Motor control method, device and storage medium

Abstract

The present invention relates to the field of motor technology, and specifically to a motor control method, device and storage medium. The method is applied to a motor control system, and the system includes a server, a controller, at least one motor and a switching parameter board corresponding to the motor; the method includes: the controller responds to the operation event trigger of the target motor in at least one motor, and reads the identification information of the switching parameter board corresponding to the target motor; if the controller does not find the last pre-stored identification information matching the identification information in the local storage, the identification information is stored in the local storage, and the pre-stored identification information corresponding to the identification information is generated; the controller determines the target motor parameters corresponding to the identification information in the local storage; the controller controls the operation of the target motor according to the target motor parameters; the present invention can control the operation of any target motor electrically connected to it, and realize redundant judgment after the identification information is imported, thereby improving the reliability of importing the target motor parameters and realizing precise control of the target motor.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a motor control method, device and storage medium. Background Art

[0002] At present, domestic linear motors / rotary motors are widely used in the field of industrial automation. Most of the parameters of linear motors / rotary motors are stored in the driver itself, which means that the driver is generally used in a one-to-one combination with the motor.

[0003] Storing motor parameters in the driver has the following disadvantages: if the controller and motor provided by the driver manufacturer to the customer are similar in appearance and have the same interface, once the customer connects two or more motors with different parameters to different drivers, it will cause abnormal motor control and even damage the motor and driver.

[0004] Based on the shortcomings of the prior art, there is an urgent need to study a motor control method, device and storage medium to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a motor control method, device and storage medium. The controller in the present invention can control the operation of any target motor electrically connected to it, reduce the control cost of the controller, and realize redundant judgment after the import of identification information, thereby improving the reliability of the target motor parameters imported by the controller from the adapter parameter board, and realizing the controller to accurately control the target motor electrically connected to it.

[0006] The present invention provides a motor control method, which is applied to a motor control system. The motor control system includes a server, a controller, at least one motor, and a transfer parameter board arranged in a one-to-one correspondence with the motor. The transfer parameter board and the controller can both be connected to the server for communication; the transfer parameter board is electrically connected to the motor interface of the controller. The method includes:

[0007] The controller reads identification information of a switching parameter board corresponding to the target motor in response to a running event trigger of the target motor among the at least one motor;

[0008] If the controller does not find the last pre-stored identification information matching the identification information in the local storage, the identification information is stored in the local storage, and the pre-stored identification information corresponding to the identification information is generated;

[0009] The controller determines the target motor parameters corresponding to the identification information in the local storage;

[0010] The controller controls the target motor to operate according to the target motor parameter.

[0011] Furthermore, the method further comprises:

[0012] If the controller finds the last pre-stored identification information matching the identification information in the local storage, the step of determining the target motor parameters corresponding to the identification information in the local storage is performed.

[0013] Furthermore, the identification information includes a parameter board identification of the transfer parameter board and a storage flag corresponding to the parameter board identification;

[0014] If the controller does not find the last pre-stored identification information matching the identification information in the local storage, the step of storing the identification information in the local storage includes:

[0015] The controller searches the local storage for the last pre-stored flag corresponding to the storage flag;

[0016] If the last pre-stored flag is not found, the controller stores the parameter board identifier in the local storage, obtains the pre-stored flag corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the stored flag is generated;

[0017] The controller stores the parameter board identifier in association with the storage flag.

[0018] Furthermore, the method further comprises:

[0019] If the controller finds the last pre-stored flag in the local storage, obtaining the last pre-stored identifier associated with the last pre-stored flag;

[0020] If the last pre-stored identifier is inconsistent with the parameter board identifier, the controller deletes the last pre-stored flag and the last pre-stored identifier;

[0021] The controller stores the parameter board identifier in the local storage, obtains a pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag bit corresponding to the stored flag bit is generated;

[0022] The controller stores the parameter board identifier in association with the storage flag.

[0023] Furthermore, the method further comprises:

[0024] If the last pre-stored identification is consistent with the parameter board identification, it is determined that the last pre-stored identification information matching the identification information is found in the local storage.

[0025] Furthermore, the method further comprises:

[0026] If the controller does not find the last pre-stored flag in the local storage, the controller clears the local storage;

[0027] The controller stores the parameter board identifier in local storage, obtains a pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the stored flag is generated.

[0028] Furthermore, the server includes a local server and a remote server, and the method further includes:

[0029] In response to an update event of the transfer parameter board corresponding to the target motor, the local server connects to the remote server, and the remote server remotely operates the local server to clear the identification information stored in the transfer parameter board;

[0030] The remote server updates the data on the transfer parameter board.

[0031] Furthermore, the method further comprises:

[0032] The remote server downloads the target motor parameters corresponding to the target motor for the transfer parameter board;

[0033] The remote server determines whether the target motor parameters corresponding to the target motor are consistent with the current motor parameters downloaded to the transfer parameter board;

[0034] If the remote server determines that the target motor parameters corresponding to the target motor are inconsistent with the current motor parameters, the remote server updates the inconsistent current motor parameters stored in the switching parameter board based on the target motor parameters.

[0035] Furthermore, the method further comprises:

[0036] If the controller does not find the last pre-stored identification information matching the identification information in the local storage, generating storage failure feedback information, and sending the storage failure feedback information to the local server;

[0037] The local server reads identification information of the transfer parameter board corresponding to the target motor in response to the storage failure feedback information;

[0038] The local server determines the target motor parameter corresponding to the identification information;

[0039] The local server controls the target motor to operate according to the target motor parameters.

