WO2023138536A1 - Motor control system, motor control method, and motor driving and forwarding device - Google Patents

Abstract

The present application relates to the technical field of automatic control, and discloses a motor control system, a motor control method, and a motor driving and forwarding device. The motor control system comprises: a centralized computing processing device, multiple motor driving and forwarding devices, and multiple motors. The centralized computing processing device is connected to each of the multiple motor driving and forwarding devices, and each motor driving and forwarding device is connected to at least one of the multiple motors, respectively. Each motor driving and forwarding device obtains a motor state parameter of the corresponding motor and sends same to the centralized computing processing device. The centralized computing processing device determines a corresponding motor control parameter on the basis of the motor state parameter and sends the motor control parameter to the motor driving and forwarding device. The motor driving and forwarding device controls, on the basis of the motor control parameter, the motor to operate. In the motor control system, the centralized computing processing device has a strong processing capability, i.e., high-frequency and high-complexity computing can be performed, thereby improving the control precision of automatic production.

Description

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

This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office of China on January 20, 2022, with application number 202210067006.5 and titled "Motor Control System, Motor Control Method, and Motor Drive and Transmitter Device", the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of automatic control, in particular to a motor control system, a motor control method, and a motor drive and forwarding device.

Background technique

The motor control system is the core equipment system of automated production. In a motor control system, a large number of motors and servo controllers are generally configured. As shown in Figure 1, multiple servo controllers are connected in series, one of the multiple servo controllers is connected to a computer device, and each servo controller is connected to a motor. The computer device sends an instruction to start working to the servo controller through a programmable logic controller, and the servo controller controls the operation of the motor connected to it to complete various tasks. The servo controller is used to detect the running state of the motor in real time and calculate the corresponding motor control parameters to realize real-time control of the motor. The processing capability of the servo controller is generally limited, which limits the improvement of the control accuracy of automated production.

Contents of the invention

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

In a first aspect, the embodiment of the present application provides a motor control system. The system includes: a centralized computing processing device, a plurality of motor drive and forwarding devices, and a plurality of motors. The centralized computing processing device is connected to each of the plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected to at least one of the plurality of motors.

In the motor control system, the centralized computing processing device is used to receive the motor state parameters sent by the motor drive and forwarding device, determine the motor control parameters based on the motor state parameters, and send the motor control parameters to the motor drive and forwarding device. The motor driving and forwarding device is used to obtain the motor state parameters of the motor connected to the motor driving and forwarding device, send them to the centralized computing processing device, and drive the motor connected to the motor driving and forwarding device based on the motor control parameters.

The motor state feedback model is pre-stored in the centralized calculation processing device. The centralized processor determines motor control parameters according to the received motor state parameters and the motor state feedback model. Wherein, the motor state feedback model can be a model composed of a series of algorithmic formulas, or a machine learning model, etc.

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

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

With this solution, on the one hand, the centralized computing processing device can centrally and synchronously process the motor state parameters corresponding to multiple motors, which embodies a flat synchronous control mechanism for the motors, improves control efficiency, and reduces the time delay of information synchronous interaction; on the other hand, compared with the current commonly used servo controllers, the centralized computing processing device has stronger processing capabilities and can perform high-frequency and high-complexity calculations. Through the improvement of the above two aspects, the control precision of automatic production is greatly improved.

In a possible implementation manner, the motor control system further includes a distribution device, and the centralized computing processing device is connected to each of the multiple motor driving and forwarding devices through the distribution device.

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

The action of the distributing device to transfer the generator control parameters may be broadcast, multicast or unicast. If the motor drive and forwarding device, centralized computing processing device, and distribution device are implemented based on passive optical network technology, then the distribution device is broadcast. If the motor drive and forwarding device, the centralized computing processing device and the distribution device are implemented based on switch technology, the distribution device can be broadcast, multicast or unicast.

When the distributing device sends motor state parameters to the centralized computing and processing device, the motor state parameters of multiple motor driving and forwarding devices can be aggregated and then sent to the centralized computing and processing device, or all received state parameters can be forwarded immediately or according to the agreed time, and so on.

With this scheme, the data transmission between the centralized computing processing device and the motor drive and forwarding device is completed through the distribution device, and there is only one line for data transmission between the centralized computing processing device and the distribution device. In this way, the layout range of the motor control system can be expanded, and the wiring of the entire motor control system can be reduced to a certain extent, and the circuit structure of the system can be optimized.

In a possible implementation manner, the motor control system further includes an image monitoring device, and the image monitoring device is connected with the motor driving and forwarding device.

The image monitoring device is used to acquire working image data corresponding to the motor, and send the working image data to the motor driving and forwarding device, wherein the working image data may be a picture or a video. The motor driving and forwarding device is used to send the working image data to the centralized computing processing device.

The image monitoring device and the motor can work synchronously, that is, the image monitoring device and the motor start working at the same time and end working at the same time. The image monitoring device and the motor can also work synchronously, that is, the image monitoring device and the motor start working at different times and/or stop working at different times.

In the motor control system, when the motor drive and forwarding device does not obtain the working image data, it can only send the motor state parameters to the centralized computing processing device; when the motor driving and forwarding device obtains the motor state parameters and working image data at the same time, it can package the motor state parameters and working image data and send them to the centralized computing processing device, or can separately send the motor state parameters and working image data to the centralized computing processing device through the same communication channel.

With this scheme, in the process of controlling the operation of the motor, the centralized computing and processing device uses the image data generated by the operation of the motor as an important factor in determining the motor control parameters, so that more accurate motor control parameters can be obtained, that is, the control accuracy of automated production can be improved.

In a possible implementation manner, the centralized computing processing device is also used to send the shooting control to the motor driving and forwarding device. control parameters. The motor drive and forwarding device is also used to send shooting control parameters to the image monitoring device. The image monitoring device is configured to acquire working image data corresponding to the motor based on the shooting control parameters when receiving the shooting control parameters.

The centralized calculation and processing device may pre-store the corresponding relationship between the motor control parameters of the motor and the shooting control parameters of the image monitoring device. After the centralized calculation and processing device determines the updated motor control parameters, it may determine the corresponding shooting control parameters according to the corresponding relationship.

When the centralized calculation processing device sends the motor control parameters and shooting control parameters to the motor drive and forwarding device, the motor control parameters and shooting control parameters can be respectively recorded at designated positions of the same character string, or can be represented by character strings with designated marks.

