Motor Synchronous Control Method, System and Storage Medium Based on Transient Intelligent Prediction

Abstract

The present invention discloses a motor synchronous control method, system and storage medium based on transient intelligent prediction, which relates to the technical field of ocean cable laying equipment. The method includes collecting a first control signal and a second control signal output by a control center and each control module, as well as a third control signal obtained by reverse analysis of the actual rotation speed of a driving motor, analyzing the differences between the control signals and the regularity of the differences, and then quickly and accurately obtaining control compensation for each control module. After compensation, the rotation speeds of each driving motor are finally kept consistent, so that the cable laying machine can operate efficiently and stably.

Description

Technical Field

[0001] The present invention relates to the technical field of marine cabling equipment, and more specifically, to a motor synchronous control method, system and storage medium based on transient intelligent prediction. Background Art

[0002] Submarine cable laying machine is a device used to lay or recover submarine cables or optical cables, usually installed on offshore operating platforms, such as cable laying vessels. Figure 4 As shown, the main structure of the cable laying machine includes a frame and a plurality of traction wheel groups 13 arranged on the frame. Each traction wheel group includes an upper pressure wheel 14 and a lower pressure wheel 15 arranged up and down, and a traction gap is formed between the upper pressure wheel 14 and the lower pressure wheel 15 for the cable to pass through.

[0003] Among them, at least one of the upper and lower pressure wheels is configured to be connected to an external driving device, such as a driving motor, and at least one pressure wheel is configured to be connected to an external lifting device, and can move up and down to change the size of the traction gap between the two pressure wheels. When laying cables, the pressure wheels in each traction wheel group rotate to drive the cables in the traction gap to move. In order to ensure that the surface stress of the cable is evenly distributed during transmission, and the cables between two adjacent traction wheel groups will not bend or tighten, the rotation speed of the pressure wheels in each traction wheel group must be kept consistent.

[0004] Although each drive motor is controlled by a unified control system, the control timing cannot be completely consistent due to the differences in the drive circuit characteristics of each drive motor. For example, it is difficult for the pulse width of each control pulse to remain the same for a long time. In addition, due to the differences in the physical structure characteristics of each drive motor, it is difficult to keep the speed of each drive motor consistent even under the same input power and timing control signal. Finally, due to the shaking of the working platform itself, the speeds of multiple drive motors will also differ. It can be seen that how to ensure the consistency of the speeds of each drive motor in the cable laying machine is the key to improving the working quality and efficiency of the cable laying machine, and it is also a technical difficulty that needs to be overcome urgently. Summary of the invention

[0005] In view of the problem that it is difficult to keep the rotation speeds of various drive motors on the submarine cable laying machine consistent in actual use, the first purpose of this application is to propose a motor synchronization control method based on transient intelligent prediction, which can comprehensively consider the characteristics of the drive motor, the working environment characteristics and the characteristics of the control circuit, automatically generate compensation factors, and adjust the rotation speeds of various drive motors to ensure that the rotation speeds of various drive motors can be kept consistent. In order to realize the above method, the second purpose of this application is to propose a motor synchronization control system based on transient intelligent prediction, and finally, it is proposed to protect a readable storage medium loaded with a computer program algorithm for implementing the steps of the above method. The specific scheme is as follows:

[0006] A motor synchronous control method based on transient intelligent prediction, comprising:

[0007] Obtain a first control signal, configured to be generated and output by a control center;

[0008] Obtain a second control signal, configured to be generated and output by a control module directly connected to each drive motor for direct control;

[0009] Obtain a third control signal, configured to be reversely generated and output by detecting the rotational speed of each drive motor;

[0010] Generate a first difference signal, configured to be obtained by analyzing and comparing the first control signal and the second control signal, and used to reflect the difference in control signals between each control module and the control center;

[0011] Generate a second difference signal, configured to be obtained by analyzing and comparing the second control signal and the third control signal, and used to reflect the difference between the control signal output by each control module and the actual rotational speed of the drive motor;

[0012] Collect and analyze the first difference signal in real time. If a first fixed prediction model is generated through fitting with a set algorithm, then generate a first difference compensation according to the first fixed prediction model and supplement it into the second control signal; otherwise, generate a first fixed compensation and supplement it into the second control signal;

[0013] Collect and analyze the second difference signal in real time. If a second fixed prediction model is generated through fitting with a set algorithm, then generate a second difference compensation according to the second fixed prediction model and supplement it into the second control signal; otherwise, generate a second fixed compensation and supplement it into the second control signal.

