Motion synchronization control method and related device of dual drive device

Abstract

The present application relates to the technical field of motion control of dual drive devices, and discloses a motion synchronization control method and related devices of dual drive devices, which utilizes the current position of the first end of the load on the first guide rail and the current position of the second end of the load on the second guide rail to determine first feedback information for indicating the current position of the load, and second feedback information for indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail; based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information, determine the driving instruction values ​​of the first drive and the second drive, and control the first drive and the second drive respectively to move the load to the expected position. This can solve the problem of synchronous control on the load side when the dual drives jointly control the load operation.

Description

Technical Field

[0001] The present application relates to the technical field of motion control of dual-drive devices, and in particular to a motion synchronization control method and related devices for dual-drive devices. Background Art

[0002] In the case of a drive connected to a load, since the load is too heavy during movement, it is easy to have a large load inertia phenomenon, and two drives are generally used to jointly control the load to solve the problem. However, at the same time, there will be a problem of how to ensure the synchronous control of the load side when the two drives jointly control the load.

[0003] The synchronous control methods of two drives are generally divided into non-coupling methods and coupling methods. In one method of non-coupling synchronous control, the reference signal is directly input into the drive of each drive transmission unit, so that each drive transmission unit has the same input signal. Since each drive transmission unit is only affected by the input signal, the disturbance of any drive transmission unit will not affect the working state of other drive transmission units. Therefore, when one of the drive transmission units is disturbed, the drive cannot be synchronized with the other drive.

[0004] In another mode of non-coupled synchronous control, the two drives can be set as the master drive and the slave drive respectively. The position deviation value and speed deviation value of the master and slave drives are converted into the speed command compensation value and torque command compensation value of the slave drive to achieve synchronous control of the two drives. However, it cannot be guaranteed that the load side can also be synchronized.

[0005] In view of the above situation, in the prior art, there is also a method of installing sensors to detect errors in order to compensate for the slow response side to achieve synchronization on the load side. However, this still causes the problem of sensor signal processing and drive control being out of sync. Therefore, it cannot solve the problem of synchronous control of the load side when two drives jointly control the load operation. Summary of the invention

[0006] The embodiment of the present application provides a motion synchronization control method and related devices for a dual-drive device, which solves the problem of synchronous control on the load side when the dual drives jointly control the load to run.

[0007] On the one hand, an embodiment of the present application provides a motion synchronization control method of a dual-drive device, wherein the dual drives are used to jointly drive the same load so that the load moves on a first guide rail and a second guide rail arranged in parallel; and the dual-drive device includes a first drive for driving a first end of the load to move on the first guide rail and a second drive for driving a second end of the load to move on the second guide rail, and the method includes:

[0008] Acquire a current position of the first end of the load on the first guide rail and a current position of the second end of the load on the second guide rail;

[0009] Determining, according to the respective current positions of the first end and the second end of the load, first feedback information for indicating the current position of the load and second feedback information for indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail;

[0010] Determine driving instruction values ​​for the first drive and the second drive based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information; wherein the second expected value corresponds to the first expected value and is used to control the first drive and the second drive in coordination with the first expected value, so that when the load is located at an expected position corresponding to the first expected value, the internal stress of the load is less than a preset value;

[0011] Based on respective drive instruction values ​​of the first drive and the second drive, the first drive and the second drive are controlled so that the load moves to the desired position.

[0012] In an optional implementation manner, before determining the respective drive instruction values ​​for the first drive and the second drive based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information, the method further includes:

[0013] The second expected value is determined according to the following method:

[0014] According to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value is determined as the second expected value.

[0015] An optional implementation manner is that the corresponding relationship is a relationship curve pre-fitted according to a plurality of sampling positions and expected parameters of each of the sampling positions;

[0016] Alternatively, determining, according to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value as the second expected value includes:

[0017] In the pre-established correspondence between sampling positions and expected parameters, searching for a sampling position matching the first expected value;

[0018] If a sampling position matching the first expected value is found, the expected parameter corresponding to the sampling position is used as the second expected value;

[0019] If no sampling position matching the first expected value is found, and the first expected value is between the minimum sampling position and the maximum sampling position, obtaining at least two adjacent sampling positions of the first expected value from the corresponding relationship;

[0020] Performing interpolation processing on the acquired at least two adjacent sampling positions and the expected parameters corresponding to the at least two adjacent sampling positions to obtain the second expected value;

[0021] If no sampling position matching the first expected value is found, and the first expected value is smaller than the minimum sampling position, determining the expected parameter corresponding to the minimum sampling position as the second expected value;

[0022] If a sampling position matching the first expected value is not found, and the first expected value is greater than the maximum sampling position, the expected parameter corresponding to the maximum sampling position is determined as the second expected value.

[0023] In an optional implementation manner, the method further comprises:

[0024] The corresponding relationship is established according to the following method:

[0025] For each sampling position, execute:

[0026] The load is driven to the sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information indicating the rotation condition of the load when the load is at an upper rotation limit, and obtain lower limit information indicating the rotation condition of the load when the load is at a lower rotation limit;

[0027] Determine the expected parameter corresponding to the sampling position according to the upper limit information and the lower limit information;

[0028] The corresponding relationship is constructed according to each of the sampling positions and the expected parameters respectively corresponding to each of the sampling positions.