With this solution, the centralized computing processing device can adjust the shooting direction of the image monitoring device based on the change of the motor running state, thereby obtaining more comprehensive working image data and more accurately determining the motor control parameters, thereby improving the control accuracy of automated production.

In a possible implementation manner, the centralized calculation processing device determines the motor control parameters based on the motor state parameters and the working image data.

The motor state feedback model is pre-stored in the centralized computing and processing device, and the centralized processor inputs the received motor state parameters and working image data into the motor state feedback model, thereby determining the updated motor control parameters corresponding to the motors connected to each motor drive and forwarding device.

With this solution, the centralized computing and processing device can obtain more accurate motor control parameters based on the motor state parameters and working image data, thereby improving the control accuracy of automated production.

In a possible implementation manner, the same communication channel is used by the motor driving and forwarding device to send the motor state parameters to the centralized computing and processing device and to send the working image data to the centralized computing and processing device.

By adopting this solution, the wiring of the entire motor control system can be reduced to a certain extent, and the circuit structure of the motor control system can be optimized.

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

The multi-port information forwarding device is used for sending the auxiliary control parameters received from the centralized computing processing device to the auxiliary device. The auxiliary device is used to assist the operation of the motor control system based on the auxiliary control parameters.

The multi-port information forwarding device has multiple input/output (Input/Output, I/O) ports, which can be connected to at least one auxiliary device. Auxiliary devices can be indicator lights, conveyor belt mechanisms, etc.

Using this solution, the multi-port information forwarding device can be connected to multiple auxiliary devices according to actual needs, which improves the connection flexibility of the entire motor control system and is beneficial to increase the functions of the motor control system. At the same time, the auxiliary device can assist the entire motor control system to complete the specified work more conveniently, thereby improving the intelligence of the motor control system.

In a possible implementation manner, any two motor driving and forwarding devices among the multiple motor driving and forwarding devices are connected.

In a possible implementation manner, the centralized computing processing device sends the motor control parameters corresponding to the first motor driving and forwarding device and the motor control parameters corresponding to the second motor driving and forwarding device to the first motor driving and forwarding device and the second motor driving and forwarding device among the multiple motor driving and forwarding devices respectively.

In the motor control system, the first motor driving and forwarding device sends the motor control parameters corresponding to the second motor driving and forwarding device to the second motor driving and forwarding device. At the same time, the motor control parameters corresponding to the first motor driving and forwarding device sent by the second motor driving and forwarding device are received. If the motor control parameters corresponding to the first motor drive and forwarding device sent by the centralized computing processing device are the same as the motor control parameters corresponding to the first motor drive and forwarding device sent by the second motor drive and forwarding device, then based on the motor control parameters corresponding to the first motor drive and forwarding device, the first The motor drive and the motor connected to the transponder are driven.

Similarly, the second motor driving and forwarding device sends the motor control parameters corresponding to the first motor driving and forwarding device to the first motor driving and forwarding device. At the same time, the motor control parameters corresponding to the second motor driving and forwarding device sent by the first motor driving and forwarding device are received. If the motor control parameters corresponding to the second motor drive and the forwarding device sent by the centralized computing processing device are the same as the motor control parameters corresponding to the second motor drive and the forwarding device sent by the first motor drive and the forwarding device, then the motor connected to the second motor drive and the forwarding device is driven based on the motor control parameters corresponding to the second motor drive and the forwarding device.

Wherein, the first motor driving and forwarding device and the second motor driving and forwarding device may be part or all of the multiple motor driving and forwarding devices connected to the centralized computing processing device. In addition, there may be one or more second motor driving and forwarding devices.

Using the scheme, communication is established between different motor drives and forwarding devices, and data transmission can be performed. In this way, the motor drive and forwarding device can verify the motor control parameters sent by the centralized calculation and processing device through the motor control parameters forwarded by other motor drive and forwarding devices, so as to ensure the accuracy of the motor control parameters, thereby accurately controlling the operation of the motor and improving the control accuracy of automated production. In addition, if normal data transmission cannot be performed between the centralized computing processing device and a certain motor driving and forwarding device, the centralized computing processing device can transmit data to the motor driving and forwarding device through other motor driving and forwarding devices, thereby ensuring the stability of the motor control system.

In a possible implementation, the motor includes a driver, a motor body and a motor state sensor, the driver is respectively connected to the motor body, the motor drive and the forwarding device, and the motor state sensor is respectively connected to the motor body, the motor drive and the forwarding device.

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

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

By adopting this solution, the motor drive and transponder device can have fewer functional requirements and a simpler structure, thereby reducing the cost of the motor drive and transponder device, thereby reducing the cost of automated production.

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

In the motor control system, the communication component sends the motor control parameters received from the centralized computing processing device to the driver, and sends the motor state parameters received from the driver and the motor state sensor to the centralized computing processing device. The driver drives the motor body to run based on the motor control parameters received from the communication component.

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

In a second aspect, the embodiment of the present application provides a motor control method. The method is applied to the motor control system of the first aspect and its possible implementations, and the method includes: in the first aspect and its possible implementations, the processing executed by each device of the motor control system.

In the third aspect, the embodiment of the present application provides a motor driving and forwarding device, the device includes one or more modules, and the one or more modules perform processing to realize the first aspect and possible implementation manners thereof.

The beneficial effects brought by the technical solutions provided by the embodiments of the present application are:

The motor automation control system mentioned in the embodiment of the present application includes a centralized computing processing device, multiple motor drive and forwarding devices, and multiple motors. The centralized computing processing device is connected to each of the plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected to at least one of the plurality of motors. The centralized calculation processing device determines the corresponding motor control parameters based on the motor state parameters, and sends them to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected to the motor driving and forwarding device based on the motor control parameters, thereby realizing real-time control of the motor. In the motor control system, the centralized calculation processing device is used to calculate the motor control parameters. The centralized calculation processing device can be a computer device, etc., which has stronger processing capabilities than the servo controller, that is, it can perform high-frequency and high-complexity calculations. Thus, the control precision of automatic production is greatly improved.