[0014] Through the above technical solution, collect the control signals output by the control center and each control module, as well as the control signal reversely obtained from the actual rotational speed of the drive motor, analyze the differences and the regularity of the differences between each control signal, and can quickly and accurately obtain the control compensation for each control module. The control compensation in the above process is only for the control module corresponding to each drive motor, that is, differential compensation. Thus, even if the physical structure characteristics of each drive motor are inconsistent or the circuit characteristics of each control module are inconsistent, it can ensure the consistency of the rotational speeds of each drive motor. Through the analysis of the regularity of the difference signal, if there is a regularity in the above difference signal, that is, there is a fixed prediction model, then the difference compensation for the next moment can be quickly generated based on the above prediction model, and compensation can be made in advance to further improve the control accuracy.

[0015] Further, the method further comprises:

[0016] Obtain the environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal, and store them in an associated manner;

[0017] Generate the first fixed prediction model and the second fixed prediction model in combination with the environmental impact factor data;

[0018] The environmental impact factors include one or more combinations of temperature, humidity, the shaking amplitude of the operating platform, and the signal characteristics of each control signal.

[0019] Through the above technical solution, real-time environmental impact factors can be taken into account when generating the prediction model, making the prediction model more accurate and facilitating the generation of more accurate compensation data in the later stage.

[0020] Further, the method further includes:

[0021] Obtain the first difference signal between the control center and each control module;

[0022] Analyze and extract the characteristic parameters of the above multiple first difference signals. If the characteristic parameters of the multiple first difference signals are fitted by a set algorithm to generate a third fixed prediction model, then generate a third difference compensation according to the third fixed prediction model and supplement it into the first control signal, otherwise do not process.

[0023] Through the above technical solution, if there are the same characteristic variables in the multiple first difference signals, it can be determined that the above differences come from the control center. At this time, a compensation value is generated based on the multiple first difference signals to compensate the first control signal output by the control center. Thus, even if the entire system generates a system control error, the system itself can quickly identify and correct it. If there are no same characteristic variables among the multiple first difference signals, it means that there are only individual differences among the multiple control modules. At this time, the system does not adjust and compensate the first control signal output by the control center to prevent the error from expanding.

[0024] Further, the first control signal, the second control signal, and the third control signal are all pulse width modulation signals;

[0025] The first difference compensation, the second difference compensation, the first fixed compensation, and the second fixed compensation include pulse width adjustment and duty cycle adjustment.

[0026] Through the above technical solution, the control signal can be precisely fine-tuned, and then the precise adjustment of the motor speed can be realized.

[0027] A motor synchronization control system based on transient intelligent prediction, including:

[0028] A control center configured to output a first control signal;

[0029] Control modules, configured to be multiple and all signal-connected to a control center, and respectively control-connected to each drive motor, receive a first control signal, and generate and output a second control signal after analysis and processing;

[0030] Reverse generation module, configured to collect the actual rotational speed values of each drive motor and reverse-generate a third control signal based on the above rotational speed values;

[0031] First difference signal generation module, configured to be signal-connected to the control center and each control module, receive the first control signal and the second control signal, calculate the difference between the two and generate a first difference signal;

[0032] Second difference signal generation module, configured to be signal-connected to the reverse generation module and each control module, receive the third control signal and the second control signal, calculate the difference between the two and generate a second difference signal;

[0033] First compensation module, signal-connected to the first difference signal generation module and data-connected to the control module, receive the first difference signal to generate a first fixed compensation, or analyze and generate a first fixed prediction model based on a set algorithm and calculate and generate a first difference compensation according to the first fixed prediction model, and output it to the second control signal;

[0034] Second compensation module, signal-connected to the second difference signal generation module and data-connected to the control module, receive the second difference signal to generate a second fixed compensation, or analyze and generate a second fixed prediction model based on a set algorithm and calculate and generate a second difference compensation according to the second fixed prediction model, and output it to the second control signal.

