Multi-motor synchronous control method, device and equipment and computer readable storage medium

Abstract

The invention discloses a multi-motor synchronous control method, a multi-motor synchronous control device, multi-motor synchronous control equipment and a computer readable storage medium, and belongs to the field of motor control. And the speed consistency can be improved by uniformly driving each motor through the target driving current determined based on the closed-loop control algorithm, so that the current actual running speed and the current target running speed of the motor set for driving the track are determined in each preset period; according to the deviation value of the actual operation speed relative to the target operation speed, target driving current is determined through a closed-loop control algorithm; finally, all motors in the motor set are driven through the target driving current, the target driving current can be periodically updated, all the motors are uniformly driven, the running speed of all the motors is made to periodically approach the target running speed, and therefore the speed consistency of all the motors can be improved, and losses of the motors and rail components are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control, in particular to a multi-motor synchronous control method, device, equipment and computer readable storage medium. BACKGROUND

[0002] There is a need in many industries to transport objects by a track of movement (for example, a hanging system in the clothing industry or a coal transportation system in the coal industry), and the movement of the track is usually driven by multiple motors. Ideally, the multiple motors should run at the same speed, however, in actual applications, due to the uneven load on the track, there is a difference between the running speeds of the multiple motors, which increases the loss of both the motors and the track components.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. SUMMARY

[0004] The purpose of the present application is to provide a multi-motor synchronous control method, device, equipment and computer readable storage medium. In each preset period, the actual running speed and the current target running speed of the motor group for driving the track are determined, and then the target driving current is determined by a closed-loop control algorithm according to the deviation of the actual running speed relative to the target running speed. Finally, the target driving current is used to drive each motor in the motor group, the target driving current is periodically updated, and each motor is uniformly driven, so that the running speed of each motor periodically approaches the target running speed, thereby improving the speed consistency of each motor and reducing the loss of the motor and the track component.

[0005] To solve the above technical problems, the present application provides a multi-motor synchronous control method applied to a track transportation system, comprising:

[0006] Every preset period, the actual running speed and the current target running speed of the motor group for driving the track are determined, wherein the actual running speed is the average of the running speeds of each motor in the motor group.

[0007] According to the deviation of the actual running speed relative to the target running speed, a target driving current is determined by a closed-loop control algorithm.

[0008] Each motor in the motor group is driven by the target driving current, so that the running speed of each motor approaches the target running speed.

[0009] On the other hand, every preset period, the actual running speed and the current target running speed of the motor group for driving the track are determined, comprising:

[0010] Every preset period, execute the data determination process:

[0011] The average current operating speed of each motor in the motor group used to drive the track is used as the current actual operating speed of the motor group;

[0012] Determine whether the current orbital operation phase is the acceleration phase;

[0013] If it is the acceleration phase, the current target operating speed of the motor group is determined based on the track running time and the preset acceleration;

[0014] If it is not in the acceleration phase, the preset operating speed is used as the current target operating speed of the motor group;

[0015] The upper limit of the target running speed is the preset running speed.

[0016] On the other hand, determining whether the current orbit operation phase is an acceleration phase includes:

[0017] Determine whether the target running speed recorded last time reaches the preset running speed;

[0018] If the preset running speed is not reached, the current orbit running phase is determined to be the acceleration phase;

[0019] If the preset running speed is reached, it is determined that the current orbit running phase is not an acceleration phase.

[0020] On the other hand, determining the current target operating speed of the motor group according to the track operating time and the preset acceleration includes:

[0021] The periodic cumulative quantity is increased by one, wherein the initial value of the periodic cumulative quantity is zero;

[0022] The product of the accumulated number of cycles and the preset cycle is used as the orbital operation duration;

[0023] The sum of the track running time and the preset period, multiplied by the preset acceleration, is used as the current target running speed of the motor group.