[0029] An optional implementation manner is that the control of the load to rotate within a preset range based on the sampling position, obtaining upper limit information for indicating the rotation condition of the load when the load is at an upper limit of rotation, and obtaining lower limit information for indicating the rotation condition of the load when the load is at a lower limit of rotation, comprises:

[0030] After the first drive and the second drive are powered off, obtaining the current positions of the first end and the second end of the load respectively;

[0031] determining a position difference between the current position of the first end and the current position of the second end of the load;

[0032] Obtaining a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive;

[0033] The sum of the position difference and the moving distance and the sampling position are used as driving inputs of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as upper limit information of the load at the upper limit of rotation;

[0034] The position difference, the difference between the moving distance and the sampling position are used as the driving input of the dual-drive device to control the dual drive to move the load; and the information used to describe the rotation condition of the load when the load position is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0035] An optional implementation manner is that the control of the load to rotate within a preset range based on the sampling position, obtaining upper limit information for indicating the rotation condition of the load when the load is at an upper limit of rotation, and obtaining lower limit information for indicating the rotation condition of the load when the load is at a lower limit of rotation, comprises:

[0036] The second drive is powered off, the first drive is controlled to move the load to the sampling position, and the current position of the second drive is acquired;

[0037] After the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained;

[0038] The sampling position and the sum of the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation of the load when the load is stable is determined as upper limit information of the load at the upper limit of rotation;

[0039] The sampling position and the difference between the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation condition of the load when the load is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0040] An optional implementation manner is that, according to the respective current positions of the first end and the second end of the load, determining first feedback information for indicating the current position of the load and second feedback information for indicating the rotation of the load in the extension direction of the two first guide rails and the second guide rails comprises:

[0041] Acquire an average value of a position value of the current position of the first end and a position value of the current position of the second end as the first feedback information;

[0042] A difference between a position value of the current position of the first end and a position value of the current position of the second end is obtained as the second feedback information.

[0043] An optional implementation manner is that determining the respective drive instruction values ​​for the first drive and the second drive based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information includes:

[0044] inputting the difference between the first expected value and the first feedback information into the first PID controller and the second PID controller respectively;

[0045] inputting the difference between the second expected value and the second feedback information into the second PID controller and the third PID controller respectively;

[0046] determining a driving instruction value for the first drive based on an output value of the first PID controller and an output value of the second PID controller;

[0047] A drive instruction value for the second drive is determined based on the output value of the second PID controller and the output value of the third PID controller.

[0048] On the one hand, an embodiment of the present application provides a motion synchronization control device of a dual-drive device, wherein the dual-drive is used to jointly drive the same load so that the load moves on a first guide rail and a second guide rail arranged in parallel; and the dual-drive device includes a first drive for driving a first end of the load to move on the first guide rail and a second drive for driving a second end of the load to move on the second guide rail, and the device includes:

[0049] an acquisition module, configured to acquire a current position of the first end of the load on the first guide rail and a current position of the second end of the load on the second guide rail;

[0050] a first determining module, configured to determine, according to the respective current positions of the first end and the second end of the load, first feedback information indicating a current position of the load and second feedback information indicating a rotation of the load in an extension direction of the first guide rail and the second guide rail;

[0051] a second determination module, configured to determine drive instruction values ​​for the first drive and the second drive, respectively, based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information; wherein the second expected value corresponds to the first expected value, and is configured to control the first drive and the second drive in coordination with the first expected value, so that when the load is located at an expected position corresponding to the first expected value, the internal stress of the load is less than a preset value;

[0052] A control module is used to control the first drive and the second drive respectively based on the respective drive instruction values ​​of the first drive and the second drive, so as to move the load to the desired position.

[0053] In an optional implementation manner, before the second determining module, the device further includes:

[0054] The third determining module is used to determine the second expected value according to the following method:

[0055] According to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value is determined as the second expected value.

[0056] An optional implementation manner is that the corresponding relationship is a relationship curve pre-fitted according to a plurality of sampling positions and expected parameters of each of the sampling positions;

[0057] Alternatively, the third determining module is further used to:

[0058] In the pre-established correspondence between sampling positions and expected parameters, searching for a sampling position matching the first expected value;

[0059] If a sampling position matching the first expected value is found, the expected parameter corresponding to the sampling position is used as the second expected value;

[0060] If no sampling position matching the first expected value is found, and the first expected value is between the minimum sampling position and the maximum sampling position, obtaining at least two adjacent sampling positions of the first expected value from the corresponding relationship;

[0061] Performing interpolation processing on the acquired at least two adjacent sampling positions and the expected parameters corresponding to the at least two adjacent sampling positions to obtain the second expected value;

[0062] If no sampling position matching the first expected value is found, and the first expected value is smaller than the minimum sampling position, determining the expected parameter corresponding to the minimum sampling position as the second expected value;

[0063] If a sampling position matching the first expected value is not found, and the first expected value is greater than the maximum sampling position, the expected parameter corresponding to the maximum sampling position is determined as the second expected value.

[0064] In an optional implementation manner, the device further comprises:

[0065] The establishing module is used to establish the corresponding relationship according to the following method:

[0066] For each sampling position, execute:

[0067] The load is driven to the sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information indicating the rotation condition of the load when the load is at an upper rotation limit, and obtain lower limit information indicating the rotation condition of the load when the load is at a lower rotation limit;

[0068] Determine the expected parameter corresponding to the sampling position according to the upper limit information and the lower limit information;

[0069] The corresponding relationship is constructed according to each of the sampling positions and the expected parameters respectively corresponding to each of the sampling positions.

[0070] In an optional implementation manner, the establishing module is further used for:

[0071] After the first drive and the second drive are powered off, obtaining the current positions of the first end and the second end of the load respectively;

[0072] determining a position difference between the current position of the first end and the current position of the second end of the load;

[0073] Obtaining a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive;

[0074] The sum of the position difference and the moving distance and the sampling position are used as driving inputs of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as upper limit information of the load at the upper limit of rotation;

[0075] The position difference, the difference between the moving distance and the sampling position are used as the driving input of the dual-drive device to control the dual drive to move the load; and the information used to describe the rotation condition of the load when the load position is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0076] In an optional implementation manner, the establishing module is further used for:

[0077] The second drive is powered off, the first drive is controlled to move the load to the sampling position, and the current position of the second drive is acquired;

[0078] After the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained;

[0079] The sampling position and the sum of the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation of the load when the load is stable is determined as upper limit information of the load at the upper limit of rotation;

[0080] The sampling position and the difference between the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation condition of the load when the load is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0081] In an optional implementation manner, the first determining module is specifically configured to:

[0082] Acquire an average value of a position value of the current position of the first end and a position value of the current position of the second end as the first feedback information;

[0083] A difference between a position value of the current position of the first end and a position value of the current position of the second end is obtained as the second feedback information.

