CN117294177A - Motor synchronous control device, method, system and computer readable storage medium - Google Patents

Abstract

The invention relates to a motor synchronous control device, a method, a system and a computer readable storage medium, wherein the motor synchronous control device comprises a position controller, a speed control command and a control unit, wherein the position controller is used for acquiring a given position command and feedback position information, and generating the speed control command after processing; the feedback position information is the position information of the motors connected with the motor synchronous control device and/or the midpoint position of the two motors in synchronous control; the speed controller is used for acquiring a speed control instruction and feeding back speed information, and generating a current control instruction after processing; the feedback speed information is the speed information of the motors connected with the motor synchronous control device and/or the midpoint speed of the two motors in synchronous control; the motor synchronous control device comprises a current controller which is used for acquiring a current control instruction so as to control a motor connected with the motor synchronous control device. The traditional three-ring control architecture is maintained, the application is easy, different types of feedback information can be adopted according to different application scenes, and the flexibility of synchronous control is improved.

Description

Motor synchronous control device, method, system and computer readable storage medium

Technical Field

The present invention relates to the field of motor control, and in particular, to a motor synchronization control apparatus, method, system, and computer readable storage medium.

Background

The motor driver is a product widely applied to industrial control and automatic production, for example, the motor driver is applied to various automatic control industries such as 3C (computer, communication, consumer electronics) automation, single-shaft manipulators, logistics and the like. In some application scenes, such as large numerical control planing machines, laser welding equipment, glass processing equipment and the like, the breadth is large, the processing operation speed is high and the like; if single-shaft transmission is adopted for equipment in the application scenes, the rapid processing requirement cannot be met; thus, dual axis synchronization control is typically employed for such scenarios. However, the motor synchronous control in the related art has low flexibility, and an ideal control effect cannot be achieved in some situations, and a motor driver with proper synchronous performance is required to adapt to different application situations.

Disclosure of Invention

The application provides a motor synchronous control device, a motor synchronous control method, a motor synchronous control system and a computer readable storage medium.

A synchronous control method of a motor comprises a position controller, a speed controller and a current controller;

the position controller is used for acquiring a given position instruction and feedback position information, and generating a speed control instruction after processing; the feedback position information is the position information of the motors connected with the motor synchronous control device and/or the midpoint position of the two motors in synchronous control;

the speed controller is used for acquiring the speed control instruction and feedback speed information, and generating a current control instruction after processing; the feedback speed information is the speed information of the motors connected with the motor synchronous control device and/or the midpoint speed of the two motors in synchronous control;

and the current controller is used for acquiring the current control instruction so as to control the motor connected with the motor synchronous control device.

The motor synchronous control device keeps the traditional three-ring control framework, synchronously controls the motor based on feedback position information and feedback speed information, is easy to apply on the basis of the existing equipment, and can be used together in two modes of position synchronization and speed synchronization, and has good synchronization performance. The position controller and the speed controller in the motor synchronous control device can respectively adopt different types of feedback information according to different application scenes, so that the flexibility of synchronous control is improved.

Optionally, the position controller is further configured to obtain a synchronous control position compensation amount, and process the given position command, the feedback position information and the synchronous control position compensation amount to generate a speed control command;

and/or the speed controller is further used for acquiring the synchronous control speed compensation quantity, and generating a current control instruction after the speed control instruction, the feedback speed information and the synchronous control speed compensation quantity are processed.

The synchronous control position compensation quantity and the synchronous control speed compensation quantity can compensate the numerical values of the motor position and the motor speed, and more accurate motor control can be realized in some implementation processes, so that better synchronism of the motor when synchronously controlled is ensured.

Optionally, the motor synchronous control device further comprises a feedback calculation unit, wherein the feedback calculation unit is used for obtaining the position information of the two motors in synchronous control, and the midpoint position and the midpoint speed are obtained through calculation.

Optionally, the motor synchronous control device includes: and the alarm unit is used for acquiring the position information or the torque information of the two motors in synchronous control, and sending out alarm information when the difference value of the position information or the torque information of the two motors meets the preset condition.