Description of drawings

FIG. 1 is a schematic diagram of a framework of an existing motor control system;

Fig. 2 is a schematic diagram of the structural framework of a centralized computing processing device provided by the embodiment of the present application;

Fig. 3 is a schematic structural diagram of the first motor control system provided by the embodiment of the present application;

Fig. 4 is a schematic flow chart of the first motor control method provided by the embodiment of the present application;

Fig. 5 is a schematic structural diagram of a second motor control system provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a third motor control system provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a fourth motor control system provided by an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a fifth motor control system provided by an embodiment of the present application;

FIG. 9 is a schematic flowchart of a second motor control method provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a sixth motor control system provided by an embodiment of the present application;

Fig. 11 is a schematic structural diagram of a seventh motor control system provided by an embodiment of the present application;

Fig. 12 is a schematic structural diagram of an eighth motor control system provided by an embodiment of the present application;

Fig. 13 is a schematic structural diagram of a motor driving and forwarding device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manner of the present application will be further described in detail below in conjunction with the accompanying drawings.

Before explaining the embodiment of the present application in detail, the application scenario of the embodiment of the present application will be described first.

Motors are widely used in industrial production. For example, a CNC machine tool generally includes three motors, which are respectively used to drive the object to be processed to rotate around the axis, drive the object to be processed to translate along the axis direction, and drive the object to be processed to translate along the direction perpendicular to the axis. For another example, a six-degree-of-freedom industrial robot arm (hereinafter referred to as the arm) generally includes six motors, which are used to control the rotation of the arm along the x-axis direction, the translation along the x-axis direction, the rotation along the y-axis direction, the translation along the y-axis direction, the rotation along the z-axis direction, and the translation along the z-axis direction.

The motor control system provided in the embodiment of the present application can be used to control a CNC machine tool or a robot arm to perform operations, and can also be used to control the cooperative operation between multiple CNC machine tools or multiple robot arms. Next, this solution will be described in detail by taking the control of a robotic arm as an example. Other industrial control application scenarios are similar and will not be repeated here.

The motor control system provided in the embodiment of the present application includes a centralized computing and processing device, multiple motor driving and forwarding devices (hereinafter referred to as driving and forwarding devices), and multiple motors. The centralized computing and processing device controls the operation of the motor by driving the forwarding device. Wherein, the centralized computing processing device may be a computer device, such as a notebook computer, a desktop computer, a tablet computer, and the like. From the perspective of hardware composition, the structure of the centralized computing processing device can be shown in Figure 2, including processors, memory and communication part.

The processor can be a central processing unit (central processing unit, CPU) or a system on chip (system on chip, SoC), etc. The processor can be used to determine motor control parameters, can be used to determine an instruction to start shooting, can be used to determine shooting control parameters, and so on.

The memory may include various volatile memories or nonvolatile memories, such as solid state disk (solid state disk, SSD), dynamic random access memory (dynamic random access memory, DRAM) memory, and the like. Memory can be used to store pre-stored data, intermediate data and result data in motor control systems. For example, motor control parameters, motor state parameters, shooting start instructions, shooting control parameters, working image data, and so on.

The communication component may be a wired network connector, a wireless fidelity (Wireless Fidelity, WiFi) module, an optical transceiver module, a Bluetooth module, or a cellular communication module. The communication component may be used for data transmission with other devices, and the other devices may be drive forwarding devices, other centralized computing processing devices, and the like. For example, it is used to send motor control parameters to the drive forwarding device, and is used to receive motor state parameters sent by the drive forwarding device, and so on.

In addition to processors, memory, and communication components, a terminal may also include display components, audio output components, and the like. The display component may be a twisted nematic (TN) panel, a vertical alignment (VA) panel, an in-Plane switching (IPS) panel, and so on. The display panel can be used to display working image data corresponding to the motor, and so on.

Fig. 3 is a schematic structural diagram of the first motor control system provided by the embodiment of the present application. As shown in FIG. 3 , the motor control system includes a centralized computing processing device, multiple drive forwarding devices, and multiple motors. The centralized computing and processing device is connected to each of the multiple driving and forwarding devices, and each of the driving and forwarding devices is respectively connected to at least one motor. The driving forwarding device establishes communication with the centralized computing processing device and the motor respectively, and the communication method can be wired communication (such as optical fiber communication, etc.), or wireless communication (such as WiFi communication, Bluetooth communication, etc.).

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

S401. The centralized calculation and processing device sends initial motor control parameters to the drive forwarding device.

On a production line, it usually includes multiple stations, and each station can be operated by a robotic arm. For example, when a product flows through the first station, the first robot arm installs part A at the first position of the product, and when the product flows through the second station, the second robot arm installs part B at the second position of the product, and so on. For each mechanical arm, the centralized computing processing device pre-stores the reference motor control parameters for the mechanical arm to complete the corresponding operation, and stores the identification information of the mechanical arm and the corresponding reference motor control parameters in the centralized computing processing device in the form of a table, wherein the motor control parameter can be the corresponding current value when the motor is running, and the reference motor control parameter can be the reference current value.

For a production operation, before the production operation starts, the operator can first determine the identification information of the robotic arms participating in the production operation. The operator can trigger the start instruction of the motor control system to start working in the centralized computing and processing device through some specified operation. After the centralized calculation and processing device receives the above-mentioned opening instruction, it can determine the reference motor control parameters corresponding to the robotic arms participating in the production operation in the table of correspondence between the identification information of the mechanical arms and the reference motor control parameters, and send the reference motor control parameters as the initial motor control parameters to the corresponding drive forwarding device.

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

Optionally, in addition to using the reference motor control parameters as the initial motor control parameters, the centralized computing processing device may also first determine the historical work records corresponding to the same production operation within a specified period of time in the past, and further determine the error value of the corresponding motor control parameters through the historical work records, and then adjust the reference motor control parameters based on the error value to Determine the initial motor control parameters corresponding to this production operation.

Optionally, besides the current value, the above-mentioned motor control parameters may also be parameters such as voltage value, rotation angle value, and linear displacement value corresponding to the motor running.

S402. The driving forwarding device controls the operation of the motor based on the initial motor control parameters received from the centralized computing and processing device.

The operation of the motor is usually directly driven by the driver, and the driver can be installed in the motor (that is, as a part of the motor), or installed in the drive transponder (that is, as a component of the drive transponder). For the above two possible structures, the embodiment of the present application describes step S402 respectively.

