A multi-motor cooperative control system and a control method thereof

Abstract

The present application relates to the field of mechatronics, in particular to a multi-motor cooperative control system and a control method thereof. The multi-axis controller outputs a single-channel PWM speed control signal to a pre-driver, and the pre-driver drives the DC motor to operate at the desired speed. The pre-driver detects the actual speed of the DC motor and feeds back a PWM speed feedback signal to the multi-axis controller. The multi-axis controller adjusts the PWM speed control signal according to the desired speed and the actual speed of the DC motor to perform closed-loop control on the DC motor. The control system is composed of a pre-driver placed inside the DC motor and a single multi-axis controller, a single-channel PWM signal is used as the speed control signal and the speed feedback signal, and closed-loop control of the DC motor is formed. By using a single controller, the number of control chips required by the system is reduced. By concentrating the closed-loop control calculation in a single controller, the number of system communication bus interfaces is reduced, and the implementation cost of the multi-motor cooperative control system is significantly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechatronics, and in particular, to a multi-motor cooperative control system and a control method thereof. BACKGROUND

[0002] With the development of science and technology, the operation of modern industrial equipment puts forward higher requirements for motion control technology. In modern industrial fields, such as numerical control machine tool machining and robot joint coordination, multiple motors often need to work cooperatively. This determines that modern control systems not only need to pursue the position and speed accuracy of single-axis motion control, but also need to improve the control accuracy and cooperative working ability of multi-axis motion. In order to improve product quality and ensure production process safety, the position accuracy and speed accuracy of the controller must be high enough, and the stability of the controller must be reliable enough to meet the needs of industrial production or other specific applications. Therefore, a reliable multi-motor cooperative control system is necessary for modern industrial control.

[0003] In the traditional motor control method, one controller controls one motor, and these controllers communicate with the upper controller through a communication interface, receive the command of the upper controller, and drive the motor to run through a drive circuit. The communication between the controller and the host computer generally adopts a bus control mode, in which a controller sends a control signal to form a communication network through a bus broadcasting instruction. The bus generally adopts a serial communication form, because the speed of serial communication is slower than that of parallel communication, but the interface and transmission line used are less, which can save hardware resources and reduce system cost.

[0004] Common serial communication protocols include MODBUS, CAN bus, etc. These communication methods need to specially design interface circuits and relatively complex communication protocols. Since each motor is controlled by a separate controller, and real-time communication is needed between multiple controllers and the upper computer, when the number of controlled motors is large, the cost of the control system will greatly increase with the increase of the number of controlled motors in the system, because each motor must be added a controller, and each controller must have a communication interface connected to the bus. SUMMARY

[0005] The embodiment of the present application provides a multi-motor cooperative control system and a control method thereof, which at least solves the technical problem of high cost of the existing motor control system.

[0006] According to an embodiment of the present application, a multi-motor cooperative control system is provided, comprising: a multi-axis controller, a plurality of DC motors; a pre-driver is built in each DC motor, and a single-way PWM signal is used for connection communication between the multi-axis controller and the plurality of pre-drivers.

[0007] The multi-axis controller outputs a single-channel PWM speed control signal to the pre-driver, and the pre-driver drives the direct current motor to operate at the desired speed. The pre-driver detects the actual speed of the direct current motor and feeds back a PWM speed feedback signal to the multi-axis controller. The multi-axis controller adjusts the PWM speed control signal according to the difference between the desired speed and the actual speed of the direct current motor to perform closed-loop control on the direct current motor.

[0008] Further, the multi-axis controller adjusts the PWM frequency or duty cycle in the PWM speed control signal using a PID control method according to the difference between the desired speed and the actual speed of the direct current motor, so that the difference between the desired speed and the actual speed of the direct current motor is within ±10 rpm.

[0009] Further, the direct current motor is further provided with a driving circuit connected between the pre-driver and the direct current motor.

[0010] Further, the number of direct current motors is more than 6.

[0011] Further, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to represent the desired speed of the direct current motor.

[0012] Further, the multi-axis controller outputs a direction control signal to the pre-driver to drive and control the operating direction of the direct current motor.

