WO2020228155A1 - 电机控制方法及系统 - Google Patents

电机控制方法及系统 Download PDF

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Publication number
WO2020228155A1
WO2020228155A1 PCT/CN2019/100254 CN2019100254W WO2020228155A1 WO 2020228155 A1 WO2020228155 A1 WO 2020228155A1 CN 2019100254 W CN2019100254 W CN 2019100254W WO 2020228155 A1 WO2020228155 A1 WO 2020228155A1
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WO
WIPO (PCT)
Prior art keywords
motor
drive
control signal
chips
driving
Prior art date
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PCT/CN2019/100254
Other languages
English (en)
French (fr)
Inventor
陈毅东
雷子健
李平
Original Assignee
深圳市兆威机电股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市兆威机电股份有限公司 filed Critical 深圳市兆威机电股份有限公司
Priority to DE112019007305.2T priority Critical patent/DE112019007305T5/de
Priority to US17/609,047 priority patent/US20220200490A1/en
Publication of WO2020228155A1 publication Critical patent/WO2020228155A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
    • H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor

Definitions

  • This application relates to the technical field of motor control, and specifically to a motor control method and system.
  • the motor As the power source of various mechanical equipment, the motor has been widely used in many fields. Users can control the motor through the controller in the mechanical equipment according to actual needs, so that the working state of the motor can reach the state desired by the user.
  • multiple processors, multiple motors, and multiple power drive circuits are provided in mechanical equipment.
  • the processors and the power drive circuits are electrically connected in a one-to-one correspondence, and the power drive circuits and the motors are electrically connected in a one-to-one correspondence.
  • the number of motors, power drive circuits and motors are the same.
  • Each processor can communicate through a preset communication method.
  • Each processor can output corresponding control information according to the communication information, so that multiple motors can be realized. The linkage between.
  • one processor is used to control one motor.
  • the number of processors required will also increase, causing the problem of excessively high costs when controlling the linkage of motors.
  • the purpose of this application is to provide a motor control method and system in view of the above-mentioned deficiencies in the prior art, so as to solve the prior art, a processor corresponding to the control of a motor, when it is necessary to control the linkage of multiple motors, The number of processors required will also increase, causing the problem of excessively high costs when controlling the motor linkage.
  • an embodiment of the present application provides a motor control method applied to a motor control system.
  • the motor control system includes a processor, a plurality of drive chips, a motor connected to each drive chip, and a motor corresponding to each motor.
  • Each of the drive chips is connected to a corresponding motor, a corresponding sensor, and the processor, each of the sensors is connected to the processor, and the method includes:
  • the driving chip receives status information fed back by the sensor corresponding to the driving chip, and the status information is configured to indicate the working state of the motor corresponding to the driving chip;
  • the processor receives the state information
  • the driving chip processes the state information to obtain a first control signal, and the processor processes the state information to obtain a second control signal;
  • At least two of the plurality of driving chips drive the motors corresponding to the respective driving chips to perform linkage according to the first control signal and the second control signal corresponding to the respective driving chips.
  • the driver chip receives the status information fed back by the sensor corresponding to the driver chip, the method further includes:
  • Each of the sensors collects state information of a connected motor, and the state information is configured to indicate the working state of the motor;
  • Each of the sensors sends the status information to the processor and the corresponding drive chip respectively.
  • the driving chip includes a decoding circuit, and the driving chip processes the state information to obtain a first control signal, including:
  • the driving chip decodes the state information through the decoding circuit to obtain the first control signal, and the first control signal is configured to indicate whether a motor corresponding to the driving chip works abnormally.
  • At least two of the plurality of driving chips drive the motors corresponding to the respective driving chips according to the first control signal and the second control signal corresponding to the respective driving chips.
  • Linkage including:
  • At least two of the driving chips drive the motors corresponding to each of the driving chips for linkage according to the first control signal and the second control signal corresponding to each of the driving chips.
  • At least two of the plurality of driving chips drive the motors corresponding to the respective driving chips according to the first control signal and the second control signal corresponding to the respective driving chips.
  • Linkage including:
  • At least two of the drive chips drive the motors corresponding to each of the drive chips for linkage according to the at least two second control signals ;
  • At least two of the driving chips stop driving the motors corresponding to each of the driving chips for linkage.
  • the embodiments of the present application also provide a motor control system.
  • the motor control system includes a processor, a plurality of drive chips, a motor connected to each drive chip, and a sensor corresponding to each motor.
  • the driving chip is respectively connected to a corresponding motor, a corresponding sensor, and the processor, and each sensor is connected to the processor;
  • the driving chip is configured to receive state information fed back by the sensor corresponding to the driving chip, and the state information is configured to indicate the working state of the motor corresponding to the driving chip;
  • the processor is configured to receive the state information
  • the driving chip is configured to process the state information to obtain a first control signal
  • the processor is configured to process the state information to obtain a second control signal
  • At least two of the plurality of driving chips are configured to drive the motors corresponding to each of the driving chips for linkage according to the first control signal and the second control signal corresponding to each of the driving chips.
  • each of the sensors is configured to collect state information of the connected motor, and the state information is configured to indicate the working state of the motor;
  • Each of the sensors is also configured to send the state information to the processor and the corresponding drive chip respectively.
  • the driving chip includes a decoding circuit
  • the driving chip is further configured to decode the state information through the decoding circuit to obtain the first control signal, and the first control signal is configured to indicate whether a motor corresponding to the driving chip is abnormal.
