CN116526894A

CN116526894A - Motor control system, motor control method, and motor driving and forwarding device

Info

Publication number: CN116526894A
Application number: CN202210067006.5A
Authority: CN
Inventors: 余毅; 孔卫; 常天海; 匡立; 曹美汉
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2023-08-01
Also published as: WO2023138536A1

Abstract

The embodiment of the application discloses a motor control system, a motor control method and a motor driving and forwarding device, and belongs to the technical field of automatic control. The motor control system comprises a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors. The centralized computing processing device is connected with each of a plurality of motor driving and forwarding devices, and each motor driving and forwarding device is connected with at least one of the plurality of motors respectively. The motor driving and forwarding device obtains motor state parameters of the motor and sends the motor state parameters to the centralized calculation processing device. The centralized calculation processing device determines corresponding motor control parameters based on the motor state parameters and sends the motor control parameters to the motor driving and forwarding device. The motor driving and forwarding device controls the motor to operate based on the motor control parameters. In the motor control system, the centralized calculation processing device has stronger processing capacity, namely, can perform calculation with high frequency and high complexity, and greatly improves the control precision of automatic production.

Description

Motor control system, motor control method, and motor driving and forwarding device

Technical Field

The present disclosure relates to the field of automatic control technologies, and in particular, to a motor control system, a motor control method, and a motor driving and forwarding device.

Background

The motor control system is a core equipment system for automatic production. In motor control systems, a large number of motors and servo controllers are typically configured. As shown in FIG. 1, a plurality of servo controllers are connected in series, one of the plurality of servo controllers is connected with a computer device, each servo controller is connected with a motor, the computer device sends an instruction for starting working to the servo controller through a programmable logic controller, and the servo controller controls the operation of the motor connected with the servo controller so as to complete various working tasks. The servo controller is used for detecting the running state of the motor in real time and calculating corresponding motor control parameters so as to realize real-time control of the motor. The processing power of the servo controller is generally limited, resulting in limitation in improvement of control accuracy of the automated production.

Disclosure of Invention

The embodiment of the application provides a motor control system, a motor control method and a motor driving and forwarding device, which can solve the problem that in the prior art, the control precision of automatic production is limited due to the limited processing capacity of a servo controller. The technical scheme is as follows.

In a first aspect, embodiments of the present application provide a motor control system. The system comprises: the system comprises a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors. The centralized computing processing device is connected with each of a plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected with at least one of the plurality of motors.

In the motor control system, the centralized calculation processing device is used for receiving the motor state parameters sent by the motor driving and forwarding device, determining the motor control parameters based on the motor state parameters, and sending the motor control parameters to the motor driving and forwarding device. The motor driving and forwarding device is used for acquiring motor state parameters of the motor connected with the motor driving and forwarding device, sending the motor state parameters to the centralized calculation processing device and driving the motor connected with the motor driving and forwarding device based on the motor control parameters.

The centralized calculation processing device stores a motor state feedback model in advance. And the centralized processor determines motor control parameters according to the received motor state parameters and the motor state feedback model. The motor state feedback model can be a model formed by a series of algorithm formulas, a machine learning model and the like.

The centralized computing processing device includes at least one processing module. When the centralized computing processing means comprises a processing module, all motor state parameters may be input into the motor state feedback model, thereby determining updated motor control parameters corresponding to the motors connected to each motor drive and forward means. When the centralized computing processing device includes a plurality of processing modules, the number of processing modules may be determined according to the number of motor drive and transfer devices or motors, and for each motor drive and transfer device (or motor), the centralized computing processing device inputs some or all of the motor state parameters into the motor state feedback model, thereby determining updated motor control parameters corresponding to each motor drive and transfer device (or motor).

The motor drive and forwarding device has a control parameter refreshing unit and a local closed loop unit. The control parameter refreshing unit is used for buffering and updating motor control parameters sent by the centralized computing and processing device. The local closed loop unit is used for verifying motor control parameters and motor state parameters.

By adopting the scheme, on one hand, the centralized computing processing device can intensively and synchronously process motor state parameters corresponding to a plurality of motors, embody a synchronous control mechanism for flattening the motors, improve the control efficiency and reduce the time delay of information synchronous interaction; on the other hand, the centralized computation processing device has stronger processing power than the servo controller commonly used at present, and can perform computation with high frequency and high complexity. By improving the two aspects, the control precision of automatic production is greatly improved.

In one possible implementation, the motor control system further comprises a distribution device through which the centralized computing processing device is connected to each of the plurality of motor drive and forwarding devices.

In the motor control system, the distributing means is for forwarding the motor control parameters received from the centralized computing processing means to each of the motor drive and forwarding means, and for transmitting the motor status parameters received from each of the motor drive and forwarding means to the centralized computing processing means.

The action of the distributing means forwarding the motor control parameter may be broadcast, multicast or unicast. The distribution means is broadcast if the motor drive and forwarding means, the centralized computing processing means and the distribution means are implemented based on passive optical network technology. If the motor drive and forwarding means, the centralized computing processing means and the distribution means are implemented based on switch technology, the distribution means may be broadcast, multicast or unicast.

When the distributing device sends the motor state parameters to the centralized computing device, the motor state parameters of the plurality of motor driving and forwarding devices can be gathered and then sent to the centralized computing device, and all the received state parameters can be forwarded immediately or according to the appointed time, and the like.

With this arrangement, data transmission between the centralized computing device and the motor drive and transfer device is accomplished by the distribution device, with only one line for data transmission between the centralized computing device and the distribution device. Therefore, the layout range of the motor control system can be enlarged, the wiring of the whole motor control system can be reduced to a certain extent, and the circuit structure of the system is optimized.

In one possible implementation, the motor control system further comprises an image monitoring device, which is connected to the motor drive and forwarding device.

The image monitoring device is used for acquiring working image data corresponding to the motor and sending the working image data to the motor driving and forwarding device, wherein the working image data can be pictures or videos. The motor driving and forwarding device is used for sending the working image data to the centralized computing and processing device.

The image monitoring device and the motor can synchronously work, namely the image monitoring device and the motor start to work at the same time and end to work at the same time. The image monitoring device and the motor may also operate synchronously, i.e. the image monitoring apparatus and the motor start to operate at different times and/or end to operate at different times.

In the motor control system, when the motor driving and forwarding device does not acquire the working image data, only the motor state parameter may be transmitted to the centralized calculation processing device; when the motor driving and forwarding device acquires the motor state parameters and the working image data at the same time, the motor state parameters and the working image data can be packaged and then sent to the centralized computing processing device, and the motor state parameters and the working image data can also be respectively sent to the centralized computing processing device through the same communication channel.

By adopting the scheme, in the process of controlling the motor to operate, the centralized calculation processing device takes the image data generated by the motor to operate as an important factor for determining the motor control parameters, so that more accurate motor control parameters can be obtained, namely, the control precision of automatic production is improved.

In one possible implementation, the centralized computing processing means is further configured to send the shooting control parameters to the motor drive and forwarding means. The motor driving and forwarding device is also used for sending shooting control parameters to the image monitoring device. And the image monitoring device is used for acquiring working image data corresponding to the motor based on the shooting control parameters when the shooting control parameters are received.