[0035] Furthermore, the system further includes:

[0036] Environmental impact factor acquisition module, configured to acquire and associatively store environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal;

[0037] Parameter import module, configured to be signal-connected to the first compensation module and the second compensation module, import the environmental impact factor data into the first compensation module and the second compensation module and generate the first fixed prediction model and the second fixed prediction model;

[0038] The environmental impact factors include one or more combinations of temperature, humidity, the swaying amplitude of the operation platform, and the signal characteristics of each control signal.

[0039] Furthermore, the control system further includes:

[0040] A feature parameter acquisition module, configured to be signal-connected to a plurality of the first difference signal generation modules, acquire first difference signals between the control center and each control module, and analyze and extract feature parameters of the plurality of first difference signals;

[0041] A third compensation module, configured to be data-connected to the feature parameter acquisition module and signal-connected to the control center. If the feature parameters of the plurality of first difference signals are fitted by a set algorithm to generate a third fixed prediction model, then generate a third difference compensation according to the third fixed prediction model and supplement it into the first control signal; otherwise, no processing is performed.

[0042] A computer-readable storage medium, which loads a program algorithm for implementing the foregoing motor synchronization control method based on transient intelligent prediction.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] (1) By collecting the control signals output by the control center and each control module, as well as the control signals reversely obtained from the actual rotation speed of the drive motor, analyzing the differences between the control signals and the regularity of the differences, the control compensation for each control module can be obtained quickly and accurately, ensuring the consistency of the rotation speeds of each drive motor;

[0045] (2) By analyzing the regularity of the difference signals, if the above difference signals have a pattern, that is, there is a fixed prediction model, then the difference compensation for the next moment can be quickly generated based on the above prediction model, making compensation in advance, further improving the control accuracy and ensuring the consistency of the motor rotation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the control relationship between the control center and each drive motor of the present invention;

[0047] Figure 2 It is a schematic diagram of the motor synchronization control method of the present invention;

[0048] Figure 3 It is a schematic diagram of the functional module framework of the control system of the present invention;

[0049] Figure 4 It is a schematic diagram of the structure of the cable laying machine.

[0050] Reference numerals: 1, control center; 2, control module; 3, drive motor; 4, reverse generation module; 5, first difference signal generation module; 6, second difference signal generation module; 7, first compensation module; 8, second compensation module; 9, environmental impact factor acquisition module; 10, parameter import module; 11, characteristic parameter acquisition module; 12, third compensation module; 13, traction wheel set; 14, upper pressure wheel; 15, lower pressure wheel; 16, frame body. Detailed implementation mode

[0051] The following further elaborates on the present application in conjunction with the embodiments and the accompanying drawings, but the implementation modes of the present application are not limited thereto.

[0052] Before elaborating on the method of the present invention in detail, it should be noted that in the solution of the present application, the control of the drive motor 3 in each traction wheel set is controlled by the control center 1, but not directly controlled, but rather controlled via a plurality of control modules 2 directly connected to the drive motor 3, constituting a control mode of one center and multiple terminals, as Figure 1 shown.

[0053] A motor synchronous control method based on transient intelligent prediction, as Figure 2 shown, mainly includes the following steps:

[0054] Control signal acquisition step S100, mainly used to acquire control signals at different positions in the control link, and then analyze their differences.

[0055] S101, acquire the first control signal, configured to be generated and output by the control center 1;

[0056] S102, acquire the second control signal, configured to be generated and output by the control module 2 directly controlling and connecting to each drive motor 3;

[0057] S103, acquire the third control signal, configured to be generated and output by detecting and reversing the rotation speed of each drive motor 3.

[0058] The implementation order of the above steps is not limited in practice. For the convenience of description, in this embodiment, the naming and acquisition order of each control signal are along the signal transmission direction of the control link.

[0059] In the implementation mode of the present application, the above first control signal, second control signal, and third control signal are all pulse width modulation signals, having a set pulse width and duty cycle, and are used to control the rotation speed of the motor. Correspondingly, the subsequent first difference compensation, second difference compensation, first fixed compensation, and second fixed compensation include pulse width adjustment and duty cycle adjustment.