[0024] On the other hand, determining the target driving current through a closed-loop control algorithm according to the deviation of the actual operating speed from the target operating speed includes:

[0025] According to the deviation of the actual operating speed relative to the target operating speed, and the difference between the operating speed of each motor in the motor group and the actual operating speed, the target driving current corresponding to each motor is determined by a closed-loop control algorithm.

[0026] On the other hand, the multi-motor synchronous control method further includes:

[0027] Get the preset track speed through the human-machine interface;

[0028] Based on a preset speed conversion relationship, the preset track speed is converted into a preset running speed;

[0029] The speed conversion relationship includes:

[0030] ;

[0031] Among them, the motor group drives the track through a chain or rack, Vref is the preset running speed, Vr is the preset track speed, Dr is the tooth pitch of the rack or the pitch of the chain, Ng is the number of teeth on the wheel, and Pg is the speed ratio of the reducer.

[0032] On the other hand, after determining whether the current track operation stage is the acceleration stage and before setting the preset operation speed as the current target operation speed of the motor group, the multi-motor synchronous control method further includes:

[0033] If it is not the acceleration phase, determining whether the absolute value of the deviation between the current actual running speed and the preset running speed is greater than a preset deviation threshold;

[0034] If it is greater, the number of consecutive deviations is increased by one and it is determined whether the number of consecutive deviations reaches a preset number;

[0035] If it is not greater than, the number of consecutive deviations is cleared to zero, and the steps are executed: the preset operating speed is used as the current target operating speed of the motor group;

[0036] If it is reached, the preset running speed is reduced by a preset ratio and used as the new target running speed;

[0037] If not reached, execute the steps: set the preset operating speed as the current target operating speed of the motor group.

[0038] To solve the above technical problems, the present invention further provides a multi-motor synchronous control device, which is applied to a rail transportation system and comprises:

[0039] a first determining module, configured to determine, at every preset period, a current actual operating speed and a current target operating speed of the motor group for driving the track, wherein the actual operating speed is an average of the operating speeds of the motors in the motor group;

[0040] a second determining module, configured to determine a target driving current through a closed-loop control algorithm according to a deviation of the actual operating speed relative to the target operating speed;

[0041] The first action module is configured to drive each motor in the motor group by using the target driving current so that the operating speed of each motor approaches the target operating speed.

[0042] In order to solve the above technical problems, the present invention further provides a multi-motor synchronous control device, comprising:

[0043] memory for storing computer programs;

[0044] The processor is used to implement the steps of the multi-motor synchronous control method described above when executing the computer program.

[0045] To solve the above technical problems, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the multi-motor synchronous control method described above are implemented.

[0046] Beneficial effect: The present invention provides a multi-motor synchronous control method, taking into account that speed adjustment of each motor at preset intervals can avoid the accumulation of speed differences, and uniformly driving each motor through the "target driving current determined based on the closed-loop control algorithm" can improve speed consistency, the present invention determines the current actual operating speed and the current target operating speed of the motor group used to drive the track in each preset cycle, and then determines the target driving current through the closed-loop control algorithm according to the deviation of the actual operating speed from the target operating speed; finally, the target driving current is driven by the target driving current to periodically update the target driving current and uniformly drive each motor, so that the operating speed of each motor periodically approaches the target operating speed, thereby improving the speed consistency of each motor and reducing the loss of the motor and track components.

[0047] The present invention also provides a multi-motor synchronous control device, equipment and computer-readable storage medium, which have the same beneficial effects as the above multi-motor synchronous control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the relevant technologies and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic flow chart of a multi-motor synchronous control method provided by the present invention;

[0050] Figure 2 A schematic structural diagram of a rail transportation system provided by the present invention;

[0051] Figure 3 A schematic flow chart of another multi-motor synchronous control method provided by the present invention;

[0052] Figure 4 A schematic diagram of a motor control process provided by the present invention;

[0053] Figure 5 A schematic structural diagram of a multi-motor synchronous control device provided by the present invention;

[0054] Figure 6 This is a structural schematic diagram of a multi-motor synchronous control device provided by the present invention. DETAILED DESCRIPTION