Based on the same inventive concept, the present application further provides a motor synchronization control method, which is applied to the motor synchronization control device, and the motor synchronization control method includes:

acquiring a given position instruction and feedback position information, and generating a speed control instruction after processing; the feedback position information is the position information of the motors connected with the motor synchronous control device and/or the midpoint position of the two motors in synchronous control;

acquiring the speed control instruction and feedback speed information, and generating a current control instruction after processing; the feedback speed information is the speed information of the motors connected with the motor synchronous control device and/or the midpoint speed of the two motors in synchronous control;

and controlling the motor connected with the motor synchronous control device to operate according to the current control instruction.

According to the motor synchronous control method, different types of feedback information can be adopted according to different application scenes, so that the flexibility of synchronous control is higher. In some implementations, a relatively desirable synchronization effect may be achieved according to the needs of the user.

Based on the same inventive concept, the present application further provides a motor synchronous control system, including: the first motor driver, the first motor connected with the first motor driver, the second motor driver and the second motor connected with the second motor driver; the first motor driver and the second motor driver comprise the motor synchronous control device.

The motor synchronous control system can adopt different types of feedback information according to different application scenes, so that the flexibility of synchronous control is higher. In some implementations, a relatively desirable synchronization effect may be achieved according to the needs of the user.

Optionally, the system comprises a controller connected with the first motor driver and the second motor driver, wherein the controller comprises a feedback calculation unit, and the feedback calculation unit is used for acquiring the position information of the two motors in synchronous control and obtaining the midpoint position and the midpoint speed through calculation.

Optionally, the controller further comprises a synchronous controller, wherein the synchronous controller is used for acquiring torque information of two motors in synchronous control, and obtaining synchronous control position compensation quantity and/or synchronous control speed compensation quantity after calculation;

and/or the alarm unit is used for acquiring the position information or the torque information of the two motors in synchronous control, and sending out alarm information when the difference value of the position information or the torque information of the two motors meets a preset condition.

Based on the same inventive concept, the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above-mentioned motor synchronization control method.

The computer program stored in the computer readable storage medium can be executed by the processor to realize the steps of the motor synchronous control method, and different types of feedback information can be adopted according to different application scenes, so that the synchronous control flexibility is higher. In some implementations, a relatively desirable synchronization effect may be achieved according to the needs of the user.

Drawings

Fig. 1 is a schematic structural diagram of a synchronous motor control device according to an embodiment of the present invention;

fig. 2 is a schematic diagram of another structure of a synchronous motor control device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a motor synchronous control device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a synchronous motor control system according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a motor synchronous control method according to an embodiment of the present invention;

reference numerals illustrate:

100-a synchronous motor control device; 101-a position controller; 102-a speed controller; 103-a current controller; 104-a feedback calculation unit; 105-instruction given unit; 106-a synchronous controller; 107-an alarm unit; 201-a first motor driver; 202-a first motor; 203-a second motor drive; 204-a second motor; 205-flexible gantry; S1P, S2P-position feedback selection switch; S1V, S2V-speed feedback selection switch; s-switch.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

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 in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Examples:

the present embodiment provides a motor synchronization control apparatus 100, which includes a position controller 101, a speed controller 102, and a current controller 103, see fig. 1 to 5. The position controller 101 is configured to obtain a given position instruction and feedback position information, and generate a speed control instruction after processing; the feedback position information is position information of the motors connected to the motor synchronous control device 100, and/or a midpoint position of the two motors in synchronous control. The speed controller 102 is used for acquiring a speed control instruction and feedback speed information, and generating a current control instruction after processing; the feedback speed information is speed information of the motors connected to the motor synchronous control device 100, and/or a midpoint speed of the two motors in synchronous control. The current controller 103 is configured to obtain a current control command to control a motor connected to the motor synchronous control device 100, where a midpoint position is an average value of a position sum of two motors in synchronous control, and a midpoint speed is an average value of a speed sum of two motors in synchronous control.

