CN115107533A - Long-stroke height precision positioning system, method and device - Google Patents

Long-stroke height precision positioning system, method and device Download PDF

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Publication number
CN115107533A
CN115107533A CN202210730932.6A CN202210730932A CN115107533A CN 115107533 A CN115107533 A CN 115107533A CN 202210730932 A CN202210730932 A CN 202210730932A CN 115107533 A CN115107533 A CN 115107533A
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CN
China
Prior art keywords
vehicle body
servo motor
rotating speed
module
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210730932.6A
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Chinese (zh)
Inventor
魏宇明
王嵩
张向文
张月飞
田凯
刘学
国晓华
曹岭
张广孟
杨小丽
丁大江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Long March Tian Min Hi Tech Co ltd
Original Assignee
Beijing Long March Tian Min Hi Tech Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Long March Tian Min Hi Tech Co ltd filed Critical Beijing Long March Tian Min Hi Tech Co ltd
Priority to CN202210730932.6A priority Critical patent/CN115107533A/en
Publication of CN115107533A publication Critical patent/CN115107533A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed

Abstract

The invention provides a long-stroke height precision positioning system, a method and a device, comprising the following steps: the first motor module is arranged on the vehicle body and used for driving a left front wheel of the vehicle body to rotate; the second motor module is arranged on the vehicle body and used for driving a right front wheel of the vehicle body to rotate; the third motor module is arranged on the vehicle body and used for driving a left rear wheel of the vehicle body to rotate; the fourth motor module is arranged on the vehicle body and used for driving the right rear wheel of the vehicle body to rotate; and the control system is respectively connected with the first motor module, the second motor module, the third motor module and the fourth motor module and is used for enabling 4 wheels of the vehicle body to synchronously work. The control system is used for controlling each motor module to operate, so that 4 wheels of the vehicle body can synchronously work, and the vehicle body can be accurately positioned.