[0055] The core of the present invention is to provide a multi-motor synchronous control method, device, equipment and computer-readable storage medium. In each preset cycle, the present invention determines the current actual operating speed and the current target operating speed of the motor group used to drive the track, and then determines the target driving current through a closed-loop control algorithm based on the deviation of the actual operating speed relative to the target operating speed; finally, the target driving current is used to drive each motor in the motor group, and the target driving current can be periodically updated and each motor can be driven uniformly, so that the operating speed of each motor periodically approaches the target operating speed, thereby improving the speed consistency of each motor and reducing the loss of the motor and track components.

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0057] Please refer to Figure 1 , Figure 1 This is a flow chart of a multi-motor synchronous control method provided by the present invention, which is applied to a rail transportation system, including:

[0058] S101: Determine the current actual operating speed and the current target operating speed of the motor group for driving the track at every preset period, wherein the actual operating speed is the average of the operating speeds of the motors in the motor group;

[0059] Specifically, taking into account the technical problems in the above background technology, and considering that regulating the speed of each motor at intervals of a preset period can avoid the accumulation of speed differences, and uniformly driving each motor through the "target driving current determined based on the closed-loop control algorithm" can improve speed consistency, the embodiment of the present invention intends to determine a unified target driving current for each motor in the motor group every preset period so that each motor can run at the same speed. In order to give a suitable target driving current, the current actual operating speed and target operating speed of the motor group can be referred to. Therefore, in this step, the current actual operating speed and the current target operating speed of the motor group used to drive the track can be determined every preset period, wherein the actual operating speed is the average of the operating speeds of each motor in the motor group.

[0060] The preset period can be set independently, for example, it can be 10ms, etc., and the embodiment of the present invention does not limit this.

[0061] S102: Determine a target driving current through a closed-loop control algorithm based on a deviation of the actual operating speed from the target operating speed;

[0062] Specifically, considering that the closed-loop control algorithm can obtain a suitable target driving current based on the "actual operating speed and target operating speed" so that the operating speed of each motor tends to the target operating speed, the target driving current can be determined by the closed-loop control algorithm in this step based on the deviation of the actual operating speed relative to the target operating speed, and it can be used as the data basis for subsequent steps.

[0063] S103: driving each motor in the motor group by the target driving current so that the operating speed of each motor approaches the target operating speed.

[0064] Specifically, after obtaining the target driving current, it can be used to drive each motor in the motor group so that the operating speed of each motor tends to the target operating speed. It is precisely because the target driving current is periodically generated and each motor is driven uniformly that the speed consistency of each motor in the motor group can be periodically calibrated.

[0065] Specifically, for a garment industry hanging system (a type of rail transportation system), the motor group consists of 10 motors with a preset cycle of 10ms. Every 10ms, the operating speed of each motor is collected (for example, the speeds of motors 1 through 10 are 120 rpm, 118 rpm, ..., and 122 rpm, respectively). The average (120 rpm) is calculated as the actual operating speed. The target operating speed is set at 150 rpm, and the deviation of the actual operating speed from the target speed is calculated as -30 rpm. Using the PID (Proportional-Integral-Derivative) closed-loop control algorithm, the target drive current (for example, 5A) is determined based on this deviation. This 5A target drive current is then distributed to all 10 motors, gradually driving their speeds toward 150 rpm.