  • the processor is further configured to send a second control signal corresponding to each of the driving chips to at least two of the driving chips;
  • At least two of the driving chips are further configured to drive the motors corresponding to each of the driving chips for linkage according to the first control signal and the second control signal corresponding to each of the driving chips.
  • At least two of the drive chips are further configured to drive and each of the drive chips according to the at least two second control signals.
  • the motor corresponding to the chip is linked;
  • At least two of the drive chips are further configured to stop driving the motors corresponding to each of the drive chips for linkage.
  • the beneficial effects of the present application are: in the motor control method and system provided by the embodiments of the present application, for each drive chip, the drive chip receives the state information fed back by the sensor corresponding to the drive chip; when the drive chip receives the state information, the processor receives State information; the drive chip processes the state information to obtain the first control signal, and the processor processes the state information to obtain the second control signal; at least two of the multiple drive chips are based on the first control signal corresponding to each drive chip.
  • a control signal and a second control signal drive the motors corresponding to each drive chip for linkage.
  • One processor can receive the status information fed back by multiple sensors, and process the status information to obtain the second control signal corresponding to each motor.
  • FIG. 1 is a schematic structural diagram of a motor control system involved in a motor control method provided by an embodiment of the application;
  • Figure 2 is a schematic structural diagram of a motor control system provided by an embodiment of the application.
  • FIG. 3 is a schematic flowchart of a motor control method provided by an embodiment of the application.
  • FIG. 4 is a schematic flowchart of a motor control method according to an embodiment of the application.
  • FIG. 1 is a schematic structural diagram of a motor control system involved in a motor control method provided by an embodiment of the application.
  • the motor control system includes: a processor 101, a plurality of driving chips 102, and each driving chip A motor 103 connected to 102 and a sensor 104 corresponding to each motor 103.
  • each drive chip is connected to a corresponding motor, a corresponding sensor and a processor, and each sensor is connected to the processor.
  • the driver chip is configured to receive status information fed back by the sensor corresponding to the driver chip, and the status information is configured to indicate the working status of the motor corresponding to the driver chip.
  • the processor is configured to receive the status information.
  • the driving chip is configured to process the state information to obtain the first control signal
  • the processor is configured to process the state information to obtain the second control signal.
  • At least two of the plurality of driving chips are configured to drive the motors corresponding to the respective driving chips for linkage according to the first control signal and the second control signal corresponding to the respective driving chips.
  • At least two driving chips receive the state information fed back by the sensors corresponding to the at least two driving chips
  • the processor may also receive the state information
  • the at least two driving chips may process the state information to obtain the first control signal
  • the processor can process the state information to obtain the second control signal
  • the at least two drive chips can drive the motors corresponding to the at least two drive chips according to the first control signal and the second control signal corresponding to the at least two drive chips. Perform linkage.
  • Figure 1 only shows the schematic diagram of the structure when the processor controls the linkage of two motors, but in practical applications, the number of motor linkages controlled by the processor can be 2, or 3, or For other numbers, this application does not impose specific restrictions on this.
  • each of the sensors is configured to collect state information of a connected motor, and the state information is configured to indicate the working state of the motor;
  • Each of the sensors is also configured to send the state information to the processor and the corresponding drive chip respectively.
  • the driving chip includes a decoding circuit
  • the driving chip is further configured to decode the state information through the decoding circuit to obtain the first control signal, and the first control signal is configured to indicate whether a motor corresponding to the driving chip is abnormal.
  • the processor is further configured to send a second control signal corresponding to each of the driving chips to at least two of the driving chips;
  • At least two of the driving chips are further configured to drive the motors corresponding to each of the driving chips for linkage according to the first control signal and the second control signal corresponding to each of the driving chips.
  • At least two of the drive chips are further configured to drive each of the The motor corresponding to the drive chip is linked;
  • At least two of the drive chips are further configured to stop driving the motors corresponding to each of the drive chips for linkage.
  • the processor can control the linkage of a group of motors, can also control the linkage of two groups of motors, and can also control multiple groups of motors.
  • a group of motors can include multiple Motors that can be linked.
  • a motor control system can include six motors, three of which can be used as the first group of motors, the processor can control the linkage of the three motors in the first group, and the remaining three motors can be used as the second group of motors , The processor can control the linkage of the three motors in the second group, that is, the processor can control the linkage of the two groups of motors.
  • the driver chip receives the status information fed back by the sensor corresponding to the driver chip; when the driver chip receives the status information, the processor receives the status information; drives The chip processes the state information to obtain the first control signal, and the processor processes the state information to obtain the second control signal; at least two of the plurality of driving chips are based on the first control signal and the first control signal corresponding to each driving chip.
  • the second control signal drives the motors corresponding to each drive chip to perform linkage.
  • One processor can receive the status information fed back by multiple sensors, and process the status information to obtain the second control signal.
  • Through at least two drive chips drive and control signals according to the first and second control signals corresponding to each drive chip.
  • the motors corresponding to each drive chip are linked, which avoids the problem of excessive cost when controlling the motor linkage, and reduces the cost of controlling the motor linkage.
  • the above systems may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (ASIC for short), or one or more microprocessors (digital signal processor, DSP for short), or, one or more Field Programmable Gate Array (FPGA for short), etc.
  • ASIC application specific integrated circuit
  • DSP digital signal processor
  • FPGA Field Programmable Gate Array
  • the processing element may be a general-purpose processor, such as a central processing unit (CPU for short) or other processors that can call program codes.
  • CPU central processing unit
  • SOC system-on-a-chip
  • FIG. 2 is a schematic structural diagram of a motor control system provided by an embodiment of the application.
