Segmented double-sided halbach arc permanent magnet linear motor and its collaborative control method

Abstract

The application discloses a segmented double-sided Halbach arc-shaped permanent magnet linear motor and a cooperative control method thereof, and relates to the technical field of motor design and control. The motor adopts a modularized mover and a segmented stator to form a double-sided arc-shaped structure, and the mover permanent magnets are arranged according to a specific rule to form a double Halbach array so as to enhance the air gap magnetic flux density. On the control method, a multi-node network is constructed, a sliding mode load torque observer is adopted to observe the load of each node in real time, the torque distribution is dynamically optimized by a cooperative controller, torque balance is realized, the fault node isolation and redundant operation capability are possessed, the environmental disturbance feedforward compensation and multi-axis decoupling control are integrated, the system robustness is enhanced, and the torque pulsation is inhibited through a current loop. The application is particularly suitable for large telescopes and other super-inertia, super-low-speed, high-precision direct-drive servo systems, and has high thrust, high reliability, high precision and strong anti-interference capability.

Description

Technical Field

[0001] This application relates to the field of motor design and control technology, and in particular to a segmented double-sided Halbach arc permanent magnet linear motor and its cooperative control method. Background Technology

[0002] The azimuth and pitch axis drive systems of large astronomical telescopes are typical examples of ultra-large inertia, ultra-low speed, and high-precision servo systems. Such systems require drive motors with high output torque, low torque ripple, high reliability, and good anti-interference capabilities. Traditional rotary torque motors or linear motors, when applied to large-scale arc-shaped trajectory drives, often suffer from problems such as complex structure, difficult installation and maintenance, and insufficient thrust density.

[0003] When linear motors are applied to arc-shaped trajectories, bending stators or segmented splicing methods are commonly used, which can easily lead to thrust fluctuations and control mismatches at the splicing points. Furthermore, a single long stator or long mover structure can cause the entire system to shut down in the event of a failure, resulting in high maintenance costs. At the control level, under ultra-low speed operation, nonlinear friction, cogging torque, inverter dead-zone effects, and environmental disturbances such as strong winds can significantly affect the system's tracking accuracy and stability. Therefore, there is an urgent need for a drive solution that combines modular mechanical structure, high thrust density, high reliability, and intelligent collaborative control capabilities. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a segmented double-sided Halbach arc-shaped permanent magnet linear motor and its collaborative control method to achieve high thrust density, low torque pulsation, high reliability, and strong anti-interference capability.

[0005] The first technical solution adopted in this application is: providing a segmented double-sided Halbach arc-shaped permanent magnet linear motor, including a mover and a stator: The mover is a modular mover, which is composed of multiple mover units that are sequentially spliced ​​together along the arc-shaped trajectory. Permanent magnets are arranged on the upper and lower sides of each mover unit, which together form a double-sided Halbach permanent magnet array. The stator is a segmented stator, consisting of multiple stator units sequentially spliced ​​together along the arc-shaped trajectory. The stator units are respectively arranged above and below the moving unit to form a double-sided arc structure. Each stator unit is provided with a concentrated winding. The bilateral Halbach permanent magnet array includes an upper permanent magnet group and a lower permanent magnet group. Each group of permanent magnets includes radially magnetized magnets and transversely magnetized magnets. The magnetization directions of the radially magnetized magnets on the upper and lower sides are the same, and the magnetization directions of the transversely magnetized magnets on the upper and lower sides are opposite, thereby forming a concentrated magnetic field in the bilateral air gap between the mover and the upper stator unit and the lower stator unit.

[0006] In an optional embodiment, the motor adopts a long mover and short stator structure, and the iron cores of both the stator unit and the mover unit are made of layers of soft magnetic material.

[0007] In an optional embodiment, the permanent magnet on each of the moving subunits is a modular structure.

[0008] In an optional embodiment, each of the moving subunits and each of the stator units is an independent modular structural unit.