[0066] Specifically, to better illustrate the embodiments of the present invention, please refer to Figure 2 and Figure 3 , Figure 2 A schematic structural diagram of a rail transportation system provided by the present invention is shown in FIG. Figure 3 This is a flow chart of another multi-motor synchronous control method provided by the present invention. Figure 2 In the rail transportation system, the server is connected to the controller, which is connected to motors 1 to 10 through a network consisting of tracks and chains, main tracks and meshed open chains. The server can send instructions to the controller, and the controller controls and exchanges data with each motor based on the instructions using the network. Information such as the operating status of each motor can also be transmitted back through the network, enabling the coordinated operation of multiple motors in rail transportation scenarios and ensuring the stable operation of the system according to the preset logic. Figure 3 In the multi-motor synchronous control process, the controller outputs a set speed, which is subtracted from the feedback speed in the summation step (∑). This difference is then fed into the speed PID controller, where it is calculated to generate a set current, which is then transmitted to the drive and motor sides. In the drive and motor sections, the set current is distributed to the torque control modules of each motor (Motor 1, Motor 2, …, Motor N). Each motor generates speeds 1, 2, …, N. These speeds are averaged to obtain the average speed, which is then fed back to the front end and compared with the set speed, forming a closed-loop control loop. This achieves coordinated speed regulation of multiple motors and ensures stable system operation.

[0067] The present invention provides a multi-motor synchronous control method. Taking into account that speed adjustment of each motor at intervals of a preset period can avoid the accumulation of speed differences, and that uniformly driving each motor through the "target driving current determined based on a closed-loop control algorithm" can improve speed consistency, the present invention determines the current actual operating speed and the current target operating speed of the motor group used to drive the track in each preset period, and then determines the target driving current through a closed-loop control algorithm based on the deviation of the actual operating speed from the target operating speed; finally, the target driving current is driven by the target driving current to periodically update the target driving current and uniformly drive each motor, so that the operating speed of each motor periodically approaches the target operating speed, thereby improving the speed consistency of each motor and reducing the loss of the motor and track components.

[0068] Based on the above embodiment:

[0069] As an optional embodiment, determining the current actual operating speed and the current target operating speed of the motor group for driving the track every preset period includes:

[0070] Every preset period, execute the data determination process:

[0071] The average current operating speed of each motor in the motor group used to drive the track is used as the current actual operating speed of the motor group;

[0072] Determine whether the current orbital operation phase is the acceleration phase;

[0073] If it is the acceleration phase, the current target operating speed of the motor group is determined based on the track running time and the preset acceleration;

[0074] If it is not in the acceleration phase, the preset operating speed is used as the current target operating speed of the motor group;

[0075] The upper limit of the target running speed is the preset running speed.

[0076] Specifically, considering that rail operation has acceleration and stabilization phases, the acceleration phase can increase the speed according to a preset acceleration to avoid impact, while the stabilization phase requires maintaining the preset speed. Differentiating the phases and determining the target operating speed accordingly can make rail operation smoother, and therefore this solution can be provided in embodiments of the present invention.

[0077] For example, in the coal transportation system of the coal industry, the preset cycle is 20ms, the preset acceleration is 0.2r / (min·ms), and the preset operating speed is 300r / min. The data determination process is executed every 20ms:

[0078] The speeds of five motors (20 r / min, 22 r / min, 19 r / min, 21 r / min, and 18 r / min) are collected, and the average of 20 r / min is the actual operating speed. The system determines that the current phase is acceleration (because the target speed has not reached 300 r / min). The target operating speed is calculated based on the track operation duration (accumulated number of cycles × 20 ms) and the preset acceleration (for example, if the operation duration is 100 ms, the target speed = 100 ms × 0.2 r / (min·ms) = 20 r / min, and the next cycle is 120 ms × 0.2 = 24 r / min). When the target speed reaches 300 r / min, the system enters the stable phase, maintaining the target operating speed at 300 r / min.

[0079] As an optional embodiment, determining whether the current orbital operation phase is an acceleration phase includes:

[0080] Determine whether the target running speed recorded last time reaches the preset running speed;

[0081] If the preset running speed is not reached, the current orbit running phase is determined to be the acceleration phase;

[0082] If the preset running speed is reached, it is determined that the current orbit running phase is not an acceleration phase.