  • the system may be integrated in a terminal device or a chip of a terminal device, and the terminal may be a computing device with data processing functions.
  • the system includes: a memory 201 and a processor 202.
  • the memory 201 is configured to store a program, and the processor 202 calls the program stored in the memory 201 to execute the following method embodiments.
  • the specific implementation is similar to the technical effect, and will not be repeated here.
  • the present application also provides a program product, such as a computer-readable storage medium, including a program, which is configured to execute the following method embodiments when executed by a processor.
  • a program product such as a computer-readable storage medium, including a program, which is configured to execute the following method embodiments when executed by a processor.
  • FIG. 3 is a schematic flowchart of a motor control method provided by an embodiment of the application. As shown in FIG. 3, it is applied to the motor control system described in the foregoing embodiment, and the method includes:
  • the driving chip receives status information fed back by a sensor corresponding to the driving chip.
  • the status information is configured to indicate the working status of the motor corresponding to the drive chip, and the sensor, the drive chip and the motor all have a one-to-one correspondence.
  • the drive chip corresponding to each motor needs to receive the working state of the corresponding motor, so that in the subsequent steps, each drive chip obtains the first control signal according to the working state of the corresponding motor. Realize the control of the corresponding motor.
  • the drive chip can receive the status information of the motor fed back by the sensor in real time, so that each drive chip can obtain the corresponding status information of each motor.
  • the processor Since the motor needs to be driven by the processor and the driver chip together, in order to control the linkage of multiple motors, the processor also needs to obtain the status information of each motor, so that in the subsequent steps, the processor can perform the operation status of the corresponding motor.
  • the second control signal is obtained through processing, so that the motor linkage can be realized through the second control signal.
  • the processor can also receive the status information of the corresponding motor fed back by the corresponding sensor, so that each drive chip can get the status information of the corresponding motor. , The processor can also get the status information of the motor.
  • the driving chip processes the state information to obtain a first control signal, and the processor processes the state information to obtain a second control signal.
  • the first control signal is configured to indicate whether the motor is working abnormally
  • the second control signal is configured to indicate the speed information and steering information of the motor
  • the driving chip can enter the low power consumption mode or drive the corresponding motor to work according to the second control signal.
  • the driver chip After the driver chip and the processor respectively receive the status information, the driver chip needs to obtain the first control signal according to its own processing and the second control signal obtained by the processor to drive the motor corresponding to each driver chip for linkage, so the driver chip and The processor needs to process the status information to obtain the first control signal and the second control signal.
  • each drive chip can process the state information in a decoding manner to obtain the first control signal configured to control the corresponding motor.
  • the processor can process the state information through a preset algorithm to obtain the configuration The second control signal to control the corresponding motor.
  • At least two driving chips of the plurality of driving chips drive the motors corresponding to the respective driving chips for linkage according to the first control signal and the second control signal corresponding to the respective driving chips.
  • the drive chip After the drive chip processes the state information to obtain the first control signal, and the processor processes the state information to obtain the second control signal, the drive chip can drive the chip according to the first control signal and the second control signal corresponding to each drive chip.
  • the motors corresponding to each drive chip are linked to realize the linkage between the motors.
  • the processor may send corresponding second control signals to at least two driving chips, and at least two driving chips may receive the corresponding second control signals, and amplify the second control signals to obtain the amplified second control signals
  • At least two drive chips can drive the motors corresponding to each drive chip for linkage according to the first control signal and the amplified second control signal corresponding to each drive chip.
  • each first control signal indicates that the motor is normal
  • at least two driving chips can drive the motors corresponding to each driving chip for linkage according to the at least two second control signals.
  • At least two drive chips can stop driving the motors corresponding to each drive chip for linkage.
  • the drive chip receives the status information fed back by the sensor corresponding to the drive chip; when the drive chip receives the status information, the processor receives the status information; drives The chip processes the state information to obtain the first control signal, and the processor processes the state information to obtain the second control signal; at least two of the plurality of driving chips are based on the first control signal and the first control signal corresponding to each driving chip.
  • the second control signal drives the motors corresponding to each drive chip to perform linkage.
  • One processor can receive the status information fed back by multiple sensors, and process the status information to obtain the second control signal corresponding to each motor.
  • Fig. 4 is a schematic flow chart of a motor control method provided by an embodiment of the application. As shown in Fig. 4, it is applied to the motor control system described in the foregoing embodiment, and the method includes:
  • Each sensor collects state information of the connected motor.
  • the status information is configured to indicate the working status of the motor.
  • each sensor When controlling the linkage of the corresponding drive chip through the controller and the corresponding drive chip, it needs to be processed according to the current working state of the motor so that the corresponding control signal can be obtained to control the linkage of the motor. Therefore, each sensor needs to collect the connected motor Status information.
  • each sensor can be arranged in the corresponding motor, so that the status information of the corresponding motor during operation can be collected.
  • the type of the sensor in the embodiment of the present application may be a Hall sensor, and the Hall sensor collects corresponding motor state information.
  • Each sensor sends status information to the processor and the corresponding drive chip respectively.
  • each sensor After each sensor collects the status information of the connected motor in real time, in order to drive the chip, it can control the corresponding motor linkage according to the corresponding first control signal and the second control signal. Therefore, each sensor separately transmits to the processor and the corresponding drive The chip sends status information in real time.
  • each motor has a sensor corresponding to the motor, a drive chip, and the sensor collects state information of the motor.
  • the driving chip receives status information fed back by the sensor corresponding to the driving chip.
  • step 403 is similar to the process of step 401, and will not be repeated here.