[0009] The second technical solution adopted in this application is: providing a cooperative control method for any of the aforementioned segmented double-sided Halbach arc-shaped permanent magnet linear motors, comprising the following steps: A multi-node network control architecture is constructed, with each stator unit treated as an independent drive node; A coordination controller is configured to generate and coordinate control commands sent to each of the drive nodes. The load torque corresponding to each drive node is observed in real time using a sliding mode load torque observer. Based on the observed load torque of each node, the torque command allocated to each drive node is optimized by the cooperative controller to achieve torque balance when driving the same modular mover.

[0010] In an optional embodiment, a fault diagnosis and redundant operation step is also included. When a fault is detected in a certain drive node, the cooperative controller adjusts the control commands and torque distribution strategies of the remaining normal drive nodes to maintain the continued operation of the system.

[0011] In an optional embodiment, an environmental disturbance compensation step is also included, which involves real-time monitoring of environmental disturbances affecting the system and decoupling the azimuth axis motion control and pitch axis motion control of the motor through an environmental compensation controller to compensate for external interference.

[0012] In an optional embodiment, in the current inner loop control, the direct-axis current and quadrature-axis current are controlled to stable constant values ​​to output a stable constant torque, and the observation results of the sliding mode load torque observer are combined with the cooperative control to suppress torque pulsation and the resulting speed fluctuations.

[0013] In an optional embodiment, the system further includes an inter-module synchronization step, in which each of the drive nodes exchanges position and status information through a high-speed real-time communication network, and the cooperative controller generates a synchronization compensation signal based on the information to ensure that the driving action of each stator unit on the same mover unit remains synchronized in time and phase.

[0014] In an optional embodiment, a remote real-time monitoring step is also included, in which the operating status data of each drive node is collected and monitored in real time through a remote monitoring system to ensure the reliability of system operation.

[0015] Due to the adoption of the above technical solution, this application has at least one of the following beneficial effects compared with the prior art: 1. Through modular mover and stator design, and a unique dual Halbach permanent magnet array topology, the magnetic field is effectively directed to the air gap on both sides, significantly enhancing the air gap magnetic flux density, thereby providing high thrust density. The modular structure also facilitates installation, replacement and maintenance.

[0016] 2. Accurate load torque observation is achieved through a sliding mode load torque observer, and dynamic torque equalization is performed in conjunction with a collaborative controller, which effectively suppresses torque pulsation caused by uneven load or the motor itself, ensuring smooth operation and accuracy at ultra-low speeds.

[0017] 3. The segmented stator structure and collaborative control strategy enable rapid isolation and redundant operation of faulty nodes, ensuring that single-point failures do not affect the continuous operation of the system, thus greatly improving the reliability and availability of the system.

[0018] 4. By integrating environmental disturbance observation and feedforward compensation, and performing decoupled collaborative control of multi-axis motion, the robustness and tracking accuracy of the system under complex external disturbances are significantly improved. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 A schematic diagram of the structure of a segmented double-sided Halbach arc-shaped permanent magnet linear motor provided in an embodiment of this application; Figure 2 This is a schematic diagram of a dual Halbach permanent magnet array topology provided in one embodiment of this application; Figure 3 This is a schematic diagram of the steps of a collaborative control method provided in an embodiment of this application; Figure 4 This is a schematic diagram of the framework of a collaborative control method provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the prior art, linear motors used for arc trajectory driving usually adopt a single-sided magnetic circuit structure, which results in insufficient thrust density and serious magnetic leakage. Alternatively, they adopt an integral long stator structure, which makes installation and maintenance difficult and local faults can easily cause system paralysis. At the same time, they lack a coordination mechanism for uneven load between multiple drive units, making it difficult to suppress torque pulsation and achieve fault redundancy under ultra-low speed conditions.