[0084] In an optional implementation manner, the second determining module is specifically configured to:

[0085] inputting the difference between the first expected value and the first feedback information into the first PID controller and the second PID controller respectively;

[0086] inputting the difference between the second expected value and the second feedback information into the second PID controller and the third PID controller respectively;

[0087] determining a driving instruction value for the first drive based on an output value of the first PID controller and an output value of the second PID controller;

[0088] A drive instruction value for the second drive is determined based on the output value of the second PID controller and the output value of the third PID controller.

[0089] On the one hand, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0090] On the one hand, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions implement the steps of any of the above methods when executed by a processor.

[0091] On the one hand, an embodiment of the present application provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in any of the above-mentioned various optional implementations of controlling TCP transmission performance.

[0092] In the embodiment of the present application, the dual drive is a first drive that drives the first end of the load to move on the first guide rail and a second drive that drives the second end of the load to move on the second guide rail. The dual drive is used to jointly drive the same load so that the load moves on the first guide rail and the second guide rail arranged in parallel.

[0093] First, the current position of the first end of the load on the first guide rail and the current position of the second end of the load on the second guide rail are obtained; then, according to the current positions of the first end and the second end of the load, first feedback information for indicating the current position of the load and second feedback information for indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail are determined; then, based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information, respective drive instruction values ​​for the first drive and the second drive are determined; finally, based on the respective drive instruction values ​​of the first drive and the second drive, the first drive and the second drive are controlled respectively to move the load to the desired position.

[0094] The second expected value corresponds to the first expected value and is used to cooperate with the first expected value to control the first drive and the second drive, so that when the load is located at the expected position corresponding to the first expected value, the internal stress of the load is less than the preset value. This solves the problem of synchronous control on the load side when the dual drives jointly control the load operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings introduced below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0096] Figure 1 A schematic diagram of an application scenario of a motion synchronization control method for a dual-drive device provided in an embodiment of the present application;

[0097] Figure 2 A schematic flow chart of a motion synchronization control method for a dual-drive device provided in one embodiment of the present application;

[0098] Figure 3 A circuit diagram of a motion synchronization control method for a dual-drive device provided in one embodiment of the present application;

[0099] Figure 4 A schematic flow chart of a method for determining upper limit information and lower limit information of a load rotation condition provided in an embodiment of the present application;

[0100] Figure 5 A schematic diagram of upper limit information and lower limit information of a load rotation condition provided in an embodiment of the present application;

[0101] Figure 6 A schematic flow chart of a method for determining upper limit information and lower limit information of a load rotation condition provided in an embodiment of the present application;

[0102] Figure 7 A schematic diagram of upper limit information and lower limit information of a load rotation condition provided in an embodiment of the present application;

[0103] Figure 8 A schematic diagram of a process for determining a second expected value provided in an embodiment of the present application;

[0104] Fig. 9 A schematic diagram of the structure of a motion synchronization control device for a dual-drive device provided in one embodiment of the present application;

[0105] Fig.10 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0106] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The number of any element in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0107] For ease of understanding, the terms involved in the embodiments of the present application are explained below:

[0108] Load-side synchronization: refers to a movement mode in which when the dual-drive device drives the load to move on the first guide rail and the second guide rail, both sides of the load move synchronously and the internal stress of the load is less than a preset value. The forward or backward movement of the load in the extension direction of the first guide rail and the second guide rail and the optimal rotation condition corresponding to the movement condition stored in advance are used as the driving input of the dual-drive device to achieve load-side synchronization. Among them, the optimal rotation condition is the situation in which the load is driven on both sides of the load to a position where the internal stress of the load is less than a preset value after the load reaches the desired position.

[0109] Internal stress of the load: The external force between the load and the first guide rail and the second guide rail causes internal stress inside the load due to uneven volume changes in the macroscopic or microscopic structure of the material. When the load side is not synchronized, the internal stress of the load is large.

[0110] In actual practice, two drivers are usually used to jointly control the load to solve the problem of overload. However, there will be a problem of how to ensure synchronous control of the load side when the two drivers jointly control the load.

[0111] To this end, the present application provides a motion synchronization control method and related devices for a dual-drive device, which utilizes the current position of the first end of the load on the first guide rail and the current position of the second end of the load on the second guide rail to determine the first feedback information used to represent the current position of the load, and the second feedback information used to represent the rotation of the load in the extension direction of the first guide rail and the second guide rail; then based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information, the drive instruction values ​​of the first drive and the second drive are determined, and the first drive and the second drive are controlled respectively to move the load to the expected position. Among them, the second expected value corresponds to the first expected value, and is used to control the first drive and the second drive in conjunction with the first expected value, so that when the load is at the expected position corresponding to the first expected value, the internal stress of the load is less than the preset value. Thereby, the problem of synchronous control on the load side can be solved when the dual drives jointly control the load operation.

[0112] After introducing the design ideas of the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0113] refer to Figure 1, which is a schematic diagram of an application scenario of the motion synchronization control method of the dual-drive device provided in an embodiment of the present application. The application scenario includes a host computer 101, a first drive 102, a second drive 103, a first guide rail 104, a second guide rail 105, and a gantry 106. Among them, the host computer 101, the first drive 102, and the second drive 103 are connected through a wireless or wired network, and the host computer 101 includes but is not limited to electronic devices such as desktop computers, mobile phones, mobile computers, tablet computers, media players, smart wearable devices, and smart TVs.

[0114] The host computer 101 first obtains the current position of the first end of the load gantry 106 on the first guide rail 104 and the current position of the second end of the load gantry 106 on the second guide rail 105, and determines the first feedback information used to indicate the current position of the load gantry 106 and the second feedback information used to indicate the rotation of the load gantry 106 in the extension direction of the first guide rail 104 and the second guide rail 105 according to the obtained position information. Then, the first expected value corresponding to the first feedback information input by the user in the host computer 101 is obtained, and the second expected value corresponding to the second feedback information pre-stored in the host computer 101 is obtained. Among them, the second expected value corresponds to the first expected value, and is used to cooperate with the first expected value to control the first drive 102 and the second drive 103, so that when the load gantry 106 is located at the expected position corresponding to the first expected value, the internal stress of the load gantry 106 is less than the preset value. Then, in the host computer 101, after determining the driving instruction values ​​of the first drive 102 and the second drive 103 respectively based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information, the first drive 102 and the second drive 103 are driven and controlled respectively to move the load gantry 106 to the expected position. Thus, the synchronous control problem on the load side can be solved when the dual drives jointly control the load operation.