The correspondence between the motor control parameters of the motor and the shooting control parameters of the image monitoring device may be stored in the centralized computing device in advance, and after the centralized computing device determines the updated motor control parameters, the corresponding shooting control parameters may be determined according to the correspondence.

When the centralized computation processing device sends the motor control parameters and the shooting control parameters to the motor driving and forwarding device, the motor control parameters and the shooting control parameters can be recorded at the appointed position of the same character string respectively or can be expressed by the character string with the appointed mark respectively.

By adopting the scheme, the centralized calculation processing device can adjust the shooting direction of the image monitoring device based on the change of the running state of the motor, so that more comprehensive working image data is obtained, the motor control parameters are determined more accurately, and further, the control precision of automatic production is improved.

In one possible implementation, the centralized computing processing means determines the motor control parameters based on the motor state parameters and the working image data.

The centralized calculation processing device is pre-stored with a motor state feedback model, and the centralized processor inputs the received motor state parameters and the received working image data into the motor state feedback model, so that updated motor control parameters corresponding to the motors connected with each motor driving and forwarding device are determined.

By adopting the scheme, the centralized calculation processing device can obtain more accurate motor control parameters according to the motor state parameters and the working image data, thereby improving the control precision of automatic production.

In one possible implementation, the same communication channel is used by the motor drive and forwarding device for sending the motor status parameters to the centralized computing processing device and for sending the working image data to the centralized computing processing device.

By adopting the scheme, the wiring of the whole motor control system can be reduced to a certain extent, and the circuit structure of the motor control system is optimized.

In one possible implementation manner, the motor control system further comprises a multi-port information forwarding device and an auxiliary device, wherein the multi-port information forwarding device is respectively connected with the centralized computing processing device and the auxiliary device.

The multiport information forwarding device is used for sending auxiliary control parameters received from the centralized computing processing device to the auxiliary device. The auxiliary device is used for assisting the motor control system to work based on the auxiliary control parameters.

The multiport information forwarding device has a plurality of Input/Output (I/O) ports, to which at least one auxiliary device can be connected. The auxiliary device may be an indicator light, a conveyor belt mechanism, or the like.

By using the scheme, the multi-port information forwarding device can be connected with a plurality of auxiliary devices according to actual needs, so that the connection flexibility of the whole motor control system is improved, and the functions of the motor control system are increased. Meanwhile, the auxiliary device can assist the whole motor control system to complete the appointed work more conveniently, so that the intelligentization of the motor control system is improved.

In one possible implementation, any two of the plurality of motor drive and repeater devices are connected.

In one possible implementation manner, the centralized computing processing device sends the motor control parameters corresponding to the first motor driving and forwarding device and the motor control parameters corresponding to the second motor driving and forwarding device to the first motor driving and forwarding device and the second motor driving and forwarding device in the plurality of motor driving and forwarding devices respectively.

In the motor control system, the first motor driving and forwarding device sends motor control parameters corresponding to the second motor driving and forwarding device. And simultaneously, receiving motor control parameters corresponding to the first motor driving and forwarding device sent by the second motor driving and forwarding device. And if the motor control parameters corresponding to the first motor driving and forwarding device sent by the centralized calculation processing device are the same as the motor control parameters corresponding to the first motor driving and forwarding device sent by the second motor driving and forwarding device, driving the motor connected with the first motor driving and forwarding device based on the motor control parameters corresponding to the first motor driving and forwarding device.

Similarly, the second motor driving and forwarding device sends the motor control parameters corresponding to the first motor driving and forwarding device. And simultaneously, receiving motor control parameters corresponding to the second motor driving and forwarding device transmitted by the first motor driving and forwarding device. And if the motor control parameters corresponding to the second motor driving and forwarding device sent by the centralized calculation processing device are the same as the motor control parameters corresponding to the second motor driving and forwarding device sent by the first motor driving and forwarding device, driving the motor connected with the second motor driving and forwarding device based on the motor control parameters corresponding to the second motor driving and forwarding device.

The first motor driving and forwarding device and the second motor driving and forwarding device can be part or all of the plurality of motor driving and forwarding devices connected with the centralized computing processing device. In addition, the second motor drive and forwarding device may have one or more.

By using the scheme, communication is established between different motor driving and forwarding devices, and data transmission can be performed. Therefore, the motor driving and forwarding device can verify the motor control parameters sent by the centralized calculation processing device through the motor control parameters forwarded by other motor driving and forwarding devices so as to ensure the accuracy of the motor control parameters, thereby accurately controlling the operation of the motor and improving the control precision of automatic production. In addition, if normal data transmission cannot be carried out between the centralized computing processing device and a certain motor driving and forwarding device, the centralized computing processing device can carry out data transmission to the motor driving and forwarding device through other motor driving and forwarding devices, so that the running stability of the motor control system is ensured.

In one possible implementation, the motor includes a driver, a motor body, and a motor status sensor, the driver being respectively connected with the motor body, the motor drive, and the forwarding device, the motor status sensor being respectively connected with the motor body, the motor drive, and the forwarding device.

In the motor control system, the motor driving and forwarding device transmits the motor control parameters received from the centralized computing processing device to the driver, and transmits the motor state parameters received from the driver and the motor state sensor to the centralized computing processing device. The driver drives the motor body to operate based on motor control parameters received from the motor drive and relay device.

The centralized computing processing means sends the motor control parameters in the form of digital signals to the motor drive and forwarding means. The motor driving and forwarding device converts the received digital signals into corresponding analog signals and sends the corresponding analog signals to the driver. The driver generates corresponding driving current according to the received analog signal, thereby driving the motor body to operate. Wherein the analog signal may be a pulse width modulated wave.

By adopting the scheme, the motor driving and forwarding device has fewer functional requirements, has a simpler structure, and reduces the cost of the motor driving and forwarding device, thereby reducing the cost of automatic production.

In one possible implementation, the motor driving and forwarding device includes a communication component and a driver, the motor includes a motor body and a motor state sensor, the communication component is connected with the driver, the motor state sensor and the centralized computing processing device, and the motor body is connected with the driver and the motor state sensor.

In the motor control system, the communication means transmits the motor control parameters received from the centralized computing device to the driver, and transmits the motor state parameters received from the driver and the motor state sensor to the centralized computing device. The driver drives the motor body to operate based on the motor control parameter received from the communication part.

By adopting the scheme, the motor structure can be optimized, and the research and development cost of the motor is reduced.

In a second aspect, embodiments of the present application provide a motor control method. The method is applied to the motor control system of the first aspect and possible implementation manners thereof, and the method includes: in the first aspect and its possible implementation manners, the processes performed by the devices of the motor control system.

In a third aspect, embodiments of the present application provide a motor drive and forwarding apparatus comprising one or more modules that perform the processes implementing the first aspect and possible implementations thereof.

The beneficial effects that technical scheme that this application embodiment provided brought are:

the motor automation control system comprises a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors. The centralized computing processing device is connected with each of a plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected with at least one of the plurality of motors. The centralized calculation processing device determines corresponding motor control parameters based on the motor state parameters and sends the motor control parameters to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected with the motor driving and forwarding device based on the motor control parameters, so that real-time control of the motor is realized. In the motor control system, the centralized computation processing device is used for computing motor control parameters, and the centralized computation processing device can be computer equipment and the like, has stronger processing capacity than a servo controller, and can perform high-frequency and high-complexity computation. Therefore, the control precision of automatic production is greatly improved.