[0024] This application significantly enhances the air gap magnetic flux density on both sides to improve thrust performance by constructing a double-sided Halbach array with a specific magnetization topology (radially in the same direction, laterally in opposite directions) composed of upper and lower double-sided permanent magnets. Furthermore, by combining a modular mover with a segmented stator, the application fundamentally solves the technical bottlenecks of low efficiency in traditional single-sided structures, poor reliability in integral structures, and difficulties in multi-unit coordination. Figure 1 As shown, Figure 1 A schematic diagram of a segmented double-sided Halbach arc-shaped permanent magnet linear motor provided in an embodiment of this application, including a mover and a stator: The mover is a modular mover, consisting of multiple mover units that are sequentially spliced ​​together along the arc-shaped trajectory. Permanent magnets are arranged on the upper and lower sides of each mover unit, which together form a double-sided Halbach permanent magnet array. The stator is a segmented stator, consisting of multiple stator units that are sequentially spliced ​​together along the arc-shaped trajectory. The stator units are respectively located above and below the moving unit to form a double-sided arc structure. Each stator unit is equipped with a concentrated winding. The bilateral Halbach permanent magnet array includes an upper permanent magnet group and a lower permanent magnet group. Each group of permanent magnets includes radially magnetized magnets and transversely magnetized magnets. The magnetization direction of the radially magnetized magnets on the upper and lower sides is the same, and the magnetization direction of the transversely magnetized magnets on the upper and lower sides is opposite, thereby forming a concentrated magnetic field in the bilateral air gap between the mover and the upper stator unit and the lower stator unit.

[0025] like Figure 1 As shown, the motor is curved to accommodate equipment requiring circular trajectory drive, such as the drive system of a large telescope. The mover is composed of multiple mover units sequentially spliced ​​along the arc direction. Each mover unit is an independent module, facilitating manufacturing, transportation, and on-site installation.

[0026] The stator is also composed of multiple stator units spliced ​​together along the same arc direction, and arranged above and below the mover unit to form a double-sided clamping structure. The double-sided structure can provide greater thrust than the single-sided structure, and the normal suction forces on the upper and lower sides can cancel each other out, thereby reducing the burden on the support structure.

[0027] like Figure 2 As shown, Figure 2 This is a schematic diagram of the topology of a dual Halbach permanent magnet array provided in one embodiment of this application; the Halbach array uses a specific arrangement of permanent magnets to enhance the magnetic field on one side and weaken the magnetic field on the other side; this application applies the Halbach array to the upper and lower sides of the mover and defines the corresponding relationship of the magnetization directions: Both the upper permanent magnet group and the lower permanent magnet group contain radially magnetized magnets and transversely magnetized magnets.

[0028] The magnetization direction of the radially magnetized magnets on the upper and lower sides is set to be the same (for example, both pointing radially outward or radially inward towards the arc). This ensures that the magnetic field polarity generated in the upper and lower air gaps is the same, which is beneficial for forming a closed magnetic circuit.

[0029] The magnetization directions of the horizontal magnets on the upper and lower sides are set to be opposite (for example, the horizontal magnetization direction on the upper side is clockwise, and the horizontal magnetization direction on the lower side is counterclockwise).

[0030] This arrangement maximizes the guidance of magnetic field lines generated by the permanent magnets into the air gaps on both sides, while suppressing magnetic leakage, thereby increasing the air gap magnetic flux density and boosting thrust density. Two effective working air gaps are formed between the mover and the upper and lower stator units, each containing a high-density magnetic field. When current is applied to the stator windings, electromagnetic thrust is generated.

[0031] The motor employs a long mover and short stator structure. The cores of both the stator and mover units are constructed from layers of soft magnetic material. The long mover and short stator design means the mover is a continuous, relatively long structure along the entire motion trajectory (usually fixed to the load), while the stator is segmented, covering only a portion of the mover area. This reduces the number of cables that move with the mover (the stator is fixed, and the winding leads are fixed), lowering the overall system mass and moment of inertia. Simultaneously, the short stator structure allows each stator unit to be independently controllable, providing a foundation for segmented coordinated control.

[0032] The stator core and the mover core are both made of soft magnetic materials (such as silicon steel sheets) stacked and pressed together. The stacked structure can effectively reduce eddy current losses and improve motor efficiency, and is especially suitable for applications that require long-term continuous operation.

[0033] The permanent magnets on each moving unit have a modular structure; to reduce eddy current losses inside the permanent magnets, the permanent magnets on each moving unit can be composed of multiple small permanent magnet blocks. The modular structure can block eddy current paths, especially when the high-frequency magnetic field changes (such as changes caused by stator current harmonics), which can significantly reduce the heating of the permanent magnets, thereby improving the reliability and lifespan of the motor.

