Multi-motor synchronous stopping method and device, computer device and storage medium

Abstract

The application relates to a multi-motor synchronous stopping method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring current pulse rotating speeds of each motor and target pulse amounts required for each motor to return to the original point; taking one motor as a reference motor, obtaining target rotating speeds of the reference motor in a speed regulation stage and time in each stage according to the current pulse rotating speed and the target pulse amount of the reference motor and preset reference accelerations in each stage; obtaining target rotating speeds of the remaining motors in the speed regulation stage according to the time of the reference motor in each stage and the current pulse rotating speeds and the target pulse amounts of the remaining motors; and controlling the motors to sequentially pass through the speed regulation stage, the deceleration stage and stop at the original point according to the target rotating speeds of the motors and the time in each stage. The method can improve the accuracy and stability of multi-motor synchronous stopping, can be applied to a polishing machine, ensures that the motors in different states simultaneously stop at the original position, and greatly improves the safety of production products.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a method, apparatus, computer equipment, and storage medium for synchronous shutdown of multiple motors. Background Technology

[0002] With the development of motor technology, it has been widely used in various equipment. Among them, polishing machines are widely used in the field of material processing. They are often used for polishing material surfaces and are an important part of the material processing process.

[0003] For some precision materials, the requirements for polishing equipment are even higher. For example, for semiconductor materials such as silicon wafers, the main components of the polishing equipment are driven by an upper plate motor, a lower plate motor, a sun gear servo motor, and a gear ring servo motor. In this multi-motor situation, when the material polishing is about to end, the motors at different positions are in different states. If all the motors cannot be stopped at the same time, the movement trajectory of the silicon wafer may change due to the stopped motors and the still moving motors. This will change the force and cause scratches or even breakage on the surface of the silicon wafer. Therefore, it is necessary to precisely control all motors to stop synchronously to ensure the integrity of the silicon wafer.

[0004] In traditional technologies, one approach involves real-time acquisition of motor driver information from a host computer and synchronization based on a clock. This method is dependent on external hardware, resulting in complex and costly shutdown processes, and introduces new errors due to data acquisition and response operations. Another approach uses network communication between systems to determine time differences and achieve control synchronization through compensation. This method is subject to network latency and instability, leading to errors. Neither of these methods can reliably achieve simultaneous stopping of motors in different states, posing a risk of scratching material surfaces. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for synchronously stopping multiple motors at their origins, which can accurately and synchronously stop the motors at the origins of each motor, in order to address the aforementioned technical problems.

[0006] Firstly, this application provides a method for synchronously stopping multiple motors, wherein the stopping process of each motor includes at least a speed regulation stage and a deceleration stage, and the method includes:

[0007] Obtain the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin;

[0008] Using one of the motors as the reference motor, based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage and the time in each stage are obtained.

[0009] Based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors, the target speed of the other motors in the speed regulation stage is obtained.

[0010] Based on the target speed of each motor and the time in each stage, control each motor to sequentially go through the speed adjustment stage and the deceleration stage and stop at the origin.

[0011] In one embodiment, based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage and the time in each stage are obtained, including:

[0012] Based on the current pulse speed and target pulse quantity of the reference motor, as well as the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage is obtained.

[0013] Based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each stage, the time of the reference motor in the speed regulation stage and the deceleration stage is obtained.

[0014] In one embodiment, the target speed of the remaining motors during the speed regulation phase is obtained based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the remaining motors, including:

[0015] The time taken by the reference motor during the speed regulation and deceleration phases is used as the time taken by the other motors during the speed regulation and deceleration phases. Combined with the current pulse speed and target pulse quantity of the other motors, the target speed of the other motors during the speed regulation phase is obtained.

[0016] In one embodiment, controlling each motor to sequentially pass through a speed regulation stage and a deceleration stage to stop at the origin, based on the target speed of each motor and the time in each stage, includes:

[0017] Based on the time of the speed regulation phase, control each motor to uniformly change its speed from its current pulse speed to the corresponding target speed;

[0018] Based on the deceleration phase time, control each motor to decelerate uniformly from its target speed to a stop and then back to the origin.

