Speed control of mechanically paralleled electrical drives without intercommunication buses
There is provided herein an electrical motor and associated motor drive. The motor comprises an output shaft, and a speed sensor configured to measure the speed of the output shaft. The motor drive comprises a controller configured to output a current demand for the motor based on a speed error between a desired speed of the output shaft and the measured speed of the output shaft, and a feedback signal of the output current demand scaled by a first gain.
1. A system comprising:
a motor comprising an output shaft and a speed sensor configured to measure a speed of the output shaft; and
a motor drive comprising a controller configured to output (i) a current demand for the motor based on a speed error between a desired speed of the output shaft and the measured speed of the output shaft and (ii) a feedback signal of the current demand scaled by a first gain, the first gain being subtracted from the speed error before the current demand for the motor is output;
wherein the controller is further configured to vary the first gain using one or more gain scheduling techniques so as to apply larger gain values during speed transients and smaller gain values during steady-state operation of the motor.
2. The system of claim 1 , wherein the motor drive is configured to scale the desired speed of the output shaft by a second gain prior to calculating the speed error.
3. The system of claim 2 , wherein the controller is further configured to vary the second gain.
4. The system of claim 3 , wherein the controller is configured to vary the second gain based on the measured speed of the output shaft.
5. A system comprising;
a mechanical load; and
a first electrical motor and associated motor drive and a second electrical motor and associated motor drive, each electrical motor and associated motor drive comprising the system as claimed in claim 1 , wherein the first and second electrical motors are configured to drive the mechanical load in parallel.
6. The system of claim 5 , wherein the first and second electrical motors are configured to drive the mechanical load via a gearbox or share a common output shaft.
7. The system of claim 5 , further comprising:
at least a third electrical motor and associated motor drive configured to drive the mechanical load in parallel with the first and second electrical motors.
8. The system of claim 1 , further comprising an integral gain configured to accelerate balancing of the motor drive.
9. A method for outputting a current demand to drive an electrical motor of paralleled electric motors driving a mechanical load, the method comprising:
receiving a desired speed output of the electrical motor;
measuring an actual speed output of the electrical motor;
calculating a speed error between the desired speed output of the electrical motor and the actual speed output of the electrical motor and subtracting a first gain;
outputting a current demand to drive the electrical motor based on (i) the speed error between the desired speed output of the electrical motor and the measured speed of the electrical motor and (ii) a feedback signal of the current demand scaled by the first gain; and
varying the first gain by applying one or more gain scheduling techniques so as to apply larger gain values during speed transients and smaller gain values during steady-state operation of the electrical motor.
10. The method of claim 9 , further comprising:
scaling the desired speed output of the electrical motor by a second gain prior to calculating the speed error.
11. The method of claim 10 , further comprising:
varying the second gain.
12. The method of claim 11 , wherein varying the second gain comprises varying the second gain based on the measured speed of the electrical motor.
13. The method of claim 9 , further comprising:
accelerating balancing of the electrical motor using an integral gain.
14. A system comprising:
a first electrical motor and associated first motor drive; and
a second electrical motor and associated second motor drive;
wherein the first electrical motor comprises a first output shaft and a first speed sensor configured to measure a speed of the first output shaft;
wherein the first motor drive comprises a first controller configured to output (i) a first current demand for the first electrical motor based on a first speed error between a desired speed of the first output shaft and the measured speed of the first output shaft and (ii) a first feedback signal of the first current demand scaled by a first gain, the first gain being subtracted from the first speed error, and wherein the first controller is further configured to vary the first gain using one or more gain scheduling techniques so as to apply larger gain values during speed transients and smaller gain values during steady-state operation of the first electrical motor;
wherein the second electrical motor comprises a second output shaft and a second speed sensor configured to measure a speed of the second output shaft;
wherein the second motor drive comprises a second controller configured to output (i) a second current demand for the second electrical motor based on a second speed error between a desired speed of the second output shaft and the measured speed of the second output shaft and (ii) a second feedback signal of the second current demand scaled by a second gain, the second gain being subtracted from the second speed error; and
wherein the desired speed of the first output shaft is common to the desired speed of the second output shaft.
15. The system of claim 14 , wherein the first and second electrical motors are configured to drive a mechanical load via a gearbox.
16. The system of claim 14 , further comprising:
a third electrical motor and associated third motor drive configured to drive a mechanical load in parallel with the first and second electrical motors.
17. The system of claim 14 , further comprising:
an integral gain configured to accelerate balancing of the first motor drive and the second motor drive.
18. The system of claim 14 , wherein the first gain is based on a maximum steady-state speed error.
19. The system of claim 14 , wherein the second controller is further configured to vary the second gain.
20. The system of claim 19 , wherein the second controller is configured to vary the second gain based on the measured speed of the second output shaft to compensate for steady-state error.