[0034] Each moving unit and each stator unit is an independent modular structural unit; the modular design allows for standardized mass production of small-sized modules, reducing manufacturing costs; when a unit fails, only that module needs to be replaced, without disassembling the entire motor, which can shorten downtime.

[0035] This application also provides a cooperative control method for the segmented double-sided Halbach arc-shaped permanent magnet linear motor as described in the above embodiments, such as... Figure 3 , 4 As shown, Figure 3 This is a schematic diagram illustrating the steps of a collaborative control method provided in an embodiment of this application. Figure 4 A schematic diagram of the framework of a collaborative control method provided in an embodiment of this application includes the following steps: Construct a multi-node network control architecture, treating each stator unit as an independent drive node; Set up a coordination controller to generate and coordinate control commands sent to each drive node; The load torque of each drive node is observed in real time using a sliding mode load torque observer. Based on the observed load torque of each node, the torque command allocated to each drive node is optimized by the cooperative controller to achieve torque balance when driving the same modular mover.

[0036] In this embodiment, each segmented stator unit and its associated driver are treated as an independent drive node. All drive nodes are connected via a high-speed real-time communication network (e.g., EtherCAT) to form a multi-node network control architecture. A central coordinating controller is set up for overall coordination; each drive node has independent current loop and speed loop control capabilities and receives torque or speed commands from the coordinating controller.

[0037] To ensure torque balance under the drive of the same arc-shaped mover at multiple stator nodes and to avoid mechanical stress caused by uneven load, it is necessary to observe and dynamically distribute the load torque of each node.

[0038] First, establish the dynamic model of the i-th driving node; for the moving part and load driven by this node, its mechanical motion equations can be simplified as follows:

[0039] in, Let i be the equivalent rotational inertia of the i-th node. This is the equivalent damping coefficient. The linear velocity of the mover at that node (which can be converted to angular velocity). Let be the electromagnetic torque at the i-th node. The total load torque on node i (including friction, wind force, coupling effects from other nodes, etc.) is the total load torque on node i.

[0040] Design a sliding mode load torque observer (SMLTO): Define state variables , Assuming the load torque changes relatively slowly, that is... The state equation is then: (1) The sliding mode observer is designed as follows: (2) in, , These are the observed values ​​for speed and load torque, respectively. This is the observer gain. For sliding mode control, the value is: (3) To switch the gain, it must be greater than the upper bound of the disturbance.

[0041] By designing parameters appropriately and This allows the observation error s to converge to zero or the sliding surface within a finite time, thereby achieving control over the load torque. accurate observation, that is ---> .

[0042] The collaborative controller collects the observed load torque of all nodes. Let the total commanded torque of the system be... (Generated by the upper-level position or speed controller based on the desired trajectory). The cooperative controller dynamically optimizes and allocates electromagnetic torque commands to each node based on the observed load, capability coefficients (e.g., current or temperature limits), and position information of each node. .

[0043] As one implementation method, a weighted allocation strategy can be adopted:

[0044] in, The static allocation coefficients are based on node location and rated capacity, satisfying... ; The average load is observed for all nodes; This is the equilibrium compensation coefficient. In the above formula... Its function is to appropriately increase the output torque of nodes with current loads above average and appropriately reduce the output torque of nodes with low loads, thereby achieving dynamic torque balance.

[0045] The collaborative control method also includes fault diagnosis and redundant operation steps. When a fault is detected in a certain drive node, the collaborative controller adjusts the control commands and torque distribution strategies of the remaining normal drive nodes to maintain the continued operation of the system.

[0046] Each drive node has a built-in status monitoring and fault diagnosis algorithm, which can detect faults such as open circuit, short circuit, overcurrent, overheating, and communication interruption in the winding in real time, and report the fault status to the cooperative controller through the network.

[0047] When the collaborative controller determines that a node (e.g., node k) has failed based on node self-diagnostic information or communication timeout, it executes a redundancy strategy: Mark the faulty node as failed, and its torque command Set it to zero.