[0019] In one embodiment, the shutdown process of each motor further includes a constant speed phase between the speed regulation phase and the deceleration phase, wherein the time of the motor in the constant speed phase is a preset value.

[0020] In one embodiment, based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage and the time in each stage are obtained, including:

[0021] Based on the current pulse speed and target pulse quantity of the reference motor, the time in the constant speed phase, and the preset reference acceleration in each phase, the target speed of the reference motor in the speed regulation phase is obtained.

[0022] Based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each stage, the time of the reference motor in the speed regulation stage and the deceleration stage is obtained.

[0023] In one embodiment, controlling each motor to sequentially pass through a speed regulation stage and a deceleration stage to stop at the origin, based on the target speed of each motor and the time in each stage, includes:

[0024] Based on the time of the speed regulation phase, control each motor to uniformly change its speed from its current pulse speed to the corresponding target speed;

[0025] Based on the time of the constant speed phase, control each motor to maintain its target speed and move at a constant speed.

[0026] Based on the deceleration phase time, control each motor to decelerate uniformly from its target speed to a stop and then back to the origin.

[0027] Secondly, this application also provides a multi-motor synchronous shutdown device, wherein the shutdown process of each motor includes at least a speed regulation stage and a deceleration stage, and the device includes:

[0028] The acquisition module is used to acquire the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin.

[0029] The reference module is used to take one of the motors as the reference motor, and based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, obtain the target speed of the reference motor in the speed regulation stage and the time in each stage.

[0030] The synchronization module is used to obtain the target speed of the other motors in the speed regulation stage based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors.

[0031] The control module is used to control each motor to sequentially go through the speed adjustment stage and the deceleration stage and stop at the origin, based on the target speed of each motor and the time in each stage.

[0032] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the multi-motor synchronous shutdown method described in any of the above embodiments.

[0033] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the multi-motor synchronous shutdown method described in any of the above embodiments.

[0034] The aforementioned multi-motor synchronous shutdown method, device, computer equipment, and storage medium control each motor to synchronously stop to its origin by at least passing through a speed adjustment stage and a deceleration stage. Specifically, based on the target pulse quantity required for the motor to return to its origin and the current pulse speed, using one motor as a reference motor, the target speed of each motor is obtained. This target speed is used as an intermediate control quantity during the shutdown process of each motor. The actual pulse quantity during the shutdown process of each motor is controlled simultaneously, ensuring that all motors stop simultaneously and return to their origin. This avoids signal delays in synchronization signals and time differences caused by communication, greatly improving the accuracy and stability of multi-motor synchronous shutdown. It can be applied to polishing machines, ensuring that motors in different states stop and return to their original positions simultaneously, significantly improving product safety. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating a multi-motor synchronous shutdown method in one embodiment;

[0037] Figure 2 This is a schematic diagram of a shutdown process in a multi-motor synchronous shutdown method according to one embodiment;

[0038] Figure 3 This is a schematic diagram of another shutdown process in one embodiment of the multi-motor synchronous shutdown method;

[0039] Figure 4 This is a structural block diagram of a multi-motor synchronous shutdown device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0042] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0043] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0044] The multi-motor synchronous shutdown method provided in this application can be applied to multi-motor equipment, especially polishing machines, such as silicon wafer polishing machines. The main components of the equipment are driven by an upper plate motor, a lower plate motor, a sun gear servo motor, and a gear ring servo motor. Based on the target pulse quantity and pulse speed required for the motors to return to their origin, using one motor as a reference motor, the target speeds of each motor are obtained. These target speeds are used as intermediate control quantities during the shutdown process of each motor. The actual pulse quantity during the shutdown process of each motor is controlled simultaneously, ensuring that all motors stop simultaneously and return to their origin. This method can satisfy the requirements for multi-motor synchronous shutdown under different conditions.

