechanism load can be regarded as the load of the driving motor, induced electromotive force generated at two ends of the driven motor is stable when the motor rotates at a constant speed, if resistors with different resistance values are connected in series at two ends of a coil of the driven motor, the size of reverse current in the induction coil is adjusted, the purpose of changing electromagnetic resistance is further achieved, the damping of the driven motor is adjusted, and the adjustment of the load damping of the driving motor can be achieved.
Disclosure of Invention
The application provides a load damping control method for a double-step motor, which is characterized in that power resistors with different resistances are respectively connected in series with two coils of a driven motor, so that the effect of applying different load resistances to a driving motor is realized, and the purpose of realizing variable load damping is achieved.
In order to achieve the above object, the present application provides a load damping control method for a dual step motor, comprising the steps of: step 1: selecting two identical motors, wherein one motor is an active motor, and the other motor is a standby motor; step 2: connecting a rotating shaft of the driving motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load; and step 3: connecting a coil in the standby motor with a control circuit through a load resistor; and 4, step 4: connecting the active motor with a power supply; and 5: starting a power supply, enabling the active motor to normally rotate, and enabling the standby motor to rotate along with the active motor; step 6: and adjusting the active motor to enable the standby motor to rotate at a constant speed, and adjusting the resistance value of the load resistor of the standby motor through the control circuit to realize the adjustment of the load damping of the active motor.
Further, in step 3, the coils inside the standby motor are in multiple groups.
Furthermore, the load resistor is a transistor or a power triode or an insulated gate bipolar transistor.
Further, in step 3, the control circuit includes a single chip, a pwm generator, and a driving circuit.
Further, in step 6, the resistance value of the load resistor of the standby motor is adjusted to be larger through the control circuit, so that the current in the coil of the standby motor is reduced, and a reverse magnetic field generated in the coil is weakened; the resistance value of the load resistor of the standby motor is reduced through the control circuit, the current in the standby motor coil can be increased, and the reverse magnetic field generated in the coil can be enhanced.
The load damping control method for the double-step motor provided by the invention has the following beneficial effects:
this application realizes the changeable control to double step motor load damping on the basis that does not change original mechanical structure, do not increase extra sensor, carry out load damping's regulation through setting up control circuit, compare in the mode that traditional clutch adjusted, the cost is lower, the reliability is higher, adopt the transistor of work in linear region as load resistance, the resistance is linear variable, response speed is fast, control is accurate, in the accommodation process, the resistance energy distributes through the fin of transistor with thermal mode, control circuit only consumes weak power, furthermore, realize automatically regulated initiative motor load through pure electronic circuit, because there is not mechanical wear when electronic spare part is worked, therefore longe-lived, non-maintaining, can also the integrated control algorithm on control circuit, realize the accurate control to load damping.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of an active motor, a standby motor, and a mechanical load connection provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of a backup motor internal coil connection provided in accordance with an embodiment of the present application;
in the figure: 1-active motor, 2-standby motor, 3-mechanism load, 4-coil, 5-control circuit and 6-load resistor.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, the present application provides a load damping control method for a dual step motor, comprising the following steps: step 1: selecting two identical motors, wherein one motor is an active motor 1, and the other motor is a standby motor 2; and 2, step: a rotating shaft of the driving motor 1 is connected with one end of a rotating shaft of the standby motor 2 through a coupler, and the other end of the rotating shaft of the standby motor 2 is connected with a mechanism load 3; and 3, step 3: a coil 4 in the standby motor 2 is connected with a control circuit 5 through a load resistor 6; and 4, step 4: connecting the driving motor 1 with a power supply; and 5: starting a power supply, enabling the active motor 1 to normally rotate, and enabling the standby motor 2 to rotate along with the active motor 1; step 6: the active motor 1 is adjusted to enable the standby motor 2 to rotate at a constant speed, and the resistance value of the load resistor 6 of the standby motor 2 is adjusted through the control circuit 5, so that the load damping of the active motor 1 is adjusted.
Specifically, when the motion of the mechanism is finished, the power supply of the active motor 1 is directly turned off, and the motor is driven to rotate for a certain time under the action of load inertia and then is stopped, wherein the time depends on the size of the load, so that after the active motor 1 stops being powered on, the load damping adjusting function of the standby motor 2 is utilized, the motor can be stopped at any time within a controllable time, in addition, in some application scenes, the size of the load inertia changes along with the time, the rotating speed of the mechanism is higher and higher under the condition that the current of the active motor 1 does not change, the potential danger of runaway exists, the load damping control can be utilized to reversely compensate the actually lightened load, the rotating speed of the mechanism can be limited in a controlled range as far as possible, and the damping for directly controlling the load of the active motor 1 needs to be greatly changed for a driving circuit for supplying power to the motor, the structure is more complicated and is not beneficial to upgrading on the existing equipment, and therefore, the technical scheme for indirectly adjusting the load damping of the active motor 1 by adjusting the load damping of the standby motor 2 is designed.