The motor synchronous control device 100 of the present embodiment is used for controlling motors, and for convenience of description, two motors for synchronous control are referred to as a first motor 202 and a second motor 204, respectively, and it is understood that the description of "first" and "second" in the first motor 202 and the second motor 204 is only used for distinguishing the two motors for synchronous control, and is not meant to be limiting, and similarly, other similar descriptions in this application are also meant to be distinguishing on objects unless otherwise specified. In practical applications, the large-scale automation device may adopt an equivalent structure including, but not limited to, a gantry synchronization structure, and the first motor 202 and the second motor 204 may be used to drive the synchronization structure to act or may be applied to other scenes where synchronization control is required. Illustratively, the first motor 202 and the second motor 204 may be rotating motors that convert rotational motion into linear motion and drive a synchronizing structure to synchronize motion in a linear direction by means including, but not limited to, using a ball screw drive or the like. Ideally, the positions and speeds of the first motor 202 and the second motor 204 are always consistent, i.e., completely synchronous, with balanced forces and precise movement. However, in practical applications, due to various errors, complete synchronization between the first motor 202 and the second motor 204 is impossible, and through synchronous control of the motors, the position deviation between the first motor 202 and the second motor 204 can be continuously compensated, so that the situation that the synchronous structure generates larger torsion caused by overlarge position deviation between the two motors is avoided. It should be understood that the motor synchronous control device 100 of the present embodiment may be applied to a motor synchronous control system including, but not limited to, a motor synchronous control system employing a synchronous structure, and may be applied to a motor synchronous control system not provided with a synchronous structure in some implementations.

It should be noted that, in the motor synchronous control device 100 in the present embodiment, the position controller 101 may receive feedback position information, which may be position information of the motor to which the motor synchronous control device 100 is connected, or may be a midpoint position of two motors in synchronous control, or both. Similarly, the speed controller 102 may receive feedback speed information, which may be the speed information of the motor to which the motor synchronous control device 100 is connected, the midpoint speed of the two motors in synchronous control, or both. In this application, the motor connected to the motor synchronous control device 100 is a motor directly controlled by the motor synchronous control device 100 (or a device provided with the motor synchronous control device 100), and in practical application, the first motor 202 and the second motor 204 that are synchronously controlled may be controlled by different motor synchronous control devices 100 respectively. Thus, the feedback position information acquired by the position controller 101 in the motor synchronous control device 100 connected to the first motor 202 may be the position information of the first motor 202 and/or the midpoint position of the first motor 202 and the second motor 204; the feedback position information obtained by the position controller 101 in the motor synchronous control device 100 connected to the second motor 204 may be the position information of the second motor 204 and/or the midpoint position of the first motor 202 and the second motor 204. The feedback speed information obtained by the speed controller 102 in the motor synchronous control device 100 is similar to the feedback position information, and is not described herein.

It should be noted that, if the motor synchronous control device 100 acquires the position information and the speed information of the motor to perform synchronous control, better rigidity performance can be provided; if the midpoint position and the midpoint speed of the two motors are adopted, better synchronism can be provided. The motor synchronous control device 100 of the embodiment maintains a traditional three-ring control architecture, is easy to apply on the basis of the existing equipment, and simultaneously performs synchronous control of the motor based on feedback position information and feedback speed information, and can be used together in two modes of position synchronization and speed synchronization, and has good synchronization performance. In addition, the position controller 101 and the speed controller 102 in the motor synchronous control device 100 can respectively adopt different types of feedback information according to different application scenarios, so that the flexibility of synchronous control is increased.

It will be appreciated that the positions of the two motors in synchronous control may be measured by feedback devices including, but not limited to, encoders, including, but not limited to, grating encoders, electromagnetic encoders, etc. As an example, feedback position information may be continuously obtained during synchronous operation of the two motors, while speed may be obtained from position versus time guidance. The calculation of the speeds of the first motor 202 and the second motor 204 may be performed by the motor synchronous control device 100 connected thereto after receiving feedback of the positions, or in some examples, may be calculated by a processing arithmetic unit in an encoder or other reasonable device and then sent to the motor synchronous control device 100, which is not limited in this embodiment.

The feedback position information and feedback speed information of this embodiment may be specifically selected based on the requirement, and it should be understood that the selection of the information may be performed by a physical selection unit, for example, a physical structure such as a switch or a selection circuit, or may be implemented by software-based control.

