Control method and control device for in-line motor drive

Abstract

This application provides a control method and control device for driving a coaxial motor. In this embodiment, drive information from at least two motors is received. Based on the drive information, one of the at least two motors is driven using corresponding speed information; the other motors are driven using corresponding torque information, thereby achieving synchronous driving of the coaxial motors. Furthermore, the method receives speed information returned from one of the at least two motors, adjusts the speed information of that motor based on the returned speed information, and sends the adjusted speed information to that motor; it also receives current information returned from the other motors, adjusts the torque information based on the returned current information, and sends the adjusted torque information to the other motors. This allows for power consumption control through the control of speed and torque.

Description

Technical Field

[0001] This invention relates to the field of control, specifically a control method and control device for coaxial motor drive. Background Technology

[0002] In the industrial product design process, due to spatial layout and power consumption considerations, coaxial motors are often used to drive rotating workpieces. This layout is simple in structure and easy to maintain. However, the motors have synchronization problems. If the motor speeds are different, the rotating workpiece will be subjected to motor torque, which may affect the driving efficiency or even deform the rotating workpiece. Therefore, it is necessary to solve the problem of consistent coaxial drive speed and torque of the motors to ensure that the two motors drive synchronously and operate normally. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a control method and control device for driving a coaxial motor, which enables the coaxial motor to be driven synchronously and controls the power consumption of the coaxial motor better.

[0004] To achieve the above-mentioned technical objectives, the present invention provides a control method for driving a coaxial motor, wherein the coaxial motor includes at least two motors and a rotating workpiece coaxially connecting the at least two motors. The method includes: receiving drive information from the at least two motors; driving one of the at least two motors according to the drive information via corresponding speed information; driving the other motors among the at least two motors according to the drive information via corresponding torque information; receiving speed information returned by one of the at least two motors; adjusting the speed information of that motor according to the returned speed information; and sending the adjusted speed information to that motor; receiving current information returned by the other motors among the at least two motors; adjusting the torque information according to the returned current information; and sending the adjusted torque information to the other motors.

[0005] In addition, the method also includes: stopping the faulty motor when there is a faulty motor among the other two motors; after stopping the faulty motor, driving one of the at least two motors based on the corresponding speed information.

[0006] Specifically, receiving drive information from at least two motors and driving one of the at least two motors according to the drive information and corresponding speed information includes: receiving a motor drive command from a host computer, and sending speed information to the motor through a corresponding controller according to the speed information of a motor carried in the drive command, so that the motor is driven according to the received speed information.

[0007] Specifically, the step of driving at least two motors by driving other motors through corresponding torque information according to driving information includes: determining the maximum torque information corresponding to other motors according to driving instructions, and sending the maximum torque information to other motors through the corresponding controller, so that other motors are driven according to the received maximum torque information.

[0008] Specifically, the step of adjusting the motor speed information based on the returned speed information and sending the adjusted speed information to the motor includes: adjusting the returned speed information based on the target speed information to obtain the adjusted speed information, and sending the adjusted speed information to the motor through the corresponding controller.

[0009] Specifically, the step of adjusting the torque information based on the returned current information and sending the adjusted torque information to the motor includes: transforming the three AC currents in the returned current information into two AC currents using a vector control algorithm, and then converting the two AC currents into DC currents; determining the compensated DC current based on the DC current using PID control; converting the compensated DC current into two DC currents in a rotating coordinate system using a vector control algorithm, and then converting the two AC currents into three AC currents; using the converted three AC currents as the adjusted torque information and sending the converted three AC currents to the other motors.

[0010] Specifically, when one of the at least two motors is faulty, stopping the faulty motor includes: sending a stop command to the faulty motor through the corresponding controller, and disconnecting the winding circuit of the faulty motor through the corresponding controller to stop the faulty motor.

[0011] In addition, the method also includes: receiving operating parameters returned by at least two motors, and sending the operating parameters to a host computer for display to the corresponding user.

[0012] In addition, the method also includes: determining the linear relationship between current information and torque information based on the DC current corresponding to the returned current information; determining the current torque information corresponding to the current DC current based on the linear relationship; and determining the compensated current based on the current DC current through PID control based on the current torque information.