More specifically, in the double-step motor mechanism axially connected in series, when the standby motor 2 rotates along with the active motor 1, the two ends of the coil 4 generate induced electromotive force, the magnitude and direction of the induced electromotive force are related to the rotation speed of the motor, and the active motor 1 applies resistive load to the two ends of the coil 4 of the standby motor 2 in the rotation process, so that the coil 4 and an external resistor form a complete closed loop, and a reverse magnetic field is generated inside the active motor due to the action of the induced current, so that the rotation of the standby motor 2 is hindered by the magnetic field. In the embodiment of the application, the two motors are backup for each other, the rotating shafts of the two motors are connected in series through the couplings, and the "active" and the "standby" are relative, that is, the motor which preferentially works when the system is started is called as an "active motor 1", the other motor is called as a "standby motor 2", and there is no precedence relationship in the designated position or the connection sequence. The active motor 1 needs to be connected with a power supply and consumes certain power supply when working, and the standby motor 2 rotates along with the active motor 1 when working without being connected with the power supply and consuming any power supply power. The mechanical load 3 is connected to the backup motor 2 via a coupling, and is a main subject to which the motor torque is applied.
Further, in step 3, the coils 4 inside the backup motor 2 are in multiple groups. Multiple groups of coils 4 are arranged in the standby motor 2, each group of coils 4 can be provided with a control circuit 5 and a load resistor 6, or multiple groups of coils 4 are arranged in parallel through a relay, and the adjustment control is realized through a total control circuit 5.
Further, as shown in fig. 2, the load resistor 6 is a transistor, a power transistor, or an insulated gate bipolar transistor. In the embodiment of the application, the load resistor 6 is preferably a transistor, an input end of the transistor is connected with the control circuit 5, and the other two ends of the transistor are connected with the two ends of the coil 4 of the standby motor 2, mainly because the transistor works in a linear region, the resistance value is linearly variable, the conduction depth can be controlled through the control circuit 5, the response speed is high, and the purpose of accurately adjusting the load damping of the active motor 1 is achieved.
Further, in step 3, the control circuit 5 includes a single chip, a pwm generator, and a driving circuit. The control circuit is mainly used for adjusting the resistance value of the transistor, so that the load damping of the active motor 1 is adjusted. The control process is mainly that a singlechip receives data sent by an upper computer, the data is converted into a duty ratio signal of PWM (pulse width modulation), and the PWM signal is amplified by a driving circuit and then sent to a driving electrode of a transistor to realize control.
Further, in step 6, the control circuit 5 increases the resistance of the load resistor 6 of the standby motor 2, so that the current in the coil 4 of the standby motor 2 decreases, and the reverse magnetic field generated in the coil 4 weakens; the resistance value of the load resistor 6 of the standby motor 2 is adjusted to be small through the control circuit 5, the current inside the coil 4 of the standby motor 2 is increased, and the reverse magnetic field generated inside the coil 4 is strengthened. In the embodiment of the application, because the rotation of the standby motor 2 is driven by an external force, the two ends of the coil 4 inside the standby motor 2 can generate induced electromotive force when the standby motor rotates, and the generated induced electromotive force is relatively stable, at this time, if resistors with different resistance values are connected in series at the two ends of the coil 4 when the standby motor 2 rotates at a constant speed, the current in the coil 4 can be adjusted, the size of a reverse magnetic field generated inside the coil 4 can be changed accordingly, the reverse magnetic field can block the rotation of the motor, the size of the reverse resistance inside the standby motor 2 when the standby motor 2 rotates is linearly related to the induced current in the coil 4 and the resistance value of an external resistor connected in series with the coil 4, for example, when the rotation speed of the standby motor 2 is constant, the rotation speed of the standby motor 2 is preferably constant, but the selection of the speed can be performed according to the actual situation, the speed does not exceed the limited maximum rotation speed, the resistance value of the load resistor 6 of the standby motor 2 is adjusted by the control circuit 5, the current inside the coil 4 of the standby motor 2 can be reduced, and the reverse magnetic field generated inside the coil 4 can be reduced; when the resistance of the load resistor 6 of the backup motor 2 is reduced by the control circuit 5, the current in the coil 4 of the backup motor 2 increases, and the reverse magnetic field generated in the coil 4 increases. Therefore, the adjustment of the load damping of the active motor 1 can be realized by adjusting the resistance value of the external load resistor 6 of the coil 4 of the standby motor 2.