Drawings

FIG. 1 is a schematic diagram of a prior art motor control system frame;

FIG. 2 is a schematic structural diagram of a centralized computing device according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a first motor control system according to an embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a first motor control method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second motor control system according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a third motor control system according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a fourth motor control system according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a fifth motor control system according to an embodiment of the present disclosure;

fig. 9 is a schematic flow chart of a second motor control method according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a sixth motor control system according to an embodiment of the present disclosure;

fig. 11 is a schematic structural view of a seventh motor control system provided in an embodiment of the present application;

fig. 12 is a schematic structural view of an eighth motor control system provided in an embodiment of the present application;

fig. 13 is a schematic structural diagram of a motor driving and forwarding device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the embodiments of the present application in detail, application scenarios of the embodiments of the present application are described.

The motor is widely applied to industrial production. For example, a numerical control machine tool generally includes three motors for driving an object to be machined to rotate around an axis, driving the object to be machined to translate along an axis direction, and driving the object to be machined to translate along a direction perpendicular to the axis, respectively. For another example, a six-degree-of-freedom industrial robot arm (hereinafter referred to as an "arm") generally includes six motors for controlling rotation of the arm in an x-axis direction, translation in the x-axis direction, rotation in a y-axis direction, translation in the y-axis direction, rotation in a z-axis direction, and translation in the z-axis direction, respectively.

The motor control system provided by the embodiment of the application can be used for controlling one numerical control machine tool or one mechanical arm to operate, and also can be used for controlling the cooperative operation among a plurality of numerical control machine tools or among a plurality of mechanical arms. Next, the control mechanical arm is taken as an example to describe the scheme in detail, and other industrial control application scenarios are similar to the control mechanical arm, and are not described herein.

The motor control system provided by the embodiment of the application comprises a centralized computing processing device, a plurality of motor driving and forwarding devices (hereinafter referred to as driving forwarding devices) and a plurality of motors. The centralized calculation processing device controls the motor to operate through the drive forwarding device. The centralized computing device may be a computer device, such as a notebook computer, a desktop computer, a tablet computer, and the like. From a hardware composition perspective, the architecture of the centralized computing processing device may be as shown in fig. 2, including a processor, memory, and communication components.

The processor may be a central processing unit (central processing unit, CPU) or a system on chip (SoC) or the like, and may be used to determine motor control parameters, may be used to determine start shooting instructions, may be used to determine shooting control parameters, and the like.

The memory may include various volatile memories or nonvolatile memories, such as Solid State Disk (SSD), dynamic random access memory (dynamic random access memory, DRAM) memory, and the like. The memory may be used to store pre-stored data, intermediate data, and result data in the motor control system. For example, motor control parameters, motor status parameters, start shooting instructions, shooting control parameters, working image data, and the like.

The communication means may be a wired network connector, a wireless fidelity (wireless fidelity, wiFi) module, an optical transceiver module, a bluetooth module, a cellular network communication module, or the like. The communication means may be used for data transmission with other devices, which may be drive forwarding means, other centralized computing processing means, etc. For example, for sending motor control parameters to the drive relay, for receiving motor status parameters sent by the drive relay, etc.

The terminal may include a display part, an audio output part, etc., in addition to the processor, the memory, and the communication part. The display device may be a Twisted Nematic (TN) panel, a vertical alignment (vertical alignment, VA) panel, an in-Plane switching (IPS) panel, or the like. The display panel may be used to display the working image data corresponding to the motor, etc.

Fig. 3 is a schematic structural diagram of a first motor control system according to an embodiment of the present application. As shown in fig. 3, the motor control system includes a centralized computation processing device, a plurality of drive forwarding devices, and a plurality of motors. The centralized computation processing device is connected with each drive forwarding device in the plurality of drive forwarding devices, and each drive forwarding device is connected with at least one motor respectively. The drive forwarding device is respectively communicated with the centralized computing processing device and the motor, and the communication mode can be wired communication (such as optical fiber communication and the like) or wireless communication (such as WiFi communication and Bluetooth communication and the like).

When the motor control system shown in fig. 3 is applied, the embodiment of the present application provides a process flow of the motor control method shown in fig. 4, including the following multiple process steps.

S401, the centralized computation processing device sends initial motor control parameters to the drive forwarding device.

In a production line, a plurality of stations are generally included, and each station may be configured to perform a corresponding operation by a robotic arm. For example, part a may be mounted by a first robotic arm at a first location on a product as it flows through a first station, part B may be mounted by a second robotic arm at a second location on the product as it flows through a second station, and so on. For each mechanical arm, the centralized calculation processing device stores the reference motor control parameters of the mechanical arm for completing corresponding operation in advance, and stores the mechanical arm identification information and the corresponding reference motor control parameters in the centralized calculation processing device in a table form, wherein the motor control parameters can be corresponding current values when the motor operates, and the reference motor control parameters can be reference current values.

For a production job, before the production job begins, an operator may determine identification information for the robotic arms involved in the production job. The operator can trigger an opening instruction indicating that the motor control system starts the operation in the centralized computing processing device through a certain designated operation. After receiving the start instruction, the centralized computing processing device can determine the reference motor control parameter corresponding to the mechanical arm participating in the production operation in the corresponding relation table of the mechanical arm identification information and the reference motor control parameter, and send the reference motor control parameter as an initial motor control parameter to the corresponding drive forwarding device.

The above-mentioned specified operation may be to trigger a physical key or a combination of physical keys specified at the centralized computing processing device, or to input specified instruction information in the centralized computing processing device, or to trigger an operation control specified in an operation interface of the centralized computing processing device, or the like.

Alternatively, in addition to taking the reference motor control parameter as the initial motor control parameter, the centralized calculation processing device may determine the historical working record corresponding to the same production job in the past specified time period, further determine the error value of the corresponding motor control parameter through the historical working record, and then adjust the reference motor control parameter based on the error value to determine the initial motor control parameter corresponding to the current production job.

Alternatively, the motor control parameter may be a voltage value, a rotation angle value, a linear displacement value, or the like corresponding to the operation of the motor, in addition to the current value.

S402, the drive forwarding device controls the motor to operate based on the initial motor control parameters received from the centralized calculation processing device.

The operation of the motor is typically driven directly by a driver, which may be mounted in the motor (i.e. as a component of the motor) or in the drive-transferring device (i.e. as a component of the drive-transferring device). For the two possible structures described above, the embodiment of the present application describes step S402 separately.

The structure I and the driver are arranged in the motor

The motor comprises a driver, a motor body and a motor state sensor, and the corresponding structure is shown in fig. 5. Wherein, the motor state sensor is rotary code wheel and rotational speed sensor. The driver is connected with the motor body and the drive forwarding device respectively, and the motor state sensor is connected with the motor body and the drive forwarding device respectively. And the motor state sensor is respectively communicated with the motor body and the drive forwarding device, wherein the communication mode can be wire communication or wireless communication.

In the structure, the centralized calculation processing device sends the initial motor control parameters to the drive forwarding device in the form of digital signals. The drive forwarding device converts the received digital signal into a corresponding analog signal. Then, the drive forwarding device sends the analog signal to the driver, and the driver generates corresponding drive current according to the received analog signal, so that the motor body is driven to operate. Wherein the analog signal may be a pulse width modulated (pulse width modulation, PWM) wave.