[0013] On the other hand, the present invention provides a control device for driving a coaxial motor, wherein the coaxial motor includes at least two motors and a rotating workpiece coaxially connecting the at least two motors. The device includes: a first driving module for receiving driving information from the at least two motors and driving one of the at least two motors according to the driving information via corresponding speed information; a second driving module for driving the other motors among the at least two motors according to the driving information via corresponding torque information; a first control module for receiving speed information returned by one of the at least two motors, adjusting the speed information of that motor according to the returned speed information, and sending the adjusted speed information to that motor; and a second control module for receiving current information returned by the other motors among the at least two motors, adjusting the torque information according to the returned current information, and sending the adjusted torque information to the other motors.

[0014] On the other hand, the present invention provides a control device for a coaxial motor drive, wherein the coaxial motor includes at least two motors and a rotating workpiece that coaxially connects the at least two motors. The control device includes a processor and a memory; the memory is used to store a program; the processor is used to execute the stored program to implement the following steps: receiving drive information from at least two motors; driving one of the at least two motors according to the drive information using corresponding speed information; driving the other motors among the at least two motors according to the drive information using corresponding torque information; receiving speed information returned by one of the at least two motors; adjusting the speed information of that motor according to the returned speed information; and sending the adjusted speed information to that motor; receiving current information returned by the other motors among the at least two motors; adjusting the torque information according to the returned current information; and sending the adjusted torque information to the other motors.

[0015] In this embodiment, drive information from at least two motors is received. Based on the drive information, one of the at least two motors is driven using corresponding speed information. The other motors are also driven using corresponding torque information, thereby achieving synchronous drive of the coaxial motors. Furthermore, speed information returned from one of the at least two motors is received, the speed information of that motor is adjusted based on the returned speed information, and the adjusted speed information is sent to that motor. Current information returned from the other motors is received, the torque information is adjusted based on the returned current information, and the adjusted torque information is sent to the other motors. This allows for power consumption control through the control of speed and torque. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the control method for coaxial motor drive according to an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of a coaxial motor drive system according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the driving process of the coaxial motor according to an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the frame of the control device for coaxial motor drive according to an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, this application provides a control method for driving a coaxial motor. The coaxial motor includes at least two motors and a rotating workpiece that coaxially connects the at least two motors. The method 100 includes:

[0023] 101: Receive drive information from at least two motors, and drive one of the at least two motors according to the corresponding speed information based on the drive information.

[0024] 102: Based on the drive information, drive the other motors among at least two motors using the corresponding torque information.

[0025] 103: Receive speed information returned by one of at least two motors, adjust the speed information of that motor according to the returned speed information, and send the adjusted speed information to that motor.

[0026] 104: Receive current information returned by other motors among at least two motors, adjust torque information according to the returned current information, and send the adjusted torque information to the other motors.

[0027] It should be noted that the execution subject of this method 100 can be a control device, more specifically, the processor of the control device, which can be a microcontroller.

[0028] Furthermore, the coaxial connection can involve at least two motors or multiple motors. The rotating workpiece can be a rotating shaft or chain, etc., as long as it allows for the coaxial connection of multiple motors. Taking two motors as an example, the two motors can be located at opposite ends of the rotating workpiece. When there are multiple motors, one rotating workpiece can be placed between every two motors. That is, one motor is placed at each end of each rotating workpiece.

[0029] The following is a detailed explanation of the above steps:

[0030] 101: Receive drive information from at least two motors, and drive one of the at least two motors according to the corresponding speed information based on the drive information.

[0031] Here, drive information refers to information used to drive the motor to rotate, such as drive commands or start commands. This drive information can be issued by the operator through the device or automatically by the device. The device can be a host computer.

[0032] For example, such as Figure 2 As shown, the operator can drive the two motors through the operating interface provided by the host computer 201. The operator issues drive commands on this operating interface. These drive commands are sent to the processor 203 in the microcontroller, which then sends the drive commands to the two motors, thereby driving the two motors.

[0033] Specifically, receiving drive information from at least two motors and driving one of the at least two motors according to the drive information and the corresponding speed information includes: receiving a motor drive command from a host computer, and sending speed information to the motor through the corresponding controller according to the speed information of a motor carried in the drive command, so that the motor is driven according to the received speed information.

[0034] In this system, for at least two motors, one is the master motor, driven by rotational speed. The remaining motors are slave motors, driven by torque or torsional force. This allows at least two motors to drive each other coaxially, achieving coordinated and synchronous operation and avoiding problems caused by different motor speeds. It solves the problem of inconsistent speeds and torques in coaxial motor drives, ensuring normal synchronous operation.

