CN115967307A - Multi-motor control method, control device and storage medium - Google Patents
Multi-motor control method, control device and storage medium Download PDFInfo
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- CN115967307A CN115967307A CN202211688954.7A CN202211688954A CN115967307A CN 115967307 A CN115967307 A CN 115967307A CN 202211688954 A CN202211688954 A CN 202211688954A CN 115967307 A CN115967307 A CN 115967307A
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Abstract
The embodiment of the application discloses a control method, a control device and a storage medium for multiple motors, which are used in the technical field of motor control. Wherein, a plurality of motors drive the same lifting mechanism to lift, and the method comprises the following steps: the method comprises the steps that the same preset lifting signal is sent to a plurality of motors, and the motors are controlled to rotate to drive a lifting mechanism to lift; detecting a Hall signal corresponding to each motor in the rotation process of the motors; determining whether the motors have abnormal rotation states or not according to the Hall signals; and if the motors are in abnormal rotation states, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to a position before executing a preset lifting signal. In the embodiment of the application, whether abnormal rotation states exist in the plurality of motors is judged, and when the abnormal rotation states exist in the plurality of motors, the plurality of motors are controlled to move the lifting mechanism to the position before the preset lifting signal is executed, so that the plurality of motors rotate to reach the appointed position when the abnormal rotation states exist.
Description
Technical Field
The embodiment of the application relates to the technical field of motor control, in particular to a control method, a control device and a storage medium for multiple motors.
Background
The motor is an electromagnetic device for realizing electric energy conversion or transmission according to an electromagnetic induction law. The motor is mainly used for generating driving torque and is used as a power source of electrical appliances or various machines; the motor has the characteristics of quick response, large starting torque, and capability of providing rated torque from zero rotating speed to rated rotating speed.
The existing lifting mechanism has large load, a plurality of motors are needed to drive the same lifting mechanism, and the two motors are used for synchronously controlling the same lifting mechanism to ascend and descend at the same time under general conditions. The lifting mechanism needs to realize ascending and descending at different speeds, the two motors need to be ensured to be always kept in a synchronous state in the movement process of the lifting mechanism, and the existing lifting mechanism controls the two motors to synchronously move through multi-gear different-speed regulation; when the lifting mechanism moves to the lowest point or the highest point, the motor does not idle when sending instructions to the motor, and the mode relates to the integral matching of the control board, the motor and the gear box. The common control method of the motors in the lifting mechanism is that two motors are input in the same way, so that the two motors can rotate simultaneously to reach the specified positions; but have certain shortcoming, if the power that two motors received is inequality, lead to two motors asynchronous easily, a motor reachs earlier, and another motor reachs afterwards to the motor that reachs earlier can stall all the time until another motor reachs, and elevating system also can block.
Therefore, the control method of the existing motor is to provide the same input to the two motors so that the two motors synchronously rotate; however, the two motors are unevenly stressed in the moving process of the motors, which easily causes that the two motors cannot rotate to the designated positions at the same time.
Disclosure of Invention
The embodiment of the application provides a control method, a control device and a storage medium of multiple motors, which can enable the multiple motors to rotate to reach specified positions when abnormal rotation states exist.
The embodiment of the application provides a control method of many motors, wherein, the same elevating system lift of a plurality of motor drive, include:
the same preset lifting signal is sent to the motors, and the motors are controlled to rotate so as to drive the lifting mechanism to lift;
detecting a Hall signal corresponding to each motor in the rotation process of the motors;
determining whether the motors have abnormal rotation states or not according to the Hall signals;
and if the motors are in abnormal rotation states, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to a position before the preset lifting signal is executed.
Further, the control is a plurality of the motor rotates to drive the lifting mechanism to lift by sending the same preset lifting signal to a plurality of the motors, and the control comprises:
the preset lifting signal is input to a driving chip based on a controller, the driving chip is controlled to synchronously drive a plurality of motors to rotate, and the plurality of motors drive a gear box to drive a lifting mechanism to lift.
Further, the detecting the hall signal corresponding to each motor includes:
detecting a motor direction signal and a pulse width signal of each motor;
and calculating to obtain a Hall signal according to the motor direction signal and the pulse width signal.