The second structure and the driver are arranged in the drive forwarding device

The drive forwarding device comprises a communication component and a driver, the motor comprises a motor body and a motor state sensor, and the corresponding structure is shown in fig. 6. The communication part of the drive forwarding device is respectively connected with the driver, the motor state sensor and the centralized calculation processing device, and the motor body is respectively connected with the driver and the motor state sensor. The communication part of the drive forwarding device is respectively communicated with the driver and the motor state sensor, wherein the communication mode can be wire communication or wireless communication.

When the structure II is adopted, the communication part of the drive forwarding device determines corresponding PWM waves according to the initial motor control parameters sent by the centralized calculation processing device, the PWM waves are sent to the driver of the drive forwarding device, and then the driver generates corresponding driving current according to the received PWM waves, so that the motor body is driven to operate.

S403, the drive forwarding device acquires motor state parameters of the motor and sends the motor state parameters to the centralized calculation processing device.

The drive forwarding device controls the motor to operate and obtains motor state parameters of the motor, wherein the motor state parameters comprise a plurality of motor state subparameters such as current parameters, rotation angles and rotation speeds. The current parameter is a current value when the motor body runs and is obtained through a driver; the rotation angle is the rotation angle of the output shaft of the motor body relative to the reference position and is obtained by rotating the code disc; the rotational speed is the instantaneous speed of the motor body when in operation and is obtained by a rotational speed sensor. For the two possible structures mentioned in step S402, the embodiment of the present application describes step S403 separately:

for structure one:

after the drive current is transmitted to the motor body by the drive of the motor, current parameters of the motor body during operation are obtained. The driver then feeds back the current parameter to the drive forwarding means. Meanwhile, the rotating code disc of the motor feeds back the rotating angle of the motor body to the driving and forwarding device, and the rotating speed sensor of the motor feeds back the rotating speed of the motor body to the driving and forwarding device. The drive forwarding device combines the acquired motor state sub-parameters into motor state parameters and sends the motor state parameters to the centralized calculation processing device.

The motor status parameter may be composed of a plurality of fields, each field representing a motor status sub-parameter, for example, the motor status parameter is composed of three fields sequentially representing a current parameter, a rotation angle, and a rotation speed, for example, the motor status parameter is a character string having 30 bits, in which bits 1 to 8 are used to represent the current parameter, bits 9 to 20 are used to represent the rotation angle, bits 21 to 30 are used to represent the rotation speed, and so on. The motor state parameter may also be composed of motor state sub-parameters having a specified identifier, for example, a first character string of a indicates a current parameter, a first character string of X indicates a rotation angle, a first character string of Z indicates a rotation speed, and the motor state parameter includes three character strings of a0001, X0235, Z15ac, which respectively indicate a current parameter, a rotation angle, a rotation speed, and the like.

For structure two:

and after the driving component of the driving forwarding device transmits the driving current to the motor body, acquiring current parameters when the motor body operates. The driver then feeds back the current parameter to the communication part of the drive forwarding device. Meanwhile, the rotating code disc of the motor feeds back the rotation angle of the motor body to the communication part of the drive forwarding device, and the rotating speed sensor of the motor feeds back the rotating speed of the motor body to the communication part of the drive forwarding device. The communication part of the drive forwarding device sends the motor state parameters to the centralized calculation processing device. The representation form of the motor state parameter is the same as the structure one, and is not repeated here.

S404, the centralized calculation processing device determines updated motor control parameters based on the motor state parameters and sends the updated motor control parameters to the drive forwarding device.

The centralized calculation processing device is pre-stored with a motor state feedback model. The centralized processor determines motor control parameters according to the received motor state parameters (such as current parameters, rotation angles, rotation speeds and the like) and the motor state feedback model. The motor state feedback model can be a model formed by a series of algorithm formulas, a machine learning model and the like. Several possible treatments are given below:

mode one:

the centralized calculation processing device inputs the acquired motor state parameters of the motors connected with all the drive forwarding devices into a motor state feedback model, so that updated motor control parameters corresponding to the motors connected with all the drive forwarding devices are determined. Then, the centralized computation processing device sends the updated motor control parameters to the corresponding drive forwarding device.

Mode two:

the centralized computation processing device is divided into a plurality of processing modules according to the number of the drive forwarding devices. For each drive forwarding device, a corresponding processing module in the centralized computation processing device determines a corresponding updated motor control parameter according to the motor state parameter and the motor state feedback model corresponding to the drive forwarding device, and finally, the centralized computation processing device sends the updated motor control parameter to the corresponding drive forwarding device.

Mode three:

the centralized computation processing device is divided into a plurality of processing modules according to the number of the drive forwarding devices. For each drive forwarding device, a corresponding processing module in the centralized computation processing device determines a corresponding updated motor control parameter according to the motor state parameter corresponding to the drive forwarding device, all (or part of) the motor state parameters corresponding to at least one other drive forwarding device and the motor state feedback model, and finally, the centralized computation processing device sends the updated motor control parameter to the corresponding drive forwarding device.

Mode four:

the centralized calculation processing device is divided into a plurality of processing modules according to the number of the driving forwarding devices, and then the processing modules are divided into a plurality of sub-processing modules according to the number of motors corresponding to each driving forwarding device. For each sub-processing module in the centralized computing processing means, an updated motor control parameter for the corresponding motor is determined. And finally, the centralized calculation processing device sends the updated motor control parameters to the corresponding drive forwarding device. The specific calculation mode is similar to the second mode and the third mode, and is not repeated here.

And S405, the drive forwarding device controls the motor to operate based on the updated motor control parameters received from the centralized calculation processing device.

And the drive forwarding device receives the updated motor control parameters sent by the centralized calculation processing device and determines corresponding drive current, so that the motor is controlled to operate. The specific operation flow is similar to step S402, and will not be described here again.

Optionally, the drive forwarding device has a control parameter refreshing unit and a local closed loop unit. When the drive forwarding device receives the motor control parameters for the first time, the control parameter refreshing unit is used for caching the motor control parameters. And the control parameter refreshing unit refreshes the motor control parameters cached in the drive forwarding device into the motor control parameters which are received last time. And in the feedback period corresponding to each motor state parameter, the local closed loop unit compares the motor control parameter buffered in the drive forwarding device with the motor state parameter fed back by the motor after executing the motor control parameter for multiple times, and determines whether the motor state parameters are consistent. If the motor state parameters are consistent, the drive forwarding device can send the motor state parameters to the centralized calculation control device for subsequent calculation of motor control parameters. If the motor control parameters are inconsistent, the local closed loop unit of the drive forwarding device can control the motor to operate according to the current cached motor control parameters.

The motor control system sequentially repeats the processes of steps S403 to S405 until the centralized computation processing device detects an end event, and sends an end operation instruction to the drive forwarding device, and the drive forwarding device stops driving the motor. The ending instruction may be triggered by an operator through a certain specified operation, and the specified operation corresponding to the ending instruction is similar to the specified operation corresponding to the opening instruction, which is not described herein.