In some embodiments, as shown in fig. 2, the motor synchronization control device 100 includes a feedback position selection switch S1P and a feedback speed selection switch S1V. The motor synchronous control device 100 may be connected to two different feedback position information providing terminals, which respectively feed back the position information P1 of the motor to which it is connected and the midpoint position Pc of the two motors. The feedback position selection switch S1P can determine the type of feedback position information currently received by the position controller 101. Similarly, the motor synchronous control device 100 may be connected to two different feedback speed information providing terminals, and feedback the speed information V1 of the connected motors and the midpoint speed Vc of the two motors, respectively. The feedback speed selection switch S1V can determine the type of feedback speed information currently received by the speed controller 102.

In some embodiments, the feedback calculation unit 104 that provides the feedback position information and the feedback speed information may be provided in the motor synchronous control device 100, that is, the motor synchronous control device 100 further includes the feedback calculation unit 104 that is configured to obtain the position information of the two motors in synchronous control, and obtain the midpoint position and midpoint speed of the two motors through calculation. And for the other motor in synchronous control, the position information and/or the speed information of the other motor can be obtained through data communication modes such as bus communication and the like, so that the midpoint position and the center speed of the two motors can be calculated. It can be understood that the midpoint position and the center speed of the two motors may be calculated by the motor synchronous control device 100 of the two motors by acquiring data of each other, or may be calculated by one of the motor synchronous control devices 100 and fed back to the other through data communication.

It can be understood that, for example, in the embodiment of fig. 3, in which the feedback position information and the feedback speed information are selected by the physical selecting unit, the feedback calculating unit 104 provided in the motor synchronous control device 100 may include two ports for outputting the feedback position information, and respectively outputting the position information of the motor connected to the motor synchronous control device 100 and the midpoint position of the two motors in the synchronous control; and may include two ports for outputting feedback speed information, respectively for outputting speed information of the motor connected to the motor synchronous control device 100 and a midpoint speed of the two motors in the synchronous control.

In other embodiments, the selection of the feedback position information and/or the feedback speed information may be implemented by software-level control, for example, the feedback calculation unit 104 provided in the motor synchronous control device 100 or the external feedback calculation unit 104, and when outputting the feedback position information and/or the feedback speed information, the feedback position information and/or the feedback speed information is output according to a user selection or a preset configuration. In these embodiments, the feedback calculation unit 104 may only include one port for outputting feedback position information and one port for feeding back speed information, and control what information is output by the corresponding port through software according to the received instruction. In practical application, the motor synchronous control device 100 may further include a unit for receiving a user input instruction, where a user input configuration may be arbitrary, for example, the user input configuration may be input through control software, and the control software may store the user input configuration, delete the original configuration when the user input configuration is received next time, and store the newly input configuration; the configuration may also be performed by means of hardware, for example by means of a dial switch or other form of switch.

The given position command acquired by the position controller 101 of the motor synchronous control device 100 may be issued by the command given unit 105, and in some embodiments, the motor synchronous control device 100 further includes the command given unit 105. The two motors for synchronous control may be respectively provided with the motor synchronous control device 100, but in some implementations, only one motor synchronous control device 100 needs to include the command giving unit 105, and the motor synchronous control device 100 not provided with the command giving unit 105 may acquire the given position command determined by the command giving unit 105 through a data communication means such as bus communication.

In some embodiments, the motor synchronous control device 100 may also receive the synchronous control compensation amount, thereby making more accurate adjustments to the synchronous control. The position controller 101 may be further configured to obtain a synchronous control position compensation amount, process the given position command, the feedback position information, and the synchronous control position compensation amount, and generate a speed control command; and/or, the speed controller 102 may be further configured to obtain the isokinetic control speed compensation amount, process the speed control command, the feedback speed information, and the isokinetic control speed compensation amount, and generate the current control command.

As one example, the co-motion control position compensation amount and/or the co-motion control speed compensation amount is determined by the co-motion controller 106, and the position controller 101 and/or the speed controller 102 are connected to the co-motion controller 106 to obtain the co-motion control position compensation amount and/or the co-motion control speed compensation amount. In some embodiments, the interlock controller 106 may be provided in the motor synchronous control device 100, i.e., the motor synchronous control device 100 further includes the interlock controller 106. The two motors that are synchronously controlled may be respectively provided with the motor synchronous control device 100, but in some implementations, only one motor synchronous control device 100 needs to include the synchronous controller 106, and the motor synchronous control device 100 that is not provided with the synchronous controller 106 may acquire the synchronous control position compensation amount and/or the synchronous control speed compensation amount determined by the synchronous controller 106 through a data communication means such as bus communication. In this embodiment, the synchronous control position compensation amount and/or the synchronous control speed compensation amount may be determined according to the given torques of the two motors in synchronous control, and the synchronous controller 106 receives the given torque f1×of the first motor 202 and the given torque f2×of the second motor 204 and calculates the difference therebetween, and if the synchronous controller 106 is disposed in one of the motor synchronous control devices 100, the given torque of the other motor may be obtained by means of data communication such as bus communication.