  • step 404 is similar to the process of step 402, and will not be repeated here.
  • the driving chip processes the state information to obtain a first control signal, and the processor processes the state information to obtain a second control signal.
  • the drive chip and the processor need to process the state information to obtain the first control signal and the second control signal, so that in the subsequent steps, the drive chip can use the first control signal and the second control signal corresponding to each drive chip, Drive the motor corresponding to each drive chip for linkage.
  • the processor can identify the rotation speed information of the corresponding motor included in the status information fed back by each sensor through a preset algorithm.
  • the processor may obtain the second control signal for the corresponding motor according to the preset algorithm.
  • the driving chip decodes the state information through the decoding circuit to obtain the first control signal, and the first control signal is configured to indicate whether the motor corresponding to the driving chip works abnormally.
  • the drive chip decodes the state information through the decoding circuit to obtain the decoded information.
  • the decoded information can control the output logic of the three-phase inverter bridge in the drive chip, that is, obtain the first control Signal, the first control signal can control whether the motor works abnormally.
  • the type of the sensor can be a Hall sensor, and the state information of the motor collected by the sensor can be a Hall signal.
  • the driver chip can decode the Hall signal through a decoding circuit to obtain the decoded Hall signal, and the decoded Hall signal.
  • the field effect transistor in the corresponding three-phase inverter bridge can be turned on and off, and the output logic of the three-phase inverter bridge, that is, the first control signal can be obtained, and the first control signal is used to control whether the motor works abnormally.
  • At least two of the plurality of drive chips drive the motors corresponding to each drive chip to perform linkage according to the first control signal and the second control signal corresponding to each drive chip.
  • At least two of the multiple drive chips need to control the corresponding motors according to the first control signal and the second control signal corresponding to each drive chip, so that the The working status is the same.
  • the processor sends a second control signal corresponding to each driver chip to at least two driver chips, and the at least two driver chips drive and each driver chip according to the first control signal and the second control signal corresponding to each driver chip.
  • the motor corresponding to the chip is linked.
  • the processor sends the second control signal corresponding to each driving chip to at least two driving chips, and the at least two driving chips can amplify the corresponding second control signal.
  • the at least two drive chips drive the motors corresponding to each drive chip for linkage according to the at least two second control signals, if Any one of the at least two first control signals indicates that the motor is abnormal, and the at least two driving chips stop driving the motors corresponding to the respective driving chips for linkage.