[0045] In one embodiment, such as Figure 1 As shown, a method for synchronous shutdown of multiple motors is provided, including the following steps:

[0046] S100: Obtain the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin;

[0047] Specifically, each motor's speed is determined by the number of pulses per unit time, i.e., the pulse speed. The current pulse speed of each motor is obtained, which is equivalent to the pulse speed of each motor before synchronous shutdown. Simultaneously, the target pulse quantity required for each motor to return to its origin is obtained; this is the difference in pulse quantity between the state of each motor before synchronous shutdown and its origin state. The motor origin state can be a manually set pulse quantity state or the pulse quantity state corresponding to the actual origin of the motor. Since the states and origin states of each motor before synchronous shutdown differ, the target pulse quantity required for each motor to return to its origin varies. Therefore, for synchronous shutdown of motors in different states, it is necessary to ensure not only temporal synchronization but also positional shutdown to the origin.

[0048] In some embodiments, when there is a motor without a motor origin state among the multiple motors, that is, a motor without a required stopping position, the target pulse quantity required for it to return to the origin can be set to a larger pulse quantity, preferably greater than the target pulse quantity required for other motors to return to the origin or similar to the target pulse quantity required for other motors to return to the origin, so as to reduce the complexity of synchronous stop control.

[0049] S200: Using one of the motors as the reference motor, based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage and the time in each stage are obtained.

[0050] Among them, see Figure 2 In this embodiment, the motor shutdown process includes at least a speed adjustment stage and a deceleration stage. The speed adjustment stage is when the motor decelerates from the current pulse speed V. n Uniformly accelerate to the target speed V mn The process takes time T1, and the deceleration phase is when the motor decelerates from the target speed V. mn The process of uniformly decelerating to a stop takes time T2. The target speed is the speed that the motor needs to adjust to during the speed regulation phase, which is also the intermediate speed between the speed regulation phase and the deceleration phase.

[0051] Specifically, the reference motor can be any one of the multiple motors. Using the reference motor as a reference, the other motors are controlled synchronously. The speed regulation and deceleration phases of the reference motor are both performed with uniform speed change using a preset reference acceleration for each phase. (See [link to relevant documentation]). Figure 2 Based on the current pulse speed and target pulse quantity of the reference motor, as well as the preset reference acceleration for each stage, and combined with the acceleration formula for each stage, the time expression of the reference motor in each stage can be obtained. Then, combined with the pulse quantity formula, the target speed of the reference motor in the speed regulation stage can be obtained. Based on the target speed and the time expression, the time of the reference motor in each stage can be obtained.

[0052] The pulse quantity formula can be derived from Figure 2 The formula for the area of ​​the middle part is:

[0053]

[0054] Among them, D n The target pulse quantity for the reference motor.

[0055] The acceleration formula can be:

[0056]

[0057]

[0058] Where a1 is the magnitude of acceleration during the speed regulation phase and a2 is the magnitude of acceleration during the deceleration phase.

[0059] In some embodiments, to further simplify the above calculations, the speed regulation phase and the deceleration phase of the reference motor can be uniformly accelerated with the same absolute value of acceleration.

[0060] S300: Based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors, the target speed of the remaining motors in the speed regulation stage is obtained.

[0061] Specifically, since multiple motors need to stop simultaneously, the time of the reference motor in each stage is the same as the time of the other motors in each stage. In this case, the time of the reference motor in each stage is used as the time of the other motors in each stage. Combined with the current pulse speed and target pulse quantity of the other motors, the target speed of the other motors in the speed regulation stage can be obtained through the above pulse quantity formula (area formula).

[0062] S400: Based on the target speed of each motor and the time in each stage, control each motor to sequentially go through the speed adjustment stage and the deceleration stage and stop at the origin.