Description

Long-stroke height precision positioning system, method and device
Technical Field
The invention relates to the technical field of walking control of large-scale transportation equipment, in particular to a long-stroke height precision positioning system, method and device.
Background
Due to the large mass of the large mechanical vehicle, the inertia is very large in the walking process, after the large mechanical vehicle walks in a long distance, the large mechanical vehicle is difficult to realize high-precision positioning by stopping in a brake-pulling mode, the repeatability is not high, and the damage to equipment is also large.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a long-stroke height precision positioning system, a long-stroke height precision positioning method and a long-stroke height precision positioning device, so as to solve the problem that a vehicle cannot be accurately positioned in a brake-pulling parking mode.
A long stroke height accuracy positioning system comprising:
the first motor module is arranged on the vehicle body and used for driving a left front wheel of the vehicle body to rotate;
the second motor module is arranged on the vehicle body and is used for driving a right front wheel of the vehicle body to rotate;
the third motor module is arranged on the vehicle body and is used for driving a left rear wheel of the vehicle body to rotate;
the fourth motor module is arranged on the vehicle body and used for driving the right rear wheel of the vehicle body to rotate;
and the control system is respectively connected with the first motor module, the second motor module, the third motor module and the fourth motor module and is used for enabling 4 wheels of the vehicle body to synchronously work.
Preferably, the first electric machine module includes:
the first speed reducer is connected with a left front wheel of the vehicle body;
and the first servo motor is connected with the first speed reducer.
Preferably, the control system includes:
the distance measuring sensor is arranged on the vehicle body and used for detecting the current position value of the vehicle body;
the absolute value encoder is arranged on the first servo motor and used for detecting the current rotating speed of the first servo motor;
and the motion controller is respectively connected with the distance measuring sensor, the absolute value encoder, the first motor module, the second motor module, the third motor module and the fourth motor module and is used for driving wheels to synchronously rotate according to the current position value of the vehicle body and the current rotating speed of the first servo motor.
The invention also provides a long-stroke height precision positioning method, which comprises the following steps:
step 1: acquiring a current position value of a vehicle body acquired by a distance measuring sensor, a rotating speed of a servo motor acquired by an absolute value encoder and a rotating speed of the vehicle body at a preset position;
step 2: taking a motor shaft of the first servo motor as a main shaft, and simultaneously respectively giving a torque value of the first servo motor shaft to a second servo motor shaft, a third servo motor shaft and a fourth servo motor shaft to perform torque amplitude limiting;
and step 3: and adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit.
Preferably, the step 3: according to the rotational speed of automobile body when predetermineeing the position with the rotational speed of each servo motor of moment amplitude limiting adjustment includes:
and adjusting the frequency of an output power supply by using a motion controller according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
The invention also provides a long-stroke height precision positioning device, which comprises:
the adjusting parameter acquiring module is used for acquiring the current position value of the vehicle body acquired by the distance measuring sensor, the rotating speed of the servo motor acquired by the absolute value encoder and the rotating speed of the vehicle body at the preset position;
the main shaft control module is used for taking a motor shaft of the first servo motor as a main shaft and respectively taking a torque value of the first servo motor shaft as torque amplitude limits for the second servo motor shaft, the third servo motor shaft and the fourth servo motor shaft;
and the rotating speed adjusting module is used for adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit.
Preferably, the rotation speed adjusting module includes:
and the rotating speed adjusting unit is used for adjusting the frequency of the output power supply by using the motion controller according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
The long-stroke height precision positioning system, method and device provided by the invention have the beneficial effects that: compared with the prior art, the invention can lead 4 wheels of the vehicle body to work synchronously by controlling the operation of each motor module by using the control system, thereby realizing the accurate positioning of the vehicle body.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a long-stroke height precision positioning system provided by an embodiment of the present invention;
FIG. 2 illustrates a positioning schematic diagram of a long stroke height precision positioning system provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a long-stroke height precision positioning method provided by an embodiment of the invention;
fig. 4 shows a schematic diagram of torque limiting provided by an embodiment of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-2, a long stroke height precision positioning system includes: the motor control system comprises a first motor module, a second motor module, a third motor module, a fourth motor module and a control system.
The first motor module is arranged on the vehicle body and used for driving a left front wheel of the vehicle body to rotate; the second motor module is arranged on the vehicle body and used for driving a right front wheel of the vehicle body to rotate; the third motor module is arranged on the vehicle body and used for driving a left rear wheel of the vehicle body to rotate; the fourth motor module is arranged on the vehicle body and used for driving the right rear wheel of the vehicle body to rotate; and the control system is respectively connected with the first motor module, the second motor module, the third motor module and the fourth motor module and is used for enabling 4 wheels of the vehicle body to synchronously work.
Further, in the present invention, the first motor module includes: first reduction gear and first servo motor.
The first speed reducer is connected with a left front wheel of the vehicle body; and the first servo motor is connected with the first speed reducer.
It should be noted that the second motor module, the third motor module and the fourth motor module of the present invention are respectively composed of a corresponding servo motor and a corresponding speed reducer, and the working principle and the connection mode of the second motor module, the third motor module and the fourth motor module are consistent with those of the first motor module, which is not described again.
The long-stroke height precision positioning system realizes positioning movement in the track direction by driving 4 wheels through a speed reducer by 4 servo motors, when the system is in normal operation, the control system drives the 4 servo motors to work synchronously, each motor drives the wheels to rotate after passing through the speed reducer, and the rear end of each motor is provided with a single-circle absolute value encoder to be connected with the control system. And two-dimensional code ranging sensors and a motion controller are respectively arranged on two sides of the track to be used as position closed loops, and the resolution is 0.1 mm.
Further, in an embodiment of the present invention, a control system includes: ranging sensors, absolute encoders and motion controllers.
The distance measuring sensor is preferably a two-dimensional code laser sensor, is arranged on the vehicle body and is used for detecting the current position value of the vehicle body according to the two-dimensional codes on the two sides of the vehicle body track; the absolute value encoder is arranged on the first servo motor and used for detecting the current rotating speed of the first servo motor; and the motion controller is respectively connected with the distance measuring sensor, the absolute value encoder, the first motor module, the second motor module, the third motor module and the fourth motor module and is used for driving wheels to synchronously rotate according to the current position value of the vehicle body and the current rotating speed of the first servo motor.
Referring to fig. 2, in practical applications, the present invention needs to create a virtual axis in the motion controller, use the virtual axis as the main reference axis of the a1 walking motor (i.e., the first servo motor), the a2 walking motor (i.e., the second servo motor), the B1 walking motor (i.e., the third servo motor), and the B2 walking motor (i.e., the fourth servo motor), and then use 4 servo motors to synchronize the parameters set by the virtual axis at the same time, so as to implement walking synchronization and avoid one or more motors becoming loads. When the positioning is started, the control system automatically plans a walking curve according to the relation between the rotating speed of the motor and the walking distance of the vehicle body, the rotating speed, the acceleration, the deceleration and the target position input by an operator, and adjusts the rotating speed of each motor according to the current position value read back by the distance measuring sensor and the real-time rotating speed fed back by the absolute value encoder, so as to realize the accurate positioning.
Referring to fig. 3, the present invention further provides a long-stroke height precision positioning method, including the following steps:
step 1: acquiring a current position value of a vehicle body acquired by a distance measuring sensor, a rotating speed of a servo motor acquired by an absolute value encoder and a rotating speed of the vehicle body at a preset position;
and 2, step: taking a motor shaft of the first servo motor as a main shaft, and simultaneously respectively giving a torque value of the first servo motor shaft to a second servo motor shaft, a third servo motor shaft and a fourth servo motor shaft to perform torque amplitude limiting;
and 3, step 3: and adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit. In the embodiment of the invention, the motion controller can be used for adjusting the frequency of the output power supply according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
Referring to fig. 4, in practical applications, the present invention may refresh the virtual axis position feedback register with the minimum servo period in the motion controller according to the collected feedback value of the two-dimensional code position sensor. The moment value of the A1 axle is respectively given to the A2 axle, the B1 axle and the B2 axle to carry out moment amplitude limiting, and when the moment deviation is larger than a certain value, the speeds of the A2 axle, the B1 axle and the B2 axle are adjusted by the motion controller through adjusting the frequency of an output power supply, so that 4 wheels of the vehicle body synchronously run.
Furthermore, the invention can set a plurality of main shaft control modes in the motion controller, select the appointed main shaft control at the same time, stop the machine when the current selected main shaft has a fault, and then switch to another program sequence to identify another main shaft through instructions, thereby realizing the adjustment switching of the fault main shaft.
The positioning precision of the vehicle body is 1mm, the motor is controlled by the driver to be above 3rpm to ensure the continuous and stable operation of the motor, the rotating speed of the motor at the initial position of the vehicle body within the range of 1mm is ensured to be more than 3rpm through calculation design, the frequency converter is continuously controllable within the positioning precision range, and the driver is ensured to position the vehicle body within the range of 1 mm.
The invention also provides a long-stroke height precision positioning device, which comprises:
the adjusting parameter acquiring module is used for acquiring the current position value of the vehicle body acquired by the distance measuring sensor, the rotating speed of the servo motor acquired by the absolute value encoder and the rotating speed of the vehicle body at the preset position;
the main shaft control module is used for taking a motor shaft of the first servo motor as a main shaft and respectively taking a torque value of the first servo motor shaft as torque amplitude limits for the second servo motor shaft, the third servo motor shaft and the fourth servo motor shaft;
and the rotating speed adjusting module is used for adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit.
Preferably, the rotation speed adjusting module includes:
and the rotating speed adjusting unit is used for adjusting the frequency of the output power supply by using the motion controller according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
The control system is used for controlling the motor modules to operate, so that 4 wheels of the vehicle body can work synchronously, and the vehicle body can be accurately positioned.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and the present invention shall be covered by the claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (7)