Structure 1. The driver is installed in the motor

The motor includes a driver, a motor body and a motor state sensor, and the corresponding structure is shown in Figure 5. Among them, the motor status sensor is a rotary encoder and a rotational speed sensor. The driver is respectively connected with the motor body and the drive transponder, and the motor state sensor is respectively connected with the motor body and the drive transponder. The motor state sensor establishes communication with the motor body and the drive transponder respectively, wherein the communication method can be wired communication or wireless communication.

When structure 1 is adopted, the centralized calculation and processing device sends the initial motor control parameters to the drive forwarding device in the form of digital signals. The drive transponder converts the received digital signal into a corresponding analog signal. Then, the driving transponder sends the analog signal to the driver, and the driver generates a corresponding driving current according to the received analog signal, thereby driving the motor body to run. Wherein, the analog signal may be a pulse width modulation (pulse width modulation, PWM) wave.

Structure 2. The driver is installed in the drive forwarding device

The drive forwarding device includes communication components and a driver, and the motor includes a motor body and a motor state sensor. The corresponding structure is shown in Figure 6. The communication components of the driving forwarding device are respectively connected with the driver, the motor state sensor, and the centralized computing processing device, and the motor body is respectively connected with the driver and the motor state sensor. The communication component driving the transponder establishes communication with the driver and the motor state sensor respectively, wherein the communication method can be wired communication or wireless communication.

When structure 2 is adopted, the communication part driving the forwarding device determines the corresponding PWM wave according to the initial motor control parameters sent by the centralized computing and processing device, and sends the PWM wave to the driver driving the forwarding device, and then the driver generates a corresponding driving current according to the received PWM wave, thereby driving the motor body to run.

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

While the driving and forwarding device is controlling the operation of the motor, the motor state parameters of the motor are obtained, and the motor state parameters include multiple motor state sub-parameters such as current parameters, rotation angle and speed. Among them, the current parameter is the current value of the motor body when it is running, which is obtained through the driver; the rotation angle is the rotation angle of the output shaft of the motor body relative to the reference position, which is obtained by rotating the code disc; the speed is the instantaneous speed of the motor body when it is running, and is obtained through the speed sensor. For the two possible structures mentioned in step S402, the embodiment of the present application respectively explains step S403:

For structure one:

After the driver of the motor transmits the driving current to the motor body, it obtains the current parameters of the motor body when it is running. Then, the driver feeds back the current parameter to the driving transponder. At the same time, the rotary code disc of the motor feeds back the rotation angle of the motor body to the driving transponder, and the rotational speed sensor of the motor feeds back the rotational speed of the motor body to the driving transponder. The drive forwarding device combines the acquired motor state sub-parameters into motor state parameters and sends them to the centralized computing and processing device.

The motor state parameter can be composed of multiple fields, and each field represents a motor state sub-parameter. For example, the motor state parameter is composed of three fields in order, and these three fields are used to represent the current parameter, rotation angle and speed in turn. For another example, the motor state parameter is a string with 30 bits, wherein bits 1-8 are used to represent the current parameter, bits 9-20 are used to represent the angle of rotation, bits 21-30 are used to indicate the speed, and so on. Motor status parameters can also be composed of motor status sub-parameters with specified identifiers, for example, a character string whose first character is A indicates a current parameter, and the first character string The string whose character is X indicates the rotation angle, and the string whose first character is Z indicates the speed. The motor status parameters include three strings of A0001, X0235, and Z15ac. These three strings represent current parameters, rotation angle, and speed.

For structure two:

After the driving part driving the transponder transmits the driving current to the motor body, the current parameters of the motor body during operation are obtained. Then, the driver feeds back the current parameter to the communication part driving the transponder. At the same time, the rotary code disc of the motor feeds back the rotation angle of the motor body to the communication component driving the transponder, and the rotational speed sensor of the motor feeds back the rotational speed of the motor body to the communication component driving the transponder. The communication component driving the forwarding device sends the motor state parameters to the centralized computing and processing device. The expression form of the motor state parameters is the same as that of the above-mentioned structure 1, and will not be repeated here.

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

The motor state feedback model is pre-stored in the centralized calculation processing device. The centralized processor determines the motor control parameters according to the received motor state parameters (such as current parameters, rotation angle, rotational speed, etc.) and the motor state feedback model. Wherein, the motor state feedback model can be a model composed of a series of algorithmic formulas, or a machine learning model, etc. Here are a few possible ways to handle it:

method one:

The centralized calculation and processing device inputs the acquired motor state parameters of all the motors connected to the driving transponder into the motor state feedback model, thereby determining updated motor control parameters corresponding to each motor connected to the driving transponder. Then, the centralized calculation and processing device sends the updated motor control parameters to the corresponding drive forwarding device.

Method 2:

The centralized calculation and processing device is divided into multiple processing modules according to the number of driving forwarding devices. For each drive forwarding device, the corresponding processing module in the centralized computing processing device determines the corresponding updated motor control parameters according to the motor state parameters and the motor state feedback model corresponding to the driving forwarding device, and finally, the centralized computing processing device sends the updated motor control parameters to the corresponding driving forwarding device.

Method 3:

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

Method 4:

The centralized calculation and processing device is first divided into multiple processing modules according to the number of driving and forwarding devices, and then divided into several sub-processing modules according to the number of motors corresponding to each driving and forwarding device. For each sub-processing module in the centralized computing processing device, it is used to determine the updated motor control parameters of the corresponding motor. Finally, the centralized calculation and processing device sends the updated motor control parameters to the corresponding drive forwarding device. The specific calculation method is similar to method 2 and method 3, and will not be repeated here.

S405. The driving forwarding device controls the operation of the motor based on the updated motor control parameters received from the centralized computing and processing device.

After receiving the updated motor control parameters sent by the centralized calculation and processing device, the driving forwarding device determines the corresponding driving current, thereby controlling the operation of the motor. The specific operation process is similar to that of step S402, and will not be repeated here.

Optionally, the drive forwarding device has a control parameter refreshing unit and a local closed-loop unit. When the drive forwarding device receives the motor control parameter for the first time, the control parameter refreshing unit is used for buffering the motor control parameter. The control parameter refresh unit will drive The motor control parameters cached in the automatic transponder are refreshed with the latest received motor control parameters. In the feedback cycle corresponding to each motor state parameter, the local closed-loop unit compares the motor control parameters cached in the drive forwarding device with the motor state parameters fed back after the motor executes the motor control parameters multiple times to determine whether they are consistent. If consistent, the drive forwarding device can send the motor state parameters to the centralized calculation control device for subsequent calculation of motor control parameters. If not, the local closed-loop unit driving the transponder can control the operation of the motor according to the current cached motor control parameters.