Further, the determining whether the motors have abnormal rotation states according to the hall signals includes:
judging whether Hall signals corresponding to the motors are consistent or not;
and if the motor rotation speed is inconsistent with the motor rotation speed, determining that the motors have abnormal rotation states of motor asynchronization.
Further, the determining whether the motors have abnormal rotation states according to the hall signals includes:
judging whether Hall counting difference values of Hall signals corresponding to the motors reach a preset locked rotor threshold value or not;
and if so, determining that the motors have abnormal rotation states of motor locked rotation.
Further, after it is determined that the plurality of motors have abnormal rotation states with motor stalling, the method comprises the following steps:
determining whether the lifting mechanism is at a starting position or an end position;
and if so, controlling the motors to perform non-response processing on a preset lifting instruction.
Further, the controlling the plurality of motors to rotate to drive the lifting mechanism to lift further comprises:
and setting a preset deceleration point on the stroke according to the stroke and the moving speed of the lifting mechanism, so that the lifting mechanism decelerates when moving to the preset deceleration point.
The embodiment of the present application further provides a control device for multiple motors, including:
the driving unit is used for controlling the motors to rotate to drive the lifting mechanism to lift by sending the same preset lifting signal to the motors;
the detection unit is used for detecting a Hall signal corresponding to each motor in the rotating process of the motors;
the determining unit is used for determining whether the motors have abnormal rotating states according to the Hall signals;
and the control unit is used for controlling the motors to move the lifting mechanism to a position before the preset lifting instruction is executed after the motors stop rotating if the motors are in abnormal rotating states.
The embodiment of the present application further provides a control device for multiple motors, including:
the system comprises a central processing unit, a memory and an input/output interface;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory and execute the instruction operations in the memory to perform the above-described method.
Embodiments of the present application also provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to perform the above-mentioned method.
According to the technical scheme, the embodiment of the application has the following advantages:
the method comprises the following steps: the method comprises the steps that the same preset lifting signal is sent to a plurality of motors, and the motors are controlled to rotate to drive a lifting mechanism to lift; detecting a Hall signal corresponding to each motor in the rotation process of the motors; determining whether the motors have abnormal rotation states according to the Hall signals; and if the motors are in abnormal rotation states, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to a position before executing a preset lifting signal. In the embodiment of the application, whether abnormal rotation states exist in the motors is judged, and when the abnormal rotation states exist in the motors, the motors are controlled to move the lifting mechanism to the position before the preset lifting signal is executed, so that the motors rotate to reach the specified position when the abnormal rotation states exist in the motors.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a flow chart illustrating the control of a multi-motor disclosed in the embodiments of the present application;
FIG. 2 is a block diagram of a system for controlling a lift mechanism according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating the control of another multi-motor disclosed in an embodiment of the present application;
FIG. 4 is a diagram of a control device for multiple motors disclosed in an embodiment of the present application;
fig. 5 is a diagram of another control device for multiple motors according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present application.
In the following description, references to "one embodiment" or "an embodiment" and the like describe a subset of all possible embodiments, but it is to be understood that "one embodiment" or "an embodiment" may be the same subset or a different subset of all possible embodiments, and may be combined with each other without conflict. In the following description, the terms plurality or plurality are used to refer to at least two.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
The common control method of the motors in the existing lifting mechanism is that two motors are input in the same way, so that the two motors can rotate to reach the designated positions simultaneously; but have certain shortcoming, if the power that two motors received is inequality, lead to two motors asynchronous easily, a motor reachs earlier, and another motor reachs afterwards to the motor that reachs earlier can stall all the time until another motor reachs, and elevating system also can block. Therefore, the control method of the existing motor is to provide the same input to the two motors so that the two motors synchronously rotate; however, the two motors are unevenly stressed in the moving process of the motors, which easily causes that the two motors cannot rotate to the designated positions at the same time. The embodiment of the application provides a method for controlling multiple motors, which can enable the multiple motors to rotate to reach specified positions when abnormal rotation states exist, and as shown in fig. 1, the method comprises the following specific steps:
101. the motors are controlled to rotate to drive the lifting mechanism to lift by sending the same preset lifting signal to the motors.