In practical applications, the specific compensation of position or speed may be set according to the setting, that is, the amount of inching speed compensation and the amount of inching position compensation are also optional. The same-motion control position compensation amount may be provided to the corresponding position controller 101 or the same-motion control speed compensation amount may be provided to the corresponding speed controller 102, for example, through the switch S.

Illustratively, the co-motion controller 106, the position controller 101, the speed controller 102, the current controller 103, etc., may be employed including, but not limited to, a PID (proportional-integral-derivative) controller, a fuzzy controller, or a non-linear controller, etc.

In some embodiments, the motor synchronous control device 100 further includes an alarm unit 107, where the alarm unit 107 is configured to obtain position information or torque information of two motors in synchronous control, and send out alarm information when a difference value between the position information or the torque information of the two motors satisfies a preset condition. In some embodiments, the alarm unit 107 may also directly stop the movement of the motor when the difference between the position information or the torque information of the two motors satisfies the preset condition, so as to avoid structural damage.

The motor synchronous control device 100 maintains a standard three-ring control architecture, can achieve better tracking and synchronous effects in some embodiments by adopting different types of feedback information according to different application scenes, can be provided with devices or units such as the synchronous controller 106 and the alarm unit 107 to ensure that excessive control errors of synchronously controlled motors are not easy to occur, avoid structural damage, and can protect machinery.

The present embodiment also provides a motor synchronous control method, which is applied to the foregoing motor synchronous control device 100, referring to fig. 4, and the steps of the motor synchronous control method include, but are not limited to:

s101, acquiring a given position instruction and feedback position information, and generating a speed control instruction after processing;

the feedback position information is position information of the motors connected to the motor synchronous control device 100, and/or a midpoint position of the two motors in synchronous control.

S102, acquiring a speed control instruction and feedback speed information, and generating a current control instruction after processing;

the feedback speed information is the speed information of the motor connected to the motor synchronous control device 100, and/or the midpoint speed of the two motors in synchronous control.

S103, controlling the motor connected with the motor synchronous control device to operate according to the current control instruction;

in some embodiments, the motor synchronous control method further includes acquiring a user command, and determining feedback position information and/or feedback speed information, specifically, feedback information of a motor connected to the motor synchronous control device 100 or information of a midpoint of two motors in synchronous control according to the user command. The user command may be acquired by software, for example, by data communication, or may be acquired by determining the state of a physical structure by reading the state of a dial switch on a motor driver.

In the motor synchronous control method of the embodiment, more than one choices exist for the feedback position information and the feedback speed information, the feedback position information and the feedback speed information can be determined according to actual requirements, the tracking synchronization selectivity is increased, and the synchronous control flexibility is higher. In some implementations, a relatively desirable synchronization effect may be achieved according to the needs of the user.

The present embodiment also provides a motor synchronous control system, which includes a first motor driver 201, a first motor 202 connected with the first motor driver, a second motor driver 203, and a second motor 204 connected with the second motor driver; the first motor driver 201 and the second motor driver 203 include the motor synchronization control device 100 as described above.

It should be understood that the first motor 202 and the second motor 204 in this embodiment are two motors in synchronous control, and the first motor driver 201 and the second motor driver 203 are respectively used to control the two motors. In the synchronous control, the first motor driver 201 and the second motor driver 203 can be synchronously controlled by acquiring the same given position instruction or the like.

In this embodiment, the first motor driver 201 and the second motor driver 203 may be the same or different, for example, the feedback calculation unit 104, the synchronous controller 106, and other units or devices mentioned in the foregoing examples may be provided only in the motor synchronous control device 100 of any one of the motor drivers, and the other motor driver may not include the above units or devices.