[0048] Recalculate the static allocation coefficients for the remaining N-1 normal nodes. To make their sum equal to 1. For example, they can be renormalized according to the original proportion, based on the new... Based on the updated load observation information, torque commands are redistributed to enable the remaining nodes to take on the driving tasks.

[0049] The system continues to operate in derating mode while reporting fault information to prompt maintenance personnel for repair. Fault redundancy capability can improve the reliability of the system.

[0050] The collaborative control method also includes an environmental disturbance compensation step, which monitors the environmental disturbances experienced by the system in real time and decouples the azimuth axis motion control and pitch axis motion control of the motor through an environmental compensation controller in order to compensate for external interference.

[0051] To address environmental disturbances such as gusts of wind faced by the equipment, an environmental disturbance observation and compensation mechanism is introduced, including the following steps: Environmental disturbances (such as wind speed and direction) are measured in real time using anemometers, accelerometers, etc., and recorded as follows: .

[0052] Design an environmental compensation controller to absorb the measured disturbance. Mapped as additional disturbance torques on the azimuth and pitch axes and This can be achieved based on wind load models or empirical data tables.

[0053] At the collaborative control layer, and As a feedforward, the total command torque is superimposed on the azimuth and pitch axes, respectively. This allows the system to respond to disturbances in advance.

[0054] Because the azimuth and pitch axes are coupled, the cooperative controller can run decoupling algorithms (such as model-based decoupling or adaptive decoupling) to optimize and generate cooperative control commands for each axis.

[0055] In the current inner loop control, the direct-axis current and quadrature-axis current are controlled to be stable constant values ​​to output a stable constant torque. Combined with the observation results of the sliding mode load torque observer and the coordinated control, torque pulsation and the speed fluctuation caused by it are suppressed.

[0056] use = 0 or Maximum Torque-to-Current Ratio (MTPA) control strategy, given To track electromagnetic torque commands .

[0057] Due to cogging torque and flux harmonics in the motor itself, as well as the dead-zone effect in the inverter, actual... It contains harmonics, which in turn generate torque pulsation. Torque pulsation may cause speed fluctuations during ultra-low speed operation.

[0058] Load torque observed by sliding mode load observer It contains dynamic components caused by torque pulsations. These can be identified through filtering or spectrum analysis. Extracting torque pulsation The estimated value.

[0059] exist The current command incorporates feedback compensation or feedforward compensation based on ΔT̂ to generate the corrected value. This can suppress torque pulsation, thereby reducing speed fluctuations.

[0060] The cooperative control method also includes a module synchronization step, in which each of the drive nodes exchanges position and status information through a high-speed real-time communication network, and the cooperative controller generates a synchronization compensation signal based on the information to ensure that the driving action of each stator unit on the same mover unit remains synchronized in time and phase.

[0061] The driving nodes periodically exchange the location information they have collected through a high-speed real-time communication network.

[0062] The collaborative controller calculates the phase difference of the position commands of each node.

[0063] The cooperative controller generates a synchronization compensation signal (e.g., speed fine-tuning) based on the phase difference and sends it to the relevant nodes. By adjusting the speed commands of the nodes, it ensures that the drive of the mover by each stator unit is synchronized in time and space phase.

[0064] The collaborative control method also includes a remote real-time monitoring step, which uses a remote monitoring system to collect and monitor the operating status data of each drive node in real time to ensure the reliability of system operation.

[0065] The cooperative control method is described in detail below with reference to a specific embodiment: Take the azimuth axis drive of a large astronomical telescope as an example. The radius of the arc track is R. The mover is composed of 2m mover modules spliced ​​together to form a complete arc with a radius of R, which is fixed on the telescope's azimuth turntable. The stator is composed of m stator modules segmented and fixed on the foundation, with each stator module covering the arc segment of the corresponding 2 mover modules.

[0066] The control system employs a collaborative controller based on an industrial PC, running a real-time operating system. m stator modules are driven by m independent servo drives (nodes), connected to the collaborative controller via an EtherCAT network. Each node incorporates a sliding mode load torque observer algorithm.