[0060] In the above step S101, the acquisition source of the first control signal is the control signal output interface of the control center 1, and the signal data interface is connected to the control signal input ends of each control module 2. The first control signal is an initial basic control signal.

[0061] In the above step S102, the second control signal is the signal received by each control module 2 or the control signal obtained after being processed by a fixed signal processing circuit, such as the control signal obtained after being filtered and amplified. Theoretically, if the control circuit structures in each control module 2 are the same or there is no interference in the transmission lines between each control module 2 and the control center 1, then the above-mentioned multiple second control signals obtained after being processed or transmitted should be consistent.

[0062] In the above step S103, the third control signal is reversely generated according to the actual rotation condition of the driving motor 3. For example, by setting a rotational speed sensor near the rotating shaft of the driving motor 3, the actual rotational speed of the driving motor 3 is measured by the rotational speed sensor, and then the control signal of the motor is inversely deduced according to the motor drive control theory. The above control signal is obtained by analog calculation and is used to reflect the actual control effect caused by the second control signal transmitted to the driving motor 3. Theoretically, if the characteristics of the driving motor 3 remain stable during operation, then the third control signal corresponding to each driving motor 3 should be consistent with the second control signal or there should be a fixed correlation relationship.

[0063] The difference signal generation step S200 is mainly used to calculate and obtain the differences between the control signals of each node in the control link, which is convenient for generating corresponding compensation values later.

[0064] S201, generate the first difference signal, which is configured to be obtained by analyzing and comparing the first control signal and the second control signal, and is used to reflect the difference between the control signals between each control module 2 and the control center 1;

[0065] S202, generate the second difference signal, which is configured to be obtained by analyzing and comparing the second control signal and the third control signal, and is used to reflect the difference between the control signal output by each control module 2 and the actual rotational speed of the driving motor 3.

[0066] Based on the above steps, the differences generated by the control signals between each node in each control link can be obtained, which is convenient for making targeted compensations later. In the above step S200, when analyzing and comparing to generate the first or second difference signal, it mainly lies in analyzing and comparing the differences in pulse width and duty cycle between the first control signal and the second control signal, or the time differences of the rising edge and falling edge of the pulse. The former is that the first control signal is distorted during transmission, and the latter is that the time delay of the first control signal passing through each control link is different during transmission.

[0067] The compensation value generation and import step S300 is mainly used to specifically generate compensation values and supplement them into the corresponding control signals.

[0068] S301, collect and analyze the first difference signal in real time. If a first fixed prediction model is generated through fitting with a set algorithm, generate a first difference compensation according to the first fixed prediction model and supplement it into the second control signal; otherwise, generate a first fixed compensation and supplement it into the second control signal.

[0069] S302, collect and analyze the second difference signal in real time. If a second fixed prediction model is generated through fitting with a set algorithm, generate a second difference compensation according to the second fixed prediction model and supplement it into the second control signal; otherwise, generate a second fixed compensation and supplement it into the second control signal.

[0070] In the above step S300, if a fixed mathematical model or calculation formula can be generated through fitting based on the data of the first difference signal or the second difference signal, it indicates that there is a specific pattern in the above first difference signal or second difference signal. Based on this pattern, targeted and accurate compensation can be made to the second control signal. If the first and second difference signals have no pattern, it can be considered that the above difference signals are caused by accidental factors, and then a fixed compensation value is calculated according to the above difference signals, such as taking the average value of the difference signals as the fixed compensation and supplementing it into the second control signal.

[0071] From the above control method, each compensation or correction signal acts on the second control signal, that is, acts on each control module 2. Thus, each drive motor 3 can independently correct its own operating state to ensure the consistency of the operating states, that is, the rotational speeds, of each drive motor 3.

[0072] In the above method steps, the calculation of each difference compensation is generated based on a static environment and is greatly affected by the actual operating environment in practice. Therefore, preferably, the step S300 further includes:

[0073] Obtain the environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal and store them in an associated manner;

[0074] Generate the first fixed prediction model and the second fixed prediction model in combination with the environmental impact factor data;

[0075] The environmental impact factors include one or more combinations of temperature, humidity, the sway amplitude of the operating platform, and the signal characteristics of each control signal.