[0083] Specifically, considering that the switching node between the acceleration stage and the stable stage needs to be clarified, the stages can be divided simply and efficiently based on "whether the target running speed recorded last time reaches the preset running speed" to ensure accurate stage switching. Therefore, the above scheme is set up, that is, when the target running speed recorded last time reaches the preset running speed, the current orbital operation stage is determined to be a non-acceleration stage; when the target running speed recorded last time does not reach the preset running speed, the current orbital operation stage is determined to be an acceleration stage.

[0084] For example, in a clothing hanging system, the preset operating speed is 200 r / min. If the last recorded target operating speed is 180 r / min (less than 200 r / min), the current phase is determined to be an acceleration phase; if the last recorded target operating speed is 200 r / min (reaching the preset value), the current phase is determined to be a non-acceleration phase.

[0085] As an optional embodiment, determining the current target operating speed of the motor group according to the track operating time and the preset acceleration includes:

[0086] The periodic cumulative quantity is increased by one, wherein the initial value of the periodic cumulative quantity is zero;

[0087] The product of the accumulated number of cycles and the preset cycle is used as the orbital running time;

[0088] The sum of the track running time and the preset period, multiplied by the preset acceleration, is used as the current target running speed of the motor group.

[0089] Specifically, in order to accurately calculate the target running speed during the acceleration phase, considering that the orbital running time is determined by multiplying the accumulated number of cycles by the preset cycle, the speed can be linearly increased in combination with the preset acceleration to ensure a smooth acceleration process, so this scheme is set.

[0090] For example, in a logistics transport rail system, the preset cycle is 10ms, the preset acceleration is 0.1r / (min·ms), and the initial value of the cycle accumulation is 0. In the first cycle, the cycle accumulation increases by 1 (becoming 1), the track running time = 1 × 10ms = 10ms, and the target running speed = (10ms + 10ms) × 0.1r / (min·ms) = 2r / min; in the second cycle, the cycle accumulation increases to 2, the running time = 2 × 10ms = 20ms, and the target running speed = (20ms + 10ms) × 0.1 = 3r / min; and so on, until the target running speed reaches the preset running speed.

[0091] As an optional embodiment, determining the target driving current through a closed-loop control algorithm according to a deviation of the actual operating speed from the target operating speed includes:

[0092] According to the deviation of the actual operating speed from the target operating speed, and the difference between the operating speed of each motor in the motor group and the actual operating speed, the target driving current corresponding to each motor is determined by a closed-loop control algorithm.

[0093] Specifically, considering that the individual differences of each motor cannot be eliminated by adjusting the overall speed deviation alone, it is necessary to consider both the total deviation between the actual speed and the target speed and the individual deviation between the speed of each motor and the actual speed. Through closed-loop control, the current of each motor can be adjusted in a targeted manner to improve synchronization. Therefore, this solution is set up.

[0094] Specifically, for example, a track system contains 4 motors, the target operating speed is 100 r / min, and the actual operating speed (average) is 90 r / min.

[0095] The deviation of the actual speed from the target speed (total deviation) = 90-100 = -10 r / min; the speeds of each motor are 95 r / min, 88 r / min, 92 r / min, and 85 r / min, respectively, and the differences from the actual speed (individual deviations) are 5 r / min, -2 r / min, 2 r / min, and -5 r / min, respectively; through the PID closed-loop control algorithm, combined with the total deviation and individual deviation, the target drive currents of the four motors are determined to be 4.2 A, 3.8 A, 4.0 A, and 3.6 A, respectively, so that the speeds of each motor approach 100 r / min and the differences are reduced.

[0096] In addition, as an optional embodiment, according to the deviation of the actual operating speed relative to the target operating speed and the difference between the operating speed of each motor in the motor group and the actual operating speed, the target driving current corresponding to each motor is determined by a closed-loop control algorithm, including:

[0097] Calculate the first deviation of the actual running speed relative to the target running speed, which is recorded as ΔVtotal = actual running speed - target running speed;

[0098] Calculate the second deviation between the running speed of each motor and the actual running speed, which is expressed as ΔVi = running speed of the i-th motor - actual running speed (i is the motor number, starting from 1 and increasing sequentially);

[0099] Inputting the first deviation and the second deviation into a preset PID closed-loop control algorithm (for example, weighting to obtain a total deviation) to obtain a current adjustment ΔIi for each motor;

[0100] Based on the current basic driving current Iibase of each motor and the corresponding current adjustment amount ΔIi, the target driving current Iitarget of each motor is determined to be Iibase+ΔIi.