  • a resistance corresponding to the motor can be set for each motor, and each resistance is respectively connected to the corresponding motor and the drive chip, and the current generated by the motor is detected through each resistance.
  • the processor controls the at least two drive chips to stop driving the corresponding motors, and stops sending the second control configured to control the motor linkage to the at least two drive chips signal.
  • the drive chip receives the status information fed back by the sensor corresponding to the drive chip; when the drive chip receives the status information, the processor receives the status information; drives The chip processes the state information to obtain the first control signal, and the processor processes the state information to obtain the second control signal; at least two of the plurality of driving chips are based on the first control signal and the first control signal corresponding to each driving chip.
  • the second control signal drives the motors corresponding to each drive chip to perform linkage.
  • One processor can receive the status information fed back by multiple sensors, and process the status information to obtain the second control signal corresponding to each motor.
  • the disclosed system and method may be implemented in other ways.
  • the system embodiment described above is only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) execute the various embodiments of the present application Part of the method.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated as: ROM), random access memory (English: Random Access Memory, abbreviated as: RAM), magnetic disk or optical disk, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • magnetic disk or optical disk etc.

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  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

本申请提供一种电机控制方法及系统，涉及电机控制技术领域。该电机控制方法包括：每个驱动芯片接收与驱动芯片对应的传感器反馈的状态信息；在驱动芯片接收状态信息时，处理器接收状态信息；驱动芯片对状态信息处理得到第一控制信号，处理器对状态信息处理得到第二控制信号；多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机联动。处理器接收传感器反馈的状态信息，并对状态信息处理得到电机对应的第二控制信号，通过驱动芯片根据与驱动芯片对应的第一控制信号和第二控制信号，驱动与驱动芯片对应的电机联动，仅通过一个处理器控制多个电机联动，降低了控制电机联动的成本。

Description

电机控制方法及系统
相关申请的交叉引用
本申请要求于2019年05月10日提交中国专利局的申请号为201910388448.8、名称为“电机控制方法及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电机控制技术领域，具体而言，涉及一种电机控制方法及系统。
背景技术
电机作为各种机械设备的动力源，在许多领域得到了广泛的应用，用户可以根据实际的需求通过机械设备中的控制器来控制电机，使得电机的工作状态能够达到用户所期望的状态。
相关技术中，机械设备中设置有多个处理器、多个电机和多个功率驱动电路，处理器和功率驱动电路一一对应电连接，功率驱动电路和电机一一对应电连接，其中，处理器的个数、功率驱动电路和电机的个数相同，各个处理器之间可以通过预设的通讯方式进行通讯，各个处理器可以根据通讯的信息输出对应的控制信息，从而可以实现多个电机之间的联动。
但是，现有技术中，通过一个处理器对应控制一个电机，当需要控制多台电机联动时，所需的处理器的数目也会增加，造成控制电机联动时成本过高的问题。
发明内容
本申请的目的在于，针对上述现有技术中的不足，提供一种电机控制方法及系统，以便解决现有技术中，通过一个处理器对应控制一个电机，当需要控制多台电机联动时，所需的处理器的数目也会增加，造成控制电机联动时成本过高的问题。
为实现上述目的，本申请实施例采用的技术方案如下：
第一方面，本申请实施例提供了一种电机控制方法，应用于电机控制系统，所述电机控制系统包括处理器、多个驱动芯片、与每个驱动芯片连接的电机和与每个电机对应的传感器，每个所述驱动芯片分别与对应的电机、对应的传感器和所述处理器连接，每个所述传感器均与所述处理器连接，所述方法包括：
对于每个所述驱动芯片，所述驱动芯片接收与所述驱动芯片对应的传感器反馈的状态信息，所述状态信息配置成指示与所述驱动芯片对应的电机的工作状态；
在所述驱动芯片接收所述状态信息时，所述处理器接收所述状态信息；
所述驱动芯片对所述状态信息进行处理，得到第一控制信号，所述处理器对所述状态信息进行处理，得到第二控制信号；
多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
进一步地，在所述驱动芯片接收与所述驱动芯片对应的传感器反馈的状态信息之前，所述方法还包括：
每个所述传感器采集相连接的电机的状态信息，所述状态信息配置成指示所述电机的工作状态；
每个所述传感器分别向所述处理器和对应的驱动芯片发送所述状态信息。
进一步地，所述驱动芯片包括解码电路，所述驱动芯片对所述状态信息进行处理，得到第一控制信号，包括：
所述驱动芯片通过所述解码电路对所述状态信息进行解码得到所述第一控制信号，所述第一控制信号配置成指示与所述驱动芯片对应的电机是否异常工作。
进一步地，所述多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动，包括：
所述处理器向至少两个所述驱动芯片发送与各个所述驱动芯片对应的第二控制信号；
至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