[0076] Based on the above technical solution, real-time environmental impact factors can be taken into account when generating the prediction model, making the prediction model more accurate and facilitating the generation of more accurate compensation data in the later stage.

[0077] In the above method steps, the factors that cause changes in each control signal mainly lie in the characteristic differences of each node component or module in the control link. However, in practice, there may also be system errors between the control center 1 and each control module 2. For example, the abnormal system clock frequency may lead to the abnormality of the entire system control timing. In order to reduce the occurrence of the above situation, in the implementation manner of this application, the motor synchronization control method based on transient intelligent prediction further includes:

[0078] A system error compensation step S400, which is mainly used to reduce the error influence existing in the system.

[0079] S401, obtaining a first difference signal between the control center 1 and each control module 2;

[0080] S402, analyzing and extracting the characteristic parameters of the above-mentioned multiple first difference signals. If the characteristic parameters of the multiple first difference signals are fitted by a set algorithm to generate a third fixed prediction model, then a third difference compensation is generated according to the third fixed prediction model and added to the first control signal, otherwise no processing is performed.

[0081] In the above technical solution, if there are the same characteristic variables in multiple first difference signals, it can be determined that the above differences come from the control center 1. At this time, a compensation value is generated based on the multiple first difference signals to compensate the first control signal output by the control center 1. Thus, even if the entire system generates a system control error, the system itself can quickly identify and correct it. If there are no same characteristic variables between the multiple first difference signals, it means that there are only individual differences between the multiple control modules 2. At this time, the system does not adjust and compensate the first control signal output by the control center 1 to prevent the error from expanding.

[0082] A motor synchronization control system based on transient intelligent prediction, as Figure 3 shown, mainly includes: a control center 1, a control module 2, a reverse generation module 4, a first difference signal generation module 5, a second difference signal generation module 6, a first compensation module 7, and a second compensation module 8.

[0083] The control center 1 is configured to output a first control signal. The above control center takes a PLC control chip as the core, includes a processor, a memory, and an operation interface, etc., and is used to receive the instructions of the operating user and output the first control signal.

[0084] Combined with Figure 1As shown in the figure, the control modules 2 are configured to be multiple and are all connected to the control center 1 through signals, and are respectively connected to each drive motor 3 for control connection, receive the first control signal, and generate and output the second control signal after analysis and processing. In practice, the above control module 2 is configured as a PLC sub-module connected to each drive motor 3, and is connected to the control center 1 for data and signal through a control bus.

[0085] The reverse generation module 4 is configured to collect the actual rotational speed values of each drive motor 3 and reverse generate a third control signal based on the above rotational speed values. In practical applications, the above reverse generation module 4 includes a rotational speed sensor for detecting the rotational speed of the drive motor 3 and a signal processor. For example, by pasting a reflective sticker on the rotating shaft of the drive motor 3, and then based on the photoelectric infrared sensor and the principle of light reflection, the rotational speed of the drive motor 3 is detected. The measured rotational speed signal is a pulse square wave signal. In the absence of interference, there is a fixed correlation between the above pulse square wave signal and the second control signal. The above signal processor is used to reverse generate the third control signal input to the drive motor 3 according to the above rotational speed signal (pulse square wave signal) through a set algorithm. It should be noted that the above third control signal input to the drive motor 3 is an input signal calculated theoretically.

[0086] The first difference signal generation module 5 is configured to be connected to the control center 1 and each control module 2 through signals, receive the first control signal and the second control signal, calculate the difference between the two and generate a first difference signal.

[0087] The second difference signal generation module 6 is configured to be connected to the reverse generation module 4 and each control module 2 through signals, receive the third control signal and the second control signal, calculate the difference between the two and generate a second difference signal.

[0088] In practice, the above first difference signal generation module 5 and second difference signal generation module 6 can both be implemented by a set program algorithm loaded in the control center 1 or the control module 2. Preferably, in the embodiment of the present application, the control module 2 is used for self-processing supplemented by the control center 1 for verifying the processing result.