Furthermore, in another embodiment of the present application, the coils inside the two motors are both connected to the control circuit 5 and the transistor, when power is applied, the active motor 1 works, the internal coil thereof is occupied by power supply, the standby motor 2 rotates with the power supply, the internal coil thereof is in an idle state, the coil of the standby motor 2 is controlled by the control circuit 5 and the transistor, if the standby motor 2 needs to be applied with power to work according to actual conditions, and the active motor 1 is idle, the coil of the standby motor 2 is occupied by power supply, and at this time, the coil of the active motor 1 is controlled by the control circuit 5 and the transistor. In general, which motor is idle, the coil inside which motor is controlled by the control circuit 5 and the transistor, so as to control the load damping of the other motor.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (5)
1. A load damping control method for a double-step motor is characterized by comprising the following steps:
step 1: selecting two identical motors, wherein one motor is an active motor, and the other motor is a standby motor;
step 2: connecting a rotating shaft of the driving motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load;
and 3, step 3: connecting a coil in the standby motor with a control circuit through a load resistor;
and 4, step 4: connecting the active motor with a power supply;
and 5: starting a power supply, enabling the active motor to normally rotate, and enabling the standby motor to rotate along with the active motor;
step 6: and adjusting the active motor to enable the standby motor to rotate at a constant speed, and adjusting the resistance value of the load resistor of the standby motor through the control circuit to realize the adjustment of the load damping of the active motor.
2. The dual step motor load damping control method of claim 1, wherein in step 3, there are multiple sets of coils inside the backup motor.
3. The dual-step motor load damping control method according to claim 2, wherein in step 3, the load resistor is a transistor or a power transistor or an insulated gate bipolar transistor.
4. The dual-step motor load damping control method according to claim 1, wherein in step 3, the control circuit comprises a single chip microcomputer, a pulse width modulation generator, and a driving circuit.
5. The load damping control method for the dual step motor according to claim 4, wherein in step 6, the control circuit increases the resistance of the load resistor of the backup motor, so that the current in the coil of the backup motor becomes small and the reverse magnetic field generated in the coil becomes weak; the resistance value of the load resistor of the standby motor is reduced through the control circuit, the current in the standby motor coil can be increased, and the reverse magnetic field generated in the coil can be enhanced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211050229.7A CN115313926B (en) | 2022-08-30 | 2022-08-30 | Load damping control method for double stepping motors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211050229.7A CN115313926B (en) | 2022-08-30 | 2022-08-30 | Load damping control method for double stepping motors |
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| CN115313926A true CN115313926A (en) | 2022-11-08 |
| CN115313926B CN115313926B (en) | 2023-12-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470840Y (en) * | 2000-05-18 | 2002-01-09 | 上海宝钢益昌薄板有限公司 | Testing device of electric motor |
| US20040195015A1 (en) * | 2003-04-07 | 2004-10-07 | Tai-Her Yang | Repulsive differential driving double-acting type electrical machinery power system |
| WO2010033101A1 (en) * | 2008-09-18 | 2010-03-25 | Moog Inc. | Improved motor driver for damping movement of an oscillatory load, and method of damping movement of an oscillatory load |
| CN102353902A (en) * | 2011-10-13 | 2012-02-15 | 陕西航空电气有限责任公司 | Equivalent test device and method for motor |
| CN102369656A (en) * | 2009-04-03 | 2012-03-07 | 萨甘安全防护公司 | Engine power supply circuit, and flight control member provided with such a circuit |
| CN102928779A (en) * | 2012-10-24 | 2013-02-13 | 贵州航天林泉电机有限公司 | Method and device for testing mechanical property of motor |
| US20150123591A1 (en) * | 2013-11-07 | 2015-05-07 | Rohm Co., Ltd. | Motor driving circuit |
-
2022
- 2022-08-30 CN CN202211050229.7A patent/CN115313926B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470840Y (en) * | 2000-05-18 | 2002-01-09 | 上海宝钢益昌薄板有限公司 | Testing device of electric motor |
| US20040195015A1 (en) * | 2003-04-07 | 2004-10-07 | Tai-Her Yang | Repulsive differential driving double-acting type electrical machinery power system |
| WO2010033101A1 (en) * | 2008-09-18 | 2010-03-25 | Moog Inc. | Improved motor driver for damping movement of an oscillatory load, and method of damping movement of an oscillatory load |
| CN102369656A (en) * | 2009-04-03 | 2012-03-07 | 萨甘安全防护公司 | Engine power supply circuit, and flight control member provided with such a circuit |
| CN102353902A (en) * | 2011-10-13 | 2012-02-15 | 陕西航空电气有限责任公司 | Equivalent test device and method for motor |
| CN102928779A (en) * | 2012-10-24 | 2013-02-13 | 贵州航天林泉电机有限公司 | Method and device for testing mechanical property of motor |
| US20150123591A1 (en) * | 2013-11-07 | 2015-05-07 | Rohm Co., Ltd. | Motor driving circuit |
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| CN115313926B (en) | 2023-12-12 |
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