[0013] According to another embodiment of the present application, a multi-motor cooperative control method applied to the above multi-motor cooperative control system is provided, which comprises the following steps:

[0014] The desired speed values of the direct current motors at all motion moments are obtained through motion planning of the multi-axis controller;

[0015] The multi-axis controller sends a PWM speed control signal to the pre-driver, and the pre-driver receives the signal and adjusts the rotation speed of the direct current motor;

[0016] The multi-axis controller calculates the actual speed of the direct current motor according to the PWM speed feedback signal returned by the pre-controller;

[0017] The multi-axis controller calculates the difference between the actual speed and the desired speed of each direct current motor;

[0018] The multi-axis controller adjusts the PWM speed control signal to control the pre-driver to adjust the rotation speed of the direct current motor, so that the rotation speed of the direct current motor reaches the desired speed value.

[0019] Further, the multi-axis controller adjusts the PWM speed control signal to control the pre-driver to adjust the rotation speed of the direct current motor, so that the rotation speed of the direct current motor reaches the desired speed value, which comprises:

[0020] The multi-axis controller uses PID control mode to adjust the PWM frequency or duty cycle in the PWM speed control signal according to the deviation between the desired speed and the actual speed of the DC motor, so that the deviation between the desired speed and the actual speed of the DC motor is within ±10 rpm.

[0021] Further, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to represent the desired speed of the DC motor.

[0022] Further, the multi-motor cooperative control method further comprises: the multi-axis controller outputs a direction control signal to the pre-driver, and the pre-driver drives to control the running direction of the DC motor.

[0023] The multi-motor cooperative control system and the control method thereof in the embodiment of the application adopt a pre-driver placed in the DC motor and a single multi-axis controller to form a control system, use a single PWM signal as a speed control signal and a speed feedback signal to form a closed-loop control of the DC motor. By using a single controller, the number of control chips required by the system is reduced; by centralized calculation of the closed-loop control in the single controller, the number of system communication bus interfaces is reduced. Based on the above advantages, the implementation cost of the multi-motor cooperative control system is significantly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application. In the drawings:

[0025] Figure 1 Fig. 1 is a structural schematic diagram of the multi-motor cooperative control system of the application;

[0026] Figure 2 Fig. 2 is a structural schematic diagram of the pre-driver in the multi-motor cooperative control system of the application;

[0027] Figure 3 Fig. 3 is a flow chart of the multi-motor cooperative control method of the application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the application scheme, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should be within the protection scope of the application.

[0029] It is to be understood that the terminology "first", "second" and the like used throughout this specification and the annexed drawings is merely intended to distinguish between similar objects and not to imply a specific order or sequence. It is to be understood that the use of the terms first, second, etc., herein do not denote any ordinal sequence whatsoever, but are simply intended to distinguish between the different concepts. Also, the terms "comprising", "having", "including", and "containing" are to be construed open-ended terms (i.e., meaning "including, but not limited to") unless otherwise noted. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] In order to solve the problem of high cost of multi-motor control system in the prior art, the performance of the controller and the cost thereof are balanced under the premise of meeting the control requirements. The application provides a multi-motor cooperative control system composed of a single multi-axis controller and DC motors using built-in pre-drivers, and a control method used by the system. The system and the control method can reduce the number of drivers used by the multi-motor control system, reduce the number of communication bus interfaces used by the system, and reduce the number of control chips used in the system. By reducing the number of controllers, communication bus interfaces and control chips, simplifying the control signal circuit and the speed feedback circuit, the cost of the multi-motor cooperative control system is significantly reduced under the premise of meeting the control performance requirements.

[0031] Embodiment 1

[0032] According to an embodiment of the application, a multi-motor cooperative control system is provided, referring to Figure 1 , comprising: a multi-axis controller, a plurality of DC motors; the DC motor is built-in with a pre-driver, and a single PWM signal is used for connection communication between the multi-axis controller and the plurality of pre-drivers;

[0033] The multi-axis controller outputs a single PWM speed control signal to the pre-driver, and the pre-driver drives the DC motor to operate at the expected speed. The pre-driver detects the actual speed of the DC motor and feeds back a PWM speed feedback signal to the multi-axis controller, and the multi-axis controller adjusts the PWM speed control signal according to the expected speed and the actual speed of the DC motor to perform closed-loop control on the DC motor.

[0034] The multi-motor coordinated control system in the embodiment of the present invention utilizes a pre-driver placed inside the DC motor and a single multi-axis controller to form a control system. A single PWM signal serves as both the speed control signal and the speed feedback signal, forming a closed-loop control loop for the DC motor. By using a single controller, the number of control chips required for the system is reduced; by centralizing closed-loop control calculations on a single controller, the number of system communication bus interfaces is reduced. These advantages significantly reduce the implementation cost of the multi-motor coordinated control system.