[0101] Specifically, considering that accurate adjustment can be achieved by weighting the deviation through the PID algorithm and determining the target drive current in combination with the basic current, this scheme is set up, that is, calculating the first deviation of the actual operating speed relative to the target operating speed; calculating the second deviation of the operating speed of each motor and the actual operating speed respectively; inputting the first deviation and the second deviation into the preset PID closed-loop control algorithm (for example, weighting to obtain the total deviation) to obtain the current adjustment of each motor; based on the current basic drive current Ii of each motor and combined with the corresponding current adjustment ΔIi, the target drive current of each motor is determined.

[0102] For example, in a system with three motors, a target operating speed of 150 rpm and an actual operating speed of 140 rpm, the first deviation ΔVtotal is calculated as 140 - 150 = -10 rpm. For motor speeds of 145 rpm, 138 rpm, and 137 rpm, the second deviations ΔV1 = 5 rpm, ΔV2 = -2 rpm, and ΔV3 = -3 rpm. Inputting the ΔVtotal sum ΔVi into the PID algorithm (weighted total deviation = 0.6 × ΔVtotal + 0.4 × ΔVi) yields current adjustments ΔI1 = 0.3 A, ΔI2 = -0.1 A, and ΔI3 = -0.2 A. Given that each motor's current base drive current Iibase is 3 A, the target drive currents are 3 + 0.3 = 3.3 A, 3 - 0.1 = 2.9 A, and 3 - 0.2 = 2.8 A, respectively.

[0103] As an optional embodiment, the multi-motor synchronous control method further includes:

[0104] Get the preset track speed through the human-machine interface;

[0105] Based on a preset speed conversion relationship, converting the preset track speed into a preset running speed;

[0106] The speed conversion equations include:

[0107] ;

[0108] Among them, the motor group drives the track through a chain or rack, Vref is the preset running speed, Vr is the preset track speed, Dr is the tooth pitch of the rack or the pitch of the chain, Ng is the number of teeth on the wheel, and Pg is the speed ratio of the reducer.

[0109] Specifically, to better illustrate the embodiments of the present invention, please refer to Figure 4 , Figure 4 This is a schematic diagram of a motor control process provided by the present invention. A worker inputs commands to a server through a human-machine interface. Upon receiving these commands, the server sends start / stop commands and a preset track speed to the controller. Meanwhile, motor X receives the start command, speed (target operating speed), and current (target drive current) information from the controller. Simultaneously, motor X feeds its own speed and current information back to the controller. This enables command exchange and data transmission between the worker, human-machine interface, server, controller, and motor X, ensuring that the system operates according to the preset logic.

[0110] Specifically, considering that in order for the operator to input the track speed through the human-machine interface, the motor operating speed needs to be converted in combination with the mechanical transmission parameters of the track and the motor (tooth pitch, number of teeth, speed ratio, etc.) to ensure that the speed instruction accurately corresponds, therefore, in an embodiment of the present invention, the preset track speed can be obtained through the human-machine interface; based on the preset speed conversion relationship, the preset track speed is converted into the preset operating speed.

[0111] As an optional embodiment, after determining whether the current track operation stage is an acceleration stage and before setting the preset operation speed as the current target operation speed of the motor group, the multi-motor synchronous control method further includes:

[0112] If it is not the acceleration phase, determine whether the absolute value of the deviation between the current actual running speed and the preset running speed is greater than the preset deviation threshold;

[0113] If it is greater, the number of consecutive deviations is increased by one and it is determined whether the number of consecutive deviations reaches the preset number;

[0114] If it is not greater than, the number of consecutive deviations is cleared to zero, and the steps are executed: the preset operating speed is used as the current target operating speed of the motor group;

[0115] If it is reached, the preset running speed is reduced by a preset ratio and used as the new target running speed;

[0116] If not reached, execute the steps: set the preset operating speed as the current target operating speed of the motor group.