In some embodiments, the feedback calculation unit 104 and the synchronous controller 106 may not be provided in the motor synchronous control device 100, and may implement corresponding functions through another controller, for example, but not limited to, a PLC (Programmable Logic Controller ) connected to a motor driver.

In some embodiments, the motor synchronous control system comprises a controller connected with the first motor driver 201 and the second motor driver 203, the controller comprises a feedback calculation unit 104, and the feedback calculation unit 104 is used for obtaining position information of two motors in synchronous control, and obtaining midpoint positions and midpoint speeds of the two motors through calculation.

In some embodiments, the controller further includes a synchronous controller 106, where the synchronous controller 106 is configured to obtain torque information of two motors in synchronous control, and obtain a synchronous control position compensation amount and/or a synchronous control speed compensation amount through calculation;

and/or the controller further comprises an alarm unit 107, wherein the alarm unit 107 is used for acquiring the position information or the torque information of the two motors in synchronous control, and sending out alarm information when the difference value of the position information or the torque information of the two motors meets a preset condition.

It can be seen that, for the motor synchronous control system, the feedback calculation unit 104, the instruction giving unit 105, the synchronous controller 106, the alarm unit 107, and the like relate to units or devices that need to acquire and/or process information of two motors in the synchronous control process, and may be provided in the motor synchronous control device 100 or other parts of the system.

By way of example, controllers in motor synchronous control systems include, but are not limited to, PLCs (programmable logic controllers), MCUs (Microcontroller Unit, micro control units), FPGAs (Field Programmable Gate Array, field programmable gate arrays), PID controllers, fuzzy controllers, or nonlinear controllers, among others, that can be used to implement functions of processing, control, and the like.

For a better understanding, a specific example is provided below in this embodiment, referring to fig. 5, the motor synchronization control system includes, but is not limited to, an instruction giving unit 105, a feedback calculating unit 104, a first motor driver 201, a second motor driver 203, a first motor 202 driven by the first motor driver 201, a second motor 204 driven by the second motor driver 203, a flexible gantry 205, a synchronous controller 106, and an alarm unit 107. The first motor driver 201 includes a motor synchronous control device 100, specifically includes a position feedback selection switch S1P, a speed feedback selection switch S1V, a position controller 101, a speed controller 102, and a current controller 103, and the second motor driver 203 includes a motor synchronous control device 100, specifically includes a position feedback selection switch S2P, a speed feedback selection switch S2V, a position controller 101, a speed controller 102, and a current controller 103. It will be appreciated that the first motor driver 201 and the second motor driver 203 each maintain a three-loop control architecture. The first motor 202 and the second motor 204 are connected with the flexible gantry 205 and drive the flexible gantry 205 to move, and the control mode of the motor synchronous control system provided by the embodiment can harden the rigidity of the system, so that the rigidity of the flexible gantry 205 is lower, and the motor synchronous control system is more suitable to be applied; in addition, the application does not exclude the application of the motor synchronous control system in a scene with higher structural rigidity.

The command giving unit 105 outputs a given position command to the first motor driver 201 and the second motor driver 203, where the given position is P, and the given position commands acquired by the first motor driver 201 and the second motor driver 203 are the same, so that synchronous control is performed.

The feedback calculation unit 104 obtains position information of the first motor 202 and the second motor 204, that is, positions of the first motor 202 and the second motor 204, and can calculate parameters such as speeds of the first motor 202 and the second motor 204, midpoint positions of the first motor 202 and the second motor 204, midpoint speeds, and the like according to the positions of the first motor 202 and the second motor 204.

In this example, the feedback position information and the feedback speed information acquired by the position controller 101 and the speed controller 102 of the first motor 202 and the second motor 204 may be selected according to the actual application requirements through the position feedback selection switches S1P and S2P and the speed feedback selection switches S1V and S2V, respectively. The position feedback selection switch S1P is used for selecting feedback position information acquired by the position controller 101 of the first motor driver 201, where the optional feedback position information is position information P1 of the first motor 202 or a midpoint position Pc of the first motor 202 and the second motor 204. The speed feedback selection switch S1V is used for selecting feedback speed information acquired by the speed controller 102 of the first motor driver 201, where the optional feedback speed information is speed information V1 of the first motor 202 or a midpoint speed Vc of the first motor 202 and the second motor 204. Similarly, the position feedback selection switch S2P is used to select feedback position information acquired by the position controller 101 of the second motor driver 203, the optional feedback position information is position information P2 of the second motor 204 or a midpoint position Pc of the first motor 202 and the second motor 204, and the speed feedback selection switch S2V is used to select feedback speed information acquired by the speed controller 102 of the second motor driver 203, the optional feedback speed information is speed information V2 of the second motor 204 or a midpoint speed Vc of the first motor 202 and the second motor 204.

