【 中文摘要 】本发明公开了一种多直流电机串联系统及转矩控制方法，采用n个位置传感器检测n个直流电机的电机转子位置，通过转速计算得到n个直流电机的实际转速，再与n个参考转速比较，经PI控制器输出得到n个直流电机的参考电流值；再经过参考转矩计算模块得到n+1个参考转矩；检测n个直流电机瞬态的电流值，将n个直流电机的瞬态电流值经实际转矩计算模块得到n+1个实际转矩值；将计算得到的n+1个实际转矩与n+1个参考转矩进行比较，然后将信号输送给n+1个滞环控制器产生n+1个输出信号，再经PWM模块产生2n+2路PWM信号；将2n+2路PWM信号输入并驱动n+1相电压型逆变器，从而进一步驱动电机实现转矩控制。本发明能够简化电路结构、节约成本，实现优化的转矩控制效果，提高系统的稳定性。
【 英文摘要 】The invention discloses a multi-direct-current motor series system and a torque control method. The method comprises steps of employing n position sensors to detect the motor rotor positions of n direct-current motors, obtaining the actual rotating speeds of the n direct-current motors through the calculation of the rotating speeds, comparing the actual rotating speeds with n reference rotating speeds, and obtaining reference current values of the n direct-current motors through the output of a PI controller; obtaining n+1 reference torques through a reference torque calculation module; detecting transient current values of the n direct-current motors, and processing the transient current values of the n direct-current motors through an actual torque calculation module to obtain n+1 actualtorque values; comparing the calculated n+1 actual torques with n+1 reference torques, then transmitting the signals to n+1 hysteresis controllers to generate n+1 output signals, and generating 2n+2paths of PWM signals through a PWM module; inputting 2n+2 paths of PWM signals, and driving the (n+1)-phase voltage type inverter so that the motor is further driven to realize torque control. The method is advantaged in that the circuit structure can be simplified, cost is saved, the optimized torque control effect is realized, and stability of the system is improved.