进一步地，所述多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动，包括：
若至少两个第一控制信号中的每个所述第一控制信号均指示电机正常，至少两个所述驱动芯片根据至少两个第二控制信号驱动与各个所述驱动芯片对应的电机进行联动；
若至少两个所述第一控制信号中任意一个第一控制信号指示电机异常，至少两个所述驱动芯片停止驱动与各个所述驱动芯片对应的电机进行联动。
第二方面，本申请实施例还提供了一种电机控制系统，所述电机控制系统包括处理器、多个驱动芯片、与每个驱动芯片连接的电机和与每个电机对应的传感器，每个所述驱动芯片分别与对应的电机、对应的传感器和所述处理器连接，每个所述传感器均与所述处理器连接；
对于每个所述驱动芯片，所述驱动芯片配置成接收与所述驱动芯片对应的传感器反馈的状态信息，所述状态信息配置成指示与所述驱动芯片对应的电机的工作状态；
在所述驱动芯片接收所述状态信息时，所述处理器配置成接收所述状态信息；
所述驱动芯片配置成对所述状态信息进行处理，得到第一控制信号，所述处理器配置 成对所述状态信息进行处理，得到第二控制信号；
多个所述驱动芯片中的至少两个所述驱动芯片配置成根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
进一步地，每个所述传感器配置成采集相连接的电机的状态信息，所述状态信息配置成指示所述电机的工作状态；
每个所述传感器还配置成分别向所述处理器和对应的驱动芯片发送所述状态信息。
进一步地，所述驱动芯片包括解码电路；
所述驱动芯片还配置成通过所述解码电路对所述状态信息进行解码得到所述第一控制信号，所述第一控制信号配置成指示与所述驱动芯片对应的电机是否异常。
进一步地，所述处理器还配置成向至少两个所述驱动芯片发送与各个所述驱动芯片对应的第二控制信号；
至少两个所述驱动芯片还配置成根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
进一步地，若至少两个第一控制信号中的每个所述第一控制信号均指示电机正常，至少两个所述驱动芯片还配置成根据至少两个第二控制信号驱动与各个所述驱动芯片对应的电机进行联动；
若至少两个所述第一控制信号中任意一个第一控制信号指示电机异常，至少两个所述驱动芯片还配置成停止驱动与各个所述驱动芯片对应的电机进行联动。
本申请的有益效果是：本申请实施例提供的电机控制方法及系统，对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息；在驱动芯片接收状态信息时，处理器接收状态信息；驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号；多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。一个处理器可以接收多个传感器反馈的状态信息，并对状态信息进行处理得到各个电机对应的第二控制信号，通过至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动，仅通过一个处理器即可实现对多个电机进行联动的控制，避免了控制电机联动时成本过高的问题，降低了控制电机联动的成本。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的一电机控制方法所涉及的电机控制系统的结构示意图；
图2为本申请实施例提供的一电机控制系统的结构示意图；
图3为本申请实施例提供的一电机控制方法的流程示意图；
图4为本申请实施例提供的一电机控制方法的流程示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。
图1为本申请实施例提供的一电机控制方法所涉及的电机控制系统的结构示意图，如图1所示，该电机控制系统包括：处理器101、多个驱动芯片102、与每个驱动芯片102连接的电机103和与每个电机103对应的传感器104。
其中，每个驱动芯片分别与对应的电机、对应的传感器和处理器连接，每个传感器均与处理器连接。
对于每个驱动芯片，驱动芯片配置成接收与驱动芯片对应的传感器反馈的状态信息，状态信息配置成指示与驱动芯片对应的电机的工作状态。
在驱动芯片接收状态信息时，处理器配置成接收状态信息。
驱动芯片配置成对状态信息进行处理，得到第一控制信号，处理器配置成对状态信息进行处理，得到第二控制信号。
多个驱动芯片中的至少两个驱动芯片配置成根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
为了避免通过多个处理器控制多个电机，造成控制电机联动时成本过高的问题，可以在通过一个处理器控制多个电机之间联动时，向各个驱动芯片发送控制各个电机的控制信息，从而实现通过一个处理器控制多个电机之间的联动，减少了处理器在控制多个电机联动时所需的处理器的数量，降低了控制电机联动时的成本。
具体地，至少两个驱动芯片接收与该至少两个驱动芯片对应的传感器反馈的状态信息，处理器也可以接收状态信息，至少两个驱动芯片可以对状态信息进行处理，得到第一控制信号，处理器可以对状态信息进行处理，得到第二控制信号，至少两个驱动芯片可以根据与至少两个驱动芯片对应的第一控制信号和第二控制信号，驱动与至少两个驱动芯片对应的电机进行联动。
另外，图1中仅表示出了处理器控制两个电机联动时的结构示意图，而在实际应用中，处理器所控制的电机联动的数目可以为2个，也可以为3个，还可以为其他的数目，本申请对此不进行具体的限制。
可选地，每个所述传感器配置成采集相连接的电机的状态信息，所述状态信息配置成指示所述电机的工作状态；
每个所述传感器还配置成分别向所述处理器和对应的驱动芯片发送所述状态信息。
可选地，所述驱动芯片包括解码电路；
所述驱动芯片还配置成通过所述解码电路对所述状态信息进行解码得到所述第一控制信号，所述第一控制信号配置成指示与所述驱动芯片对应的电机是否异常。
可选地，所述处理器还配置成向至少两个所述驱动芯片发送与各个所述驱动芯片对应的第二控制信号；
至少两个所述驱动芯片还配置成根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
可选地，若至少两个第一控制信号中的每个所述第一控制信号均指示电机正常，至少两个所述驱动芯片还配置成根据至少两个第二控制信号驱动与各个所述驱动芯片对应的电机进行联动；
若至少两个所述第一控制信号中任意一个第一控制信号指示电机异常，至少两个所述驱动芯片还配置成停止驱动与各个所述驱动芯片对应的电机进行联动。
在实际应用中，处理器可以控制一组电机的联动，也可以控制两组电机的联动，还可以控制多组电机，本申请对此不进行具体限制，其中，一组电机中可以包括多个可以联动的电机。
例如，电机控制系统可以包括有六个电机，其中的三个电机可以作为第一组电机，处理器可以控制第一组中的三个电机的联动，剩余的三个电机可以作为第二组电机，处理器可以控制第二组中的三个电机的联动，也即是处理器可以控制两组电机的联动。
综上所述，本申请实施例提供的电机控制系统，对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息；在驱动芯片接收状态信息时，处理器接收状态信息；驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号；多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。一个处理器可以接收多个传感器反馈的状态信息，并对状态信息进行处理得到第二控制信号，通过至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动，避免了控制电机联动时成本过高的问题，降低了控制电机联动的成本。
上述系统配置成执行下述实施例提供的方法，其实现原理和技术效果类似，在此不再赘述。