[0117] Specifically, considering that if the actual speed deviates from the preset speed for a long time during the non-acceleration phase, it may cause damage to the equipment due to excessive load. This solution is designed to protect the motor and track by accumulating the number of consecutive deviations and then reducing the preset speed after reaching a preset number.

[0118] For example, a system has a preset operating speed of 200 r / min, a preset deviation threshold of 10 r / min, and a preset number of times of 3 times.

[0119] During the non-acceleration phase, the actual operating speed is 185 r / min, the absolute value of the deviation 15 is greater than 10, the number of consecutive deviations is increased by 1 (becomes 1), and if it does not reach 3 times, the target speed remains at 200 r / min; the next time the actual speed is 183 r / min, the deviation 17 is greater than 10, the number of times becomes 2, and the target speed remains at 200 r / min; the next time the actual speed is 180 r / min, the deviation 20 is greater than 10, the number of times becomes 3 (reaching the preset number of times), the preset speed is reduced by 10% (200×0.9=180 r / min), and the new target speed is 180 r / min; if the subsequent actual speed is 175 r / min, the deviation 5 is less than 10, the number of consecutive deviations is reset to zero, and the target speed is restored to 200 r / min.

[0120] Please refer to Figure 5 , Figure 5 This is a schematic structural diagram of a multi-motor synchronous control device provided by the present invention, which is applied to a rail transportation system and includes:

[0121] A first determining module 51 is configured to determine, at every preset period, a current actual operating speed and a current target operating speed of the motor group for driving the track, wherein the actual operating speed is an average of the operating speeds of the motors in the motor group;

[0122] A second determination module 52 is configured to determine a target driving current through a closed-loop control algorithm according to a deviation of the actual operating speed relative to the target operating speed;

[0123] The first action module 53 is configured to drive each motor in the motor group by using a target driving current so that the operating speed of each motor approaches the target operating speed.

[0124] For an introduction to the multi-motor synchronous control device provided by an embodiment of the present invention, please refer to the aforementioned embodiment of the multi-motor synchronous control method, and the embodiment of the present invention will not be described in detail here.

[0125] Please refer to Figure 6 , Figure 6 This is a structural diagram of a multi-motor synchronous control device provided by the present invention, which includes:

[0126] Memory 61, for storing computer programs;

[0127] The processor 62 is configured to implement the steps of the multi-motor synchronous control method in the aforementioned embodiment when executing the computer program.

[0128] For an introduction to the multi-motor synchronous control device provided by an embodiment of the present invention, please refer to the aforementioned embodiment of the multi-motor synchronous control method, and the embodiment of the present invention will not be described in detail here.

[0129] To solve the above technical problems, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the multi-motor synchronous control method in the above embodiment are implemented.

[0130] For an introduction to the computer-readable storage medium provided in an embodiment of the present invention, please refer to the aforementioned embodiment of the multi-motor synchronous control method, and the embodiment of the present invention will not be described in detail here.

[0131] In this specification, the various embodiments are described in a progressive manner, with each embodiment focusing on the differences from the other embodiments. Similar or identical parts between the various embodiments may be referred to in conjunction with each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and for relevant parts, reference may be made to the method description. It should also be noted that, in this specification, relational terms such as first and second, etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, article, or device comprising that element.

[0132] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-motor synchronous control method, characterized in that: Applied to rail transportation systems, including: At every preset period, determining a current actual operating speed and a current target operating speed of the motor group for driving the track, wherein the actual operating speed is an average of the operating speeds of the motors in the motor group; Determining a target driving current through a closed-loop control algorithm according to a deviation of the actual operating speed from the target operating speed; Each motor in the motor group is driven by the target driving current so that the operating speed of each motor tends to the target operating speed.

