A distributed motor control system and method

Abstract

The application relates to the technical field of motor control, in particular to a distributed motor control system and method. The distributed motor control system comprises a control module, a driving module and a transmission module, the transmission module comprises a flexible circuit board, the control module and the driving module communicate through the flexible circuit board; the control module is used for acquiring the current sampling current, rotating position and rotating speed of the motor; a control strategy is generated according to the sampling current, rotating position and rotating speed; and the control strategy is sent to the driving module; the driving module is used for driving the motor according to the control strategy. The technical scheme of the application can effectively improve the stability of the motor control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a distributed motor control system and method. BACKGROUND

[0002] Motor control plays a crucial role in today's industrial automation and intelligent manufacturing fields. With the continuous progress of technology, the requirements for motor control are becoming higher and higher, not only high-efficiency and accurate control, but also stable and reliable performance.

[0003] At present, the conventional motor control adopts an integrated motor control system, that is, the control part and the driving part are designed in the same space. However, when the motor control system works, the heat generated by the control part and the driving part integrated in the same space accumulates, making the overall temperature of the motor control system higher, which may cause failure or even damage to the motor control system due to overheating. SUMMARY

[0004] The problem solved by the present application is how to improve the stability of the motor control system.

[0005] To solve the above problems, the present application provides a distributed motor control system and method.

[0006] In a first aspect, the present application provides a distributed motor control system, comprising a control module, a driving module and a transmission module distributedly arranged, the transmission module comprising a flexible circuit board, the control module and the driving module communicating through the flexible circuit board;

[0007] The control module is used for obtaining the current sampling current, rotational position and rotational speed of the motor, generating a control strategy according to the sampling current, rotational position and rotational speed, and sending the control strategy to the driving module;

[0008] The driving module is used for driving the motor according to the control strategy.

[0009] Optionally, the control strategy is generated according to the sampling current, rotational position and rotational speed, comprising:

[0010] The current control signal is obtained according to the sampling current and the preset expected current, the rotational position control signal is obtained according to the rotational position and the preset expected rotational position, and the rotational speed control signal is obtained according to the rotational speed and the preset expected rotational speed;

[0011] The control strategy is generated according to the current control signal, the rotational position control signal and the rotational speed control signal.

[0012] Optionally, the current control signal is obtained according to the sampling current and a preset expected current, and the obtaining comprises:

[0013] generating a current error signal according to the sampling current and the expected current;

[0014] inputting the current error signal into a preset current controller to output the current control signal.

[0015] Optionally, the rotation position control signal is obtained according to the rotation position and a preset expected rotation position, and the obtaining comprises:

[0016] generating a rotation position error signal according to the rotation position and the expected rotation position;

[0017] inputting the rotation position error signal into a preset rotation position controller to output the rotation position control signal.

[0018] Optionally, the rotation speed control signal is obtained according to the rotation speed and a preset expected rotation speed, and the obtaining comprises:

[0019] generating a rotation speed error signal according to the rotation speed and the expected rotation speed;

[0020] inputting the rotation speed signal into a preset rotation speed controller to output the rotation speed control signal.

[0021] Optionally, the current control signal comprises a first adjustment current and a first adjustment voltage; the rotation position control signal comprises a second adjustment current and a second adjustment voltage; the rotation speed control signal comprises a third adjustment current and a third adjustment voltage; and the control strategy is generated according to the current control signal, the rotation position control signal and the rotation speed control signal, and the generating comprises:

[0022] summing the first adjustment voltage, the second adjustment voltage and the third adjustment voltage to obtain a motor adjustment voltage, and summing the first adjustment current, the second adjustment current and the third adjustment current to obtain a motor adjustment current;

[0023] generating the control strategy according to the motor adjustment voltage and the motor adjustment current.

[0024] Optionally, the control strategy is sent to the driving module, and the sending comprises:

[0025] converting a transmission signal of the control strategy into a low-voltage differential signal and sending the low-voltage differential signal to the driving module.