[0035] For example, since some content has already been explained above, it will not be repeated. Only the following points should be noted: Figure 2As shown, after receiving the drive command, the processor 203 in the microcontroller will send the drive command to the corresponding motor through different controllers. Taking two motors as an example, ... Figure 2 As shown, the processor 203 in the microcontroller sends a drive command to the main controller 202, which then sends the drive command to the corresponding main motor 205. For the main motor 205, the drive command carries a corresponding rotational speed, allowing the main motor 205 to be driven according to that speed. Thus, the operator can set the rotational speed information based on this when performing the above operations. After the drive command is sent, the processor 203 in the microcontroller needs to send the corresponding drive command to the corresponding controller for each different master / slave motor.

[0036] It should be understood that the process is similar for multiple motors, so it will not be elaborated further. Furthermore, for at least two motors, they can share a single controller. After receiving the drive command, the controller needs to issue the corresponding drive command based on the different motors. This will not be discussed further. Of course, commands can also be directly issued to the corresponding motors through the corresponding processor.

[0037] Based on this, such as Figure 3 As shown, the host computer 201 executes step 311: sending drive information to the microcontroller's processor 203. The microcontroller's processor 203 executes step 312: sending speed information to the driver 303. That is, the microcontroller's processor 203 sends a drive command carrying the speed to the driver 303. The driver 303 includes a main controller. That is, the command is sent to the main controller in the driver 303. Then, the main controller in the driver 303 executes step 316: sending speed information to the main motor 205, causing it to drive. That is, sending a drive command carrying the speed information to the main motor 205.

[0038] 102: Based on the drive information, drive the other motors among at least two motors using the corresponding torque information.

[0039] For example, as mentioned above, for other motors, which are slave motors, a drive command can be issued by the processor in the microcontroller, thereby driving the slave motor according to the torque in the drive command.

[0040] Specifically, based on the drive information, the other motors among at least two motors are driven by the corresponding torque information, including: determining the maximum torque information corresponding to the other motors according to the drive command, and sending the maximum torque information to the other motors through the corresponding controller, so that the other motors are driven according to the received maximum torque information.

[0041] For example, following the previous text, such as Figure 2As shown, the operator can also send drive commands from the slave motor to the microcontroller processor 203 via the operating interface provided by the host computer 201. After receiving the drive command for driving the slave motor, the processor 203 sends a drive command carrying the maximum torque of the slave motor to the slave controller 204, which in turn sends the drive command carrying the maximum torque to the slave motor 207. Upon receiving the drive command, the slave motor 207 begins to drive according to the torque. The slave motor achieves synchronous drive by rotating the workpiece 206.

[0042] It should be noted that the functions of the microcontroller's processor can be directly implemented through the processor in the host computer. Alternatively, the controller can be located on the host computer or the microcontroller, forming an integrated device. If there is only one controller, it can issue the drive command based on which motor the drive command is intended for.

[0043] The function of synchronous motor drive is achieved by combining the speed drive and torque drive of at least two motors.

[0044] It should be noted that the input signal of the main motor, i.e., the received speed information, is a current signal sent by the processor to the main controller. This signal enables the main motor to achieve its optimal performance at the target speed. In coaxial dual-motor mode, this motor primarily serves for speed control. The input signal of the slave motor, i.e., torque information, is determined by the processor and input to the slave controller. This signal causes the slave motor to accelerate more rapidly to reach the target speed, reducing the transition time. After reaching the target speed, it shares some of the driving force with the main motor, thereby achieving optimal performance.

[0045] 103: Receive speed information returned by one of at least two motors, adjust the speed information of that motor according to the returned speed information, and send the adjusted speed information to that motor.

[0046] For example, following the previous text, such as Figure 3 As shown, after the main motor 205 is driven, its speed or rotational speed can be collected by the speed sensor 304, i.e., step 318: collecting rotational speed information. Then, the collected speed is sent to the microcontroller's processor 203 via the speed sensor 304, i.e., step 319: sending rotational speed information to the processor 203. Upon receiving the rotational speed, the microcontroller's processor 203 controls and adjusts the rotational speed, and then re-sends the adjusted rotational speed information to the main motor 205 according to the process described above, thereby controlling the speed of the main motor.

[0047] Specifically, the motor speed information is adjusted based on the returned speed information, and the adjusted speed information is sent to the motor. This includes: adjusting the returned speed information based on the target speed information to obtain the adjusted speed information, and sending the adjusted speed information to the motor through the corresponding controller.