[0040] The second aspect of the present invention also protects a motor control device, which is used to implement the motor control method as described above, and the device comprises:

[0041] An acquisition module, configured to read identification information of a transfer parameter board corresponding to a target motor in the at least one motor in response to a triggering of an operation event of the target motor;

[0042] The first execution module is used to store the identification information in the local storage and generate pre-stored identification information corresponding to the identification information if the last pre-stored identification information matching the identification information is not found in the local storage; determine the target motor parameters corresponding to the identification information in the local storage; and control the operation of the target motor according to the target motor parameters.

[0043] The third aspect of the present invention also protects a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor to execute the motor control method as described above.

[0044] Implementing the embodiments of the present invention has the following beneficial effects:

[0045] The controller in the present invention can control the operation of the corresponding target motor based on the target motor parameters, so that the controller can control the operation of any target motor electrically connected to it, reduce the control cost of the controller, and avoid the controller being able to control only one target motor and increase the control cost; it can also avoid the connection of an unmatched controller to the target motor, the controller cannot perform corresponding control on the target motor electrically connected to it, resulting in abnormal control of the target motor and damage to the target motor or the controller; at the same time, by searching for identification information in local storage, redundant judgment is achieved after the identification information is imported, thereby improving the reliability of the target motor parameters imported by the controller from the adapter parameter board, and enabling the controller to accurately control the target motor electrically connected to it. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0047] Figure 1 This is a flow chart of the first motor control method of this embodiment;

[0048] Figure 2 This is a flow chart of updating target motor parameters in the transfer parameter board described in this embodiment;

[0049] Figure 3 This is a flow chart of the local server controlling the operation of the target motor according to this embodiment;

[0050] Figure 4 is a schematic diagram of the motor system described in this embodiment;

[0051] Figure 5 This is a structural diagram of the transfer parameter board described in this embodiment;

[0052] Figure 6 This is a structural diagram of the main control board described in this embodiment;

[0053] Figure 7 A block diagram of an electronic device for information display shown in this embodiment;

[0054] Figure 8 This is a flow chart of the second motor control method of this embodiment;

[0055] Fig. 9 This is a flow chart of the third motor control method of this embodiment.

[0056] Among them, the reference numerals in the figure correspond to:

[0057] 1-local server; 2-controller; 3-motor; 4-adapter parameter board; 5-handle; 6-power supply; 7-RF circuit; 8-memory; 9-input unit; 10-display unit; 11-sensor; 12-audio circuit; 13-WiFi module; 14-processor; 91-touch-sensitive surface; 92-other input devices; 101-display panel; 121-speaker; 122-microphone. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0059] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0060] In view of the defects of the prior art, the controller in the present invention can control the operation of the corresponding target motor based on the target motor parameters, so that the controller can control the operation of any target motor electrically connected to it, reduce the control cost of the controller, avoid the controller being able to control only one target motor and increase the control cost, and also avoid the connection of an unmatched controller to the target motor, the controller being unable to perform corresponding control on the target motor electrically connected to it, resulting in abnormal control of the target motor and damage to the target motor or the controller; at the same time, by searching for identification information in local storage, redundant judgment is achieved after the identification information is imported, thereby improving the reliability of the target motor parameters imported by the controller from the adapter parameter board, and enabling the controller to accurately control the target motor electrically connected to it.

[0061] The following combination Figures 4 to 6 Introduce a motor control system. Figure 4 is a schematic diagram of a motor control system provided in an embodiment of the present application, such as Figure 4 As shown, the motor control system includes a server, a controller 2, at least one motor 3 and a transfer parameter board 4 corresponding to the motor 3. The transfer parameter board 4 and the controller 2 can both be connected to the server for communication; the transfer parameter board 4 is electrically connected to the motor interface of the controller 2; by setting the transfer parameter board 4, any motor 3 connected to the transfer parameter board 4 can be electrically connected to the controller 2, and the driver and the motor 3 in the controller 2 are set in a one-to-many manner, so as to avoid the controller 2 being able to control only one motor and increase the control cost, and also avoid the connection between the unmatched controller 2 and the motor 3, so that the controller 2 cannot perform corresponding control on the motor 3 electrically connected thereto, resulting in abnormal control of the motor 3 or damage to the motor 3 or the controller 2.

[0062] Specifically, the server includes a local server 1 and a remote server. The local server 1 can be communicatively connected to the remote server; the transfer parameter board 4 can be electrically connected to the local server 1, so that the remote server can update the parameters of the transfer parameter board 4 through the local server 1, and then the transfer parameter board 4 is electrically connected to the controller 2 to update the parameters to the driver in the controller 2, thereby improving the parameter update speed, avoiding the driver manufacturer sending technicians to debug on-site, and updating the driver parameters on-site, thereby reducing the debugging costs of customers and driver manufacturers, and accelerating the research and development progress of the entire product.

[0063] See also Figure 5 The transfer parameter board 4 includes a parameter board and a DB25 male connector, and the parameter board is integrated on the DB25 male connector to form the transfer parameter board 4.

[0064] Specifically, the parameter board uses multi-layer PCBLayout technology (PCB wiring technology) to integrate the target motor signal line, power line, external trigger line, and RS485 parameter communication line on the parameter board. The target motor is welded to the parameter board through the target motor signal line to achieve a one-to-one setting between the adapter parameter board 4 and the target motor.

[0065] Furthermore, the parameter board includes a first MCU (controller), a serial peripheral interface storage module, a low voltage difference line voltage regulator module, a TTL to RS485 driver module and a target motor welding port.