[0115] Here, the rotation of the load in the extension direction of the first guide rail and the second guide rail refers to the rotation of the load along the horizontal direction of the first guide rail and the second guide rail.

[0116] Of course, the method provided in the embodiment of the present application is not limited to Figure 1 The application scenarios shown can also be used in other possible application scenarios, and the embodiments of the present application are not limited thereto. Figure 1 The functions that can be implemented by each device in the application scenario shown will be described in the subsequent method embodiments, and will not be described in detail here.

[0117] To further illustrate the technical solution provided by the embodiment of the present application, this is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiment of the present application provides the method operation steps shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiment of the present application.

[0118] Combine the following Figure 1 The application scenario shown illustrates the technical solution provided by the embodiment of the present application.

[0119] refer to Figure 2 The present application provides a motion synchronization control method for a dual-drive device, which specifically includes the following steps:

[0120] Among them, Figure 1 As shown, the dual drive (i.e., the first drive 102 and the second drive 103) is used to jointly drive the same load (i.e., the gantry 106) so that the load moves on the first guide rail 104 and the second guide rail 105 arranged in parallel; and the dual drive includes a first drive 102 for driving the first end of the load to move on the first guide rail 104 and a second drive 103 for driving the second end of the load to move on the second guide rail 105.

[0121] S201, obtaining a current position of a first end of a load on a first guide rail and a current position of a second end of a load on a second guide rail.

[0122] Here, the load refers to a device driven by dual drives, such as a gantry.

[0123] S202, determining first feedback information indicating the current position of the load and second feedback information indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail according to the respective current positions of the first end and the second end of the load.

[0124] Specifically, the average value of the position value of the current position of the first end and the position value of the current position of the second end can be used as the first feedback information; the difference between the position value of the current position of the first end and the position value of the current position of the second end can be used as the second feedback information; or, the angle between the line connecting the first end and the second end and the perpendicular line of the two guide rails can be used as the second feedback information.

[0125] Exemplarily, assuming that the position value of the current position of the first end is D1, and the position value of the current position of the second end is D2, the first feedback information R'1 can be The second feedback information R'2 can be (D1-D2) or (D2-D1), that is, R'2 = D1 - D2, or R'2 = D2 - D1.

[0126] Alternatively, assuming that the distance between the first rail and the second rail is x, and the angle between the line connecting the first end and the second end and the perpendicular line of the two rails is θ, then the second feedback information R'2 can be Right now

[0127] Here, only an example is given to illustrate a method for determining the first feedback information and the second feedback information. The present application does not limit the specific method for determining the first feedback information and the second feedback information, and the specific method can be adjusted according to actual applications.

[0128] S203 : Determine driving instruction values ​​for the first drive and the second drive respectively based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information.

[0129] The second expected value corresponds to the first expected value and is used to control the first drive and the second drive in coordination with the first expected value, so that when the load is located at the expected position corresponding to the first expected value, the internal stress of the load is less than the preset value. The specific method for determining the second expected value will be described in detail later and will not be repeated here.

[0130] The drive command values ​​for each of the first drive and the second drive are determined by the following method.

[0131] Specifically, Figure 3 As shown, the difference between the first expected value R1 and the first feedback information R'1 is input to the first PID controller and the second PID controller respectively; the difference between the second expected value R2 and the second feedback information R'2 is input to the second PID controller and the third PID controller respectively; based on the output value of the first PID controller and the output value of the second PID controller, the driving instruction value for the first drive is determined; based on the output value of the second PID controller and the output value of the third PID controller, the driving instruction value for the second drive is determined. The second PID controller may be a cross-coupling controller.

[0132] In the embodiment of the present application, the difference between the first expected value R1 and the first feedback information R'1 is used as the input of the first PID controller, and the first part of the driving instruction value of the first drive is output; the difference between the first expected value R1 and the first feedback information R'1, and the difference between the second expected value R2 and the second feedback information R'2 are used as the input of the second PID controller, and the second part of the driving instruction value of the first drive and the first part of the driving instruction value of the second drive are output; the difference between the second expected value R2 and the second feedback information R'2 is used as the input of the third PID controller, and the second part of the driving instruction value of the second drive is output; finally, the sum of the first part of the driving instruction value of the first drive and the second part of the driving instruction value of the first drive is used as the driving instruction value of the first drive, and the sum of the first part of the driving instruction value of the second drive and the second part of the driving instruction value of the second drive is used as the driving instruction value of the second drive.

[0133] In an optional embodiment, the PID algorithm includes an incremental PID algorithm and a position PID algorithm. The adjustment reference calculated by the incremental PID algorithm is the increment of the drive command value; the adjustment reference calculated by the position PID algorithm is the final drive command value after adjustment.

[0134] S204 , based on the respective drive instruction values ​​of the first drive and the second drive, the first drive and the second drive are controlled respectively to move the load to a desired position.

[0135] In an embodiment of the present application, first feedback information indicating the current position of the load and second feedback information indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail are determined by utilizing the current position of the first end of the load on the first guide rail and the current position of the second end of the load on the second guide rail; and then, based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information, the respective drive instruction values ​​of the first drive and the second drive are determined, and the first drive and the second drive are controlled respectively to move the load to the desired position.

[0136] The second expected value corresponds to the first expected value and is used to cooperate with the first expected value to control the first drive and the second drive, so that when the load is located at the expected position corresponding to the first expected value, the internal stress of the load is less than the preset value. This can solve the problem of synchronous control on the load side when the dual drives jointly control the load operation.