The isokinetic controller 106 receives current control commands generated by the speed controller 102 in the first motor driver 201 and the second motor driver 203, wherein the current control commands respectively include a given torque f1 corresponding to the first motor 202 and a given torque f2 corresponding to the second motor 204, and the isokinetic controller 106 can calculate a difference value between the two. The synchronous motion controller 106 may calculate a synchronous motion control position compensation amount or a synchronous motion control speed compensation amount according to a difference between the given torque F1 and the given torque F2, and may input the synchronous motion control position compensation amount to the position controllers 101 of the first motor driver 201 and the second motor driver 203 or the synchronous motion control speed compensation amount to the speed controllers 102 of the first motor driver 201 and the second motor driver 203 through the switch S according to the actual application requirement.

In this example, the position controller 101 in the first motor driver 201 and the second motor driver 203 processes the given position command, the feedback position information, and the isokinetic control position compensation amount to generate a speed control command, and the speed controller 102 processes the given speed command, the feedback speed information, and the isokinetic control speed compensation amount to generate a current control command. In other examples, the generation of the given speed command and the current control command may also be performed in conjunction with other parameters, which is not limited in this application. In some implementations, the synchronous controller 106 may also obtain the output torque f1 of the first motor 202 and the output torque f2 of the second motor 204 as torque information, which is theoretically the same effect as obtaining the given torque, and the executed process is identical to the foregoing examples and will not be repeated.

The data acquired by the alarm unit 107 in this example may be the same as that of the same motion controller 106, or may be calculated by inputting a given torque f1 (or output torque F1) corresponding to the first motor 202 and a given torque f2 (or output torque F2) corresponding to the second motor 204. The alarm unit 107 may alarm and/or stop the movement of the motor when the difference of the torque information of the first motor 202 and the second motor 204 satisfies a preset condition. In practical application, the preset condition of the alarm can be set such that the difference value of the torque information is larger than a set threshold value, and the threshold value can be set according to the practical situation. In other examples, the alarm unit 107 may also operate based on the difference in the position information of the first motor 202 and the second motor 204, and the preset condition for the alarm may be set such that the difference in the position information is greater than a set threshold.

Taking the first motor driver 201 as an example, assuming that the position feedback selection switch S1P selects the position information P1 of the first motor 202 according to the state configured by the user, the position information P1 of the first motor 202 is input to the position controller 101 of the first motor driver 201 after being differenced from the given position P, and the position controller 101 obtains the given speed V according to the given position P and the feedback position information of the first motor 202 (i.e., the position P1 of the first motor 202 itself in this example).

Assuming that the speed V1 of the first motor 202 is selected according to the state configured by the user according to the speed feedback selection switch S1V, the speed V1 of the first motor 202 is input to the speed controller 102 of the first motor driver 201 after being differentiated from the given speed V, and the speed controller 102 obtains the given torque f1 according to the given speed V and the fed-back current speed of the first motor 202 (i.e., the speed V1 of the first motor 202 in this example). Similarly, the speed controller 102 of the second motor driver 203 may obtain a given torque F2. The current controllers 103 of the first motor driver 201 and the second motor driver 203 output F1 and F2 as output torques of the first motor 202 and the second motor 204, respectively, according to given torques F1 x and F2 x. It will be appreciated that in an ideal case the given torque F1 is the same as the output torque F1 and the given torque F2 is the same as the output torque F2.

In the motor synchronous control system of the embodiment, the acquired feedback position information and feedback speed information can be selected through the position feedback selection switch and the speed feedback selection switch, so that the flexibility of synchronous control is higher. In some implementations, a relatively desirable synchronization effect may be achieved according to the needs of the user.