1. A long stroke height accuracy positioning system, comprising:
the first motor module is arranged on the vehicle body and used for driving a left front wheel of the vehicle body to rotate;
the second motor module is arranged on the vehicle body and used for driving a right front wheel of the vehicle body to rotate;
the third motor module is arranged on the vehicle body and used for driving a left rear wheel of the vehicle body to rotate;
the fourth motor module is arranged on the vehicle body and used for driving the right rear wheel of the vehicle body to rotate;
and the control system is respectively connected with the first motor module, the second motor module, the third motor module and the fourth motor module and is used for enabling 4 wheels of the vehicle body to work synchronously.
2. The long stroke height accuracy positioning system of claim 1 wherein said first motor module comprises:
the first speed reducer is connected with a left front wheel of the vehicle body;
and the first servo motor is connected with the first speed reducer.
3. A long stroke height accuracy positioning system according to claim 2 wherein said control system comprises:
the distance measuring sensor is arranged on the vehicle body and used for detecting the current position value of the vehicle body;
the absolute value encoder is arranged on the first servo motor and used for detecting the current rotating speed of the first servo motor;
and the motion controller is respectively connected with the distance measuring sensor, the absolute value encoder, the first motor module, the second motor module, the third motor module and the fourth motor module and is used for driving wheels to synchronously rotate according to the current position value of the vehicle body and the current rotating speed of the first servo motor.
4. A long-stroke height precision positioning method is characterized by comprising the following steps:
step 1: acquiring a current position value of a vehicle body acquired by a distance measuring sensor, a rotating speed of a servo motor acquired by an absolute value encoder and a rotating speed of the vehicle body at a preset position;
step 2: a motor shaft of the first servo motor is used as a main shaft, and the torque value of the first servo motor shaft is respectively used for torque amplitude limiting on a second servo motor shaft, a third servo motor shaft and a fourth servo motor shaft;
and step 3: and adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit.
5. The long stroke height accuracy positioning method of claim 4, wherein said step 3: according to the rotational speed of automobile body when presetting the position with the rotational speed of each servo motor of moment amplitude limiting adjustment includes:
and adjusting the frequency of an output power supply by using a motion controller according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
6. A long stroke height accuracy positioning device, comprising:
the adjusting parameter acquiring module is used for acquiring the current position value of the vehicle body acquired by the distance measuring sensor, the rotating speed of the servo motor acquired by the absolute value encoder and the rotating speed of the vehicle body at the preset position;
the main shaft control module is used for taking a motor shaft of the first servo motor as a main shaft and respectively taking a torque value of the first servo motor shaft as torque amplitude limits for the second servo motor shaft, the third servo motor shaft and the fourth servo motor shaft;
and the rotating speed adjusting module is used for adjusting the rotating speed of each servo motor according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit.
7. The long stroke height accuracy positioning device of claim 6 wherein the speed adjustment module comprises:
and the rotating speed adjusting unit is used for adjusting the frequency of the output power supply by using the motion controller according to the rotating speed of the vehicle body at the preset position and the torque amplitude limit so as to enable each servo motor to work synchronously.
CN202210730932.6A 2022-06-24 2022-06-24 Long-stroke height precision positioning system, method and device Pending CN115107533A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210730932.6A CN115107533A (en) 2022-06-24 2022-06-24 Long-stroke height precision positioning system, method and device