Alternatively, the end command may be feedback information that the centralized computing device receives that a certain motor (or a certain station) cannot normally operate or has a safety problem, for example, a certain motor fails, so that the whole station or the whole production line cannot operate, at this time, the motor control system ends the operation, so that a serviceman can repair the failed motor, and so on.

By using the motor control system and the motor control method provided by the embodiment of the application, on one hand, the centralized computing processing device can intensively and synchronously process motor state parameters corresponding to a plurality of motors (or a plurality of drive forwarding devices), so that a synchronous control mechanism for flattening the motors is embodied, the control efficiency is improved, and the time delay of information synchronous interaction is reduced; on the other hand, compared with the current common servo controller, the centralized calculation processing device has stronger processing capacity, can perform calculation with high frequency and high complexity, and greatly improves the control precision of automatic production through the improvement of the two aspects.

Meanwhile, in the motor control system, the motor driving and forwarding device replaces a current common servo controller, and mainly plays a role of forwarding parameters, compared with the servo controller, the motor driving and forwarding device does not need to have higher processing capacity, and the cost is relatively low, so that the cost of the whole control system is reduced.

Fig. 7 is a schematic structural diagram of a fourth motor control system according to an embodiment of the present application. As shown in fig. 7, the motor control system further includes a distributing device, and the distributing device is respectively connected with the centralized computing device and the drive forwarding device. The distributing device establishes communication with the centralized computing processing device and the drive forwarding device respectively, and the communication mode is the same as the above.

One function of the dispensing device is to forward motor control parameters. The forwarding action may be broadcast, multicast or unicast. If the drive forwarding means, the centralized computation processing means and the distribution means are implemented based on passive optical network (passive optical network, PON) technology, the distribution means is broadcast. That is, the distributing means broadcasts the motor control parameter determined by the centralized calculation processing means to each of the plurality of drive forwarding means. If the drive forwarding means, the centralized computing processing means and the distribution means are implemented based on switch technology, the distribution means may be broadcast, multicast or unicast. The present application is not limited in this regard.

Another function of the distributing means is to send the motor status parameters received from each drive forwarding means to the centralized computation processing means. In one implementation, the distributing device may aggregate the motor state parameters of the plurality of drive forwarding devices and send the motor state parameters to the centralized computing device. In another implementation, the distribution means may forward all the received state parameters on-the-fly or at a contracted time.

With the motor control system and the motor control method provided by the embodiments of the present application, data transmission between the centralized computing device and the drive forwarding device is completed through the distributing device, and only one line for data transmission is provided between the centralized computing device and the distributing device. Therefore, the layout range of the motor control system can be enlarged, the wiring of the whole system can be reduced to a certain extent, and the network structure of the motor control system is optimized.

Fig. 8 is a schematic structural diagram of a fifth motor control system according to an embodiment of the present application. As shown in fig. 8, the motor control system further includes an image monitoring device, which is connected to the drive forwarding device and establishes communication in the same manner as above.

The image monitoring device is used for shooting working image data corresponding to the motor, the working image data can be pictures, such as the pose of the mechanical arm at a certain moment, and the working image data can also be videos, such as the motion track of the mechanical arm in a certain time period.

The image monitoring device and the motor can synchronously work, namely, when the motor starts to run, the image monitoring device synchronously starts to shoot working image data corresponding to the motor, and continuously shoots in the whole running process of the motor, and when the motor ends to run, the image monitoring device synchronously ends shooting. The image monitoring device and the motor may operate asynchronously, e.g., the image monitoring device starts operating synchronously with the motor, the image monitoring device stops shooting after shooting for a first period of time, and the motor continues to operate after operating for the first period of time. For another example, the motor starts to operate first, the image monitoring device starts shooting after the second period of continuous operation, the image monitoring device stops shooting after the image monitoring device and the motor synchronously work for a third period of time, and the motor continues to operate. For another example, the motor starts to operate first, and after the motor continues to operate for a fourth period of time, the image monitoring device starts shooting, and when the motor ends operating, the image monitoring device ends shooting. Next, the present solution will be described by taking an example of the synchronization operation of the image monitoring device and the motor, and other cases are similar, and will not be described here.

When the motor control system shown in fig. 8 is applied, the embodiment of the present application provides a process flow of the motor control method shown in fig. 9, including the following multiple process steps.

And S901, the centralized calculation processing device sends initial motor control parameters and shooting start instructions to the drive forwarding device.

The operator can trigger an opening instruction indicating that the motor control system starts the operation in the centralized computing processing device through a certain designated operation. After receiving the starting instruction, the centralized computing processing device determines initial motor control parameters corresponding to the motor and shooting starting instructions corresponding to the image monitoring device. The above-described designating operation is similar to that in step S401, and will not be described here again.

The centralized computation processing device sends initial motor control parameters and shooting start instructions to the drive forwarding device. For each of the drive-forwarding device and the image-monitoring device, the initial motor control parameter and the start shooting instruction may be recorded in the same character string, for example, a character having 20 bits, 1-12 bits being used for indicating the initial motor control parameter, 13-20 bits being used for indicating the start shooting instruction, and so on. The initial motor control parameter and the start shooting command may be represented by character strings having a predetermined identifier, for example, a character string having a first character of S represents the initial motor control parameter, a character string having a first character of C represents the start shooting command, and the like.

Alternatively, when the image monitoring device and the motor work asynchronously, the centralized computation processing device can independently send the shooting start instruction to the drive forwarding device, and can also send the shooting start instruction and the motor control parameter updated at a certain moment to the motor control parameter.

And S902, the drive forwarding device controls the motor to operate based on the initial motor control parameters received from the centralized calculation processing device and sends a shooting start instruction to the image monitoring device.

The drive relay device controls the motor to operate based on the initial motor control parameters received from the centralized computing processing device. The specific process flow is similar to step S402, and will not be described here again.

The drive forwarding device sends a shooting start instruction received from the centralized computing processing device to the image monitoring device so as to control the image monitoring device to start shooting.

S903, the drive forwarding device acquires motor state parameters of the motor and working image data corresponding to the motor, and sends the working image data to the centralized calculation processing device.

The motor state parameter of the motor is obtained by the drive forwarding device, and the obtaining manner of the motor state parameter is similar to that of step S403, and is not described here again.

The drive forwarding device receives working image data corresponding to the motor, such as a pose picture of the mechanical arm at the current moment, a motion video of the mechanical arm in a designated monitoring period, and the like.

Typically, the feedback period of the motor state parameter is significantly less than the monitoring period of the working image data. Therefore, when the drive forwarding device does not acquire the working image data, only the motor state parameter may be transmitted to the centralized calculation processing device; when the drive forwarding device acquires the motor state parameters and the working image data at the same time, the motor state parameters and the working image data can be packaged and then sent to the centralized calculation processing device, and the motor state parameters and the working image data can also be respectively sent to the centralized calculation processing device through the same communication channel.

S904, the centralized calculation processing device determines updated motor control parameters and shooting control parameters based on the motor state parameters and the working image data.

The centralized calculation processing device is pre-stored with a motor state feedback model, and the centralized processor inputs the received motor state parameters (such as current parameters, rotation angles, rotation speeds and the like) and working image data into the motor state feedback model, so that updated motor control parameters corresponding to the motors connected with each drive forwarding device are determined. Then, the centralized computation processing device sends the updated motor control parameters to the drive forwarding device.