[0137] In an optional embodiment, before executing the above step S203, the method further includes determining the second expected value according to the following method:

[0138] According to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value is determined as the second expected value.

[0139] Through the above embodiment, when the user inputs a first expected value, the corresponding second expected value can be obtained according to the pre-established corresponding relationship, thereby improving the synchronous response speed.

[0140] The sampling positions are determined on the first guide rail and the second guide rail according to the preset distance values, and for each sampling position, the following methods are respectively executed to establish the above correspondence:

[0141] The load is driven to a sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information for indicating the rotation condition of the load when the load is at the upper limit of rotation, and obtain lower limit information for indicating the rotation condition of the load when the load is at the lower limit of rotation; the expected parameters corresponding to the sampling position are determined according to the upper limit information and the lower limit information; and the corresponding relationship is established according to each sampling position and the expected parameters corresponding to each sampling position.

[0142] The above embodiment can pre-measure the optimal rotational position of the load corresponding to different sampling positions in the extension direction of the first guide rail and the second guide rail, so that a corresponding relationship can be established. When the user inputs a first expected value, the corresponding second expected value can be obtained, thereby improving the synchronous response speed.

[0143] Here, the upper limit information and the lower limit information of the load rotation condition may be determined in any of the following ways:

[0144] Method 1: If Figure 4 As shown, the following steps are included:

[0145] S401, after the first drive and the second drive are powered off, the current positions of the first end and the second end of the load are obtained.

[0146] S402, determining a position difference between a current position of a first end and a current position of a second end of the load.

[0147] S403: Obtain a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive.

[0148] S404, using the sum of the position difference and the moving distance and the sampling position as the driving input of the dual-drive device to control the dual-drive moving load; and determining the information used to describe the rotation condition of the load when the load position is stable as the upper limit information of the load when it is at the upper limit of rotation.

[0149] S405, using the position difference, the moving distance difference and the sampling position as the driving input of the dual-drive device to control the dual-drive moving load; and determining the information used to describe the rotation condition of the load when the load position is stable as the lower limit information of the load when the load is at the lower limit of rotation.

[0150] For example, Figure 5 As shown, after the first drive and the second drive are powered off, assuming that the position value of the current position of the first end is D1, and the position value of the current position of the second end is D2, then the position difference R'2 between the two is (D1-D2) or (D2-D1), that is, R'2=D1-D2, or R'2=D2-D1. If the upper limit of the preset torque difference between the first drive and the second drive is 3%, that is, the maximum difference in the output torque of the dual drives is 3%, assuming that at this time, the maximum rotation distance of the corresponding load in the extension direction of the first guide rail and the second guide rail is x, then the above-mentioned moving distance is 2x.

[0151] like Figure 5 As shown, the current sampling position L and (R'2+2x) are used as the driving input of the dual drive and input to Figure 3 In the controller, the dual-drive mobile load is controlled, the current positions D'1 and D'2 of the first end and the second end of the load are obtained in real time, and the position difference between the two is calculated. If it is detected that the position difference no longer changes, that is, the load position is stable, the position difference is recorded and used as the upper limit information of the load when it is at the upper limit of rotation.

[0152] The current sampling position L and (R'2-2x) are used as the driving input of the dual drive and input to Figure 3 In the controller, the dual-drive mobile load is controlled, the current positions D"1 and D"2 of the first end and the second end of the load are obtained in real time, and the position difference between the two is calculated. If it is detected that the position difference no longer changes, that is, the load position is stable, the position difference is recorded and used as the lower limit information of the load when it is at the lower limit of rotation.

[0153] Method 2: If Figure 6 As shown, the following steps are included:

[0154] S601, power off the second drive, control the first drive to move the load to a sampling position, and obtain the current position of the second drive.

[0155] S602, after the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained.

[0156] S603, using the sampling position and the sum of the current position and the moving distance of the second drive as the driving input of the dual drive respectively, controlling the dual drive to move the load; and determining the information used to describe the rotation condition of the load when the load is stable as the upper limit information of the load when it is at the upper limit of rotation.

[0157] S604, using the sampling position and the difference between the current position and the moving distance of the second drive as the driving input of the dual drive, controlling the dual drive to move the load; and determining the information used to describe the rotation condition of the load when the load is stable as the lower limit information of the load when the load is at the lower limit of rotation.

[0158] For example, Figure 7 As shown, the second drive is powered off, the first drive is controlled to move the load to the sampling position L, the current position M of the second drive is obtained, and the second drive is powered on again. Assuming that the upper limit of the preset torque difference between the first drive and the second drive is 5%, at this time, when the load is stationary on the first guide rail, the corresponding maximum moving distance of the load on the second guide rail is y, then the above-mentioned moving distance is 2y.

[0159] like Figure 7 As shown, the current sampling position L is used as the driving input of the first drive, and (M+2y) is used as the driving input of the second drive. The dual drives are controlled to move the load, and the current positions D'1 and D'2 of the first end and the second end of the load are obtained in real time. The position difference between the two is calculated. If it is detected that the position difference no longer changes, that is, the load position is stable, the position difference is recorded and used as the upper limit information of the load when it is at the upper limit of rotation.

[0160] The current sampling position L is used as the driving input of the first drive, and (M-2y) is used as the driving input of the second drive. The dual drive is controlled to move the load, and the current positions D"1 and D"2 of the first end and the second end of the load are obtained in real time. The position difference between the two is calculated. If it is detected that the position difference no longer changes, that is, the load position is stable, the position difference is recorded and used as the lower limit information of the load when it is at the lower limit of rotation. Among them, if Figure 7 As shown, D'1 and D"1 are at the same position. After determining the upper limit information and the lower limit information of the rotation of the load, the average value of the upper limit information and the lower limit information can be used as the expected parameter corresponding to the sampling position. It is also possible to determine multiple upper limit information and multiple lower limit information, calculate the average value of the upper limit information and the average value of the lower limit information respectively, and then use the average value of the two as the expected parameter corresponding to the sampling position. The specific method for determining the expected parameter corresponding to the sampling position is not limited here, and can be adjusted according to actual application conditions.