[0026] Optionally, the driving module comprises a MOS switch circuit, the switch circuit is used for controlling the motor, and the driving the motor according to the control strategy comprises:

[0027] generate a pulse width modulation signal according to the control strategy;

[0028] control the switch circuit through the pulse width modulation signal to obtain a control voltage and a control current;

[0029] drive the motor through the control voltage and the control current.

[0030] Optionally, the transmission module further comprises a grid copper, which is respectively laid on the upper surface and the lower surface of the flexible circuit board.

[0031] Optionally, the system further comprises an encoder and a current acquisition module, the encoder is used to acquire the rotation position and the rotation speed of the motor, and the current acquisition module is used to acquire the sampling current of the motor.

[0032] In a second aspect, a distributed motor control method comprises:

[0033] acquiring a sampling current, a rotation position and a rotation speed of a motor;

[0034] generating a control strategy according to the sampling current, the rotation position and the rotation speed;

[0035] sending the control strategy to a driving module;

[0036] driving the motor according to the control strategy.

[0037] The distributed motor control system and method have the following advantages: the different modules of the motor control system are distributed, so that the control module and the driving module can be arranged at different positions on the equipment, for example, the driving module can be arranged close to the motor, and the control module can be arranged away from the motor, so that the control part and the driving part arranged in the same space due to integrated design can be effectively avoided, and the overheating of the motor driving system is caused. The control module can generate a control strategy according to the acquired sampling current, rotation position and rotation speed, and send the control strategy to the driving module through the flexible circuit board, so that the driving module can control the motor according to the control strategy generated by the control module. Through the separately arranged control module and driving module, the precise control effect of the motor driving system on the motor can be achieved, the heat accumulation during the operation of the equipment is reduced, the stability of the motor driving system is effectively improved, and the communication cable is bent during the movement of the equipment, which can effectively avoid the failure of the communication effect. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a structural schematic diagram of a distributed motor control system according to an embodiment of the present application;

[0039] Figure 2 A functional block diagram of a distributed motor control system according to an embodiment of the present application;

[0040] Figure 3 A functional block diagram of a drive module according to an embodiment of the present application

[0041] Figure 4 A flowchart of a distributed motor control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so as to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are for exemplary purposes only, and are not intended to limit the scope of protection of the present application.

[0043] It should be understood that each of the steps recited in the method embodiments of the present application can be executed in different orders, and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present application is not limited in this respect.

[0044] The term "comprising" and variations thereof as used herein are open-ended, and mean "including but not limited to". The term "based on" means "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optional" means "optional in at least some embodiments". Related definitions are given throughout the description. It should be noted that the concepts mentioned in the present application are merely used for distinguishing different apparatuses, modules or units, and are not intended to limit the functions of the apparatuses, modules or units.

[0045] It should be noted that the terms "one", "multiple" mentioned in the present application are illustrative and not limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0046] As Figure 1As shown, to solve the above technical problems, this embodiment of the invention provides a distributed motor control system including a control module, a drive module, and a transmission module. The transmission module includes a flexible circuit board, and the control module and the drive module communicate through the flexible circuit board.