The centralized computing processing device may be divided into a plurality of processing modules (or a plurality of processing sub-modules) according to the number of drive forwarding devices (or motors). Each processing module (or sub-processing module) is configured to determine a motor control parameter of a corresponding drive forwarding device (or motor). The specific operation flow is similar to step S404, and will not be described here again.

The correspondence between the motor control parameters of the motor and the shooting control parameters of the image monitoring device may be stored in the centralized computing device in advance, and after the centralized computing device determines the updated motor control parameters, the corresponding shooting control parameters may be determined according to the correspondence. The shooting control parameters are used for adjusting the shooting direction of the image monitoring device, so that the image monitoring device is controlled to shoot the designated working image data.

And S905, controlling the motor to operate based on the updated motor control parameters received from the centralized calculation processing device by the drive forwarding device, and sending the shooting control parameters to the image monitoring device.

And the drive forwarding device determines corresponding drive current after receiving the updated motor control parameters sent by the centralized calculation processing device, thereby controlling the motor to run. The specific operation flow is similar to step S402, and will not be described here again.

The drive forwarding device sends the shooting control parameters received from the centralized calculation processing device to the image monitoring device, and the image monitoring device shoots working image data corresponding to the motor according to the shooting control parameters.

The motor control system sequentially repeats the processes of steps S903 to S905 until the centralized computation processing device detects an end event, sends an end operation instruction and an end shooting instruction to the drive forwarding device, stops driving the motor to work, and sends the end shooting instruction to the image monitoring device, and the image monitoring device stops shooting working image data. The ending instruction may be triggered by an operator through a certain specified operation, and the triggering manner is similar to the schemes mentioned in step S401 and step S405, which are not described herein.

By using the motor control system and the motor control method provided by the embodiment of the application, in the process of controlling the motor to operate, the visual image generated by the motor to operate is used as an important factor for determining the motor control parameter, so that more accurate motor control parameters can be obtained, namely, the control precision of automatic production is improved.

Fig. 10 is a schematic structural diagram of a sixth motor control system according to an embodiment of the present application. As shown in fig. 10, the motor control system further includes a multiport information forwarding device and an auxiliary device, and the multiport information forwarding device is connected with the centralized computing device and the auxiliary device respectively. The multi-port information forwarding device establishes communication with the centralized computing processing device and the auxiliary device respectively, and the communication mode can be wired communication or wireless communication.

The centralized calculation processing device sends the motor control parameters to the drive forwarding device and simultaneously sends the auxiliary control parameters to the multi-port information forwarding device. The multi-port information forwarding device sends the auxiliary control parameters to the corresponding auxiliary device, and the auxiliary device assists the motor control system to work based on the received auxiliary control parameters.

For example, the auxiliary device is a conveyor belt device, the mechanical arm is used for carrying articles on the conveyor belt to a designated position, and when the centralized calculation processing device sends motor control parameters to the drive forwarding device to control the movement of the mechanical arm, the multi-port information forwarding device sends control parameters for closing a switch of the conveyor belt device to the auxiliary device so as to control the operation of the conveyor belt, so that the cooperation of the conveyor belt device and the mechanical arm is realized.

For another example, the auxiliary device is an indicator lamp, when the mechanical arm does not work, the corresponding indicator lamp is not lightened, when the mechanical arm works normally, the corresponding indicator lamp is lightened to be green, when the centralized calculation processing device sends motor control parameters to the drive forwarding device to control the mechanical arm to move, the multi-port information forwarding device sends the control parameters for lightening the indicator lamp to the auxiliary device, so that the indicator lamp is always lightened to be green in the normal working process of the mechanical arm.

Alternatively, as shown in fig. 11, the motor control system includes a centralized computation processing device, a distribution device, a drive forwarding device, a motor, a multi-port information forwarding device, and an auxiliary device. The multi-port information forwarding device is respectively connected with the distributing device and the auxiliary device and establishes communication. The centralized computation processing device sends the motor control parameters and the auxiliary control parameters to the distribution device, and then the distribution device respectively sends the motor control parameters and the auxiliary control parameters to the corresponding drive forwarding device and the auxiliary device, thereby controlling the operation of the motor and the auxiliary device. The specific operation procedure is similar to the above, and will not be repeated here.

For the multi-port information forwarding device and the auxiliary device, two possible cases are shown here by way of example, and various auxiliary devices for assisting the operation of the motor control system can be set according to actual production needs, which are not described herein.

The motor control system provided by the embodiment of the application comprises a plurality of drive forwarding devices, wherein any two drive forwarding devices in the plurality of drive forwarding devices are connected and communication is established. Next, data transmission between drive transfer devices will be described taking an example in which the motor control system includes two drive transfer devices.

Fig. 12 is a schematic structural diagram of a seventh motor control system provided in an embodiment of the present application. As shown in fig. 12, the motor control system includes two drive-forwarding devices, which are called a first drive-forwarding device and a second drive-forwarding device, respectively. The first drive forwarding device is respectively connected with the centralized computing device and the first motor, and establishes communication. The first drive forwarding device is respectively connected with the centralized computation processing device and the second motor, and establishes communication. The first drive forwarding device is connected to the second drive forwarding device and establishes communication in a manner similar to that described above.

The centralized computation processing device sends the motor control parameters corresponding to the first drive forwarding device and the motor control parameters corresponding to the second drive forwarding device to the first drive forwarding device. The first drive forwarding device sends the motor control parameters corresponding to the second drive forwarding device, and receives the motor control parameters corresponding to the first drive forwarding device sent by the second drive forwarding device. The first drive forwarding device compares the motor control parameters corresponding to the first drive forwarding device sent by the centralized computation processing device with the motor control parameters corresponding to the first drive forwarding device sent by the second drive forwarding device. If the two groups of motor control parameters are identical or within a preset error range, the first drive forwarding device controls the motor to operate according to the motor control parameters sent by the centralized calculation processing device. If the error of the two sets of motor control parameters exceeds the preset error range, the current running state of the first motor is not changed, and the centralized calculation processing device is required to resend the motor control parameters.

Similarly, the second drive forwarding device sends the motor control parameters corresponding to the first drive forwarding device, and receives the motor control parameters corresponding to the second drive forwarding device sent by the first drive forwarding device. And if the motor control parameters corresponding to the second drive forwarding device sent by the centralized calculation processing device are the same as the motor control parameters corresponding to the second drive forwarding device sent by the first drive forwarding device or are within a preset error range, controlling the corresponding motor to operate based on the motor control parameters corresponding to the second drive forwarding device. Instead, this requires the centralized computing processing means to resend the motor control parameters.

The first drive transfer device and the second drive transfer device may be part or all of the plurality of drive transfer devices connected to the centralized computation processing device. In addition, the second drive forwarding device may have one or more.

By using the motor control system and the motor control method provided by the embodiment of the application, communication is established between different drive forwarding devices, and data transmission can be performed. Therefore, the drive forwarding device can verify the motor control parameters sent by the centralized calculation processing device through the motor control parameters forwarded by other drive forwarding devices so as to ensure the accuracy of motor operation, thereby improving the control precision of automatic production. In addition, if normal data transmission cannot be carried out between the centralized computing processing device and a certain drive forwarding device, the centralized computing processing device can carry out data transmission to the drive forwarding device through other drive forwarding devices, so that the running stability of the motor control system is ensured.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.