In this application embodiment, the same elevating system of a plurality of motor drive goes up and down, and the controlling means of many motors is connected with a plurality of motors respectively, through sending same preset lifting signal to a plurality of motors, controls a plurality of motors and rotates and go up and down with drive elevating system. It can be understood that the preset lifting signal may be a pulse broadband signal PWM, and the synchronous rotation of the plurality of motors may be controlled by inputting the same preset lifting signal to the plurality of motors to drive the lifting mechanism to lift.
As shown in fig. 2, the control system of the lifting mechanism includes an ECU (electronic control unit) including an MCU (single chip microcomputer), a driving module, a current sampling, a hall sensor interface, and the like. The MCU drives the motor through the driving chip through a serial port instruction, and the motor drives the lifting structure to ascend and descend through the gear box. The MCU controls parameters such as position, rotating speed and torque of the motor according to the current signal, the Hall signal and the like.
Based on controller (MCU) to the drive chip input preset lifting signal, drive chip is connected with a plurality of motors respectively, controls a plurality of motors of drive chip synchronous drive and rotates, and a plurality of motor drive gear boxes drive elevating system and go up and down. Specifically, as shown in fig. 3, the motor has a power-on reset function, the controller performs command processing to analyze a control command after receiving the control command, and determines the command, if the control command is a rising or falling command, the MCU sends a PWM input to drive the chip to drive the motor to rotate, and the motor transmission gear box drives the structure to rise and fall.
It is understood that the lifting mechanism may be a lift or a landing, and is not particularly limited herein; the plurality of motors may be two motors or three motors, and is not limited herein. Generally, the lifting mechanism is driven by two motors to lift.
102. And detecting a Hall signal corresponding to each motor in the rotation process of the motors.
In the rotating process of the motors, namely the lifting process of the lifting mechanism, the Hall signal corresponding to each motor can be detected. Specifically, the hall signal corresponding to the motor may be detected in real time by a hall sensor connected to the motor, or the corresponding hall signal may be obtained by sampling and calculating a pulse signal of the motor, which is not limited herein.
Wherein, detecting the hall signal corresponding to each motor can be: detecting a motor direction signal and a pulse width signal of each motor; and calculating according to the motor direction signal and the pulse width signal to obtain a Hall signal. Specifically, a motor direction signal and a pulse number can be obtained through feedback of the Hall signal generation module, a pulse width signal at the moment is obtained through calculation according to the pulse number, a Hall signal is obtained through calculation according to the motor direction signal and the pulse width signal, and the inquired pulse width and the motor direction signal are transmitted to a Hall signal generation algorithm to generate the Hall signal.
103. And determining whether abnormal rotation states exist in the plurality of motors according to the Hall signals, and if so, executing step 104.
The control device can determine whether the motors have abnormal rotation states according to the Hall signals, and it can be understood that the rotation states or the rotation positions of the motors can be determined according to the Hall signals fed back by the Hall sensors, if foreign matters or artificial interference cause motor stalling or asynchronization in the rotation process of the motors in the operation process of the motors, the obtained Hall signals also change, and whether the motors have abnormal rotation states can be determined according to the Hall signals.
Specifically, whether the hall signals corresponding to the plurality of motors are consistent or not can be judged; once the Hall signals fed back are inconsistent due to the fact that external force blocks, the motor rotation process can be judged to be asynchronous, and the abnormal rotation state that the motors are asynchronous is determined to exist in the motors. It can be understood that if the hall signal of one motor is inconsistent with the hall signals of other motors in the plurality of motors, it can be determined that the motors are not synchronous in the rotation process.
Further, whether the Hall counting difference values of the Hall signals corresponding to the plurality of motors reach a preset locked rotor threshold value can be judged; when the motors are debugged, an appropriate value is selected to serve as the preset locked-rotor threshold value, if the two motors have certain errors due to different external factors in the actual rotating process, the preset locked-rotor threshold value can be determined by selecting an appropriate value when debugging is needed. And when the Hall counting difference value of the Hall signals reaches a preset locked-rotor threshold value, determining that the motors have abnormal rotation states of motor locked-rotor.