[0048] For example, as mentioned earlier, after the microcontroller's processor receives the rotational speed, it compares it with a preset target speed. If the comparison result requires adjustment, such as if the result exceeds a certain threshold, the received rotational speed is adjusted to the target speed. Then, as described earlier, the speed is re-sent, causing the main motor to operate according to the readjusted speed.

[0049] In addition, the method 100 also includes: receiving operating parameters returned by at least two motors, and sending the operating parameters to a host computer for display to the corresponding user.

[0050] The operating parameters refer to the parameters of the motor during operation, which may include information such as speed, torque, current, voltage, and temperature. These can all be collected by corresponding sensors, such as speed sensors for collecting rotational speed, Hall effect sensors for collecting current and determining torque, and temperature sensors for collecting temperature.

[0051] Therefore, the corresponding operating parameters are collected by the corresponding sensors and returned to the microcontroller's processor. Upon receiving the data, the processor can convert the received operating parameters as needed for intuitive viewing, such as determining torque. Then, the processor returns the final operating parameters to the host computer, which displays the operating parameters to the operator.

[0052] 104: Receive current information returned by other motors among at least two motors, adjust torque information according to the returned current information, and send the adjusted torque information to the other motors.

[0053] For example, following the above, such as Figure 3 As shown, the slave motor can acquire current through Hall sensor 305, i.e., execute step 320: acquire current information. Then, the acquired current is returned to the microcontroller's processor 203 via Hall sensor 305. After receiving the current, the microcontroller's processor 203 can adjust the corresponding torque according to the preset target current. Thus, according to the method described above, the adjusted torque is sent to the slave motor to continue working.

[0054] Specifically, the torque information is adjusted based on the returned current information, and the adjusted torque information is sent to the motor. This includes: using a vector control algorithm, transforming the three AC currents in the returned current information into two AC currents, and then converting the two AC currents into DC currents; using PID control, determining the compensated DC current based on the DC current; using the vector control algorithm, converting the compensated DC current into two DC currents in a rotating coordinate system, and then converting the two AC currents into three AC currents; using the converted three AC currents as the adjusted torque information, and sending the converted three AC currents to other motors.

[0055] Vector control algorithms may include Clarke transform and Park transform.

[0056] For example, vector control algorithms are based on converting three AC currents into two AC currents through Clarke transformation, and then into DC currents through Park transformation. This current is fed back to the PID (Proportional, Integral, Differential) controller to calculate the error value. The compensated current is then converted to the αβ rotating coordinate axis through Park inverse transformation. The two AC currents control the three AC currents (through Clarke inverse transformation), thereby realizing the automatic control of the motor.

[0057] like Figure 3As shown above, after the Hall sensor 305 collects current information, it performs step 321 through Clarke transform 306: transforming the current, that is, performing Clarke transform on the collected current information. Then, it performs step 322 through Park transform 307: transforming the current. Finally, the transformed DC current is returned to the microcontroller processor 203, that is, step 323: sending the transformed current information. The microcontroller processor 203 receives the returned current information, that is, the DC current. After the PID controller calculates the error value between the returned DC current and the preset target current, it adjusts the returned DC current to determine the compensated DC current. Then, it performs inverse Park transform to the αβ rotating coordinate axis, and then performs inverse Clarke transform, using two AC currents to control three AC currents. That is, the processor 203 performs step 313 through inverse Clarke transform 301: transforming the current. Then, it performs step 314 through inverse Park transform 302: transforming the current. Then, the transformed current information is sent from the controller to the slave motor 207. That is, step 315 is executed: the transformed current information is sent to the slave controller in the driver 303, so that the slave controller executes step 317: the transformed current information is sent as torque information to the slave motor 207. This process is repeated to form a control closed loop. For the master motor, a control closed loop can also be formed by controlling the speed.

[0058] In addition, Hall sensors can be used to collect current for the main motor, and the speed can be controlled by vector control algorithms, which will not be elaborated further.

[0059] Following the previous text, the Clarke transformation converts the three alternating currents into two currents, forming an αβ rotating coordinate system (i.e., a rotating coordinate system). The direction of this system is located in the magnetomotive force direction of phase A of the stator winding (where i... A i B i C (Representing three alternating currents):

[0060]

[0061] Among them, i α and i β These are two alternating currents along the αβ rotating coordinate axis.