The motor automation control system comprises a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors. The centralized computing processing device is connected with each of a plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected with at least one of the plurality of motors. The motor driving and forwarding device obtains motor state parameters of the motor and sends the motor state parameters to the centralized computing and processing device. The centralized calculation processing device determines corresponding motor control parameters based on the motor state parameters and sends the motor control parameters to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected with the motor driving and forwarding device based on the motor control parameters, so that real-time control of the motor is realized. In the motor control system, the centralized computation processing device is used for computing corresponding motor control parameters, and the centralized computation processing device can be computer equipment and the like, and has stronger processing capacity than a current commonly used servo controller, namely, can perform high-frequency and high-complexity computation. Thus, the control precision of automatic production is greatly improved.

In the motor control system, the centralized computing processing device simultaneously controls the plurality of motor driving and forwarding devices and the plurality of motors, so that a synchronous control mechanism for flattening the motors is embodied, the control efficiency is improved, the time delay of information synchronous interaction is reduced, and the control precision of automatic production is further improved.

In the motor control system, the motor driving and forwarding device replaces a current common servo controller, and mainly plays a role of forwarding parameters, compared with the servo controller, the motor driving and forwarding device does not need to have higher processing capacity, and the cost is relatively low, so that the cost of the whole control system is reduced. Based on the same technical conception, the embodiment of the application also provides a motor driving and forwarding device. The apparatus is applied to the motor control system mentioned in the above embodiment, and as shown in fig. 13, the apparatus includes a communication module 1301 and a driving module 1302.

The communication module 1301 is configured to obtain a motor state parameter of a motor connected to the motor driving and forwarding device, send the motor state parameter to the centralized computing device, and receive a motor control parameter sent by the centralized computing device. The corresponding processing is described in steps S402, S403, S405, S902, S903, S905 and the description related to the steps.

The driving module 1402 is configured to drive a motor connected to the motor driving and forwarding device based on the motor control parameter. The corresponding processing is described in steps S402, S405, S902, S905 and the description related to the steps.

In a possible implementation manner, the motor control system further includes an image monitoring device, and the communication module 1301 is further configured to send the working image data of the motor received from the image monitoring device to the centralized computing processing device. The corresponding processing is referred to the above step S903 and the explanation concerning the steps.

In a possible implementation manner, the communication module 1301 is further configured to send the shooting control parameter received from the centralized computing processing apparatus to the image monitoring apparatus. The corresponding processing is referred to the above step S905 and the explanation contents related to the steps.

In one possible implementation manner, the communication module 1301 is configured to receive the motor control parameters corresponding to the present motor driving and forwarding device and the motor control parameters corresponding to the other motor driving and forwarding devices sent by the centralized computing processing device.

The driving module 1302 is configured to: the motor control parameters corresponding to the other motor driving and forwarding devices are sent to the other motor driving and forwarding devices; receiving motor control parameters corresponding to the motor driving and forwarding devices sent by the other motor driving and forwarding devices; and if the motor control parameters corresponding to the motor driving and forwarding device sent by the centralized computing and processing device are the same as the motor control parameters corresponding to the motor driving and forwarding device sent by the other motor driving and forwarding devices, driving a motor connected with the motor driving and forwarding device based on the motor control parameters corresponding to the motor driving and forwarding device. Corresponding processing is found in the description provided above for the embodiment of the present application regarding the seventh motor control system.

It should be noted that, the communication module 1301 and the driving module 1302 may be implemented by a processor, or implemented by a processor and a memory.

The motor automation control system comprises a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors. The centralized computing processing means is connected to each of the plurality of motor drive and forward means. Each motor drive and forwarding device is respectively connected with at least one of the plurality of motors. The motor driving and forwarding device obtains motor state parameters of the motor and sends the motor state parameters to the centralized computing and processing device. The centralized calculation processing device determines corresponding motor control parameters based on the motor state parameters and sends the motor control parameters to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected with the motor driving and forwarding device based on the motor control parameters, so that real-time control of the motor is realized. In the motor control system, the centralized computation processing device is used for computing corresponding motor control parameters, and the centralized computation processing device can be computer equipment and the like, and has stronger processing capacity than a current commonly used servo controller, namely, can perform high-frequency and high-complexity computation. Thus, the control precision of automatic production is greatly improved.

In the motor control system, the motor driving and forwarding device replaces a current common servo controller, and mainly plays a role of forwarding parameters, compared with the servo controller, the motor driving and forwarding device does not need to have higher processing capacity, and the cost is relatively low, so that the cost of the whole control system is reduced.

It should be noted that: in the motor driving and forwarding device provided in the above embodiment, only the division of the above functional modules is used for illustration when the motor is controlled, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the motor driving and forwarding device provided in the foregoing embodiments belongs to the same concept as the motor control system embodiment and the motor control method embodiment, and the specific implementation process thereof is detailed in the method embodiment and will not be described herein again.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description is provided for the purpose of illustrating an exemplary embodiment of the present application and is not intended to limit the scope of the present application, but is intended to cover any adaptations, alternatives, modifications, and variations that may include within the scope of the present application.

Claims

1. A motor control system, the motor control system comprising: a centralized computing processing device, a plurality of motor driving and forwarding devices and a plurality of motors, wherein the centralized computing processing device is connected with each of the plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected with at least one of the plurality of motors; wherein:

the centralized calculation processing device is used for receiving the motor state parameters sent by the motor driving and forwarding device, determining motor control parameters based on the motor state parameters and sending the motor control parameters to the motor driving and forwarding device;

The motor driving and forwarding device is used for acquiring motor state parameters of the motor connected with the motor driving and forwarding device, sending the motor state parameters to the centralized calculation processing device and driving the motor connected with the motor driving and forwarding device based on the motor control parameters.

2. The motor control system of claim 1 further comprising a distribution device, the centralized computing processing device being coupled to each of the plurality of motor drive and forward devices, comprising: the centralized computing processing device is connected with each of the plurality of motor driving and forwarding devices through the distributing device;

the distributing device is used for forwarding the motor control parameters received from the centralized computing device to each motor driving and forwarding device and sending the motor state parameters received from each motor driving and forwarding device to the centralized computing device.

3. The motor control system according to claim 1 or 2, characterized in that the motor control system further comprises an image monitoring device connected to the motor drive and forwarding device;

The image monitoring device is used for acquiring working image data corresponding to the motor and sending the working image data to the motor driving and forwarding device;

the motor driving and forwarding device is also used for sending the working image data to the centralized computing and processing device.

4. A motor control system according to claim 3, wherein the centralized computation processing means is further configured to send shooting control parameters to the motor drive and transfer means;

the motor driving and forwarding device is also used for sending the shooting control parameters to the image monitoring device;

the image monitoring device is used for acquiring working image data corresponding to the motor based on the shooting control parameters when the shooting control parameters are received.

5. The motor control system of claim 3 wherein said determining motor control parameters based on said motor status parameters comprises: and determining a motor control parameter based on the motor state parameter and the working image data.

6. A motor control system according to claim 3, wherein the motor drive and relay means uses the same communication channel for transmitting the motor status parameter to the centralized computing processing means and for transmitting the working image data to the centralized computing processing means.