[0066] Specifically, the serial peripheral interface storage module, the low voltage difference line voltage regulator module, the TTL to RS485 driver module and the target motor welding port are all electrically connected to the MCU, and the serial peripheral interface storage module, the low voltage difference line voltage regulator module and the TTL to RS485 driver module are all electrically connected to the DB25 male connector.

[0067] Furthermore, the serial peripheral interface storage module is used to store the target motor parameters. The first MCU combined with the communication baud rate of 115200bps can quickly process / transmit data and support downloading one instruction to the serial peripheral interface storage module every 50ms, thereby increasing the data download speed.

[0068] In this embodiment, the controller can automatically identify the parameter board identifier, and read the corresponding parameter board identifier to further identify a series of data such as the motor model, range, resolution, motor type, motor bias or lens position; the controller includes a main control board, a TFT touch screen and a driver for driving the target motor, and the main control board is communicatively connected to the driver; an EEPROM (Electrically Erasable Programmable Read Only Memory) is provided on the main control board, which is used to store the parameter board identifier of the adapter parameter board that was last connected to the controller and the import information corresponding to the parameter board identifier.

[0069] Specifically, the controller 2 includes a main control board and a driver which are electrically connected to each other.

[0070] Specifically, the controller 2 also includes a status light, which is electrically connected to the main control board.

[0071] See also Figure 6The main control board includes a power interface, a fan interface for connecting a fan for heat dissipation, a TFT touch screen interface, a handle interface, a transfer parameter board interface, a server remote interface, a driver interface, a switching power supply, an LDO (low dropout regulator), a second MCU, a signal relay switching circuit, an RS232 drive circuit, and an RS485 drive circuit; the switching power supply is electrically connected to the power interface, the fan interface, and the LDO respectively; the RS232 drive circuit is electrically connected to the server remote interface, the driver interface, and the handle interface respectively, the RS485 drive circuit is electrically connected to the transfer parameter board, and the second MCU is electrically connected to the TFT touch screen interface, the LDO, the signal relay switching circuit, the RS232 drive circuit, and the RS485 drive circuit respectively.

[0072] Specifically, the TFT touch screen buttons include an on button, an off button, a linear motor processing button, a rotary motor processing button, a linear objective lens motor processing button, a rotary objective lens motor processing button, a remote operation button, a read drive status button, and the like.

[0073] Specifically, the operation mode of the main control board includes a touch processing task mode.

[0074] Specifically, when in the touch processing task mode, when a TFT touch screen button is pressed, an operation corresponding to pressing the button can be performed to implement a motor-controlled touch operation.

[0075] Furthermore, the main control board is electrically connected to the TFT touch screen and the driver respectively, and the driver drives the target motor 3 to operate in the following three ways:

[0076] The first method: local server 1 - main control board - driver - target motor 3, that is, the main control board can be directly connected to the driver for controlling the motor.

[0077] The second method: local server 1 - driver - target motor 3, that is, the main control board can send storage failure feedback information to server 1, and the local server 1 directly communicates with the driver in response to the storage failure feedback information to control the target motor 3.

[0078] The third method: TFT touch screen-main control board-driver-target motor 3, that is, the main control board can control the driver to drive the target motor through the local TFT touch screen.

[0079] The following is an introduction to the technical solution of this application based on the above motor control system. The embodiments of this application can be applied to various scenarios, including but not limited to the field of motor technology. Figure 1 , Figure 1It is a flowchart of a motor control method provided by an embodiment of the present application. This specification provides method operation steps such as the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 1 As shown, the method may include:

[0080] S101: In response to a triggering operation event of a target motor among at least one motor, a controller reads identification information of a transfer parameter board corresponding to the target motor;

[0081] Specifically, the target motor is electrically connected to the transfer parameter board, and the target motor is a motor connected to the motor interface of the controller through the transfer parameter board.

[0082] Furthermore, the operation event of the target motor refers to the electrical connection between the switching parameter board corresponding to the target motor and the motor interface of the controller.

[0083] Specifically, the interface on the transfer parameter board is a DB25 interface, and the motor interface of the controller is an RS485 interface.

[0084] Specifically, the main control board of the controller responds to the operation event trigger of the target motor among the at least one motor and reads the identification information of the switching parameter board corresponding to the target motor.

[0085] S102: If the controller does not find the last pre-stored identification information matching the identification information in the local storage, the identification information is stored in the local storage, and the pre-stored identification information corresponding to the identification information is generated; wherein the identification information includes the serial number of the transfer parameter board and the parameter transmission completion flag of the transfer parameter board; the pre-stored identification information includes the pre-stored identification, i.e., the pre-stored serial number, and the pre-stored flag, i.e., the pre-stored parameter transmission completion flag. wherein the serial number is the identification, and the parameter transmission completion flag is the storage flag; the transfer parameter board is connected to the motor in a one-to-one correspondence, i.e., the identification information of the transfer parameter board corresponds to the motor parameters connected to the transfer parameter board.

[0086] S103: The controller determines the target motor parameters corresponding to the identification information in the local storage;

[0087] Specifically, the target motor parameters include motor type and motor driving parameters.

[0088] S104: The controller controls the target motor to operate according to the target motor parameters.

[0089] It should be noted that the controller in this embodiment includes a driver for driving the target motor, and the driver is electrically connected to the target motor.

