基于转矩跟随的双电机同步控制策略研究

熊海洋，张李超，郭斌，夏伟

(华中科技大学 材料成形与模具技术国家重点实验室，湖北 武汉430074)

摘要：在双轴同步控制策略中，主从控制方案应用较多，而在双轴通过齿轮硬连接的机械系统中，采用主从位置同步或速度同步控制的方案无法取得良好效果，极易因双轴定位误差发生偏载情况，甚至发生电机过载停机的故障。采用主从控制方案中的转矩同步控制策略，主轴工作在速度控制模式，从轴工作在转矩控制模式，从轴跟随主轴的实时转矩输出而运动，以西门子S120为基础搭建整套伺服控制系统。结果显示，采用转矩跟随同步控制策略，机械系统运行过程平稳，在保证定位精度的基础上，负载可以均衡分布在双轴上，伺服电机工况良好，无过载、偏载现象发生。

关键词：伺服电机; 控制系统; 双轴同步; 转矩跟随

通讯作者：张李超

中图分类号：TM 301.2文献标志码： A

收稿日期：2015-03-06

Double Motor Synchronous Control Strategy Based on Torque Following

XIONGHaiyang,ZHANGLichao,GUOBin,XIAWei

(State Key Laboratory of Material Processing and Die & Mould Technology， Huazhong University of

Science and Technology， Wuhan 430074， China)

Abstract：During the double-axis synchronous control strategy, the Master-slaver control strategy has been widely applied. If the double-axis connected through the gears in the mechanical system, it can not get good results from using the position or speed synchronous control strategy of Master-slaver control. Offset load is likely to occur or even cause the motor overload and shutdown because of the positioning Deviation. Torque synchronous control strategy was used, the main axis in the speed control mode and the slaver axis in the torque control mode, while the slaver axis received the real-time torque data of the main axis. The results showed that the use of torque synchronous control strategy was more effective, the process of the mechanical system was running smoothly and the load could be balanced distribution on the double axis while ensuring the positioning accuracy.

Key words： servo motor; control system; double-axis Synchronous; torque following

0引言

随着工业技术的迅速发展，多电机控制方案得以应用在越来越多的场合，同时，多电机的同步控制方案也得到了更为广泛的关注。针对不同的机械系统，已经提出了多种不同的双电机同步控制方案[1]，而现在应用较为广泛的有主从控制、交叉耦合控制、偏差耦合控制、虚拟主轴控制等控制方案[2]。主从控制方案中，一般以一个轴为主轴，另一个轴为从轴，从轴的输入设定为主轴的输出，从而达到与主轴的位置、速度或者转矩的同步[3]。……