[0035] As a preferred technical solution, the multi-axis controller uses PID control to adjust the PWM frequency or duty cycle in the PWM speed control signal according to the deviation between the desired speed and the actual speed of the DC motor, so that the deviation between the desired speed and the actual speed of the DC motor is within ±10rpm.

[0036] As a preferred technical solution, the DC motor further has a built-in drive circuit, which is connected between the pre-driver and the DC motor for driving.

[0037] As a preferred technical solution, the number of DC motors is more than 6.

[0038] As a preferred technical solution, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to represent the desired speed of the DC motor.

[0039] As a preferred technical solution, the multi-axis controller outputs a direction control signal to a pre-driver, which controls the running direction of the DC motor.

[0040] Specifically, Figure 1 This is a structural diagram of the system of the present invention. The function of the multi-axis controller in the figure is to plan the path and control the reference speed of each DC motor. The multi-axis controller can simultaneously output and receive more than 6 PWM control signals, and process more than 6 PWM speed feedback signals to calculate the current speed of the DC motor. The built-in driver chip in the figure is the pre-driver of the DC motor. Each DC motor has an independent pre-driver built in to receive the PWM control signal of the multi-axis controller and return the PWM speed feedback signal of the DC motor. The DC motor is controlled by the pre-controller and is the ultimate control target of the control system of the present invention. It acts as an actuator to complete the operation task.

[0041] The DC motor control in the system adopts a closed-loop control mode. When the DC motor starts, the multi-axis controller outputs a reference speed control signal of each DC motor as a control signal of a pre-controller. During the process after the DC motor starts, the pre-controller feeds back the current speed of the DC motor in real time. The feedback speed and the reference speed generate a deviation. Using a PID control mode, the multi-axis controller can adjust the output PWM duty cycle to gradually eliminate the deviation, and finally ensure that the actual speed of the DC motor deviates from the target speed within ±10 rpm.

[0042] Figure 2 The structure diagram of the pre-driver is shown in FIG. 6. The pre-driver can receive the PWM speed control signal of the multi-axis controller, calculate the reference current of the DC motor through the frequency or duty cycle of the PWM speed control signal, and drive the DC motor to run through the driving circuit built-in the DC motor to control the speed of the DC motor. The pre-driver simultaneously receives the direction control signal from the multi-axis controller to control the running direction of the DC motor. When the DC motor runs, the pre-driver calculates the current speed of the DC motor and outputs a speed feedback signal, which is represented by the frequency of the PWM pulse.

[0043] The innovative technical points of the system are at least as follows:

[0044] 1. A single multi-axis controller is used to control multiple DC motors (more than 6).

[0045] 2. The DC motor is built-in with a pre-driver, and a single PWM signal is used as a speed control signal and a speed feedback signal between the pre-driver and the multi-axis controller.

[0046] 3. The pre-driver and the multi-axis controller form a feedback, the DC motor adopts a closed-loop control mode, and the closed-loop control calculation of all DC motors is performed in the multi-axis controller.

[0047] 4. The control signal uses the PWM frequency or duty cycle to represent the reference speed, and the feedback signal uses the frequency of the PWM pulse to represent the running speed of the motor.

[0048] Embodiment 2

[0049] According to another embodiment of the present application, a multi-motor cooperative control method is provided, referring to Figure 3 , comprising the following steps:

[0050] S201: obtaining the expected speed value of each DC motor at all motion moments through the motion planning of the multi-axis controller;

[0051] S202: the multi-axis controller sends a PWM speed control signal to the pre-driver, and the pre-driver receives the signal and adjusts the speed of the DC motor;

[0052] S203: The multi-axis controller calculates the actual speed of the DC motor according to the PWM speed feedback signal returned by the pre-controller;

[0053] S204: The multi-axis controller calculates the difference between the actual speed and the expected speed of each DC motor.

[0054] S205: The multi-axis controller adjusts the PWM speed control signal to control the pre-driver to adjust the speed of the DC motor, so that the speed of the DC motor reaches the expected speed value.

[0055] The multi-motor cooperative control method in the embodiment of the application adopts a pre-driver placed inside a DC motor and a single multi-axis controller to form a control system, uses a single PWM signal as a speed control signal and a speed feedback signal to form a closed-loop control of the DC motor. By using a single controller, the number of control chips required by the system is reduced. By concentrating the closed-loop control calculation in a single controller, the number of system communication bus interfaces is reduced. Based on the above advantages, the implementation cost of the multi-motor cooperative control system is significantly reduced.