[0090] Based on the above scheme, the controller can store the target motor parameters corresponding to the adapter parameter board electrically connected to its motor interface, and search for the target motor parameters in the pre-stored identification information. If the target motor parameters are found, it indicates that the target motor parameters corresponding to the adapter parameter board electrically connected to the motor interface of the controller have been updated to the controller. The controller can control the operation of the corresponding target motor based on the target motor parameters, so that the controller can control the operation of any target motor electrically connected to it, thereby reducing the control cost of the controller, avoiding the increase in control cost due to the controller being able to control only one target motor, and avoiding the connection of an unmatched controller to the target motor, where the controller is unable to perform corresponding control on the target motor electrically connected to it, resulting in abnormal control of the target motor and damage to the target motor or the controller. At the same time, by searching for identification information in local storage, redundant judgment is achieved after the identification information is imported, thereby improving the reliability of the target motor parameters imported by the controller from the adapter parameter board, and enabling the controller to accurately control the target motor electrically connected to it.

[0091] In some possible embodiments, the method further includes:

[0092] S105: If the controller finds the last pre-stored identification information that matches the identification information in the local storage, it executes the step of determining the target motor parameters corresponding to the identification information in the local storage; if it is found, it indicates that the controller has stored the identification information in the local storage and generated the corresponding last pre-stored identification information. At this time, there is no need to store the identification information in the local storage, and the step of determining the target motor parameters corresponding to the identification information in the local storage can be directly executed. This also realizes redundant judgment after the identification information is imported, ensuring the reliability of the target motor parameters imported by the controller from the adapter parameter board.

[0093] In some possible embodiments, the identification information includes a parameter board identification of the transfer parameter board, i.e., a serial number, and a storage flag corresponding to the parameter board identification, i.e., a parameter transmission completion flag of the transfer parameter board; if the controller does not find the last pre-stored identification information matching the identification information in the local storage, the step of storing the identification information in the local storage in step S102 includes:

[0094] S1021: The controller searches the local storage for the last pre-stored flag bit corresponding to the storage flag bit;

[0095] S1022: If the last pre-stored flag is not found, the controller stores the parameter board identifier in the local storage, obtains the pre-stored flag corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the stored flag is generated;

[0096] S1023: The controller associates and stores the parameter board identifier with the storage flag bit; by storing the parameter board identifier and the storage flag bit, redundant judgment on the import of target motor parameters can be achieved, thereby ensuring the reliability of the target motor parameters imported by the controller from the transfer parameter board.

[0097] In some possible embodiments, the method further includes:

[0098] S1024: If the controller finds the last pre-stored flag in the local storage, obtain the last pre-stored identifier associated with the last pre-stored flag;

[0099] S1025: If the last pre-stored identifier is inconsistent with the parameter board identifier, the controller deletes the last pre-stored flag and the last pre-stored identifier;

[0100] S1026: The controller stores the parameter board identifier in the local storage, obtains the pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag bit corresponding to the storage flag bit is generated;

[0101] S1027: The controller associates and stores the parameter board identifier with the storage flag; after finding the last pre-stored flag in the local storage, it determines whether the last pre-stored identifier is consistent with the parameter board identifier. If they are inconsistent, the controller deletes the last pre-stored flag and the last pre-stored identifier, and associates and stores the parameter board identifier with the storage flag to achieve redundant judgment on the import of target motor parameters, avoid abnormal power failure during the import process, and cause interruption of imported data. After the interruption of the parameter import process, the judgment of power-on import again is performed to ensure the reliability of the target motor parameters imported by the controller from the transfer parameter board. Among them, the controller will also determine whether the current loop drive is connected to the target motor after power-on to achieve fault troubleshooting.

[0102] In some possible embodiments, the method further includes:

[0103] S1028: If the last pre-stored identification is consistent with the parameter board identification, determine that the last pre-stored identification information that matches the identification information is found in the local storage; by searching for the last pre-stored flag and the last pre-stored identification in the local storage in turn, only when the last pre-stored flag and the last pre-stored identification are found, the controller can control the operation of the target motor according to the target motor parameters, realize redundant judgment on the import of target motor parameters, ensure the reliability of the target motor parameters imported by the controller from the parameter board, and realize the controller to accurately control the target motor electrically connected to it.

[0104] In some possible embodiments, the method further includes:

[0105] S106: In response to an update event of the transfer parameter board corresponding to the target motor, the local server connects to the remote server, and the remote server remotely operates the local server to clear the identification information stored in the transfer parameter board;

[0106] S107: The remote server updates the data of the transfer parameter board, that is, the remote server downloads the required parameter information to the transfer parameter board to update the data of the transfer parameter board. When the local server receives the update event of the transfer parameter board corresponding to the target motor, it indicates that the data in the transfer parameter board corresponding to the target motor needs to be updated. The local server connects to the remote server, and the remote server controls the local server to update the data of the transfer parameter board, so as to realize the remote and rapid update of the data of the transfer parameter board, so as to avoid the need for the controller manufacturer to perform on-site debugging of the target motor and update the motor parameters stored in the controller on-site when the target motor user needs to optimize the performance of the target motor, thereby reducing the debugging costs of the target motor user and the controller manufacturer, and speeding up the research and development progress.

[0107] Specifically, the update event of the adapter parameter board corresponding to the target motor refers to the electrical connection between the DB25 male head of the adapter parameter board corresponding to the target motor and the local server; at this time, the local server establishes a connection with the remote server, so that the remote server can update the data of the adapter parameter board through the local server.

[0108] Furthermore, after the data of the transfer parameter board is updated, the DB25 connector of the transfer parameter board is connected to the controller and waits for it to be automatically imported into the controller.

[0109] The local server is a server used by the target motor user, and the remote server is a server used by the manufacturer.

[0110] In the embodiment of the present application, only one set of programs is required for all controllers, which greatly shortens the debugging time of technicians and realizes product standardization.