[0062] After the Park transformation, the coordinates are dq-axis, with the d-axis aligned with the direction of the magnetic pole N, and the q-axis leading the d-axis by 90 degrees. The Park transformation represents the alternating current i formed by the αβ coordinate axes. α i β Convert to direct current i d i q :

[0063]

[0064] Where θ is the i in the rotating coordinate axis αβ α and i β The included angle.

[0065] As mentioned earlier, the DC current enters the PID controller. The error between the target current value and the current DC current value is multiplied by the proportional gain (kp) in the PID controller. Then, the cumulative error is multiplied by the integral gain (ki) in the PID controller to obtain the final value, i. d i q The compensated DC current calculated by the PID controller is then subjected to an inverse Park transform, resulting in a DC current i represented by the dq coordinate axis. d i q Converted into AC quantity i α i β :

[0066]

[0067] Then, through the Clarke inverse transform, it becomes a three-phase current controlled by two currents:

[0068]

[0069] I won't go into too much detail. Since the three AC currents collected cannot be directly controlled, closed-loop control can be achieved through the vector control algorithm described above.

[0070] By employing a combined speed and torque operating mode, the motors operate primarily at the master motor's speed, with the slave motor mainly providing torque for drive. This achieves coordinated operation between the two motors, avoiding inefficiencies caused by inconsistent motor speeds and the additional torque applied to the workpiece. Upon completion of the task, the host computer can transmit stop information or commands to the corresponding controllers of the master and slave motors, thus halting the operation.

[0071] Based on closed-loop control and feedback, the requirements for optimal motor energy consumption and speed stability are achieved, minimizing energy consumption while ensuring speed stability.

[0072] In addition, the method 100 further includes: determining the linear relationship between current information and torque information based on the DC current corresponding to the returned current information; determining the current torque information corresponding to the current DC current based on the linear relationship; and determining the compensated current based on the current DC current through PID control based on the current torque information.

[0073] As previously discussed, after receiving the returned DC current, the processor can determine the linear relationship between the DC current and torque based on multiple received DC currents. That is, it can determine the linear relationship between the received DC current and its corresponding known torque. Once the linear relationship is established, the processor can use this linear relationship to determine the corresponding torque when it receives a new returned DC current. It can also use this determined torque and the PID controller to determine the error between this torque and the target torque, and adjust accordingly to obtain the compensated torque. Based on the compensated torque and the linear relationship, the compensated current is determined. Then, following the method described earlier, the signal is transformed to obtain the final transformed current signal, which is then sent down. This process will not be elaborated further.

[0074] In addition, the 100 method also includes: stopping the faulty motor when there is a faulty motor among the other two motors; after stopping the faulty motor, driving one of the at least two motors based on the corresponding speed information.

[0075] For example, when at least two motors are driven, the processor can obtain the operating parameters as described above. It can then determine if the corresponding motor is faulty based on whether the operating parameters are within a threshold range. If they are outside the threshold range, the motor is considered faulty. Alternatively, based on the aforementioned methods, closed-loop adjustments can be performed. If, after a preset number of adjustments, the corresponding operating parameters are still outside the threshold range, the corresponding motor is determined to be faulty. Once a motor fault is determined, the processor can send a stop command to the corresponding controller, which will then issue the stop command to the corresponding motor to resume operation.

[0076] If the faulty motor is a slave motor, the master motor can continue to operate and drive itself. If other normal slave motors exist, they can also continue to operate. However, if the master motor fails, all motors must be stopped, which will not be elaborated further.

[0077] It should be noted that, for the host computer, the motor can also be stopped by issuing a stop command through the operator when necessary, which will not be elaborated further.

[0078] Alternatively, if the driver receives information from the processor but does not return a response, it can also stop all motors. This will not be elaborated further.

[0079] Specifically, when at least one of the two motors has a faulty motor, the faulty motor is stopped, including: sending a stop command to the faulty motor through the corresponding controller, and disconnecting the winding circuit of the faulty motor through the corresponding controller to stop the faulty motor.

[0080] Some points have already been discussed, so this section will only explain: For a non-operating motor, disconnecting its winding circuit via the corresponding controller prevents the operating motor from generating electricity during operation, creating an additional load and risking component burnout. This enables a single-motor drive mode. Operators can also transmit drive commands to the processor via a host computer. The processor then sends the commands to the motor and controller that need to operate, achieving a single-motor drive mode. However, in this mode, the main motor still needs to be driven. Even if the secondary motor fails, the main motor can still rotate the workpiece, although its output power will be reduced.