Further, after the abnormal rotation state of motor stalling of the plurality of motors is determined, whether the lifting mechanism is located at the starting position or the end position can be determined; and if the lifting mechanism is positioned at the starting position or the end position, controlling the motors to do nonresponse processing on the preset lifting instruction. It will be appreciated that when the elevator mechanism is at or operating to a start position or an end position, there is a stall condition in the motor, and the control means may record the start position and the end position and may further determine whether the elevator mechanism is at the start position or the end position when the motor stalls. If the lifting structure sends a descending command to the motor at the starting position (zero point) and the motor stops, the motor is powered on again to reset the lifting structure to move to the starting position. The motor can be effectively prevented from being damaged due to the fact that the motor gives an instruction when the lifting mechanism is at the zero point and the highest point and does not respond to the motor to block the rotation all the time.
104. And after the motors are controlled to stop rotating, the motors are controlled to move the lifting mechanism to a position before the preset lifting signal is executed.
And if the motors are in abnormal rotation state, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to the position before executing the preset lifting signal. It can be understood that, if the motors have abnormal rotation states, such as locked rotation or asynchronous rotation, the motors are controlled to stop rotating and reverse to the position before the preset lifting signal is executed, that is, the motors reverse to the position before the command is sent by the MCU. When the two motors control the lifting mechanism, the two motors are controlled to stop at the same time, the actual positions of the two motors are fed back through Hall signals, once the two Hall signals are detected to be different, the difference value of the two Hall counts reaches a preset threshold value, and at the moment, the two motors are directly controlled to stop.
The lifting mechanism has a power-on reset function, if the lifting framework moves for 3000 steps in total from a zero point to a highest point, the motor automatically lowers the lifting mechanism to the zero point after power-on no matter which position the lifting mechanism is in before power-on, if the command 1 is to move upwards for 2000 steps, the motor rotates to drive the lifting mechanism to move to the position of 2000 steps, and at the moment, the command 2 is to move upwards for 1000 steps again, the motor drives the lifting mechanism to move to the highest point, and then an upward command is sent, and the motor cannot respond again; if the command 2 sends 2000 steps of upward movement, the maximum stroke is exceeded, the motor starts to rebound to the position before sending the command when reaching the highest point, and the number of rebounding steps is the number of steps the motor goes at the moment; command 2 sends 2000 steps, but the actual motor only goes 1000 steps to reach maximum position rebound, which is 1000 steps, i.e. return to command 1 position.
Further, in this application embodiment, still have crashproof function at the process of motor control elevating system lift, it is specific, set up according to elevating system's stroke and moving speed and predetermine the speed reduction point on the stroke to carry out the speed reduction when making elevating system move to predetermineeing the speed reduction point. According to the difference of the stroke and the speed, the deceleration point is set, for example, when the vehicle runs 3000 steps at the speed of 10 gears, the deceleration point is set when the vehicle runs 2600 steps, so that the motor can decelerate, and the collision caused by overlarge impact when the lifting mechanism runs to the highest point can be prevented.
It can be seen that the method of the embodiment of the present application includes: the method comprises the steps that the same preset lifting signal is sent to a plurality of motors, and the motors are controlled to rotate to drive a lifting mechanism to lift; detecting a Hall signal corresponding to each motor in the rotation process of the motors; determining whether the motors have abnormal rotation states according to the Hall signals; and if the motors are in abnormal rotation states, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to a position before executing a preset lifting signal. In the embodiment of the application, whether abnormal rotation states exist in the plurality of motors is judged, and when the abnormal rotation states exist in the plurality of motors, the plurality of motors are controlled to move the lifting mechanism to the position before the preset lifting signal is executed, so that the plurality of motors rotate to reach the appointed position when the abnormal rotation states exist. In an implementable mode, the whole system keeps synchronization through software adaptation double motors, the motors are guaranteed to reach designated positions, product reliability is improved, and consumers have good user experience.