[0063] Specifically, following the aforementioned motor shutdown process, shutdown control is simultaneously applied to each motor. During the speed regulation phase, based on the duration of the same speed regulation phase, each motor is controlled to uniformly change speed from its current pulse speed to its target speed. During the deceleration phase, based on the duration of the same deceleration phase, each motor is controlled to uniformly decelerate from its target speed to a stop and return to its origin. See [link / reference] Figure 2 By using the target speed as the control variable, and controlling the target speed of each motor within the same time period, the pulse quantity during the motor shutdown process can be controlled, i.e., the area shown in the figure, thereby achieving synchronous shutdown of each motor in both time and position.

[0064] In the above-mentioned multi-motor synchronous shutdown method, each motor is controlled to stop synchronously to its origin by at least passing through a speed adjustment stage and a deceleration stage. Specifically, based on the target pulse quantity required for the motor to return to the origin and the current pulse speed, a reference motor is used to obtain the target speed of each motor. The target speed is used as the intermediate control quantity for the shutdown process of each motor. The actual pulse quantity of the shutdown process of each motor is controlled at the same time, so that each motor stops simultaneously and returns to the origin. In this way, some signal delays of synchronization signals are avoided, as well as time differences caused by communication, which greatly improves the accuracy and stability of multi-motor synchronous shutdown. It can be applied to polishing machines, which can ensure that motors in different states stop and return to their original positions at the same time, greatly improving the safety of production products.

[0065] In one embodiment, obtaining the target speed of the reference motor in the speed regulation phase and the time in each phase based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each phase includes: obtaining the target speed of the reference motor in the speed regulation phase based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each phase; and obtaining the time of the reference motor in the speed regulation phase and the deceleration phase based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each phase.

[0066] Specifically, see Figure 2 The formula (area formula) for the pulse quantity of the reference motor is:

[0067]

[0068] The acceleration formulas for the speed regulation phase and the deceleration phase are as follows:

[0069]

[0070]

[0071] In this process, the magnitudes of acceleration are the same during the speed regulation phase and the deceleration phase.

[0072] Based on the above formula, the target speed V of the reference motor during the speed regulation stage can be obtained according to the current pulse speed V0 of the reference motor, the target pulse quantity D0, and the preset reference acceleration a for each stage. m0 :

[0073]

[0074] The target speed V of the reference motor m0 Substituting the acceleration formula and combining it with the current pulse speed V0 and the preset reference acceleration a for each stage, we can obtain the time of the reference motor during the speed regulation and deceleration stages:

[0075]

[0076]

[0077] In one embodiment, obtaining the target speed of the remaining motors in the speed regulation phase based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the remaining motors includes: using the time of the reference motor in the speed regulation phase and the deceleration phase as the time of the remaining motors in the speed regulation phase and the deceleration phase, and combining the current pulse speed and target pulse quantity of the remaining motors to obtain the target speed of the remaining motors in the speed regulation phase.

[0078] Specifically, the time taken by the reference motor during the speed regulation and deceleration phases is used as the time taken by the other motors during the speed regulation and deceleration phases, i.e., T1 and T2 are the same, combined with the current pulse speed V of the other motors. n and target pulse quantity D n The target speed V of the other motors during the speed regulation phase can be obtained using the above pulse quantity formula. mn :

[0079]

[0080] In one embodiment, the shutdown process of each motor further includes a constant speed phase between the speed regulation phase and the deceleration phase, wherein the time of the motor in the constant speed phase is a preset value.

[0081] Specifically, see Figure 3 In this embodiment, the motor shutdown process includes a speed adjustment stage, a constant speed stage, and a deceleration stage. The speed adjustment stage is when the motor decelerates from the current pulse speed V. n Uniformly accelerate to the target speed V mn The process takes time T1. The constant speed phase is when the motor maintains the target speed at a constant speed, which takes time T2. This T2 is a known preset value. The deceleration phase is when the motor decelerates from the target speed V... mn The process of uniformly decelerating to a stop takes time T3.