[0067] During system operation, the upper-level trajectory planner generates azimuth axis velocity commands. The cooperative controller calculates and distributes torque commands based on SMLTO observations from m nodes. When a node's (e.g., node N) driver reports an overheating fault, the cooperative controller isolates it and proportionally distributes the torque borne by that node to adjacent nodes N-1 and N+1. The system then enters derating mode and triggers an alarm. An anemometer mounted on the top of the telescope cabin transmits real-time wind speeds to the environmental compensation controller. The compensation controller calculates the equivalent anti-wind disturbance torque feedforward, which is then incorporated into the azimuth and pitch axis commands by the cooperative controller, and decoupled calculations are performed.

[0068] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0069] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0070] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0071] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A segmented double-sided Halbach arc-shaped permanent magnet linear motor, comprising a mover and a stator, characterized in that: The mover is a modular mover, which is composed of multiple mover units that are sequentially spliced ​​together along the arc-shaped trajectory. Permanent magnets are arranged on the upper and lower sides of each mover unit, which together form a double-sided Halbach permanent magnet array. The stator is a segmented stator, consisting of multiple stator units sequentially spliced ​​together along the arc-shaped trajectory. The stator units are respectively arranged above and below the moving unit to form a double-sided arc structure. Each stator unit is provided with a concentrated winding. The bilateral Halbach permanent magnet array includes an upper permanent magnet group and a lower permanent magnet group. Each group of permanent magnets includes radially magnetized magnets and transversely magnetized magnets. The magnetization directions of the radially magnetized magnets on the upper and lower sides are the same, and the magnetization directions of the transversely magnetized magnets on the upper and lower sides are opposite, thereby forming a concentrated magnetic field in the bilateral air gap between the mover and the upper stator unit and the lower stator unit.

2. The segmented double-sided Halbach arc-shaped permanent magnet linear motor according to claim 1, characterized in that, The motor adopts a long mover and short stator structure, and the iron cores of both the stator unit and the mover unit are made of layers of soft magnetic material.

3. The segmented double-sided Halbach arc-shaped permanent magnet linear motor according to claim 1, characterized in that, The permanent magnets on each of the moving subunits are of a modular structure.

4. The segmented double-sided Halbach arc-shaped permanent magnet linear motor according to any one of claims 1 to 3, characterized in that, Each of the moving subunits and each of the stator units are independent modular structural units.

5. A cooperative control method for a segmented double-sided Halbach arc-shaped permanent magnet linear motor as described in any one of claims 1 to 4, characterized in that, Includes the following steps: A multi-node network control architecture is constructed, with each stator unit treated as an independent drive node; A coordination controller is configured to generate and coordinate control commands sent to each of the drive nodes. The load torque corresponding to each drive node is observed in real time using a sliding mode load torque observer. Based on the observed load torque of each node, the torque command allocated to each drive node is optimized by the cooperative controller to achieve torque balance when driving the same modular mover.

6. The cooperative control method according to claim 5, characterized in that, It also includes fault diagnosis and redundant operation steps. When a fault is detected in a certain drive node, the cooperative controller adjusts the control commands and torque distribution strategies of the remaining normal drive nodes to maintain the continued operation of the system.

7. The cooperative control method according to claim 5, characterized in that, It also includes an environmental disturbance compensation step, which monitors the environmental disturbances experienced by the system in real time and decouples the azimuth axis motion control and pitch axis motion control of the motor through an environmental compensation controller in order to compensate for external interference.

8. The cooperative control method according to claim 5, characterized in that, In the current inner loop control, the direct-axis current and quadrature-axis current are controlled to be stable constant values ​​to output a stable constant torque. Combined with the observation results of the sliding mode load torque observer and the cooperative control, torque pulsation and the resulting speed fluctuations are suppressed.

9. The collaborative control method according to claim 5 or 6, characterized in that, It also includes a synchronization step between modules, in which each of the drive nodes exchanges position and status information through a high-speed real-time communication network, and the cooperative controller generates a synchronization compensation signal based on the information to ensure that the driving action of each stator unit on the same mover unit remains synchronized in time and phase.

10. The cooperative control method according to claim 6, characterized in that, It also includes a remote real-time monitoring step, which collects and monitors the operating status data of each drive node in real time through a remote monitoring system to ensure the reliability of system operation.

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