7. The motor control system according to any one of claims 1 to 6, further comprising a multiport information transfer device and an auxiliary device, the multiport information transfer device being connected to the centralized computing processing device and the auxiliary device, respectively;

the multi-port information forwarding device is used for sending auxiliary control parameters received from the centralized computing processing device to the auxiliary device;

the auxiliary device is used for assisting the motor control system to work based on the auxiliary control parameters.

8. The motor control system of any one of claims 1-7 wherein any two of the plurality of motor drive and repeater devices are connected.

9. The motor control system of claim 8, wherein the centralized computing processing means is configured to:

respectively sending motor control parameters corresponding to the first motor driving and forwarding device and motor control parameters corresponding to the second motor driving and forwarding device to a first motor driving and forwarding device and a second motor driving and forwarding device in the plurality of motor driving and forwarding devices;

The first motor driving and forwarding device is used for:

the motor control parameters corresponding to the second motor driving and forwarding device are sent to the second motor driving and forwarding device;

receiving motor control parameters corresponding to the first motor driving and forwarding device sent by the second motor driving and forwarding device;

if the motor control parameter corresponding to the first motor driving and forwarding device sent by the centralized computing and processing device is the same as the motor control parameter corresponding to the first motor driving and forwarding device sent by the second motor driving and forwarding device, driving a motor connected with the first motor driving and forwarding device based on the motor control parameter corresponding to the first motor driving and forwarding device;

the second motor driving and forwarding device is used for:

the motor control parameters corresponding to the first motor driving and forwarding device are sent to the first motor driving and forwarding device;

receiving motor control parameters corresponding to the second motor driving and forwarding device sent by the first motor driving and forwarding device;

and if the motor control parameters corresponding to the second motor driving and forwarding device sent by the centralized computing and processing device are the same as the motor control parameters corresponding to the second motor driving and forwarding device sent by the first motor driving and forwarding device, driving a motor connected with the second motor driving and forwarding device based on the motor control parameters corresponding to the second motor driving and forwarding device.

10. The motor control system according to any one of claims 1 to 9, wherein the motor includes a driver, a motor body, and a motor status sensor, the driver being connected to the motor body, the motor drive and the relay, respectively, the motor status sensor being connected to the motor body, the motor drive and the relay, respectively;

the motor driving and forwarding device is used for sending the motor control parameters received from the centralized computing and processing device to the driver and sending the motor state parameters received from the driver and the motor state sensor to the centralized computing and processing device;

the driver is used for driving the motor body to operate based on motor control parameters received from the motor driving and forwarding device.

11. The motor control system according to any one of claims 1 to 9, wherein the motor driving and forwarding device includes a communication part and a driver, the motor includes a motor body and a motor state sensor, the communication part is connected to the driver, the motor state sensor, the centralized computing processing device, respectively, and the motor body is connected to the driver, the motor state sensor, respectively;

The communication part is used for sending the motor control parameters received from the centralized computing and processing device to the driver and sending the motor state parameters received from the driver and the motor state sensor to the centralized computing and processing device;

the driver is used for driving the motor body to operate based on motor control parameters received from the communication component.

12. A motor control method, the method being applied to a motor control system including a centralized computing processing device, a plurality of motor driving and forwarding devices, and a plurality of motors, the method comprising:

the motor driving and forwarding device obtains motor state parameters of a motor connected with the motor driving and forwarding device and sends the motor state parameters to the centralized computing and processing device;

the centralized calculation processing device determines motor control parameters based on the motor state parameters;

the centralized computing and processing device sends the motor control parameters to the motor driving and forwarding device;

the motor driving and forwarding device drives a motor connected with the motor driving and forwarding device based on the motor control parameters.

13. The motor control method of claim 12 wherein the motor control system further comprises a dispensing device;

the centralized computation processing device sends the motor control parameters to the motor driving and forwarding device, and the centralized computation processing device comprises:

the centralized computing and processing device sends the motor control parameters to the distributing device;

the distributing device forwards the motor control parameters to each motor driving and forwarding device;

the motor driving and forwarding device obtains motor state parameters of a motor connected with the motor driving and forwarding device and sends the motor state parameters to the centralized computing and processing device, and the centralized computing and processing device comprises:

the motor driving and forwarding device obtains motor state parameters of a motor connected with the motor driving and forwarding device and sends the motor state parameters to the distribution device;

the distributing means transmits the motor status parameters received from each of the motor drive and forwarding means to the centralized computing processing means.

14. The motor control method according to claim 12 or 13, characterized in that the motor control system further includes an image monitoring device, the method further comprising:

the image monitoring device acquires working image data corresponding to the motor and sends the working image data to the motor driving and forwarding device;

The motor driving and forwarding device sends the working image data to the centralized computing and processing device.

15. The motor control method according to claim 14, characterized in that the method further comprises:

the centralized calculation processing device sends shooting control parameters to the motor driving and forwarding device;

the motor driving and forwarding device sends the shooting control parameters to the image monitoring device;

the image monitoring device acquires working image data corresponding to the motor based on the shooting control parameters.

16. The motor control method according to claim 14, characterized in that the centralized computation processing means determines motor control parameters based on the motor state parameters, including:

the centralized computation processing means determines motor control parameters based on the motor state parameters and the working image data.

17. The motor control method according to claim 14, wherein the motor drive and transfer means uses the same communication channel for transmitting the motor state parameter to the centralized computing processing means and for transmitting the work image data to the centralized computing processing means.

18. The motor control method according to claims 12-17, characterized in that the motor control system further comprises a multiport information forwarding device and an auxiliary device, the method further comprising:

the centralized computing processing device sends auxiliary control parameters to the multi-port information forwarding device;

the multi-port information forwarding device sends the auxiliary control parameters to the auxiliary device;

the auxiliary device assists the motor control system to work based on the auxiliary control parameter.

19. A motor drive and repeater apparatus, the apparatus comprising:

the communication module is used for acquiring motor state parameters of the motor connected with the motor driving and forwarding device, sending the motor state parameters to the centralized computing and processing device and receiving motor control parameters sent by the centralized computing and processing device;

and the driving module is used for driving the motor connected with the motor driving and forwarding device based on the motor control parameters.

20. The motor drive and repeater device according to claim 19, wherein the communication module is further configured to transmit the operation image data of the motor received from the image monitoring device to the centralized computing processing device.

21. The motor drive and forwarding device of claim 19, wherein the communication module is further configured to send the photographing control parameters received from the centralized computing processing device to the image monitoring device.

22. The motor-driven and forwarding device according to any one of claims 19 to 21, wherein the communication module is configured to receive the motor control parameters corresponding to the motor-driven and forwarding device sent by the centralized computing and processing device, and the motor control parameters corresponding to other motor-driven and forwarding devices;

the driving module is used for:

the motor control parameters corresponding to the other motor driving and forwarding devices are sent to the other motor driving and forwarding devices;

receiving motor control parameters corresponding to the motor driving and forwarding devices sent by the other motor driving and forwarding devices;

and if the motor control parameters corresponding to the motor driving and forwarding device sent by the centralized computing and processing device are the same as the motor control parameters corresponding to the motor driving and forwarding device sent by the other motor driving and forwarding devices, driving a motor connected with the motor driving and forwarding device based on the motor control parameters corresponding to the motor driving and forwarding device.