[0161] The following specifically introduces how to construct a corresponding relationship based on each sampling position and the expected parameters corresponding to each sampling position, and determine the expected parameter corresponding to the first expected value as the second expected value.

[0162] Specifically, based on the established corresponding relationship, the second expected value may be determined by any one of the following two solutions:

[0163] Option 1: If Figure 8 As shown, the specific steps include:

[0164] S801: Search for a sampling position matching a first expected value in a pre-established correspondence between sampling positions and expected parameters.

[0165] S802: If a sampling position matching the first expected value is found, the expected parameter corresponding to the sampling position is used as the second expected value.

[0166] S803: If no sampling position matching the first expected value is found, and the first expected value is between the minimum sampling position and the maximum sampling position, obtaining at least two adjacent sampling positions of the first expected value from the corresponding relationship.

[0167] S804: Perform interpolation processing on the acquired at least two adjacent sampling positions and the expected parameters corresponding to the at least two adjacent sampling positions to obtain a second expected value.

[0168] S805: If a sampling position matching the first expected value is not found, and the first expected value is smaller than the minimum sampling position, the expected parameter corresponding to the minimum sampling position is determined as the second expected value.

[0169] S806: If a sampling position matching the first expected value is not found, and the first expected value is greater than the maximum sampling position, the expected parameter corresponding to the maximum sampling position is determined as the second expected value.

[0170] Exemplarily, assuming that the corresponding relationship between the sampling position and the expected parameter is as shown in Table 1, where i=1, 2, ..., n, n is a positive integer, when the first expected value obtained is R 1m (1), according to the following Table 1, the corresponding second expected value is R2(1); when the first expected value is R 1cmd , and R 1m (i) <R 1cmd ≤R 1m (i+1), the corresponding second expected value is R 2cmd ,and When R 1cmd ≤R 1m (1), the corresponding second expected value is R 2cmd , and R 2cmd =R2(1); when R 1cmd >R 1m (n), the corresponding second expected value is R 2cmd , and R 2cmd =R2(n).

[0171] Table 1

[0172] Sampling location Expected parameters <![CDATA[R 1m (1)]]> <![CDATA[R2(1)]]> <![CDATA[R 1m (2)]]> <![CDATA[R2(2)]]> … … <![CDATA[R 1m (i)]]> <![CDATA[R2(i)]]> … … <![CDATA[R 1m (n)]]> <![CDATA[R2(n)]]>

[0173] Solution 2: Using a relationship curve between multiple sampling positions and the expected parameters of each sampling position as a corresponding relationship to determine the second expected value.

[0174] For example, when determining the upper limit information and the lower limit information of the load during rotation by the above method 1, the sampling position R in the above Table 1 is used. 1m (i) and the expected parameter R2(i) are the horizontal and vertical coordinates, and the fitting is a relationship curve. According to the fitting curve and the first expected value, R 1cmd The corresponding second expected value R can also be determined 2cmd When determining the upper limit information and lower limit information of the load during rotation by the above method 2, it is necessary to follow the sampling position R in the above Table 1. 1m (i) and the expected parameter R2(i) determine A and B as the horizontal and vertical coordinates, and then fit the relationship curve according to A and B. According to the fitting curve and the first expected value R 1cmd The corresponding second expected value R can also be determined 2cmd .in, B=R2(i)-R 1m (i).

[0175] Through the above embodiment, the optimal rotational position of the load corresponding to different sampling positions in the extension direction of the first guide rail and the second guide rail can be measured in advance, so that when the user inputs the first expected value, the corresponding second expected value can be obtained, thereby improving the synchronous response speed and improving the control accuracy by increasing the sampling positions.

[0176] like Fig. 9 As shown, based on the same inventive concept as the motion synchronization control method of the above dual-drive device, the embodiment of the present application further provides a motion synchronization control device 90 for a dual-drive device, wherein the dual drives are used to jointly drive the same load so that the load moves on a first guide rail and a second guide rail arranged in parallel; and the dual-drive device includes a first drive for driving the first end of the load to move on the first guide rail and a second drive for driving the second end of the load to move on the second guide rail, and the device 90 includes:

[0177] An acquisition module 901 is used to acquire a current position of the first end of the load on the first guide rail and a current position of the second end of the load on the second guide rail;

[0178] A first determination module 902 is used to determine, according to the current positions of the first end and the second end of the load, first feedback information indicating the current position of the load and second feedback information indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail;

[0179] A second determination module 903 is used to determine the driving instruction values ​​of the first drive and the second drive respectively based on the first expected value corresponding to the first feedback information and the second expected value corresponding to the second feedback information; wherein the second expected value corresponds to the first expected value and is used to control the first drive and the second drive in conjunction with the first expected value, so that when the load is located at the expected position corresponding to the first expected value, the internal stress of the load is less than a preset value;

[0180] The control module 904 is used to control the first drive and the second drive respectively based on the respective drive instruction values ​​of the first drive and the second drive, so as to move the load to the desired position.

[0181] In an optional implementation manner, before the second determining module 903, the device further includes:

[0182] The third determining module 905 is configured to determine the second expected value according to the following method:

[0183] According to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value is determined as the second expected value.

[0184] An optional implementation manner is that the corresponding relationship is a relationship curve pre-fitted according to a plurality of sampling positions and expected parameters of each of the sampling positions;

[0185] Alternatively, the third determining module 905 is further configured to:

[0186] In the pre-established correspondence between sampling positions and expected parameters, searching for a sampling position matching the first expected value;

[0187] If a sampling position matching the first expected value is found, the expected parameter corresponding to the sampling position is used as the second expected value;

[0188] If no sampling position matching the first expected value is found, and the first expected value is between the minimum sampling position and the maximum sampling position, obtaining at least two adjacent sampling positions of the first expected value from the corresponding relationship;

[0189] Performing interpolation processing on the acquired at least two adjacent sampling positions and the expected parameters corresponding to the at least two adjacent sampling positions to obtain the second expected value;

[0190] If no sampling position matching the first expected value is found, and the first expected value is smaller than the minimum sampling position, determining the expected parameter corresponding to the minimum sampling position as the second expected value;

[0191] If a sampling position matching the first expected value is not found, and the first expected value is greater than the maximum sampling position, the expected parameter corresponding to the maximum sampling position is determined as the second expected value.