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Application Number Priority Date Filing Date Title
CN202210730932.6A CN115107533A (en) 2022-06-24 2022-06-24 Long-stroke height precision positioning system, method and device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101717043A (en) * 2009-12-04 2010-06-02 常州东方机电成套有限公司 High-precision synchronous control system and method of crane operations of bridge type crane
CN101821937A (en) * 2007-04-10 2010-09-01 桂林吉星电子等平衡动力有限公司 Operating control method of a servo control system of nested motor assembly
CN102866665A (en) * 2012-09-27 2013-01-09 华南理工大学 Multi-axial synchronous control system and method for all-electric bending machine
KR20140060872A (en) * 2012-11-12 2014-05-21 현대위아 주식회사 Four-wheel drive system of vehicle and method for synchronizing speed of the same
CN109291943A (en) * 2017-07-25 2019-02-01 株洲时代新材料科技股份有限公司 Synchronous walking method and device on large span two-orbit
CN111546906A (en) * 2020-05-20 2020-08-18 吉林大学 Hub driving and braking integrated system with double motors and control method thereof
CN111951990A (en) * 2020-07-14 2020-11-17 中核武汉核电运行技术股份有限公司 Cart synchronization system and method based on rotation speed control
CN113595449A (en) * 2021-07-30 2021-11-02 北京润科通用技术有限公司 Device driving control method and system
CN114189176A (en) * 2021-12-10 2022-03-15 东风德纳车桥有限公司 Multi-motor synchronous control method and device, computer equipment and readable storage medium

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101821937A (en) * 2007-04-10 2010-09-01 桂林吉星电子等平衡动力有限公司 Operating control method of a servo control system of nested motor assembly
CN101717043A (en) * 2009-12-04 2010-06-02 常州东方机电成套有限公司 High-precision synchronous control system and method of crane operations of bridge type crane
CN102866665A (en) * 2012-09-27 2013-01-09 华南理工大学 Multi-axial synchronous control system and method for all-electric bending machine
KR20140060872A (en) * 2012-11-12 2014-05-21 현대위아 주식회사 Four-wheel drive system of vehicle and method for synchronizing speed of the same
CN109291943A (en) * 2017-07-25 2019-02-01 株洲时代新材料科技股份有限公司 Synchronous walking method and device on large span two-orbit
CN111546906A (en) * 2020-05-20 2020-08-18 吉林大学 Hub driving and braking integrated system with double motors and control method thereof
CN111951990A (en) * 2020-07-14 2020-11-17 中核武汉核电运行技术股份有限公司 Cart synchronization system and method based on rotation speed control
CN113595449A (en) * 2021-07-30 2021-11-02 北京润科通用技术有限公司 Device driving control method and system
CN114189176A (en) * 2021-12-10 2022-03-15 东风德纳车桥有限公司 Multi-motor synchronous control method and device, computer equipment and readable storage medium

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