[0082] Based on this, the above pulse quantity formula is derived from Figure 3 The formula for the area of ​​the middle part is:

[0083]

[0084] Furthermore, in this embodiment, based on the current pulse speed and target pulse quantity of the reference motor, the time during the constant speed phase, and the preset reference acceleration for each phase, the target speed of the reference motor during the speed regulation phase is obtained:

[0085]

[0086] Furthermore, in this embodiment, based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each stage, the time of the reference motor during the speed regulation stage and the deceleration stage is obtained:

[0087]

[0088]

[0089] Furthermore, in this embodiment, the time of the reference motor in the speed regulation phase and the time of the deceleration phase are used as the time of the other motors in the speed regulation phase and the deceleration phase, and combined with the current pulse speed and the target pulse quantity of the other motors, the target speed of the other motors in the speed regulation phase is obtained:

[0090]

[0091] This embodiment, by adding a constant speed stage, can smoothly transition between the speed adjustment stage and the deceleration stage, making the synchronous stopping process of the motor smoother, avoiding sudden changes in motor speed, further improving the accuracy and stability of synchronous stopping, and also slowing down the changes in motor speed, thus further ensuring the safety of polishing in polishing machine applications.

[0092] It is worth noting that, see Figure 2 and Figure 3 In this embodiment, the speed adjustment stage and deceleration stage are not limited to uniform speed change, but can also be variable acceleration or variable deceleration to meet different needs. The corresponding pulse quantity formula can also be obtained through the area formula, and the corresponding acceleration formula is also changed to the corresponding formula. In this way, the target velocity corresponding to the target pulse quantity under the same time can also be obtained, thereby achieving synchronous stopping in time and position. The specific formula calculation process is not described in detail.

[0093] This embodiment will now be described in detail with reference to an application scenario, but it is not limited thereto.

[0094] In silicon wafer polishing machine applications, the main components include the upper plate motor, lower plate motor, sun gear servo motor, and gear ring servo motor. (See [link / reference]). Figure 3 Each motor stops after going through a speed adjustment phase, a constant speed phase, and a deceleration phase. Now, taking the lower motor as the reference motor, synchronous shutdown control is performed on these four motors:

[0095] The current pulse speed of the lower motor is V0, the current pulse speed of the upper motor is V1, the current pulse speed of the sun gear servo motor is V2, and the current pulse speed of the gear ring servo motor is V3. The target pulse quantities D0, D1, D2, and D3 required for each motor to return to the origin are obtained. Considering that the lower motor has no origin, D0 is set to a larger pulse quantity than D1, D2, and D3.

[0096] Based on the current pulse speed V0 and target pulse quantity D0 of the lower motor, the preset time T2 during the constant speed phase, and the preset reference acceleration a for each phase, the target speed of the lower motor during the speed regulation phase is obtained:

[0097]

[0098] Based on the target speed V of the lower motor m0 Based on the current pulse speed V0 and the preset reference acceleration a for each stage, the time of the lower motor during the speed regulation and deceleration stages is obtained:

[0099]

[0100]

[0101] Based on the time T1, T2, T3 of the reference motor in each stage, and the current pulse speeds V1, V2, V3 of the other motors, and the target pulse quantities D1, D2, D3, the target speeds of the upper disk motor, sun gear servo motor, and gear ring servo motor in the speed regulation stage are obtained:

[0102]

[0103]

[0104]

[0105] Simultaneously, each motor is controlled to sequentially pass through a speed adjustment phase and a deceleration phase before stopping at the origin: based on the time T1 of the speed adjustment phase, the lower plate motor, upper plate motor, sun gear servo motor, and gear ring servo motor are controlled to uniformly change speed from their respective current pulse speeds V0, V1, V2, and V3 to the corresponding target speed V. m0 V m1 V m2 V m3 Based on the time T2 of the uniform speed phase, the lower plate motor, upper plate motor, sun gear servo motor, and gear ring servo motor are controlled to maintain their respective target speeds V. m0 V m1 V m2 V m3 During uniform motion, based on the deceleration phase time T3, the lower plate motor, upper plate motor, sun gear servo motor, and gear ring servo motor are controlled to move from their respective target speeds V. m0 V m1 V m2 V m3 Decelerate uniformly until the machine stops and returns to the origin.