The motor control system repeats the process of steps S403-S405 in sequence until the centralized computing and processing device detects an end event, sends an end operation command to the driving and forwarding device, and the driving and forwarding device stops driving the motor. The above end command may be triggered by an operator through some specified operation, and the specified operation corresponding to the end command is similar to the specified operation corresponding to the start command, and will not be repeated here.

Optionally, the above-mentioned end instruction may also be that the centralized computing processing device receives feedback information that a certain motor (or a certain station) cannot operate normally or a safety problem occurs, for example, a certain motor fails, causing the entire station or the entire production line to fail to work. At this time, the motor control system ends the operation so that maintenance personnel can repair the faulty motor, etc.

Using the motor control system and motor control method provided by the embodiments of the present application, on the one hand, the centralized computing processing device can centrally and synchronously process the motor state parameters corresponding to multiple motors (or multiple drive forwarding devices), which embodies a flattened synchronous control mechanism for the motors, improves control efficiency, and reduces the time delay of information synchronization interaction;

At the same time, in the motor control system, the current commonly used servo controller is replaced by a motor drive and forwarding device. The motor drive and forwarding device mainly plays the role of forwarding parameters. Compared with the servo controller, the motor drive and forwarding device does not need to have higher processing capacity, and the cost is relatively low. In this way, the cost of the entire control system is reduced.

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

One function of the distribution device is to transcode the generator control parameters. The forwarding action can be broadcast, multicast or unicast. If the drive forwarding device, centralized computing processing device and distribution device are implemented based on passive optical network (PON) technology, then the distribution device is broadcast. That is to say, the distributing device broadcasts the motor control parameters determined by the centralized computing and processing device to each of the multiple drive forwarding devices. If the drive forwarding device, centralized computing processing device and distribution device are implemented based on switch technology, then the distribution device can be broadcast, multicast or unicast. In this regard, this application does not make a limitation.

Another function of the distributing device is to send the motor state parameters received from each drive forwarding device to the centralized computing and processing device. In an implementation manner, the distributing device may gather the motor state parameters of multiple drive forwarding devices and send them to the centralized computing and processing device. In another implementation manner, the distributing device may forward all received state parameters immediately or according to an agreed time.

Using the motor control system and motor control method provided by the embodiment of the present application, the data transmission between the centralized computing processing device and the drive forwarding device is completed through the distribution device, and there is only one line for data transmission between the centralized computing processing device and the distribution device. In this way, the layout range of the motor control system can be expanded, and the wiring of the entire system can be reduced to a certain extent, and the network structure of the motor control system can be optimized.

Fig. 8 is a schematic structural diagram of a fifth motor control system provided by an embodiment of the present application. As shown in FIG. 8 , the motor control system also includes an image monitoring device, which is connected with the drive forwarding device and establishes communication, and the communication method is the same as above.

The image monitoring device is used to capture the working image data corresponding to the motor, and the working image data can be a picture, such as a mechanical arm The pose at a certain moment, the working image data can also be a video, such as the movement trajectory of the robotic arm within a certain period of time, etc.

The image monitoring device and the motor can work synchronously, that is, when the motor starts to run, the image monitoring device starts to capture the working image data corresponding to the motor synchronously, and continues to shoot during the whole process of the motor running, and when the motor stops running, the image monitoring device synchronously ends the shooting. The image monitoring device and the motor can work asynchronously. For example, the image monitoring device and the motor start to work synchronously, and the image monitoring device stops shooting after taking pictures for the first time, while the motor continues to run after running for the first time. For another example, the motor starts running first, and after the second continuous operation, the image monitoring device starts to shoot, and after the image monitoring device and the motor work synchronously for the third time, the image monitoring device stops shooting, and the motor continues to run. For another example, the motor starts to run first, and after the fourth continuous running, the image monitoring device starts shooting, and when the motor stops running, the image monitoring device stops shooting. Next, this solution will be described by taking the synchronous operation of the image monitoring device and the motor as an example. Other situations are similar and will not be repeated here.

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

S901. The centralized computing and processing device sends initial motor control parameters and an instruction to start shooting to the driving forwarding device.

The operator can trigger the start instruction of the motor control system to start working in the centralized computing and processing device through some specified operation. After receiving the start instruction, the centralized computing and processing device determines the initial motor control parameters corresponding to the motor and the shooting start instruction corresponding to the image monitoring device. The above specifying operation is similar to the situation in step S401, and will not be repeated here.

The centralized computing and processing device sends initial motor control parameters and an instruction to start shooting to the drive forwarding device. For each driving transponder and image monitoring device, the initial motor control parameters and the start shooting command can be recorded in the same character string, for example, in a 20-bit character string, the 1st-12th bit characters are used to represent the initial motor control parameters, the 13th-20th bit characters are used to represent the start shooting command, etc. The initial motor control parameters and the command to start shooting can also be represented by character strings with specified identifiers, for example, the character string whose first character is S represents the initial motor control parameters, and the character string whose first character is C represents the command to start shooting.

Optionally, when the image monitoring device and the motor work asynchronously, the centralized computing processing device may send the shooting start instruction to the drive forwarding device alone, or send the shooting start instruction together with the motor control parameters updated at a certain moment to the motor control parameters.

S902. The driving and forwarding device controls the operation of the motor based on the initial motor control parameters received from the centralized computing and processing device, and sends an instruction to start shooting to the image monitoring device.

The drive forwarding device controls the operation of the motor based on the initial motor control parameters received from the centralized computing processing device. The specific processing flow is similar to step S402 and will not be repeated here.

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

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

The motor state parameter of the motor is obtained by driving the forwarding device, and the manner of obtaining the state parameter of the motor is similar to that of step S403, and will not be repeated here.

The drive forwarding device receives the working image data corresponding to the motor, for example, the pose picture of the robot arm at the current moment, the motion video of the robot arm in a specified monitoring period, and so on.