[0192] In an optional implementation manner, the device further comprises:

[0193] The establishing module 906 is used to establish the corresponding relationship according to the following method:

[0194] For each sampling position, execute:

[0195] The load is driven to the sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information indicating the rotation condition of the load when the load is at an upper rotation limit, and obtain lower limit information indicating the rotation condition of the load when the load is at a lower rotation limit;

[0196] Determine the expected parameter corresponding to the sampling position according to the upper limit information and the lower limit information;

[0197] The corresponding relationship is constructed according to each of the sampling positions and the expected parameters respectively corresponding to each of the sampling positions.

[0198] In an optional implementation manner, the establishing module 906 is further configured to:

[0199] After the first drive and the second drive are powered off, obtaining the current positions of the first end and the second end of the load respectively;

[0200] determining a position difference between the current position of the first end and the current position of the second end of the load;

[0201] Obtaining a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive;

[0202] The sum of the position difference and the moving distance and the sampling position are used as driving inputs of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as upper limit information of the load at the upper limit of rotation;

[0203] The position difference, the difference between the moving distance and the sampling position are used as the driving input of the dual-drive device to control the dual drive to move the load; and the information used to describe the rotation condition of the load when the load position is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0204] In an optional implementation manner, the establishing module 906 is further configured to:

[0205] The second drive is powered off, the first drive is controlled to move the load to the sampling position, and the current position of the second drive is acquired;

[0206] After the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained;

[0207] The sampling position and the sum of the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation of the load when the load is stable is determined as upper limit information of the load at the upper limit of rotation;

[0208] The sampling position and the difference between the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation condition of the load when the load is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

[0209] In an optional implementation manner, the first determining module 902 is specifically configured to:

[0210] Acquire an average value of a position value of the current position of the first end and a position value of the current position of the second end as the first feedback information;

[0211] A difference between a position value of the current position of the first end and a position value of the current position of the second end is obtained as the second feedback information.

[0212] In an optional implementation manner, the second determining module 903 is specifically configured to:

[0213] inputting the difference between the first expected value and the first feedback information into the first PID controller and the second PID controller respectively;

[0214] inputting the difference between the second expected value and the second feedback information into the second PID controller and the third PID controller respectively;

[0215] determining a driving instruction value for the first drive based on an output value of the first PID controller and an output value of the second PID controller;

[0216] A drive instruction value for the second drive is determined based on the output value of the second PID controller and the output value of the third PID controller.

[0217] The motion synchronization control device for a dual drive device provided in the embodiment of the present application and the motion synchronization control method for the dual drive device mentioned above adopt the same inventive concept and can achieve the same beneficial effects, which will not be described in detail here.

[0218] Based on the same inventive concept as the above-mentioned motion synchronization control method of the dual drive device, the embodiment of the present application also provides an electronic device, which can be a desktop computer, a portable computer, a smart phone, a tablet computer, a personal digital assistant (PDA), a server, etc. Fig.10 As shown, the electronic device 100 may include a processor 1001 and a memory 1002 .

[0219] Processor 1001 can be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor (DigitalSignal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware processor to be executed, or a combination of hardware and software modules in the processor can be executed.

[0220] Memory 1002, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. Memory can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic memory, disk, optical disk, etc. Memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 1002 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0221] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; the above computer storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to: mobile storage devices, random access memory (RAM, Random Access Memory), magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)) and other media that can store program codes.

[0222] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a mobile storage device, a random access memory (RAM, Random Access Memory), a magnetic storage device (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical storage device (such as CD, DVD, BD, HVD, etc.), and a semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), a solid-state drive (SSD)) and other various media that can store program codes.

[0223] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for motion synchronization control of dual drive motors provided in the above-mentioned various optional implementations.

[0224] The above embodiments are only used to introduce the technical solutions of the present application in detail, but the description of the above embodiments is only used to help understand the methods of the embodiments of the present application and should not be understood as limiting the embodiments of the present application. Any changes or substitutions that can be easily thought of by technicians in this technical field should be included in the protection scope of the embodiments of the present application.

Claims

1. A motion synchronization control method for a dual drive device, wherein: The dual drive is used to jointly drive the same load so that the load moves on a first guide rail and a second guide rail arranged in parallel; and the dual drive device includes a first drive for driving the first end of the load to move on the first guide rail and a second drive for driving the second end of the load to move on the second guide rail, characterized in that the method includes: Acquire a current position of the first end of the load on the first guide rail and a current position of the second end of the load on the second guide rail; Determining, according to the respective current positions of the first end and the second end of the load, first feedback information for indicating the current position of the load and second feedback information for indicating the rotation of the load in the extension direction of the first guide rail and the second guide rail; According to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value is determined as the second expected value; or, a relationship curve between the sampling position and the expected parameter of the sampling position is fitted as the correspondence to determine the second expected value; Determine driving instruction values ​​for the first drive and the second drive based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information; wherein the second expected value corresponds to the first expected value and is used to control the first drive and the second drive in coordination with the first expected value, so that when the load is located at an expected position corresponding to the first expected value, the internal stress of the load is less than a preset value; Based on respective drive instruction values ​​of the first drive and the second drive, respectively, controlling the first drive and the second drive to move the load to the desired position; The corresponding relationship between the sampling position and the expected parameters is determined according to the following method: For each sampling position, execute: The load is driven to the sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information indicating the rotation condition of the load when the load is at an upper rotation limit, and obtain lower limit information indicating the rotation condition of the load when the load is at a lower rotation limit; Determine the expected parameter corresponding to the sampling position according to the upper limit information and the lower limit information; Constructing the corresponding relationship according to each of the sampling positions and the expected parameters respectively corresponding to each of the sampling positions; The upper limit information and the lower limit information are determined in the following manner: After the first drive and the second drive are powered off, obtaining the current positions of the first end and the second end of the load respectively; determining a position difference between the current position of the first end and the current position of the second end of the load; Obtaining a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive; The sum of the position difference and the moving distance and the sampling position are used as driving inputs of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as upper limit information of the load at the upper limit of rotation; The position difference, the difference between the moving distance and the sampling position are used as the driving input of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as the lower limit information of the load at the lower limit of the rotation; or, The second drive is powered off, the first drive is controlled to move the load to the sampling position, and the current position of the second drive is acquired; After the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained; The sampling position and the sum of the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation of the load when the load is stable is determined as upper limit information of the load at the upper limit of rotation; The sampling position and the difference between the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation condition of the load when the load is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