[0106] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0107] Based on the same inventive concept, this application also provides a multi-motor synchronous shutdown device for implementing the multi-motor synchronous shutdown method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the multi-motor synchronous shutdown device provided below can be found in the limitations of the multi-motor synchronous shutdown method described above, and will not be repeated here.

[0108] In one embodiment, such as Figure 4 As shown, a multi-motor synchronous shutdown device is provided. The shutdown process of each motor includes at least a speed regulation stage and a deceleration stage. The device includes:

[0109] The acquisition module 10 is used to acquire the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin.

[0110] The reference module 20 is used to take one of the motors as the reference motor, and obtain the target speed of the reference motor in the speed regulation stage and the time in each stage based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration of each stage.

[0111] Synchronization module 30 is used to obtain the target speed of the other motors in the speed regulation stage based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors.

[0112] The control module 40 is used to control each motor to sequentially go through the speed adjustment stage and the deceleration stage and stop at the origin according to the target speed of each motor and the time in each stage.

[0113] In one embodiment, the reference module obtains the target speed of the reference motor in the speed regulation phase and the time in each phase based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each phase, including: obtaining the target speed of the reference motor in the speed regulation phase based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each phase; and obtaining the time of the reference motor in the speed regulation phase and the deceleration phase based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each phase.

[0114] In one embodiment, the synchronization module obtains the target speed of the other motors in the speed regulation phase based on the time of the reference motor in each phase and the current pulse speed and target pulse quantity of the other motors. This includes: using the time of the reference motor in the speed regulation phase and the deceleration phase as the time of the other motors in the speed regulation phase and the deceleration phase, and combining the current pulse speed and target pulse quantity of the other motors to obtain the target speed of the other motors in the speed regulation phase.

[0115] In one embodiment, the control module controls each motor to sequentially pass through a speed adjustment stage and a deceleration stage to stop at the origin based on the target speed of each motor and the time in each stage. This includes: controlling each motor to uniformly change speed from its current pulse speed to the corresponding target speed based on the time of the speed adjustment stage; and controlling each motor to uniformly decelerate from its target speed to stop and then stop at the origin based on the time of the deceleration stage.

[0116] In one embodiment, the shutdown process of each motor further includes a constant speed phase between the speed regulation phase and the deceleration phase, wherein the time of the motor in the constant speed phase is a preset value.

[0117] In one embodiment, the reference module obtains the target speed of the reference motor in the speed regulation phase and the time in each phase based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each phase, including: obtaining the target speed of the reference motor in the speed regulation phase based on the current pulse speed and target pulse quantity of the reference motor, the time in the constant speed phase, and the preset reference acceleration for each phase; and obtaining the time of the reference motor in the speed regulation phase and the deceleration phase based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each phase.

[0118] In one embodiment, the control module controls each motor to sequentially pass through a speed adjustment stage and a deceleration stage to stop at the origin based on the target speed of each motor and the time in each stage. This includes: controlling each motor to uniformly change speed from its current pulse speed to the corresponding target speed based on the time of the speed adjustment stage; controlling each motor to maintain its target speed at a constant speed based on the time of the constant speed stage; and controlling each motor to uniformly decelerate from its target speed to stop and then stop at the origin based on the time of the deceleration stage.

[0119] Each module in the aforementioned multi-motor synchronous shutdown device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0120] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement any of the multi-motor synchronous shutdown methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods; they will not be repeated here.

[0121] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements any of the multi-motor synchronous shutdown methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods, which will not be repeated here.