Usually, the feedback cycle of the motor state parameters is significantly shorter than the monitoring cycle of the working image data. Therefore, when the drive forwarding device does not obtain the working image data, only the motor state parameters can be sent to the centralized computing processing device; After being packaged, it is sent to the centralized computing and processing device, and the motor state parameters and working image data can also be sent to the centralized computing and processing device through the same communication channel.

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

A motor state feedback model is pre-stored in the centralized computing and processing device, and the centralized processor inputs the received motor state parameters (such as current parameters, rotation angle, rotational speed, etc.) and working image data into the motor state feedback model, thereby determining the updated motor control parameters corresponding to the motors connected to each drive forwarding device. Then, the centralized computing processing device sends the updated motor control parameters to the drive forwarding device.

The centralized calculation and processing device can be divided into multiple processing modules (or multiple processing sub-modules) according to the number of drive forwarding devices (or motors). Each processing module (or sub-processing module) is used to determine a corresponding motor control parameter for driving the forwarding device (or motor). The specific operation process is similar to that of step S404 and will not be repeated here.

The centralized calculation and processing device may pre-store the corresponding relationship between the motor control parameters of the motor and the shooting control parameters of the image monitoring device. After the centralized calculation and processing device determines the updated motor control parameters, it may determine the corresponding shooting control parameters according to the corresponding relationship. Wherein, the shooting control parameter is used to adjust the shooting direction of the image monitoring device, thereby controlling the image monitoring device to capture specified working image data.

S905. The driving forwarding device controls the operation of the motor based on the updated motor control parameters received from the centralized computing and processing device, and sends the shooting control parameters to the image monitoring device.

After receiving the updated motor control parameters sent by the centralized calculation and processing device, the driving forwarding device determines the corresponding driving current, thereby controlling the operation of the motor. The specific operation process is similar to that of step S402, and will not be repeated here.

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

The motor control system repeats the process of steps S903-S905 in sequence until the centralized computing processing device detects an end event, sends an end operation instruction and an end shooting instruction to the driving forwarding device, the driving forwarding device stops driving the motor, and sends the end shooting instruction to the image monitoring device, and the image monitoring device stops shooting working image data. The above-mentioned end instruction can be triggered by the operator through some specified operation, and the triggering method is similar to the solutions mentioned in step S401 and step S405, and will not be repeated here.

Using the motor control system and motor control method provided in the embodiments of the present application, in the process of controlling the operation of the motor, the visual image generated by the operation of the motor is used as an important factor for determining the motor control parameters, so that more accurate motor control parameters can be obtained, that is, the control accuracy of automated production can be improved.

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

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

For example, the auxiliary device is a conveyor belt device, and the mechanical arm is used to transport the items on the conveyor belt to the designated position. When the centralized computing and processing device sends motor control parameters to the drive forwarding device to control the movement of the mechanical arm, at the same time, the multi-port information forwarding device sends the control parameters for closing the switch of the conveyor belt device to the auxiliary device to control the operation of the conveyor belt, thereby realizing the cooperation between the conveyor belt device and the mechanical arm.

For another example, the auxiliary device is an indicator light. When the mechanical arm is not working, the corresponding indicator light is off. When the mechanical arm is working normally, The corresponding indicator light is green. When the centralized computing and processing device sends the motor control parameters to the drive forwarding device to control the movement of the mechanical arm, the multi-port information forwarding device sends the control parameters of the indicator light to the auxiliary device to ensure that the indicator light is always green during the normal operation of the mechanical arm.

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

For the above-mentioned multi-port information forwarding device and auxiliary device, two possible situations are shown here as examples, and various auxiliary devices for assisting the operation of the motor control system can be provided according to actual production needs, and details will not be described here.

The motor control system provided in the embodiment of the present application includes a plurality of drive forwarding devices, and any two drive forwarding devices in the multiple drive forwarding devices are connected to establish communication. Next, taking the motor control system including two drive forwarding devices as an example, the data transmission between the drive forwarding devices will be described.

Fig. 12 is a schematic structural diagram of a seventh motor control system provided by an embodiment of the present application. As shown in FIG. 12 , the motor control system includes two drive transponders, which are respectively referred to as a first drive transponder and a second drive transponder. The first drive forwarding device is respectively connected with the centralized computing processing device and the first motor, and establishes communication. The first drive forwarding device is respectively connected with the centralized computing processing device and the second motor, and establishes communication. The first drive forwarding device is connected to the second drive forwarding device and establishes communication, and the communication method is similar to the above.

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

Similarly, the second drive forwarding device sends the motor control parameters corresponding to the first drive forwarding device to the first drive forwarding device, and receives the motor control parameters corresponding to the second drive forwarding device sent by the first drive forwarding device. If the motor control parameter corresponding to the second drive forwarding device sent by the centralized computing processing device is the same as the motor control parameter corresponding to the second drive forwarding device sent by the first drive forwarding device, or within a preset error range, then the corresponding motor is controlled based on the motor control parameter corresponding to the second drive forwarding device. Instead, this requires the centralized computational processing means to resend the motor control parameters.

It should be noted that the first drive forwarding device and the second drive forwarding device may be part or all of a plurality of drive forwarding devices connected to the centralized computing processing device. In addition, there may be one or more second drive transfer devices.

By using the motor control system and the motor control method provided in the embodiments of the present application, communication can be established between different driving forwarding devices, and data transmission can be performed. In this way, the drive forwarding device can verify the motor control parameters sent by the centralized computing processing device through the motor control parameters forwarded by other drive forwarding devices, so as to ensure the accuracy of motor operation, thereby improving the control accuracy of automated production. In addition, if normal data transmission cannot be performed between the centralized computing and processing device and a certain driving and forwarding device, the centralized computing and processing device can transmit data to the driving and forwarding device through other driving and forwarding devices, thereby ensuring the stability of the operation of the motor control system.

All the above optional technical solutions may be combined in any way to form optional embodiments of the present application, which will not be repeated here.

The motor automation control system mentioned in the embodiment of the present application includes a centralized computing processing device, multiple motor drive and forwarding devices, and multiple motors. The centralized computing processing device is connected to each of the plurality of motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected to at least one of the plurality of motors. The motor driving and forwarding device obtains the motor state parameters of the motor and sends them to the centralized computing processing device. The centralized calculation processing device determines the corresponding motor control parameters based on the motor state parameters, and sends them to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected to the motor driving and forwarding device based on the motor control parameters, thereby realizing real-time control of the motor. In the motor control system, the centralized calculation processing device is used to calculate the corresponding motor control parameters. The centralized calculation processing device can be computer equipment, etc. Compared with the current commonly used servo controllers, the centralized calculation processing device has stronger processing capabilities, that is, it can perform high-frequency and high-complexity calculations. In this way, the control precision of automatic production is greatly improved.