[0047] Specifically, the distributed motor control system includes a control module, a drive module, and a transmission module, such as... Figure 2 As shown, the control module is implemented using a Field-Programmable Gate Array (FPGA), including the design of the communication interface with the drive module, feedback signal acquisition, and control logic design. This allows for signal reception and transmission via a flexible printed circuit board. The communication interface facilitates communication between the FPGA and the drive module, transmitting motor control signals and status error signals. Feedback signals include current sampling from components such as Metal-Oxide-Semiconductor Field-Effect Transistors (MOSFETs) in the switching circuit, as well as sampling of the encoder's rotational position and speed. These are used as feedback inputs in the drive algorithm for closed-loop control. The control logic primarily includes a software PID control algorithm. Based on the FPGA architecture characteristics, programmable resources are used for the communication interface design and hardware interface acquisition of feedback signals. The transmission module comprises two flexible printed circuit boards: one for communication between the control module and the drive module, and the other for transmitting signals acquired by external acquisition devices, such as sampled current, rotational position, and speed signals. The drive module includes a driver chip, a PWM control interface, a switching circuit, and a grounding resistor R. The switching circuit includes a MOSFET half-H bridge, current and position signal sampling, and a gate driver (circuit used to drive field-effect transistors (FETs) or insulated-gate bipolar transistors (IGBTs). The gate driver provides the necessary voltage and current pulses through appropriate circuitry to ensure reliable operation of the semiconductor devices in the switching circuit; that is, it controls the operation of the MOSFET through voltage and current pulses. Inter-module connections are implemented using flexible circuit boards. The control module circuitry and the drive module circuitry are located on separate circuit boards. The drive module is powered by a separate cable, and the power signal traces connected to the motor are kept as short as possible, separating them from high-speed signals in the control section, including high-speed signals such as the Ethernet for Control Automation Technology (EtherCAT) protocol used for real-time industrial communication. This minimizes interference from power signals to high-speed sensitive signals. The drive module contains many analog signals, including sensitive current feedback signals, which are placed close to the machine motor, and the trace lengths of the analog signals are minimized.

[0048] Furthermore, designing the control module and drive module separately avoids the problems of overheating and inconvenience caused by integrating them onto a single circuit board during operation, as well as the difficulty of inspection and maintenance due to limited space. For example, in an endoscopic surgical system, placing the control module at the upper part of the robotic arm allows for individual maintenance or repair when the control unit malfunctions. This avoids the need to disassemble the complex clamping mechanisms and instruments at the end of the robotic arm when one module fails, as this would require disassembling the entire end-of-arm mechanism. Since the drive module directly controls the motor at the end of the robotic arm, placing it there allows for the control of instrument clamping, rotation, and yaw movements. This avoids interference and delays caused by long-distance signal transmission, improving control accuracy. The control and drive modules are further separated by the flexible transmission module. The circuit boards facilitate communication. Due to their flexibility, the control and drive modules maintain stable communication during relative movement. For example, during the movement of the robotic arm, the cables connecting the control and drive modules, located at opposite ends, are prone to bending and damage. However, the flexible circuit boards remain undamaged even when bent. Inter-module connections are implemented using flexible circuit boards. The main control circuit and drive circuit are located on separate circuit boards. The drive circuit uses a dedicated power cable, and the power signal traces connected to the motors are kept as short as possible. The control module's circuit board, called the brushed motor drive board, is located on the robotic arm; the drive circuit board, called the instrument motor control board, is located at the end of the robotic arm. Through a distributed motor control system, the movement of the four motors in the robotic arm is converted into the instrument's gripping, rotation, and yaw actions, achieving the effect of simulating a human hand.

[0049] The control module is used to acquire the current sampling current, rotation position, and speed of the motor; generate a control strategy based on the sampling current, rotation position, and speed; and send the control strategy to the drive module.

[0050] The drive module is used to drive the motor according to the control strategy.

[0051] Specifically, the control module generates a current control strategy based on the current sampled current, rotational position, and speed of the motor. For example, it can use model predictive control: based on historical data of sampled current, rotational position, and speed, a mathematical model of the system is established, and this model is used to predict the future system state to achieve system accuracy and efficiency. Alternatively, it can use a PID controller to calculate the error based on the current state value and the expected value, and adjust the control signal according to the error to generate a control strategy. The generated control strategy is then sent to the drive module through the transmission module. After receiving the control strategy, the drive module drives the motor to run according to the control strategy, thereby enabling the motor to reach the desired rotational position and speed.

[0052] In this embodiment, by distributing the different modules of the motor control system, the control module and drive module can be placed in different locations on the device. For example, the drive module can be placed close to the motor, while the control module can be placed further away from the motor. This effectively avoids overheating of the motor drive system caused by placing the control and drive parts in the same space due to integrated design. The control module can generate a control strategy based on the acquired sampled current, rotational position, and speed, and send the control strategy to the drive module through a flexible circuit board, allowing the drive module to control the motor according to the control strategy generated by the control module. By separating the control module and drive module, the motor drive system can still achieve precise control of the motor, while reducing heat accumulation during device operation, effectively improving the stability of the motor drive system. Furthermore, the communication connection between the two via the flexible circuit board effectively avoids malfunctions caused by bending of the connecting cable during device movement, thus preventing communication failures.