[0056] As a preferred technical solution, the multi-axis controller adjusts the PWM speed control signal to control the pre-driver to adjust the speed of the DC motor, so that the speed of the DC motor reaches the expected speed value, which includes:

[0057] The multi-axis controller uses a PID control method to adjust the PWM frequency or duty cycle in the PWM speed control signal according to the deviation between the expected speed and the actual speed of the DC motor, so that the deviation between the expected speed and the actual speed of the DC motor is within ±10 rpm.

[0058] As a preferred technical solution, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to represent the expected speed of the DC motor.

[0059] As a preferred technical solution, the multi-motor cooperative control method further includes: the multi-axis controller outputs a direction control signal to the pre-driver, and the pre-driver drives the operation direction of the DC motor.

[0060] Specifically, the multi-motor cooperative control system of the application includes a multi-axis controller and a plurality of DC motors (more than 6) with built-in pre-drivers. The multi-axis controller and the pre-drivers are connected and communicate using a single PWM signal line. The pre-driver drives the operation of the DC motor through the driving circuit built in the DC motor.

[0061] The DC motor with built-in pre-driver refers to a DC motor with a built-in drive circuit. The pre-driver detects a voltage signal from an external interface for controlling the speed of the DC motor itself, and returns a feedback signal reflecting the speed of the DC motor itself to the external control circuit, thereby forming a closed-loop control system for the speed of the motor.

[0062] In the multi-motor cooperative control system, the pre-controller has three functions: first, the pre-controller receives a single-channel PWM speed control signal from the multi-axis controller, which uses the frequency or duty cycle of the PWM to represent the desired speed value; second, the pre-controller receives a direction control signal from the multi-axis controller and controls the running direction of the DC motor; third, the pre-controller detects the current speed of the DC motor and feeds back a PWM signal to the multi-axis controller as a speed feedback; fourth, the pre-driver adjusts the current of the DC motor through the drive circuit to control the speed of the DC motor, and the pre-controller should have an overcurrent protection function.

[0063] The control method comprises the following steps:

[0064] The desired speed values of the DC motors at all motion moments are obtained through motion planning of the multi-axis controller;

[0065] The multi-axis controller sends a PWM speed control signal, and the pre-driver receives the signal and adjusts the speed of the DC motor;

[0066] The multi-axis controller calculates the actual speed of the DC motor according to the PWM speed feedback signal returned by the pre-controller;

[0067] The multi-axis controller calculates the difference between the actual speed and the desired speed of each DC motor;

[0068] The multi-axis controller adjusts the PWM speed control signal to control the pre-driver to adjust the speed of the DC motor, so that the speed of the DC motor reaches the desired speed value.

[0069] The innovative technical points of the control method are at least as follows:

[0070] 1. A pre-driver placed inside the DC motor and a single multi-axis controller are used, and the multi-axis controller controls all pre-drivers simultaneously.

[0071] 2. A single-channel PWM signal is used as a speed control signal and a speed feedback signal between the pre-driver and the multi-axis controller.

[0072] 3. The DC motor adopts a closed-loop control mode, and all closed-loop control calculations of the DC motors are performed in the multi-axis controller.

[0073] The application provides a low-cost multi-motor cooperative control system and a control method thereof.

[0074] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0075] In the above-mentioned embodiments of the application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0076] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the system embodiments described above are only schematic, for example, the division of units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, and can be electrical or other forms.

[0077] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to multiple units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0078] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0079] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0080] The above is only the preferred embodiment of the present application, it should be pointed out that, for those skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A multi-motor cooperative control system, characterized by, The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device.

2. The multi-motor cooperative control system according to claim 1, characterized in that, The application relates to a multi-motor cooperative control method and device.

3. The multi-motor cooperative control system of claim 1, wherein, The application relates to a multi-motor cooperative control method and device.

4. The multi-motor cooperative control system of claim 1, wherein, The application relates to a multi-motor cooperative control method and device.

5. A multi-motor cooperative control method using the multi-motor cooperative control system according to claim 1, characterized by, The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device.

6. The multi-motor cooperative control method according to claim 5, wherein The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. The application relates to a multi-motor cooperative control method and device. 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