In the motor control system, the centralized computing and processing device controls multiple motor drives and forwarding devices and multiple motors at the same time. In this way, a flat synchronous control mechanism for the motors is embodied, the control efficiency is improved, and the time delay of information synchronization and interaction is reduced, thereby further improving the control accuracy of automated production.

In this motor control system, the current commonly used servo controller is replaced by a motor drive and forwarding device. The motor drive and forwarding device mainly plays the role of forwarding parameters. Compared with the servo controller, the motor drive and forwarding device does not need to have higher processing capacity, and the cost is relatively low. In this way, the cost of the entire control system is reduced. Based on the same technical concept, the embodiment of the present application also provides a motor driving and forwarding device. The device is applied to the motor control system mentioned in the above embodiments, and as shown in FIG. 13 , the device includes a communication module 1301 and a drive module 1302 .

The communication module 1301 is used to obtain the motor state parameters of the motor connected to the motor drive and forwarding device, send them to the centralized computing processing device, and receive the motor control parameters sent by the centralized computing processing device. For the corresponding processing, refer to the above steps S402, S403, S405, S902, S903, S905 and descriptions related to the steps.

The driving module 1402 is configured to drive the motor connected to the motor driving and forwarding device based on the motor control parameters. For the corresponding processing, refer to the above steps S402, S405, S902, S905 and descriptions related to the steps.

In a possible implementation manner, the motor control system further includes an image monitoring device, and the communication module 1301 is further configured to send the working image data of the motor received from the image monitoring device to the centralized computing processing device. For the corresponding processing, refer to the above-mentioned step S903 and the description content related to the steps.

In a possible implementation manner, the communication module 1301 is further configured to send the shooting control parameters received from the centralized computing processing device to the image monitoring device. For the corresponding processing, refer to the above-mentioned step S905 and the description content related to the steps.

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

The drive module 1302 is configured to: send the motor control parameters corresponding to the other motor driving and forwarding devices to the other motor driving and forwarding devices; receive the motor control parameters corresponding to the motor driving and forwarding device sent by the other motor driving and forwarding devices; The motor connected to the driving and forwarding device is driven. For the corresponding processing, refer to the above-mentioned description about the seventh motor control system provided in the embodiment of the present application.

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

The motor automation control system mentioned in the embodiment of the present application includes a centralized computing processing device, multiple motor drive and forwarding devices, and multiple motors. A centralized computational processing device is connected to each of the plurality of motor drive and forwarding devices. Each motor drive and forwarding device is respectively connected to at least one of the plurality of motors. The motor driving and forwarding device obtains the motor state parameters of the motor and sends them to the centralized computing processing device. The centralized calculation processing device determines the corresponding motor control parameters based on the motor state parameters, and sends them to the motor driving and forwarding device. The motor driving and forwarding device drives the motor connected to the motor driving and forwarding device based on the motor control parameters, thereby realizing real-time control of the motor. In the motor control system, the centralized calculation processing device is used to calculate the corresponding motor control parameters. The centralized calculation processing device can be computer equipment, etc. Compared with the current commonly used servo controller, the centralized calculation processing device has stronger processing capabilities, that is, it can perform high-frequency and high-complexity calculations. In this way, the control precision of automatic production is greatly improved.

In this motor control system, the current commonly used servo controller is replaced by a motor drive and forwarding device. The motor drive and forwarding device mainly plays the role of forwarding parameters. Compared with the servo controller, the motor drive and forwarding device does not need to have higher processing capacity, and the cost is relatively low. In this way, the cost of the entire control system is reduced.

In this motor control system, the centralized computing processing device simultaneously controls multiple motor drives and forwarding devices, and multiple motors simultaneously, thus reflecting a flat synchronous control mechanism for motors, improving control efficiency, and reducing the time delay of information synchronization and interaction, thereby further improving the control accuracy of automated production.

It should be noted that: when the motor drive and forwarding device provided in the above-mentioned embodiments performs motor control, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned function distribution can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the motor driving and forwarding device provided by the above-mentioned embodiments belongs to the same concept as the motor control system embodiment and the motor control method embodiment, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above-mentioned embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only an embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included within the protection scope of the present application.

Claims (22)

1. A motor control system, characterized in that the motor control system comprises: a centralized computing processing device, a plurality of motor driving and forwarding devices, and a plurality of motors, the centralized computing processing device is connected to each of the multiple motor driving and forwarding devices, and each motor driving and forwarding device is respectively connected to at least one of the plurality of motors; wherein:

   The centralized calculation processing device is used to receive the motor state parameters sent by the motor drive and forwarding device, determine the motor control parameters based on the motor state parameters, and send the motor control parameters to the motor drive and forwarding device;

   The motor driving and forwarding device is used to obtain the motor state parameters of the motor connected to the motor driving and forwarding device, send them to the centralized computing processing device, and drive the motor connected to the motor driving and forwarding device based on the motor control parameters.
2. The motor control system according to claim 1, wherein the motor control system further comprises a distribution device, and the centralized computing processing device is connected to each of the plurality of motor driving and forwarding devices, comprising: the centralized computing processing device is connected to each of the multiple motor driving and forwarding devices through the distribution device;

   The distributing device is configured to forward the motor control parameters received from the centralized computing and processing device to each of the motor driving and forwarding devices, and send the motor state parameters received from each of the motor driving and forwarding devices to the centralized computing and processing device.
3. The motor control system according to claim 1 or 2, wherein the motor control system further comprises an image monitoring device connected to the motor driving and forwarding device;

   The image monitoring device is used to acquire working image data corresponding to the motor, and send the working image data to the motor driving and forwarding device;

   The motor driving and forwarding device is also used to send the working image data to the centralized computing processing device.
4. The motor control system according to claim 3, wherein the centralized computing processing device is further configured to send shooting control parameters to the motor driving and forwarding device;