[0122] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0123] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for synchronously stopping multiple motors, characterized in that, The shutdown process of each motor includes at least a speed regulation phase and a deceleration phase, and the method includes: Obtain the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin; Using one of the motors as the reference motor, the target speed and time of the reference motor in the speed regulation stage are obtained based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration in each stage. Based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors, the target speed of the other motors in the speed regulation stage is obtained. Based on the target speed of each motor and the time in each stage, control each motor to stop at the origin in sequence through the speed adjustment stage and the deceleration stage. The step of obtaining the target speed of the remaining motors during the speed regulation phase based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the remaining motors includes: The time of the reference motor in the speed regulation phase and the time of the deceleration phase are used as the time of the other motors in the speed regulation phase and the deceleration phase. Combined with the current pulse speed and target pulse quantity of the other motors, the pulse quantity formula is substituted to calculate the target speed of the other motors in the speed regulation phase.

2. The multi-motor synchronous shutdown method according to claim 1, characterized in that, The step of obtaining the target speed of the reference motor in the speed regulation stage and the time in each stage based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage includes: Based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, the target speed of the reference motor in the speed regulation stage is obtained. Based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each stage, the time of the reference motor in the speed regulation stage and the deceleration stage is obtained.

3. The multi-motor synchronous shutdown method according to claim 1, characterized in that, The step of controlling each motor to sequentially pass through a speed adjustment stage and a deceleration stage and then stop at the origin, based on the target speed of each motor and the time in each stage, includes: Based on the time of the speed regulation phase, control each motor to uniformly change its speed from its current pulse speed to the corresponding target speed; Based on the deceleration phase time, control each motor to decelerate uniformly from its target speed to a stop and then back to the origin.

4. The multi-motor synchronous shutdown method according to any one of claims 1 to 3, characterized in that, The shutdown process of each motor also includes a constant speed phase between the speed regulation phase and the deceleration phase, wherein the time of the motor in the constant speed phase is a preset value.

5. The multi-motor synchronous shutdown method according to claim 4, characterized in that, The step of obtaining the target speed of the reference motor in the speed regulation stage and the time in each stage based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage includes: Based on the current pulse speed and target pulse quantity of the reference motor, the time in the constant speed phase, and the preset reference acceleration in each phase, the target speed of the reference motor in the speed regulation phase is obtained. Based on the target speed of the reference motor, the current pulse speed, and the preset reference acceleration for each stage, the time of the reference motor in the speed regulation stage and the deceleration stage is obtained.

6. The multi-motor synchronous shutdown method according to claim 4, characterized in that, The step of controlling each motor to sequentially pass through a speed adjustment stage and a deceleration stage and then stop at the origin, based on the target speed of each motor and the time in each stage, includes: Based on the time of the speed regulation phase, control each motor to uniformly change its speed from its current pulse speed to the corresponding target speed; Based on the time of the constant speed phase, control each motor to maintain its target speed and move at a constant speed. Based on the deceleration phase time, control each motor to decelerate uniformly from its target speed to a stop and then back to the origin.

7. A multi-motor synchronous shutdown device, characterized in that, The shutdown process of each motor includes at least a speed adjustment phase and a deceleration phase, and the device includes: The acquisition module is used to acquire the current pulse speed of each motor and the target pulse amount required for each motor to return to the origin. The reference module is used to take one of the motors as the reference motor, and based on the current pulse speed and target pulse quantity of the reference motor and the preset reference acceleration for each stage, obtain the target speed of the reference motor in the speed regulation stage and the time in each stage. The synchronization module is used to obtain the target speed of the other motors in the speed regulation stage based on the time of the reference motor in each stage and the current pulse speed and target pulse quantity of the other motors; the synchronization module is also used to take the time of the reference motor in the speed regulation stage and the deceleration stage as the time of the other motors in the speed regulation stage and the deceleration stage, and combine the current pulse speed and target pulse quantity of the other motors, substitute them into the pulse quantity formula to perform back calculation, and obtain the target speed of the other motors in the speed regulation stage. The control module is used to control each motor to sequentially go through the speed adjustment stage and the deceleration stage and stop at the origin, based on the target speed of each motor and the time in each stage.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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