Multi-source driving transmission system, in which the gear transmission assembly is driven by multiple motors, is extensively used in the major equipments of new energy, aerospace, marine engineering, and other fields. Aiming at the problem of speed and torque out-sync existing in the working process of multi-source drive/transmission system, and combed with its complex coupling nonlinear structure characteristics. An electromechanical coupling dynamic model of multi-source drive/transmission system is proposed based on the shafting unit method. The driving motor, gear transmission assembly and load characteristics are considered in this model. The influence of different load change rate and motor fault on synchronization characteristics of system is investigated. The research results show that the influence of the load change rate on the speed synchronization characteristics of the system is minor, but has a significant influence on the torque synchronization characteristics. When motor fault occurs, the speed and torque synchronization characteristics between the non-fault motors remain essentially unchanged. The proposed research provides the theoretical basis for the formulation of the synchronization control strategy for multi-source driving transmission system.
SHU Ruizhi
,
WEI Jing
,
QIN Datong
,
ZHANG Aiqiang
,
LAI Yubin
. Multi-source Drive/Transmission System Electromechanical Coupling Modeling and Synchronization Characteristic Research[J]. Journal of Mechanical Engineering, 2018
, 54(7)
: 63
-73
.
DOI: 10.3901/JME.2018.07.063
[1] JEFTENIĆ B, M BEBIĆ, S ŠTATKIĆ. Controlled multi-motor drives[C]//International Symposium on Power Electronics, Electrical Drives, Automation and Motion, IEEE, 2006:1392-1398.
[2] DENG Z H, SHANG J, NIAN X H. Synchronization controller design of two coupling permanent magnet synchronous motors system with nonlinear constraints[J]. Isa Transactions, 2015, 59:243-255.
[3] CHENG M H, LI Y J, BAKHOUM E G. Controller synthesis of tracking and synchronization for multiaxis motion system[J]. IEEE Transactions on Control Systems Technology, 2014, 22(1):378-386.
[4] SENCER B, MORI T, SHAMOTO E. Design and application of a sliding mode controller for accurate motion synchronization of dual servo systems[J]. Control Engineering Practice, 2013, 21(11):1519-1530.
[5] LIN F J, CHOU P H, CHEN C S, et al. DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control[J]. IEEE Transactions on Industrial Electronics, 2012, 59(2):1061-1073.
[6] TOMIZUKA M, HU J S, CHIU T C, et al. Synchronization of two motion control axes under adaptive feedforward control[J]. Journal of Dynamic Systems Measurement and Control, 1992, 114(2):196-203.
[7] ZHAO D Z, LI C W, REN J. Speed synchronization of multiple induction motors with adjacent cross-coupling control[J]. IET Control Theory and Applications, 2010, 4(1):119-128.
[8] KONG X X, ZHANG X L, CHEN X Z, et al. Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm[J]. Journal of Sound and Vibration, 2016, 370:23-42.
[9] ZHANG H, WANG M L, HAN Q K, et al. Dynamic behaviors of the cutterhead driving system in tunneling boring machine with impact[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2015:0954406215597714.
[10] LI X H, YU H B, YUAN M Z, et al. Dynamic modeling and analysis of shield TBM cutterhead driving system[J]. Journal of Dynamic Systems Measurement and Control, 2010, 132(4):044504.
[11] SUN W, DING X, WEI J, et al. Hierarchical modeling method and dynamic characteristics of cutter head driving system in tunneling boring machine[J]. Tunnelling & Underground Space Technology, 2016, 52:99-110.
[12] WEI J, SUN Q, SUN W, et al. Dynamic analysis and load-sharing characteristic of multiple pinion drives in tunnel boring machine[J]. Journal of Mechanical Science and Technology, 2013, 27(5):1385-1392.
[13] WEI J, SUN Q, SUN W, et al. Load-sharing characteristic of multiple pinions driving in tunneling boring machine[J]. Chinese Journal of Mechanical Engineering, 2013, 26(3):532-540.
[14] BAI S P, CARO S. A nonlinear motor-gear model and its application to share-loading analysis of wind turbine yawing mechanisms[M]. Oxford:Oxford University Press, 2005.
[15] ZHANG K Z, YU H D, LIU Z P, et al. Dynamic characteristic analysis of TBM tunnelling in mixed-face conditions[J]. Simulation Modelling Practice and Theory, 2010, 18(7):1019-1031.
[16] 姚晓莎,王忠民,赵凤群. 轴向运动功能梯度梁的横向振动[J]. 机械工程学报, 2013, 49(23):117-122. YAO Xiaosha, WANG Zhongmin, ZHAO Fengquan. Transverse vibration of axially moving beam made of functionally graded materials[J]. Journal of Mechanical Engineering, 2013, 49(23):117-122.
[17] 蒋庆磊,吴大转,谭善光,等. 齿轮传动多转子耦合系统振动特性研究[J]. 振动工程学报, 2010, 23(3):254-259. JIANG Qinglei, WU Dazhuan, TAN Shuangguang, et al. Study of vibration characteristic of gear-rotor coupling system[J]. Journal of Vibration Engineering, 2010, 23(3):254-259.
[18] 卢剑伟,陈昊,孙晓明,等. 考虑减速机构间隙的机械臂动力学建模分析[J]. 机械工程学报, 2013, 49(15):15-21. LU Jianwei, CHEN Hao, SUN Xiaoming, et al. Dynamic modeling and analysis of robot arm with consideration of clearance in gear reducer[J]. Journal of Mechanical Engineering, 2013, 49(15):15-21.
[19] LIEW H V, LIM T C. Analysis of time-varying rolling element bearing characteristics[J]. Journal of Sound and Vibration, 2005, 283(3):1163-1179.
[20] WEI J, SHU R Z, QIN D T, et al. Study of synchronization characteristics of a multi-source driving transmission system under an impact load[J]. International Journal of Precision Engineering and Manufacturing, 2016, 17(9):1157-1174.
[21] CHAPMAN S. Electric machinery fundamentals[M]. Tata McGraw-Hill Education, 2005.
[22] AYASUN S, NWANKPA C O. Induction motor tests using MATLAB/Simulink and their integration into undergraduate electric machinery courses[J]. IEEE Transactions on Education, 2005, 48(1):37-46.
[23] 常乐浩. 平行轴齿轮传动系统动力学通用建模方法与动态激励影响规律[D]. 西安:西北工业大学, 2014. CHANG Lehao. A generalized dynamic model of parallel shaft gear transmission and the influence of dynamic excitations[D]. Xi'an:Northwestern Polytechnical University, 2014.
[24] CUI X, YANG Y, ZHOU Z, et al. The research on residual voltage of asynchronous motors and its impact on power restoration[C]//International Conference on Electric Utility Deregulation and Restructuring and Power Technologies, IEEE Xplore, 2008:2333-2338.