2. The multi-motor synchronous control method according to claim 1, characterized in that: At every preset period, determining the current actual operating speed and the current target operating speed of the motor group for driving the track includes: Every preset period, execute the data determination process: The average current operating speed of each motor in the motor group used to drive the track is used as the current actual operating speed of the motor group; Determine whether the current orbital operation phase is the acceleration phase; If it is the acceleration phase, the current target operating speed of the motor group is determined based on the track running time and the preset acceleration; If it is not in the acceleration phase, the preset operating speed is used as the current target operating speed of the motor group; The upper limit of the target running speed is the preset running speed.

3. The multi-motor synchronous control method according to claim 2, characterized in that: The determining whether the current orbit operation phase is an acceleration phase includes: Determine whether the target running speed recorded last time reaches the preset running speed; If the preset running speed is not reached, the current orbit running phase is determined to be the acceleration phase; If the preset running speed is reached, it is determined that the current orbit running phase is not an acceleration phase.

4. The multi-motor synchronous control method according to claim 2, characterized in that: Determining the current target operating speed of the motor group according to the track operating time and the preset acceleration includes: The periodic cumulative quantity is increased by one, wherein the initial value of the periodic cumulative quantity is zero; The product of the accumulated number of cycles and the preset cycle is used as the orbital operation duration; The sum of the track running time and the preset period, multiplied by the preset acceleration, is used as the current target running speed of the motor group.

5. The multi-motor synchronous control method according to claim 1, characterized in that: Determining the target driving current by a closed-loop control algorithm based on the deviation of the actual operating speed from the target operating speed includes: According to the deviation of the actual operating speed relative to the target operating speed, and the difference between the operating speed of each motor in the motor group and the actual operating speed, the target driving current corresponding to each motor is determined by a closed-loop control algorithm.

6. The multi-motor synchronous control method according to claim 2, characterized in that: The multi-motor synchronous control method further includes: Get the preset track speed through the human-machine interface; Based on a preset speed conversion relationship, the preset track speed is converted into a preset running speed; The speed conversion relationship includes: ； Among them, the motor group drives the track through a chain or rack, Vref is the preset running speed, Vr is the preset track speed, Dr is the tooth pitch of the rack or the pitch of the chain, Ng is the number of teeth on the wheel, and Pg is the speed ratio of the reducer.

7. The multi-motor synchronous control method according to any one of claims 2 to 6, characterized in that: After determining whether the current track operation stage is an acceleration stage, and before setting the preset operation speed as the current target operation speed of the motor group, the multi-motor synchronous control method further includes: If it is not the acceleration phase, determining whether the absolute value of the deviation between the current actual running speed and the preset running speed is greater than a preset deviation threshold; If it is greater, the number of consecutive deviations is increased by one and it is determined whether the number of consecutive deviations reaches a preset number; If it is not greater than, the number of consecutive deviations is cleared to zero, and the steps are executed: the preset operating speed is used as the current target operating speed of the motor group; If it is reached, the preset running speed is reduced by a preset ratio and used as the new target running speed; If not reached, execute the steps: set the preset operating speed as the current target operating speed of the motor group.

8. A multi-motor synchronous control device, characterized in that: Applied to rail transportation systems, including: a first determining module, configured to determine, at every preset period, a current actual operating speed and a current target operating speed of the motor group for driving the track, wherein the actual operating speed is an average of the operating speeds of the motors in the motor group; a second determining module, configured to determine a target driving current through a closed-loop control algorithm according to a deviation of the actual operating speed relative to the target operating speed; The first action module is configured to drive each motor in the motor group by using the target driving current so that the operating speed of each motor approaches the target operating speed.

9. A multi-motor synchronous control device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the multi-motor synchronous control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the multi-motor synchronous control method according to any one of claims 1 to 7 are implemented.

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