[0111] In some possible embodiments, when the motor leaves the factory, the controller manufacturer is also required to download parameters of the target motor, and the method includes:

[0112] S01: The remote server downloads the target motor parameters corresponding to the target motor for the transfer parameter board;

[0113] S02: The remote server determines whether the target motor parameters corresponding to the target motor are consistent with the current motor parameters downloaded to the transfer parameter board;

[0114] S03: If the remote server determines that the target motor parameters corresponding to the target motor are inconsistent with the current motor parameters, the remote server updates the inconsistent current motor parameters stored in the transfer parameter board based on the target motor parameters. By comparing the target motor parameters with the current motor parameters, a redundant check of the target motor parameters is achieved, thereby ensuring the accuracy of the target motor parameters imported into the transfer parameter board, and thus ensuring the stability of the target motor operation.

[0115] S04: If the remote server determines that the target motor parameters corresponding to the target motor are consistent with the current motor parameters, it is determined that the remote server successfully stores the target motor parameters in the transfer parameter board corresponding to the target motor.

[0116] In some possible embodiments, the method further includes:

[0117] S109: If the controller does not find the last pre-stored identification information matching the identification information in the local storage, it generates storage failure feedback information and sends the storage failure feedback information locally to the server;

[0118] S1010: The local server reads identification information of a transfer parameter board corresponding to the target motor in response to the storage failure feedback information;

[0119] S1011: The local server determines the target motor parameters corresponding to the identification information;

[0120] S1012: The local server controls the operation of the target motor according to the target motor parameters. When the controller sends storage failure feedback information to the local server, it indicates that the controller control mode needs to be switched to the local server control mode, and the target motor is controlled by the local server. By controlling the operation of the target motor by the local server, when the controller cannot successfully import the target motor parameters, the local server can control the target motor in time, ensuring that the local server controls the operation of the target motor in time, so that the target motor can be put into operation quickly.

[0121] It should be noted that the controller in this embodiment includes a driver for driving the target motor, and the driver is electrically connected to the target motor.

[0122] Specifically, step S104 includes:

[0123] S1041: The controller determines the parameter board identifier in the local storage;

[0124] S1042: The controller determines the target motor type according to the parameter board identification;

[0125] S1043: The controller controls the driver to perform data initialization processing on the target motor according to the target motor type;

[0126] S1044: The controller performs a restart operation;

[0127] S1045: After the restart, the controller controls the operation of the target motor according to the target motor parameters.

[0128] Specifically, step S1043 includes:

[0129] S10431: If the target motor is an objective lens type motor, determine the initial data of the objective lens type motor; the controller reads the lens position information from the driver; and performs data initialization processing on the target motor according to the lens position information and the initial data of the objective lens type motor;

[0130] S10432: If the target motor is an incremental motor, determine the initial data of the incremental motor; the controller reads the zero return bias information from the driver; and performs data initialization processing on the target motor according to the zero return bias information and the initial data of the incremental motor;

[0131] S10433: If the target motor is not an objective lens type motor or an incremental motor, the controller determines corresponding initial data according to the type of the target motor, and performs data initialization processing on the target motor according to the initial data of the target motor.

[0132] Exemplarily, the initial data is speed, acceleration, deceleration, step distance data, and the like.

[0133] It should be noted that the target motor types include linear type motors, rotary type motors, linear objective lens type motors, rotary objective lens type motors, and the like.

[0134] Specifically, step S1022 includes:

[0135] S10221: If the last pre-stored flag is not found, the controller clears the local storage;

[0136] S10222: The controller stores the parameter board identifier in the local storage, obtains the pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag bit corresponding to the storage flag bit is generated.

[0137] Specifically, the operating modes of the main control board also include remote task mode, identification task mode, position display task mode and status light task mode; among them, the status light task mode can be carried out simultaneously with the remote task mode, identification task mode, touch processing task mode and position display task mode; the above modes run efficiently under the RTOS (Real Time Operating System) embedded operating system.

[0138] The remote task mode includes: when the controller successfully imports the target motor parameters, sending storage success feedback information to the local server, and the local server responds to the storage success feedback information by sending at least one of a local server remote instruction, a serial communication instruction, and a local server erase local storage instruction of the controller;

[0139] When the controller fails to successfully import the target motor parameters, steps S109 - S1012 are executed.

[0140] Among them, the local server remote instruction: refers to the transmission channel from the main control board controlling the driver to the local server directly communicating with the driver;

[0141] Serial communication command: refers to the parameter board identifier of the transferred parameter board read by the controller returned to the local server;

[0142] Local server erase command: refers to the local server clearing the identification information and target motor parameters in the local storage of the controller.

[0143] Specifically, the method further includes:

[0144] Determine whether the controller is in remote task mode;

[0145] If in remote task mode, the controller does not query the drive's position information;

[0146] If it is not in remote task mode, the controller reads the parameter board identifier of the transfer parameter board corresponding to the target motor;

[0147] The controller determines the type of the target motor according to the parameter board identification;

[0148] If the target motor is a rotary motor, the controller queries the driver count, converts the driver count into an angle value, and displays the angle value on the TFT touch screen;

[0149] If the target motor is a linear motor, the controller queries the driver count, converts the driver count into a length value, and displays the length value on the TFT touch screen;

[0150] If the target motor is an objective lens switching motor, the controller does not query the position information of the driver.

[0151] Specifically, when the operation mode of the main control board is the status light task mode and the motor system operates normally, the status light displays the first information; when the motor system fails, the status light displays the second information; wherein, the first information is that the status light flashes, and the second information is that the status light is always on or off.