An embodiment of the present application further provides a control apparatus for multiple motors, as shown in fig. 4, including:
the driving unit 401 is configured to control the motors to rotate to drive the lifting mechanism to lift by sending the same preset lifting signal to the motors;
the detecting unit 402 is configured to detect a hall signal corresponding to each of the motors in a rotation process of the motors;
a determining unit 403, configured to determine whether an abnormal rotation state exists in the plurality of motors according to the hall signal;
and the control unit 404 is configured to control the motors to move the lifting mechanism to a position before the preset lifting instruction is executed after the motors stop rotating if the motors are in abnormal rotation states.
The embodiment of the present application further provides a multi-motor control device 500, as shown in fig. 5, including:
a central processing unit 501, a memory 502, an input/output interface 503, a wired or wireless interface 504 and a power supply 505;
the memory 502 is a transient storage memory or a persistent storage memory;
the central processor 501 is configured to communicate with the memory 502 and execute the instruction operations in the memory 502 to execute the control method described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
Claims (10)
1. A control method of multiple motors, wherein the multiple motors drive the same lifting mechanism to lift, is characterized by comprising the following steps:
the same preset lifting signal is sent to the motors, and the motors are controlled to rotate so as to drive the lifting mechanism to lift;
detecting a Hall signal corresponding to each motor in the rotation process of the motors;
determining whether the motors have abnormal rotation states according to the Hall signals;
and if the motors are in abnormal rotation states, controlling the motors to stop rotating and then controlling the motors to move the lifting mechanism to a position before the preset lifting signal is executed.
2. The control method according to claim 1, wherein the controlling the plurality of motors to rotate to drive the lifting mechanism to lift by sending the same preset lifting signal to the plurality of motors comprises:
the preset lifting signal is input to a driving chip based on a controller, the driving chip is controlled to synchronously drive a plurality of motors to rotate, and the plurality of motors drive a gear box to drive a lifting mechanism to lift.
3. The control method according to claim 1, wherein the detecting the hall signal corresponding to each motor comprises:
detecting a motor direction signal and a pulse width signal of each motor;
and calculating to obtain a Hall signal according to the motor direction signal and the pulse width signal.
4. The control method according to claim 1, wherein the determining whether there is an abnormal rotation state of the plurality of motors according to the hall signal includes:
judging whether Hall signals corresponding to the motors are consistent or not;
and if the motor rotation speed is inconsistent with the motor rotation speed, determining that the plurality of motors have abnormal rotation states of motor asynchronization.
5. The control method according to claim 1, wherein the determining whether the abnormal rotation state of the plurality of motors exists according to the hall signal includes:
judging whether Hall counting difference values of Hall signals corresponding to the motors reach a preset locked rotor threshold value or not;
and if so, determining that the motors have abnormal rotation states of motor locked rotation.
6. The control method according to claim 5, wherein after determining that there is an abnormal rotation state of motor stalling in the plurality of motors, the method comprises:
determining whether the lifting mechanism is at a starting position or an end position;
and if so, controlling the motors to perform non-response processing on a preset lifting instruction.
7. The method of claim 1, wherein said controlling a plurality of said motors to rotate to drive said lifting mechanism to lift further comprises:
and setting a preset deceleration point on the stroke according to the stroke and the moving speed of the lifting mechanism, so that the lifting mechanism decelerates when moving to the preset deceleration point.
8. A multi-motor control device, comprising:
the driving unit is used for controlling the motors to rotate to drive the lifting mechanism to lift by sending the same preset lifting signal to the motors;
the detection unit is used for detecting a Hall signal corresponding to each motor in the rotation process of the motors;
the determining unit is used for determining whether the motors have abnormal rotating states according to the Hall signals;
and the control unit is used for controlling the motors to move the lifting mechanism to a position before the preset lifting instruction is executed after the motors stop rotating if the motors have abnormal rotating states.
9. A control device of a multi-motor, characterized by comprising:
the system comprises a central processing unit, a memory and an input/output interface;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory and execute the operations of the instructions in the memory to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211688954.7A CN115967307A (en) | 2022-12-27 | 2022-12-27 | Multi-motor control method, control device and storage medium |
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| CN202211688954.7A CN115967307A (en) | 2022-12-27 | 2022-12-27 | Multi-motor control method, control device and storage medium |
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