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

   The image monitoring device is configured to acquire working image data corresponding to the motor based on the shooting control parameters when receiving the shooting control parameters.
5. The motor control system according to claim 3, wherein the determining the motor control parameters based on the motor state parameters comprises: determining the motor control parameters based on the motor state parameters and the working image data.
6. The motor control system according to claim 3, wherein the motor driving and forwarding device uses the same communication channel to send the motor state parameters to the centralized computing and processing device and to send the working image data to the centralized computing and processing device.
7. The motor control system according to any one of claims 1-6, wherein the motor control system further comprises a multi-port information forwarding device and an auxiliary device, and the multi-port information forwarding device is respectively connected to the centralized computing processing device and the auxiliary device;

   The multi-port information forwarding device is configured to send the auxiliary control parameters received from the centralized computing processing device to the auxiliary device;

   The auxiliary device is configured to assist the motor control system to work based on the auxiliary control parameters.
8. The motor control system according to any one of claims 1-7, characterized in that any two motor driving and forwarding devices in the plurality of motor driving and forwarding devices are connected.
9. The motor control system according to claim 8, wherein the centralized computing processing device is used for:

   To the first motor drive and forwarding device and the second motor drive and forwarding device in the plurality of motor driving and forwarding devices respectively A forwarding device for sending the motor control parameters corresponding to the first motor driving and forwarding device and the motor control parameters corresponding to the second motor driving and forwarding device;

   The first motor drive and forwarding device is used for:

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

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

   If the motor control parameters corresponding to the first motor drive and forwarding device sent by the centralized computing processing device are the same as the motor control parameters corresponding to the first motor drive and forwarding device sent by the second motor drive and forwarding device, then the motor connected to the first motor drive and forwarding device is driven based on the motor control parameters corresponding to the first motor drive and forwarding device;

   The second motor driving and forwarding device is used for:

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

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

   If the motor control parameters corresponding to the second motor drive and forwarding device sent by the centralized computing processing device are the same as the motor control parameters corresponding to the second motor drive and forwarding device sent by the first motor drive and forwarding device, then the motor connected to the second motor drive and forwarding device is driven based on the motor control parameters corresponding to the second motor drive and forwarding device.
10. The motor control system according to any one of claims 1-9, wherein the motor includes a driver, a motor body and a motor state sensor, the driver is respectively connected to the motor body, the motor driving and forwarding device, and the motor state sensor is respectively connected to the motor body, the motor driving and forwarding device;

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

    The driver is used to drive the motor body to run based on the motor control parameters received from the motor driving and forwarding device.
11. The motor control system according to any one of claims 1-9, wherein the motor driving and forwarding device includes a communication component and a driver, the motor includes a motor body and a motor state sensor, the communication component is respectively connected to the driver, the motor state sensor, and the centralized computing processing device, and the motor body is connected to the driver and the motor state sensor respectively;

    The communication component is configured to send the motor control parameters received from the centralized computing processing device to the driver, and send the motor state parameters received from the driver and the motor state sensor to the centralized computing processing device;

    The driver is configured to drive the motor body to run based on the motor control parameters received from the communication component.
12. A motor control method, characterized in that the method is applied to a motor control system, and the motor control system includes a centralized computing processing device, a plurality of motor drive and forwarding devices, and a plurality of motors, and the method includes:

    The motor drive and forwarding device obtains the motor state parameters of the motor connected to the motor drive and forwarding device, and sends them to the centralized computing processing device;

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

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

    The motor driving and forwarding device drives a motor connected to the motor driving and forwarding device based on the motor control parameters.
13. The motor control method according to claim 12, wherein the motor control system further comprises a distribution device;

    The centralized calculation processing device sends the motor control parameters to the motor drive and forwarding device, including:

    The centralized calculation processing device sends the motor control parameters to the distribution device;

    said distributing means forwards said motor control parameters to said each motor driving and forwarding means;

    The motor drive and forwarding device obtains the motor state parameters of the motor connected to the motor drive and forwarding device, and sends them to the centralized computing processing device, including:

    The motor drive and forwarding device obtains the motor state parameters of the motor connected to the motor drive and forwarding device, and sends them to the distribution device;

    The distributing device sends the motor state parameters received from each motor driving and forwarding device to the centralized computing processing device.
14. The motor control method according to claim 12 or 13, wherein the motor control system further includes an image monitoring device, and the method further includes:

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

    The motor driving and forwarding device sends the working image data to the centralized computing processing device.
15. The motor control method according to claim 14, further comprising:

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

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

    The image monitoring device acquires working image data corresponding to the motor based on the shooting control parameters.
16. The motor control method according to claim 14, wherein the centralized computing processing device determines motor control parameters based on the motor state parameters, including:

    The centralized calculation processing device determines motor control parameters based on the motor state parameters and the working image data.
17. The motor control method according to claim 14, wherein the motor driving and forwarding device sends the motor state parameters to the centralized computing processing device and sends the working image data to the centralized computing processing device using the same communication channel.
18. The motor control method according to claims 12-17, wherein the motor control system further includes a multi-port information forwarding device and an auxiliary device, and the method further includes:

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

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

    The auxiliary device assists the motor control system to work based on the auxiliary control parameters.
19. A motor drive and forwarding device, characterized in that the device comprises:

    The communication module is used to obtain the motor state parameters of the motor connected to the motor drive and the forwarding device, send them to the centralized computing processing device, and receive the motor control parameters sent by the centralized computing processing device;

    The driving module is configured to drive the motor connected to the motor driving and forwarding device based on the motor control parameters.
20. The motor driving and forwarding device according to claim 19, wherein the communication module is further configured to send the working image data of the motor received from the image monitoring device to the centralized computing and processing device.
21. The motor driving and forwarding device according to claim 19, wherein the communication module is further configured to send the shooting control parameters received from the centralized computing and processing device to the image monitoring device.
22. The motor driving and forwarding device according to any one of claims 19-21, wherein the communication module is configured to receive the motor control parameters corresponding to the motor driving and forwarding device and the motor control parameters corresponding to other motor driving and forwarding devices sent by the centralized computing and processing device;

    The drive module is used for:

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

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

    If the motor control parameters corresponding to the motor drive and forwarding device sent by the centralized computing and processing device are the same as the motor control parameters corresponding to the motor drive and forwarding device sent by the other motor drive and forwarding devices, then the motor connected to the motor drive and forwarding device is driven based on the motor control parameters corresponding to the motor drive and forwarding device.