[0152] The following describes a motor control method provided by this embodiment in combination with a specific application scenario. Figures 8 to 9 As shown, the method includes:

[0153] S1: In response to the triggering of the running event of the target motor, the controller reads the identification information of the transfer parameter board corresponding to the target motor; wherein the identification information includes the parameter board identification of the transfer parameter board and the storage flag corresponding to the parameter board identification;

[0154] S2: The controller searches the local storage for the last pre-stored flag corresponding to the storage flag;

[0155] S3: If the last pre-stored flag is not found, the controller stores the parameter board identifier in the local storage, obtains the pre-stored flag corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the stored flag is generated;

[0156] S4: The controller associates the parameter board identifier with the storage flag bit for storage;

[0157] S5: If the controller finds the last pre-stored flag in the local storage, obtain the last pre-stored identifier associated with the last pre-stored flag;

[0158] S6: Determine whether the last stored identifier is consistent with the parameter board identifier;

[0159] S7: If the last pre-stored identifier is inconsistent with the parameter board identifier, the controller deletes the last pre-stored flag and the last pre-stored identifier;

[0160] S8: The controller stores the parameter board identifier in the local storage, obtains the pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the storage flag is generated;

[0161] S9: The controller associates and stores the parameter board identifier with the storage flag bit;

[0162] S10: If the last pre-stored identification is consistent with the parameter board identification, determine that the last pre-stored identification information matching the identification information is found in the local storage;

[0163] S11: The controller determines the target motor parameters corresponding to the identification information in the local storage;

[0164] S12: The controller controls the target motor to run according to the target motor parameters;

[0165] The method also includes:

[0166] S13: In response to an update event of the transfer parameter board corresponding to the target motor, the local server connects to the remote server, and the remote server remotely operates the local server to clear the identification information stored in the transfer parameter board;

[0167] S14: The remote server updates the data of the transfer parameter board, that is, the remote server downloads the required parameter information to the transfer parameter board to update the data of the transfer parameter board.

[0168] The method also includes:

[0169] S01: The remote server downloads the target motor parameters corresponding to the target motor for the transfer parameter board;

[0170] S02: The remote server determines whether the target motor parameters corresponding to the target motor are consistent with the current motor parameters downloaded to the transfer parameter board;

[0171] S03: If the remote server determines that the target motor parameters corresponding to the target motor are inconsistent with the current motor parameters, the remote server updates the inconsistent current motor parameters stored in the transfer parameter board based on the target motor parameters, and then executes step S1;

[0172] S04: If the remote server determines that the target motor parameters corresponding to the target motor are consistent with the current motor parameters, execute step S1.

[0173] The second aspect of the present invention also protects a motor control device, which is used to implement the above motor control method, and the device includes:

[0174] An acquisition module, configured to read identification information of a transfer parameter board corresponding to the target motor in response to a triggering of an operation event of the target motor among the at least one motor;

[0175] The first execution module is used to write the identification information into the local storage and generate the pre-stored identification information corresponding to the identification information if the last pre-stored identification information matching the identification information is not found in the local storage; determine the target motor parameters corresponding to the identification information in the local storage; and control the operation of the target motor according to the target motor parameters.

[0176] Based on the above scheme, the motor control device can realize that the controller can control the operation of any target motor electrically connected to it by setting an acquisition module and a first execution module, thereby reducing the control cost of the controller and avoiding the situation where the controller can only control one target motor and increase the control cost. It can also avoid the connection of an unmatched controller to the target motor, which causes the controller to be unable to perform corresponding control on the target motor electrically connected to it, resulting in abnormal control of the target motor and damage to the target motor or the controller. At the same time, by searching for identification information in local storage, redundant judgment is realized after the identification information is imported, thereby improving the reliability of the target motor parameters imported by the controller from the adapter parameter board, and realizing the controller to accurately control the target motor electrically connected to it.

[0177] In some possible embodiments, the device may further include:

[0178] The second execution module is used to execute the step of determining the target motor parameters corresponding to the identification information in the local storage if the last pre-stored identification information matching the identification information is found in the local storage.

[0179] In some possible embodiments, the first execution module may include:

[0180] The data search submodule is used to search the last pre-stored flag corresponding to the storage flag in the local storage;

[0181] The first data storage submodule is used to store the parameter board identifier in the local storage if the last pre-stored flag is not found, obtain the pre-stored flag corresponding to the parameter board identifier, and download the parameters of the current transfer parameter board, and generate the pre-stored flag corresponding to the stored flag after the parameter transmission is completed;

[0182] The second data storage submodule is used to store the parameter board identifier in association with the storage flag bit.

[0183] In some possible embodiments, the first execution module may further include:

[0184] A first data acquisition submodule is used to obtain a last pre-stored identifier associated with the pre-stored flag if a last pre-stored flag is found in the local storage;

[0185] A data clearing module is used to delete the last pre-stored flag and the last pre-stored identifier if the last pre-stored identifier is inconsistent with the parameter board identifier;

[0186] The third data storage submodule is used to store the parameter board identifier in the local storage, obtain the pre-stored identifier corresponding to the parameter board identifier, and download the parameters of the current transfer parameter board, and generate a pre-stored flag corresponding to the storage flag after the parameter transmission is completed;

[0187] The fourth data storage submodule is used to store the parameter board identifier in association with the storage flag bit.

[0188] In some possible embodiments, the first execution module may further include:

[0189] The data determination submodule is used to determine that the last pre-stored identification information matching the identification information is found in the local storage if the last pre-stored identification is consistent with the parameter board identification.

[0190] In some possible embodiments, the device may further include:

[0191] A data update module, used to establish a connection with a local server in response to an update event of a transfer parameter board corresponding to a target motor, and to clear identification information stored in the transfer parameter board by controlling the local server;

[0192] The third execution module is used to download the target motor parameters corresponding to the target motor to the transfer parameter board.