[0053] In an optional embodiment, generating a control strategy based on the sampled current, the rotational position, and the rotational speed includes:

[0054] A current control signal is obtained based on the sampled current and the desired current; a rotation position control signal is obtained based on the rotation position and the preset desired rotation position; and a rotation speed control signal is obtained based on the rotation speed and the preset desired rotation speed.

[0055] The control strategy is generated based on the current control signal, the rotational position control signal, and the rotational speed control signal.

[0056] In an optional embodiment, obtaining the current control signal based on the sampled current and the preset desired current includes:

[0057] A current error signal is generated based on the sampled current and the desired current;

[0058] The current error signal is input into a preset current controller, which then outputs the current control signal.

[0059] Specifically, a current difference, i.e. a current error signal, is generated based on the difference between the current sampled current and the preset expected current. This current error signal is then input into a preset current controller, such as a PID controller. By adjusting the proportional (P), integral (I), and derivative (D) of the current error signal, a current control signal is obtained. The current of the motor is adjusted through the current control signal so that it can quickly and stably reach the desired value.

[0060] In an optional embodiment, obtaining the rotation position control signal based on the rotation position and the preset desired rotation position includes:

[0061] A rotation position error signal is generated based on the rotation position and the desired rotation position;

[0062] The rotational position error signal is input into a preset rotational position controller, which outputs the rotational position control signal.

[0063] Specifically, a rotation position difference, i.e., a rotation position error signal, is generated based on the difference between the current sampled current and the preset expected current rotation position. This rotation error signal is then input to a preset rotation position controller, such as a PID controller. By adjusting the proportional (P), integral (I), and derivative (D) of the rotation position error signal, a rotation position control signal is obtained. The rotation position of the motor is adjusted by controlling the rotation position signal so that it can quickly and stably reach the desired value.

[0064] In an optional embodiment, obtaining the speed control signal based on the speed and a preset desired speed includes:

[0065] A speed error signal is generated based on the stated speed and the preset desired speed.

[0066] The speed signal is input to a preset speed controller, which then outputs the speed control signal.

[0067] Specifically, a speed difference, i.e. a speed error signal, is generated based on the difference between the current sampled speed and the preset expected speed. This speed error signal is then input into a preset speed controller, such as a PID controller. By adjusting the speed error signal proportionally (P), integrally (I), and derivatively (D), a speed control signal is obtained. The speed control signal is used to adjust the motor speed so that it can quickly and stably reach the desired value.

[0068] In this optional embodiment, the control module obtains the corresponding current control signal, rotation position control signal, and rotation speed control signal by sampling the current, rotation position, and rotation speed, and generates a control strategy based on the above control signals. The drive module can achieve precise control of the motor through the received control strategy.

[0069] In an optional embodiment, the current control signal includes a first adjusting current and a first adjusting voltage; the rotational position control signal includes a second adjusting current and a second adjusting voltage; the rotational speed signal includes a third adjusting current and a third adjusting voltage; and generating the control strategy based on the current control signal, the rotational position control signal, and the rotational speed control signal includes:

[0070] The motor adjustment voltage is obtained by summing the first adjustment voltage, the second adjustment voltage, and the third adjustment voltage; the motor adjustment current is obtained by summing the first adjustment current, the second adjustment current, and the third adjustment current.

[0071] The control strategy is generated based on the motor adjustment voltage and the motor adjustment current.