The present embodiments also provide a computer-readable storage medium including volatile or nonvolatile, removable or non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, computer program modules or other data. Computer-readable storage media includes, but is not limited to, RAM (Random Access Memory ), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory, charged erasable programmable Read-Only Memory), flash Memory or other Memory technology, CD-ROM (Compact Disc Read-Only Memory), DVD (Digital Versatile Disc, digital versatile disk) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.

The computer-readable storage medium in the present embodiment may be used to store one or more programs, and the stored one or more programs may be executed by a processor to implement the steps of the motor synchronization control method illustrated in the present embodiment.

It will be apparent to one skilled in the art that all or some of the steps of the methods, systems, functional modules/units in the apparatus disclosed above may be implemented as software (which may be implemented in computer program code executable by a computing apparatus), firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Therefore, the present application is not limited to any specific combination of hardware and software.

It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (10)

1. The synchronous motor control device is characterized by comprising a position controller, a speed controller and a current controller;

the position controller is used for acquiring a given position instruction and feedback position information, and generating a speed control instruction after processing; the feedback position information is the position information of the motors connected with the motor synchronous control device and/or the midpoint position of the two motors in synchronous control;

the speed controller is used for acquiring the speed control instruction and feedback speed information, and generating a current control instruction after processing; the feedback speed information is the speed information of the motors connected with the motor synchronous control device and/or the midpoint speed of the two motors in synchronous control;

and the current controller is used for acquiring the current control instruction so as to control the motor connected with the motor synchronous control device.

2. The motor synchronous control device according to claim 1, wherein the position controller is further configured to acquire a synchronous control position compensation amount, process the given position command, the feedback position information, and the synchronous control position compensation amount, and generate a speed control command;

and/or the speed controller is further used for acquiring the synchronous control speed compensation quantity, and generating a current control instruction after the speed control instruction, the feedback speed information and the synchronous control speed compensation quantity are processed.

3. The motor synchronous control device according to claim 1, further comprising a feedback calculation unit for acquiring position information of two motors in synchronous control, the midpoint position and the midpoint speed being obtained by calculation.

4. The motor synchronous control device according to claim 2, wherein the motor synchronous control device comprises a synchronous controller, the synchronous controller is used for acquiring torque information of two motors in synchronous control, and the synchronous control position compensation amount and/or the synchronous control speed compensation amount are obtained through calculation.

5. The motor synchronization control device according to any one of claims 1 to 4, characterized in that the motor synchronization control device includes: and the alarm unit is used for acquiring the position information or the torque information of the two motors in synchronous control, and sending out alarm information when the difference value of the position information or the torque information of the two motors meets the preset condition.

6. A motor synchronization control method, characterized by being applied to the motor synchronization control apparatus according to any one of claims 1 to 5, comprising:

acquiring a given position instruction and feedback position information, and generating a speed control instruction after processing; the feedback position information is the position information of the motors connected with the motor synchronous control device and/or the midpoint position of the two motors in synchronous control;

acquiring the speed control instruction and feedback speed information, and generating a current control instruction after processing; the feedback speed information is the speed information of the motors connected with the motor synchronous control device and/or the midpoint speed of the two motors in synchronous control;

and controlling the motor connected with the motor synchronous control device to operate according to the current control instruction.

7. A synchronous motor control system, comprising: the first motor driver, the first motor connected with the first motor driver, the second motor driver and the second motor connected with the second motor driver; the first motor driver and the second motor driver include the motor synchronization control device according to any one of claims 1 to 5.

8. The motor synchronous control system according to claim 7, wherein the system includes a controller connected to the first motor driver and the second motor driver, the controller including a feedback calculation unit for acquiring position information of two motors in synchronous control, and obtaining the midpoint position and the midpoint speed by calculation.

9. The synchronous motor control system according to claim 8, wherein the controller further comprises a synchronous motor controller, the synchronous motor controller is used for obtaining torque information of two motors in synchronous control, and the synchronous motor control position compensation amount and/or the synchronous motor control speed compensation amount are obtained after calculation;

and/or the alarm unit is used for acquiring the position information or the torque information of the two motors in synchronous control, and sending out alarm information when the difference value of the position information or the torque information of the two motors meets a preset condition.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the motor synchronization control method according to claim 6.