[0193] In some possible embodiments, the device may further include:

[0194] A first data search module, used for obtaining current motor parameters corresponding to the target motor from the transfer parameter board;

[0195] The fourth execution module is used to update the inconsistent current motor parameters stored in the switching parameter board based on the target motor parameters if the remote server determines that the target motor parameters corresponding to the target motor are inconsistent with the current motor parameters.

[0196] In some possible embodiments, the device may further include:

[0197] A second data search module is used to generate storage failure feedback information if the last pre-stored identification information matching the identification information is not found in the local storage, and send the storage failure feedback information to the local server;

[0198] A data feedback module, used for reading identification information of a transfer parameter board corresponding to a target motor in response to storage failure feedback information;

[0199] A fifth execution module, used for determining target motor parameters corresponding to the identification information;

[0200] The sixth execution module is used to control the operation of the target motor according to the target motor parameters.

[0201] The third aspect of the present invention also protects a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded by a processor to execute the above motor control method.

[0202] The computer program product may include a storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0203] Storage medium can be a tangible device that can keep and store the instructions used by the instruction execution device. Storage medium is not limited to electrical storage device, magnetic storage device, optical storage device, electromagnetic storage device, semiconductor storage device or any suitable combination of the above. More specific examples (non-exhaustive list) of storage medium include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as punch card or groove protrusion structure with instructions stored thereon and any suitable combination of the above. Storage medium used here is not interpreted as instantaneous signal itself, such as radio wave or other free propagating electromagnetic wave, electromagnetic wave propagated by waveguide or other transmission medium (for example, light pulse by optical fiber cable) or electric signal transmitted by wire.

[0204] The computer-readable program instructions described herein can be downloaded from a storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the storage medium in each computing / processing device.

[0205] The computer program instructions for performing the operation of the present application can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of computer-readable program instructions to personalize electronic circuits, such as programmable logic circuits, field programmable gate arrays (field programmable gate arrays) or programmable logic arrays (PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present application.

[0206] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flow chart and / or block diagram is generated. These computer-readable program instructions can also be stored in a storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes an article of manufacture.

[0207] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0208] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are executed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the specified functions / actions.

[0209] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, depending on the function involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a dedicated hardware-based system that performs the function or action of the specification, or can be realized by a combination of special-purpose hardware and computer instructions.

[0210] The fourth aspect of the present invention also protects an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above motor control method by executing the instructions stored in the memory.

[0211] Figure 7 is a block diagram of an electronic device for information display according to an exemplary embodiment. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7 The terminal may include components such as an RF (Radio Frequency) circuit 7, a memory 8 including one or more computer-readable storage media, an input unit 9, a display unit 10, a sensor 11, an audio circuit 12, a WiFi (wireless fidelity) module 14, a processor 14 including one or more processing cores, and a power supply 6. Those skilled in the art will appreciate that Figure 7 The terminal structure shown in the figure does not constitute a limitation on the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0212] The RF circuit 7 can be used for receiving and sending signals during information transmission or calls. In particular, after receiving the downlink information of the base station, it is handed over to one or more processors 14 for processing; in addition, the data related to the uplink is sent to the base station. Usually, the RF circuit 7 includes but is not limited to an antenna, at least one amplifier, a tuner, one or more oscillators, a user identity module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, etc. In addition, the RF circuit 7 can also communicate with the network and other terminals through wireless communication. Wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0213] The memory 8 can be used to store software programs and modules. The processor 14 executes various functional applications and data processing by running the software programs and modules stored in the memory 8. The memory 8 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, application programs required for functions, etc.; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 8 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 8 may also include a memory controller to provide the processor 14 and the input unit 9 with access to the memory 8.

[0214] The input unit 9 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit 9 may include a touch-sensitive surface 91 and other input devices 92. The touch-sensitive surface 91, also known as a touch display screen or a touchpad, can collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch-sensitive surface 91), and drive corresponding connection devices according to a pre-set program. Optionally, the touch-sensitive surface 91 may include a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 14, and can receive and execute commands sent by the processor 14. In addition, the touch-sensitive surface 91 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch-sensitive surface 91, the input unit 9 may also include other input devices 92. Specifically, other input devices 92 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

[0215] The display unit 10 can be used to display information input by the user or information provided to the user and various graphical user interfaces of the terminal, which can be composed of graphics, text, icons, videos and any combination thereof. The display unit 10 may include a display panel 101. Optionally, the display panel 101 may be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 91 may cover the display panel 101. When the touch-sensitive surface 91 detects a touch operation on or near it, it is transmitted to the processor 14 to determine the type of touch event, and then the processor 14 provides corresponding visual output on the display panel 101 according to the type of touch event. Among them, the touch-sensitive surface 91 and the display panel 101 can be two independent components to realize input and output functions, but in some embodiments, the touch-sensitive surface 91 can also be integrated with the display panel 101 to realize input and output functions.

[0216] The terminal may also include at least one sensor 11, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 101 according to the brightness of the ambient light, and the proximity sensor may turn off the display panel 101 and / or the backlight when the terminal is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the terminal posture (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors that can be configured in the terminal, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be repeated here.

[0217] The audio circuit 12, the speaker 121, and the microphone 122 can provide an audio interface between the user and the terminal. The audio circuit 12 can transmit the received audio data to the speaker 121 after converting the received audio data into an electrical signal, which is converted into a sound signal for output; on the other hand, the microphone 122 converts the collected sound signal into an electrical signal, which is received by the audio circuit 12 and converted into audio data, and then the audio data is output to the processor 14 for processing, and then sent to another terminal through the RF circuit 7, or the audio data is output to the memory 8 for further processing. The audio circuit 12 may also include an earplug jack to provide communication between an external headset and the terminal.