[0081] This application also provides a control device for driving a coaxial motor, which can be applied to a microcontroller. The coaxial motor includes at least two motors and a rotating workpiece that coaxially connects the at least two motors. Figure 4 As shown, the device 400 includes:

[0082] The first drive module 401 is used to receive drive information from at least two motors and drive one of the at least two motors according to the drive information and the corresponding speed information.

[0083] The second drive module 402 is used to drive other motors among at least two motors according to the drive information and the corresponding torque information.

[0084] The first control module 403 is used to receive the speed information returned by one of the at least two motors, adjust the speed information of the motor according to the returned speed information, and send the adjusted speed information to the motor.

[0085] The second control module 404 is used to receive current information returned by other motors among at least two motors, adjust torque information according to the returned current information, and send the adjusted torque information to the other motors.

[0086] In addition, the device 400 also includes: a stop module for stopping the faulty motor when the other motor among the at least two motors is faulty; and a drive module for driving one of the at least two motors based on the corresponding speed information after the faulty motor is stopped.

[0087] Specifically, the first drive module 401 is used to receive motor drive commands sent by the host computer, and according to the speed information of a motor carried in the drive command, send the speed information to the motor through the corresponding controller, so that the motor can be driven according to the received speed information.

[0088] Specifically, the second drive module 402 is used to determine the maximum torque information of other motors according to the drive command, and send the maximum torque information to the other motors through the corresponding controller so that the other motors can be driven according to the received maximum torque information.

[0089] Specifically, the first control module 403 is used to adjust the returned speed information according to the target speed information to obtain the adjusted speed information, and send the adjusted speed information to the motor through the corresponding controller.

[0090] Specifically, the second control module 404 includes: a conversion unit, used to convert the three AC currents in the returned current information into two AC currents using a vector control algorithm, and then convert the two AC currents into DC currents; a control unit, used to determine the compensated DC current based on the DC current using PID control; a conversion unit, used to convert the compensated DC current into two DC currents in a rotating coordinate system using a vector control algorithm, and then convert the two AC currents into three AC currents; and a sending unit, used to send the converted three AC currents as adjusted torque information to other motors.

[0091] Specifically, the stop module is used to send a stop command to the faulty motor through the corresponding controller, and disconnect the winding circuit of the faulty motor through the corresponding controller to stop the faulty motor.

[0092] In addition, the device 400 also includes a return module, which is used to receive the working parameters returned by at least two motors and send the working parameters to the host computer for display to the corresponding user.

[0093] In addition, the device 400 also includes: a determination module, used to determine the linear relationship between current information and torque information based on the DC current corresponding to the returned current information; a determination module, used to determine the current torque information corresponding to the current DC current based on the linear relationship; and a determination module, used to determine the compensated current based on the current DC current through PID control based on the current torque information.

[0094] Since the specific implementation of this device 400 is described in the previous text, it will not be repeated here.

[0095] This application embodiment also provides a control device for driving a coaxial motor. The coaxial motor includes at least two motors and a rotating workpiece that coaxially connects the at least two motors. The control device includes a processor and a memory. The memory is used to store a program. The processor is used to execute the stored program to implement the following steps: receiving drive information from at least two motors; driving one of the at least two motors according to the drive information using corresponding speed information; driving the other motors among the at least two motors according to the drive information using corresponding torque information; receiving speed information returned by one of the at least two motors; adjusting the speed information of that motor according to the returned speed information; and sending the adjusted speed information to that motor; receiving current information returned by the other motors among the at least two motors; adjusting the torque information according to the returned current information; and sending the adjusted torque information to the other motors.

[0096] This will not be elaborated upon further here; for any content that has not been covered in detail, please refer to the content mentioned above.

[0097] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0098] To make the description of this disclosure more detailed and complete, illustrative descriptions of the embodiments and specific examples of the present invention have been provided above; however, this is not the only form of implementing or utilizing the specific examples of the present invention. The embodiments cover the features of multiple specific examples and the method steps and their order for constructing and operating these specific examples. However, other specific examples may also be used to achieve the same or equivalent functions and order of steps.

[0099] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0100] The disclosed embodiments have been described above to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit and scope of this disclosure. Therefore, this disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0101] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

[0102] Those skilled in the art will also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of both. To clearly demonstrate the interchangeability of hardware and software, the functions of the various illustrative components, units, and steps described above have been generally described. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functions using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present invention.