以上这些系统可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多 个特定集成电路(Application Specific Integrated Circuit，简称ASIC)，或，一个或多个微处理器(digital signal processor，简称DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array，简称FPGA)等。再如，当以上某个系统通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(Central Processing Unit，简称CPU)或其它可以调用程序代码的处理器。再如，这些系统可以集成在一起，以片上系统(system-on-a-chip，简称SOC)的形式实现。
图2为本申请实施例提供的一电机控制系统的结构示意图，该系统可以集成于终端设备或者终端设备的芯片，该终端可以是具备数据处理功能的计算设备。
该系统包括：存储器201和处理器202。
存储器201配置成存储程序，处理器202调用存储器201存储的程序，以执行下述方法实施例。具体实现方式和技术效果类似，这里不再赘述。
可选地，本申请还提供一种程序产品，例如计算机可读存储介质，包括程序，该程序在被处理器执行时配置成执行下述方法实施例。
图3为本申请实施例提供的一电机控制方法的流程示意图，如图3所示，应用于上述实施例所述的电机控制系统，该方法包括：
S301、对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息。
其中，状态信息配置成指示与驱动芯片对应的电机的工作状态，传感器、驱动芯片和电机均为一一对应的。
为了控制多个电机的联动，每个电机对应的驱动芯片需要接收对应的电机的工作状态，以便在后续的步骤中，每个驱动芯片根据对应的电机的工作状态获取第一控制信号，从而可以实现对于对应的电机的控制。
需要说明的是，由于各个电机均为实时运行的，因此，驱动芯片可以实时接收传感器反馈的电机的状态信息，从而每个驱动芯片可以得到对应的每个电机的状态信息。
S302、在驱动芯片接收状态信息时，处理器接收状态信息。
由于电机需要通过处理器和驱动芯片共同驱动，因此为了控制多个电机的联动，处理器也需要获取各个电机的状态信息，以便在后续的步骤中，处理器可以对对应的电机的工作状态进行处理得到第二控制信号，从而可以通过第二控制信号实现电机联动。
具体地，在每个驱动芯片可以接收对应的传感器反馈的对应电机的状态信息时，处理器也可以接收对应的传感器反馈的对应电机的状态信息，从而每个驱动芯片可以得到对应电机的状态信息，处理器也可以得到电机的状态信息。
S303、驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号。
其中，第一控制信号配置成指示电机是否异常工作，第二控制信号配置成指示电机的转速信息以及转向信息，驱动芯片可以根据第二控制信号进入低功耗模式或者驱动对应的电机工作。
在驱动芯片和处理器分别接收状态信息之后，驱动芯片需要根据自身处理得到第一控制信号和处理器处理所得到的第二控制信号，驱动与各个驱动芯片对应的电机进行联动，所以驱动芯片和处理器需要对状态信息进行处理，以便得到第一控制信号和第二控制信号。
具体地，每个驱动芯片可以通过解码的方式对状态信息进行处理，得到配置成控制对应电机的第一控制信号，与此同时，处理器可以通过预设的算法对状态信息进行处理，得到配置成控制对应电机的第二控制信号。
S304、多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
在驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号之后，驱动芯片可以根据各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动，从而实现各个电机之间的联动。
具体地，处理器可以向至少两个驱动芯片发送对应的第二控制信号，至少两个驱动芯片可以接收对应的第二控制信号，并对第二控制信号进行放大得到放大后的第二控制信号，至少两个驱动芯片可以根据与各个驱动芯片对应的第一控制信号和放大后的第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
需要说明的是，在实际应用中，若每个第一控制信号均指示电机正常，则至少两个驱动芯片可以根据至少两个第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
但是，若某个第一控制信号指示电机异常，则至少两个驱动芯片可以停止驱动与各个驱动芯片对应的电机进行联动。
综上所述，本申请实施例提供的电机控制方法，对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息；在驱动芯片接收状态信息时，处理器接收状态信息；驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号；多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。一个处理器可以接收多个传感器反馈的状态信息，并对状态信息进行处理得到各个电机对应的第二控制信号，通过至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动，仅通过一个处理器即可实现对多个电机进行联动的控制，避免了控制电机联动时成本过高的问题，降低了控制电机联动的成本。
图4为本申请实施例提供的一电机控制方法的流程示意图，如图4所示，应用于上述 实施例所述的电机控制系统，该方法包括：
S401、每个传感器采集相连接的电机的状态信息。
其中，状态信息配置成指示电机的工作状态。
通过控制器以及对应的驱动芯片控制对应的驱动芯片联动时，需要根据电机当前的工作状态进行处理，以便可以得到对应的控制信号，控制电机的联动，因此，每个传感器需要采集相连接的电机的状态信息。
在本申请实施例中，每个传感器可以设置于对应的电机中，从而可以采集对应的电机在工作时的状态信息。
另外，本申请实施例中的传感器的类型可以为霍尔传感器，霍尔传感器采集对应的电机状态信息。
S402、每个传感器分别向处理器和对应的驱动芯片发送状态信息。
在每个传感器实时采集相连接的电机的状态信息之后，为了驱动芯片可以根据对应的第一控制信号和第二控制信号控制对应的电机联动，因此，每个传感器分别向处理器和对应的驱动芯片实时发送状态信息。
需要说明的是，每一个电机具有与该电机对应的传感器、驱动芯片以及传感器采集该电机的状态信息。
S403、对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息。
步骤403的过程与步骤401的过程类似，在此不再赘述。
S404、在驱动芯片接收状态信息时，处理器接收状态信息。
步骤404的过程与步骤402的过程类似，在此不再赘述。
S405、驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号。
驱动芯片和处理器需要对状态信息进行处理，得到第一控制信号和第二控制信号，以便在后续的步骤中，驱动芯片可以根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
在一种可能的实施方式中，处理器可以通过预设的算法，识别每个传感器所反馈的状态信息中所包括的对应电机的转速信息，当处理器检测到所联动的每个电机之间的转速不同时，处理器可以根据预设算法得到对于对应的电机的第二控制信号。
可选地，驱动芯片通过解码电路对状态信息进行解码得到第一控制信号，第一控制信号配置成指示与驱动芯片对应的电机是否异常工作。
在一种可能的实施方式中，驱动芯片通过解码电路对状态信息进行解码得到解码后的信息，解码后的信息可以控制驱动芯片中三相逆变桥的输出逻辑，也即是得到第一控制信 号，通过第一控制信号可以控制电机工作是否异常。
例如，传感器的类型可以为霍尔传感器，则传感器采集电机的状态信息可以为霍尔信号，驱动芯片可以通过解码电路对霍尔信号进行解码得到解码后的霍尔信号，解码后的霍尔信号可以开通和关闭对应三相逆变桥中的场效应管，则可以得到三相逆变桥的输出逻辑即第一控制信号，通过第一控制信号控制电机工作是否异常。