[0089] The first compensation module 7 is connected to the first difference signal generation module 5 through signals and is connected to the control module 2 for data connection, receives the first difference signal to generate a first fixed compensation, or analyzes and generates a first fixed prediction model according to a set algorithm and calculates and generates a first difference compensation according to the first fixed prediction model, and outputs it to the second control signal.

[0090] The second compensation module 8 is signal-connected to the second difference signal generation module 6 and data-connected to the control module 2, receives the second difference signal to generate a second fixed compensation, or analyzes and generates a second fixed prediction model based on a set algorithm and calculates and generates a second difference compensation according to the second fixed prediction model, and outputs it to the second control signal.

[0091] There are many existing methods for generating a fixed prediction model through data fitting, such as induction algorithms, etc., which will not be elaborated here.

[0092] Optimally, the system further includes an environmental impact factor acquisition module 9 and a parameter import module 10.

[0093] The environmental impact factor acquisition module 9 is configured to acquire and associatively store the environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal. The parameter import module 10 is configured to be signal-connected to the first compensation module 7 and the second compensation module 8, import the environmental impact factor data into the first compensation module 7 and the second compensation module 8, and generate the first fixed prediction model and the second fixed prediction model. The environmental impact factors include one or more combinations of temperature, humidity, the shaking amplitude of the operating platform, and the signal characteristics of each control signal. This makes the prediction model more accurate.

[0094] Further optimally, the control system further includes: a characteristic parameter acquisition module 11 and a third compensation module 12.

[0095] The characteristic parameter acquisition module 11 is configured to be signal-connected to a plurality of the first difference signal generation modules 5, acquire the first difference signals between the control center 1 and each control module 2, and analyze and extract the characteristic parameters of the plurality of first difference signals. The third compensation module 12 is configured to be data-connected to the characteristic parameter acquisition module 11 and signal-connected to the control center 1. If the characteristic parameters of the plurality of first difference signals are fitted by a set algorithm to generate a third fixed prediction model, then generate a third difference compensation according to the third fixed prediction model and supplement it into the first control signal, otherwise do not process.

[0096] Finally, to apply the method of the above embodiments to a motor synchronous control system or device with relevant hardware conditions, the present application further provides a computer-readable storage medium, in which a computer program is loaded, and the computer program is used to implement the program algorithm of the aforementioned motor synchronous control method based on transient intelligent prediction.

[0097] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program. The computer program includes one or more computer programs. When the computer program is loaded and executed on a computer, the processes or functions described in the embodiments of the present disclosure are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, DSL (Digital Subscriber Line)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a high-density DVD (Digital Video Disc)), or a semiconductor medium (such as an SSD (Solid State Disk)), etc.

[0098] It should be noted that in the above embodiments, the terms used herein are only for describing specific exemplary embodiments and are not intended to be restrictive. As used herein, the singular forms "a", "an", and "the or said" may also be intended to include the plural forms, unless the context clearly indicates otherwise. The terms "include", "comprise", and "have" are inclusive and thus specify the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein should not be construed as necessarily requiring the method steps, processes, and operations to be performed in the specific order discussed or shown, unless specifically specified to be performed in a set order. It should also be understood that additional or alternative steps can be employed.

[0099] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as within the protection scope of the present invention.

Claims

1. A motor synchronization control method based on transient intelligent prediction, characterized in that, it includes: Obtain the first control signal, configured to be generated and output by the control center (1); Obtain the second control signal, configured to be generated and output by the control module (2) directly connected to each drive motor (3) for control; Obtain the third control signal, configured to be reversely generated and output by detecting the rotational speed of each drive motor (3); The first control signal, the second control signal, and the third control signal are all used to control the rotational speed of the motor; Generate a first difference signal, configured to be obtained by analyzing and comparing the first control signal and the second control signal, and used to reflect the difference in control signals between each control module (2) and the control center (1); Generate a second difference signal, configured to be obtained by analyzing and comparing the second control signal and the third control signal, and used to reflect the difference between the control signal output by each control module (2) and the actual rotational speed of the drive motor (3); Collect and analyze the first difference signal in real time. If a first fixed prediction model is generated by fitting through a set algorithm, generate a first difference compensation according to the first fixed prediction model and supplement it into the second control signal, otherwise generate a first fixed compensation and supplement it into the second control signal; Collect and analyze the second difference signal in real time. If a second fixed prediction model is generated by fitting through a set algorithm, generate a second difference compensation according to the second fixed prediction model and supplement it into the second control signal, otherwise generate a second fixed compensation and supplement it into the second control signal.