[0103] The various illustrative logic blocks or units described in the embodiments of this invention can be implemented or operate the described functions using a general-purpose processor, digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0104] The steps of the methods or algorithms described in the embodiments of this invention can be directly embedded in hardware, a software module executed by a processor, or a combination of both. The software module can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be housed in an ASIC, which can be housed in a user terminal. Optionally, the processor and storage medium can also be housed in different components of the user terminal.

[0105] In one or more exemplary designs, the functions described in the embodiments of the present invention can be implemented in hardware, software, firmware, or any combination of these three. If implemented in software, these functions can be stored on a computer-readable medium or transmitted on a computer-readable medium in the form of one or more instructions or code. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one place to another. Storage media can be any available media that can be accessed by a general-purpose or special-purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store program code in the form of instructions or data structures and other forms that can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Furthermore, any connection can be suitably defined as a computer-readable medium, for example, if the software is transmitted from a website, server or other remote resource via a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wirelessly, such as infrared, wireless and microwave, it is also included in the defined computer-readable medium. The disks and discs mentioned include compressed disks, laser discs, optical discs, DVDs, floppy disks, and Blu-ray discs. Disks typically copy data magnetically, while disks typically copy data optically using lasers. Combinations of the above can also be contained in computer-readable media.

[0106] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method of a coaxial motor drive, characterized by, The coaxial motor includes at least two motors, and a rotating workpiece that coaxially connects the at least two motors. The method includes: Receive drive information from at least two motors, and drive one of the at least two motors according to the corresponding speed information based on the drive information; According to the driving information, drive the other motors among at least two motors through the corresponding torque information, including: determining the maximum torque information corresponding to the other motors according to the driving command, and sending the maximum torque information to the other motors through the corresponding controller, so that the other motors are driven according to the received maximum torque information, and the other motors accelerate to reach the target speed. Receive speed information returned by one of the at least two motors, adjust the speed information of that motor according to the returned speed information, and send the adjusted speed information to that motor; Receive current information returned by other motors among the at least two motors, adjust torque information according to the returned current information and a preset target current, and send the adjusted torque information to the other motors; The drive information is sent down through a host computer, and the drive information carries speed information or torque information.

2. The method of claim 1, wherein, The method further includes: If at least two of the motors have a faulty motor, then the faulty motor is stopped. After stopping the faulty motor, drive one of the at least two motors based on the corresponding speed information.

3. The method of claim 1, wherein, The step of receiving drive information from at least two motors and driving one of the at least two motors according to the corresponding speed information includes: The system receives motor drive commands from the host computer, and based on the speed information of a specific motor carried in the drive command, sends the speed information to the motor through the corresponding controller, so that the motor can be driven according to the received speed information.

4. The method of claim 1, wherein, The step of adjusting the motor's speed information based on the returned speed information and sending the adjusted speed information to the motor includes: Based on the target speed information, the returned speed information is adjusted to obtain the adjusted speed information, and then the adjusted speed information is sent to the motor through the corresponding controller.

5. The method of claim 2, wherein, The step of stopping the faulty motor when at least two other motors are faulty includes: The corresponding controller sends a stop command to the faulty motor and disconnects the winding circuit of the faulty motor to stop the motor.

6. The method of claim 1, wherein, The method further includes: The system receives operating parameters returned by at least two motors and sends these parameters to a host computer for display to the corresponding user.

7. A control device for a coaxial motor drive, characterized by The coaxial motor includes at least two motors and a rotating workpiece that coaxially connects the at least two motors; the control device includes a processor and a memory. The memory is used to store programs; The processor is used to execute a stored program and perform the following steps: Receive drive information from at least two motors, and drive one of the at least two motors according to the corresponding speed information based on the drive information; According to the driving information, the other motors among at least two motors are driven by the corresponding torque information, including: determining the maximum torque information corresponding to the other motors according to the driving command, and sending the maximum torque information to the other motors through the corresponding controller, so that the other motors are driven according to the received maximum torque information, and the other motors accelerate to reach the target speed. Receive speed information returned by one of the at least two motors, adjust the speed information of that motor according to the returned speed information, and send the adjusted speed information to that motor; Receive current information returned by other motors among the at least two motors, adjust torque information according to the returned current information and a preset target current, and send the adjusted torque information to the other motors; The drive information is sent down through a host computer, and the drive information carries speed information or torque information.

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