S406、多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
为了实现各个电机之间的联动，需要多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，实现对对应电机的控制，使得多个电机的工作状态相同。
可选地，处理器向至少两个驱动芯片发送与各个驱动芯片对应的第二控制信号，至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。
其中，处理器向至少两个驱动芯片发送与各个驱动芯片对应的第二控制信号，至少两个驱动芯片可以对对应的第二控制信号进行放大。
可选地，若至少两个第一控制信号中的每个第一控制信号均指示电机正常，至少两个驱动芯片根据至少两个第二控制信号驱动与各个驱动芯片对应的电机进行联动，若至少两个第一控制信号中任意一个第一控制信号指示电机异常，至少两个驱动芯片停止驱动与各个驱动芯片对应的电机进行联动。
其中，可以对每个电机设置与该电机对应的电阻，每个电阻分别连接对应的电机以及驱动芯片，通过每个电阻检测电机工作时所产生的电流。
具体地，若第一控制信号中任意一个第一控制信号指示电机异常工作，对应的电机开始异常工作，对应的至少两个阻产检测的电流信息过大，至少两个驱动芯片可以获取该电流信息，并向处理器反馈电流信息，处理器接收该电流信息后，处理器控制至少两个驱动芯片停止驱动对应的电机，并且停止向至少两个驱动芯片发送配置成控制电机联动的第二控制信号。
综上所述，本申请实施例提供的电机控制方法，对于每个驱动芯片，驱动芯片接收与驱动芯片对应的传感器反馈的状态信息；在驱动芯片接收状态信息时，处理器接收状态信息；驱动芯片对状态信息进行处理，得到第一控制信号，处理器对状态信息进行处理，得到第二控制信号；多个驱动芯片中的至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动。一个处理器可以接收多个传感器反馈的状态信息，并对状态信息进行处理得到各个电机对应的第二控制信号， 通过至少两个驱动芯片根据与各个驱动芯片对应的第一控制信号和第二控制信号，驱动与各个驱动芯片对应的电机进行联动，仅通过一个处理器即可实现对多个电机进行联动的控制，避免了控制电机联动时成本过高的问题，降低了控制电机联动的成本。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统和方法，可以通过其它的方式实现。例如，以上所描述的系统实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，系统或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本申请各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(英文：Read-Only Memory，简称：ROM)、随机存取存储器(英文：Random Access Memory，简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。

Claims (10)

  1. 一种电机控制方法，其特征在于，应用于电机控制系统，所述电机控制系统包括处理器、多个驱动芯片、与每个驱动芯片连接的电机和与每个电机对应的传感器，每个所述驱动芯片分别与对应的电机、对应的传感器和所述处理器连接，每个所述传感器均与所述处理器连接，所述方法包括：
    对于每个所述驱动芯片，所述驱动芯片接收与所述驱动芯片对应的传感器反馈的状态信息，所述状态信息配置成指示与所述驱动芯片对应的电机的工作状态；
    在所述驱动芯片接收所述状态信息时，所述处理器接收所述状态信息；
    所述驱动芯片对所述状态信息进行处理，得到第一控制信号，所述处理器对所述状态信息进行处理，得到第二控制信号；
    多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
  2. 如权利要求1所述的方法，其特征在于，在所述驱动芯片接收与所述驱动芯片对应的传感器反馈的状态信息之前，所述方法还包括：
    每个所述传感器采集相连接的电机的状态信息，所述状态信息配置成指示所述电机的工作状态；
    每个所述传感器分别向所述处理器和对应的驱动芯片发送所述状态信息。
  3. 如权利要求1所述的方法，其特征在于，所述驱动芯片包括解码电路，所述驱动芯片对所述状态信息进行处理，得到第一控制信号，包括：
    所述驱动芯片通过所述解码电路对所述状态信息进行解码得到所述第一控制信号，所述第一控制信号配置成指示与所述驱动芯片对应的电机是否异常工作。
  4. 如权利要求1所述的方法，其特征在于，所述多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动，包括：
    所述处理器向至少两个所述驱动芯片发送与各个所述驱动芯片对应的第二控制信号；
    至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
  5. 如权利要求4所述的方法，其特征在于，所述多个所述驱动芯片中的至少两个所述驱动芯片根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动，包括：
    若至少两个第一控制信号中的每个所述第一控制信号均指示电机正常，至少两个所述驱动芯片根据至少两个第二控制信号驱动与各个所述驱动芯片对应的电机进行联动；
    若至少两个所述第一控制信号中任意一个第一控制信号指示电机异常，至少两个所述驱动芯片停止驱动与各个所述驱动芯片对应的电机进行联动。
  6. 一种电机控制系统，其特征在于，所述电机控制系统包括处理器、多个驱动芯片、与每个驱动芯片连接的电机和与每个电机对应的传感器，每个所述驱动芯片分别与对应的电机、对应的传感器和所述处理器连接，每个所述传感器均与所述处理器连接；
    对于每个所述驱动芯片，所述驱动芯片配置成接收与所述驱动芯片对应的传感器反馈的状态信息，所述状态信息配置成指示与所述驱动芯片对应的电机的工作状态；
    在所述驱动芯片接收所述状态信息时，所述处理器配置成接收所述状态信息；
    所述驱动芯片配置成对所述状态信息进行处理，得到第一控制信号，所述处理器配置成对所述状态信息进行处理，得到第二控制信号；
    多个所述驱动芯片中的至少两个所述驱动芯片配置成根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
  7. 如权利要求6所述的电机控制系统，其特征在于，每个所述传感器配置成采集相连接的电机的状态信息，所述状态信息配置成指示所述电机的工作状态；
    每个所述传感器还配置成分别向所述处理器和对应的驱动芯片发送所述状态信息。
  8. 如权利要求6所述的电机控制系统，其特征在于，所述驱动芯片包括解码电路；
    所述驱动芯片还配置成通过所述解码电路对所述状态信息进行解码得到所述第一控制信号，所述第一控制信号配置成指示与所述驱动芯片对应的电机是否异常。
  9. 如权利要求6所述的电机控制系统，其特征在于，所述处理器还配置成向至少两个所述驱动芯片发送与各个所述驱动芯片对应的第二控制信号；
    至少两个所述驱动芯片还配置成根据与各个所述驱动芯片对应的第一控制信号和第二控制信号，驱动与各个所述驱动芯片对应的电机进行联动。
  10. 如权利要求9所述的电机控制系统，其特征在于，若至少两个第一控制信号中的每个所述第一控制信号均指示电机正常，至少两个所述驱动芯片还配置成根据至少两个第二控制信号驱动与各个所述驱动芯片对应的电机进行联动；
    若至少两个所述第一控制信号中任意一个第一控制信号指示电机异常，至少两个所述驱动芯片还配置成停止驱动与各个所述驱动芯片对应的电机进行联动。
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