2. The control method according to claim 1, characterized in that, the method further includes: Obtain the environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal, and store them in an associated manner; Generate the first fixed prediction model and the second fixed prediction model in combination with the environmental impact factor data; The environmental impact factors include one or more combinations of temperature, humidity, the shaking amplitude of the operation platform, and the signal characteristics of each control signal.

3. The control method according to claim 1, characterized in that, the method further includes: Obtain the first difference signal between the control center (1) and each control module (2); Analyze and extract the characteristic parameters of multiple first difference signals. If the characteristic parameters of multiple first difference signals are fitted through a set algorithm to generate a third fixed prediction model, generate a third difference compensation according to the third fixed prediction model and supplement it into the first control signal, otherwise do not process.

4. The control method according to claim 1, characterized in that, the first control signal, the second control signal, and the third control signal are all pulse width modulation signals; The first difference compensation, the second difference compensation, the first fixed compensation, and the second fixed compensation include pulse width adjustment and duty cycle adjustment.

5. A motor synchronization control system based on transient intelligent prediction, characterized in that, it includes: A control center (1), configured to output a first control signal; Control modules (2), configured to be multiple and all signal-connected to the control center (1), and respectively control-connected to each drive motor (3), receive the first control signal, and generate and output a second control signal after analysis and processing; The reverse generation module (4) is configured to collect the actual rotational speed values of each drive motor (3) and reverse generate a third control signal based on the above rotational speed values; The first difference signal generation module (5) is configured to be signal-connected to the control center (1) and each control module (2), receive the first control signal and the second control signal, calculate the difference between the two, and generate a first difference signal; The second difference signal generation module (6) is configured to be signal-connected to the reverse generation module (4) and each control module (2), receive the third control signal and the second control signal, calculate the difference between the two, and generate a second difference signal; The first compensation module (7) is signal-connected to the first difference signal generation module (5) and data-connected to the control module (2), receives the first difference signal to generate a first fixed compensation, or analyzes and generates a first fixed prediction model based on a set algorithm and calculates and generates a first difference compensation according to the first fixed prediction model, and outputs it to the second control signal; The second compensation module (8) is signal-connected to the second difference signal generation module (6) and data-connected to the control module (2), receives the second difference signal to generate a second fixed compensation, or analyzes and generates a second fixed prediction model based on a set algorithm and calculates and generates a second difference compensation according to the second fixed prediction model, and outputs it to the second control signal.

6. The control system according to claim 5, wherein, the system further includes: The environmental impact factor acquisition module (9) is configured to acquire and associatively store the environmental impact factor data corresponding to the generation of the first difference signal and the second difference signal; The parameter import module (10) is configured to be signal-connected to the first compensation module (7) and the second compensation module (8), import the environmental impact factor data into the first compensation module (7) and the second compensation module (8), and generate the first fixed prediction model and the second fixed prediction model; The environmental impact factors include one or more combinations of temperature, humidity, the shaking amplitude of the operation platform, and the signal characteristics of each control signal.

7. The control system according to claim 5, wherein, the control system further includes: The characteristic parameter acquisition module (11) is configured to be signal-connected to a plurality of the first difference signal generation modules (5), acquire the first difference signals between the control center (1) and each control module (2), and analyze and extract the characteristic parameters of the above plurality of first difference signals; The third compensation module (12) is configured to be data-connected to the characteristic parameter acquisition module (11) and signal-connected to the control center (1). If the characteristic parameters of the plurality of first difference signals are fitted by a set algorithm to generate a third fixed prediction model, then generate a third difference compensation according to the third fixed prediction model and supplement it into the first control signal, otherwise do not process.

8. A computer-readable storage medium, wherein, it loads a program algorithm for implementing the motor synchronous control method based on transient intelligent prediction according to any one of claims 1-4.

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