[0218] WiFi is a short-range wireless transmission technology. The terminal can help users send and receive emails, browse web pages and access streaming media through the WiFi module 13, which provides users with wireless broadband Internet access. Figure 7 The WiFi module 13 is shown, but it is understandable that it is not an essential component of the terminal and can be omitted as required without changing the essence of the invention.

[0219] The processor 14 is the control center of the terminal. It uses various interfaces and lines to connect various parts of the entire terminal. By running or executing software programs and / or modules stored in the memory 8 and calling data stored in the memory 8, it executes various functions of the terminal and processes data, thereby monitoring the terminal as a whole. Optionally, the processor 14 may include one or more processing cores; preferably, the processor 14 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 14.

[0220] The terminal also includes a power supply 6 (such as a battery) for supplying power to each component. Preferably, the power supply can be logically connected to the processor 14 through a power management system, so that the power management system can manage charging, discharging, and power consumption management. The power supply 6 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0221] Although not shown, the terminal may also include a camera, a Bluetooth module, etc., which will not be described in detail herein. Specifically in this embodiment, the display unit of the terminal is a touch screen display, and the terminal further includes a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by one or more processors in the method embodiment of the present invention.

[0222] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

[0223] In the absence of conflict, the above embodiments and features in the embodiments can be combined with each other.

[0224] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A motor control method, characterized in that: Applied to a motor control system, the motor control system comprises a server, a controller, at least one motor and a transfer parameter board arranged in a one-to-one correspondence with the motor, the transfer parameter board and the controller can both be communicatively connected with the server; The transfer parameter board is electrically connected to the motor interface of the controller, and the method includes: The controller responds to the operation event trigger of the target motor among the at least one motor, and reads the identification information of the transfer parameter board corresponding to the target motor; wherein the identification information includes the parameter board identification of the transfer parameter board and the storage flag bit corresponding to the parameter board identification; The controller searches the local storage for the last pre-stored flag corresponding to the storage flag; if the last pre-stored flag is not found, the controller stores the parameter board identifier in the local storage, obtains the pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the storage flag is generated; the controller associates the parameter board identifier with the storage flag and stores it, generating pre-stored identifier information corresponding to the identifier information; The controller determines the target motor parameters corresponding to the identification information in the local storage; The controller controls the target motor to operate according to the target motor parameter.

2. The motor control method according to claim 1, characterized in that: The method further comprises: If the controller finds the last pre-stored identification information matching the identification information in the local storage, the step of determining the target motor parameters corresponding to the identification information in the local storage is performed.

3. The motor control method according to claim 1, characterized in that: The method further comprises: If the controller finds the last pre-stored flag in the local storage, obtaining the last pre-stored identifier associated with the last pre-stored flag; If the last pre-stored identifier is inconsistent with the parameter board identifier, the controller deletes the last pre-stored flag and the last pre-stored identifier; The controller stores the parameter board identifier in the local storage, obtains a pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag bit corresponding to the stored flag bit is generated; The controller stores the parameter board identifier in association with the storage flag.

4. The motor control method according to claim 3, characterized in that: The method further comprises: If the last pre-stored identification is consistent with the parameter board identification, it is determined that the last pre-stored identification information matching the identification information is found in the local storage.

5. The motor control method according to claim 3, characterized in that: The method further comprises: If the controller does not find the last pre-stored flag in the local storage, the controller clears the local storage; The controller stores the parameter board identifier in local storage, obtains a pre-stored identifier corresponding to the parameter board identifier, and downloads the parameters of the current transfer parameter board. After the parameter transmission is completed, a pre-stored flag corresponding to the stored flag is generated.

6. The motor control method according to any one of claims 1 to 5, characterized in that: The server includes a local server and a remote server, and the method further includes: In response to an update event of the transfer parameter board corresponding to the target motor, the local server connects to the remote server, and the remote server remotely operates the local server to clear the identification information stored in the transfer parameter board; The remote server updates the data on the transfer parameter board.

7. The motor control method according to claim 6, characterized in that: The method further comprises: The remote server downloads the target motor parameters corresponding to the target motor for the transfer parameter board; The remote server determines whether the target motor parameters corresponding to the target motor are consistent with the current motor parameters downloaded to the transfer parameter board; If the remote server determines that the target motor parameters corresponding to the target motor are inconsistent with the current motor parameters, the remote server updates the inconsistent current motor parameters stored in the switching parameter board based on the target motor parameters.

8. The motor control method according to claim 6, characterized in that: The method further comprises: If the controller does not find the last pre-stored identification information matching the identification information in the local storage, generating storage failure feedback information, and sending the storage failure feedback information to the local server; The local server reads identification information of the transfer parameter board corresponding to the target motor in response to the storage failure feedback information; The local server determines the target motor parameter corresponding to the identification information; The local server controls the target motor to operate according to the target motor parameters.

9. A motor control device, characterized in that: For implementing the motor control method according to any one of claims 1 to 8, the device comprises: An acquisition module, configured to read identification information of a transfer parameter board corresponding to a target motor in the at least one motor in response to a triggering of an operation event of the target motor; The first execution module is used to store the identification information in the local storage and generate pre-stored identification information corresponding to the identification information if the last pre-stored identification information matching the identification information is not found in the local storage; determine the target motor parameters corresponding to the identification information in the local storage; and control the operation of the target motor according to the target motor parameters.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executed by the motor control method according to any one of claims 1 to 8.

Images