2. The method according to claim 1, characterized in that: The determining, according to the correspondence between the sampling position and the expected parameter, the expected parameter corresponding to the first expected value as the second expected value includes: In the pre-established correspondence between sampling positions and expected parameters, searching for a sampling position matching the first expected value; If a sampling position matching the first expected value is found, the expected parameter corresponding to the sampling position is used as the second expected value; If no sampling position matching the first expected value is found, and the first expected value is between the minimum sampling position and the maximum sampling position, obtaining at least two adjacent sampling positions of the first expected value from the corresponding relationship; Performing interpolation processing on the acquired at least two adjacent sampling positions and the expected parameters corresponding to the at least two adjacent sampling positions to obtain the second expected value; If no sampling position matching the first expected value is found, and the first expected value is smaller than the minimum sampling position, determining the expected parameter corresponding to the minimum sampling position as the second expected value; If a sampling position matching the first expected value is not found, and the first expected value is greater than the maximum sampling position, the expected parameter corresponding to the maximum sampling position is determined as the second expected value.

3. The method according to claim 1, characterized in that The determining, according to the respective current positions of the first end and the second end of the load, first feedback information for indicating the current position of the load and second feedback information for indicating the rotation of the load in the extension direction of the two first guide rails and the second guide rails comprises: Acquire an average value of a position value of the current position of the first end and a position value of the current position of the second end as the first feedback information; A difference between a position value of the current position of the first end and a position value of the current position of the second end is obtained as the second feedback information.

4. The method according to claim 1, characterized in that: The determining, based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information, respective drive instruction values ​​for the first drive and the second drive comprises: inputting the difference between the first expected value and the first feedback information into the first PID controller and the second PID controller respectively; inputting the difference between the second expected value and the second feedback information into the second PID controller and the third PID controller respectively; determining a driving instruction value for the first drive based on an output value of the first PID controller and an output value of the second PID controller; A drive instruction value for the second drive is determined based on the output value of the second PID controller and the output value of the third PID controller.

5. A motion synchronization control device for a dual drive device, wherein: The dual drive is used to jointly drive the same load so that the load moves on a first guide rail and a second guide rail arranged in parallel; and the dual drive device includes a first drive for driving the first end of the load to move on the first guide rail and a second drive for driving the second end of the load to move on the second guide rail, characterized in that the device includes: an acquisition module, configured to acquire a current position of the first end of the load on the first guide rail and a current position of the second end of the load on the second guide rail; a first determining module, configured to determine, according to the respective current positions of the first end and the second end of the load, first feedback information indicating a current position of the load and second feedback information indicating a rotation of the load in an extension direction of the first guide rail and the second guide rail; A third determination module is used to determine the expected parameter corresponding to the first expected value as the second expected value according to the corresponding relationship between the sampling position and the expected parameter, or to determine the second expected value by taking the relationship curve between the sampling position and the expected parameter of the sampling position as the corresponding relationship; a second determination module, configured to determine drive instruction values ​​for the first drive and the second drive, respectively, based on a first expected value corresponding to the first feedback information and a second expected value corresponding to the second feedback information; wherein the second expected value corresponds to the first expected value, and is configured to control the first drive and the second drive in coordination with the first expected value, so that when the load is located at an expected position corresponding to the first expected value, the internal stress of the load is less than a preset value; a control module, configured to control the first drive and the second drive respectively based on respective drive instruction values ​​of the first drive and the second drive, so as to move the load to the desired position; A module is established to determine the correspondence between sampling locations and desired parameters according to the following method: For each sampling position, execute: The load is driven to the sampling position, and the load is controlled to rotate within a preset range based on the sampling position, so as to obtain upper limit information indicating the rotation condition of the load when the load is at an upper rotation limit, and obtain lower limit information indicating the rotation condition of the load when the load is at a lower rotation limit; Determine the expected parameter corresponding to the sampling position according to the upper limit information and the lower limit information; Constructing the corresponding relationship according to each of the sampling positions and the expected parameters respectively corresponding to each of the sampling positions; The upper limit information and the lower limit information are determined in the following manner: After the first drive and the second drive are powered off, obtaining the current positions of the first end and the second end of the load respectively; determining a position difference between the current position of the first end and the current position of the second end of the load; Obtaining a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive; The sum of the position difference and the moving distance and the sampling position are used as driving inputs of the dual-driving device to control the dual-driving device to move the load; and information used to describe the rotation of the load when the load position is stable is determined as upper limit information of the load at the upper limit of rotation; The position difference, the difference between the moving distance and the sampling position are used as the driving input of the dual-drive device to control the dual-drive to move the load; and information used to describe the rotation of the load when the load position is stable is determined as the lower limit information of the load at the lower limit of the rotation; or The second drive is powered off, the first drive is controlled to move the load to the sampling position, and the current position of the second drive is acquired; After the second drive is powered on again, a moving distance corresponding to an upper limit of a preset torque difference between the first drive and the second drive is obtained; The sampling position and the sum of the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation of the load when the load is stable is determined as upper limit information of the load at the upper limit of rotation; The sampling position and the difference between the current position of the second drive and the moving distance are respectively used as driving inputs of the dual drive to control the dual drive to move the load; and information used to describe the rotation condition of the load when the load is stable is determined as the lower limit information of the load when the load is at the lower limit of the rotation.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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