[0072] Specifically, based on the first voltage adjustment voltage, second voltage adjustment voltage, and third voltage adjustment voltage corresponding to the current control signal, rotational position control signal, and speed control signal, respectively, where the first voltage adjustment voltage is the amount of voltage adjustment required to achieve the desired voltage, the second adjustment voltage is the amount of voltage adjustment required to achieve the desired rotational position, and the third adjustment voltage is the amount of voltage adjustment required to achieve the desired speed, the motor adjustment voltage is obtained by summing the above three adjustment voltages. This motor adjustment voltage is the voltage required to control the motor to achieve the desired operating parameters. Similarly, the motor adjustment current is obtained by summing the first adjustment current, second adjustment current, and third adjustment current. This current is the current required to control the motor to achieve the desired rotational position and speed. Finally, a control strategy is generated based on the motor adjustment current and motor adjustment voltage. The drive module can obtain the motor adjustment current and motor adjustment voltage according to this control strategy, thereby adjusting the motor current and voltage so that the motor operation can achieve the desired state, that is, the current, rotational position, and speed meet the desired requirements.

[0073] In this optional embodiment, the distributed motor control module generates the final motor adjustment current and motor adjustment voltage from the adjustment current and voltage in the current control signal, rotation position control signal, and speed control signal. This adjustment current and voltage are then sent to the drive module located near the motor via a flexible circuit board in the form of a control strategy. The drive module can then accurately control the motor according to this control strategy, thereby ensuring that the motor operates in accordance with the expected operating state.

[0074] In an optional embodiment, sending the control strategy to the drive module includes:

[0075] The transmission signal of the control strategy is converted into a low-voltage differential signal and sent to the drive module.

[0076] Specifically, both the control signal and the position feedback signal are high-speed sensitive signals. To ensure the accuracy and reliability of the control, the high-speed signals are converted into low-voltage differential signals (LVDS) for transmission, reducing crosstalk between signals and improving the ability to resist external interference.

[0077] In an optional embodiment, the drive module includes a MOS switching circuit; the switching circuit is used to control the motor; driving the motor according to the control strategy includes:

[0078] A pulse width modulation signal is generated according to the control strategy;

[0079] The control voltage and control current are obtained by controlling the switching circuit through the pulse width modulation signal;

[0080] The motor is driven by the control voltage and the control current.

[0081] Specifically, according to the control strategy, pulse width modulation (PWM) is generated. Through parameters such as the frequency and duty cycle of the PWM signal, the conduction and shutdown of the MOS switch are controlled, thereby controlling the control voltage and control current of the motor circuit, thus realizing the drive control of the motor speed and torque.

[0082] For example, such as Figure 3As shown, the power device employs a metal-oxide-semiconductor field-effect transistor (MOTE). NMOS (Non-Mechanical Orbiter) acts as a high-speed switch. Devices that function as switches instead of amplifying are called "switching devices." The control strategy uses control inputs to make logical judgments and drive logic outputs, thereby controlling the transistor's operating state. Finally, the control voltage and current of the control strategy drive a brushed DC motor (BDC). IN1 / PH and IN2 / PH are control inputs, i.e., control strategy inputs. GH1, GH2, GL1, and GL2 are gate control, which controls current flow by changing the gate voltage of the field-effect transistor (FET). This can adjust the FET's conduction state and resistance value, thereby controlling and regulating the circuit. SH1 and SH2 are source state sampling, i.e., sampling and monitoring the source voltage of the FET. This is used for real-time monitoring of the FET's source voltage for circuit protection, control, and regulation. SP and NP are current sampling, referring to the sampling and monitoring of the source and drain currents of the FET. SP current (Source to Power) refers to the current between the source of the FET and the power supply, while NP current (Source to Power) refers to the current between the source and the power supply of the FET. Drain refers to the current between the source and drain of a FET. Sampling these two currents is very important for the protection, control, and regulation of circuits.

[0083] In this optional embodiment, the MOS switching circuit is controlled by the generated PWM signal, which improves the reliability and stability of circuit control, avoids interference from external signals, and thus achieves precise control of the motor.

[0084] In an optional embodiment, the transmission module further includes a copper grid, which is laid on the upper and lower surfaces of the flexible circuit board, respectively.

[0085] Specifically, a grid of copper is laid on the upper and lower surfaces of the flexible circuit board, and the grids on the upper and lower surfaces are connected to form an electromagnetic shielding mesh that wraps around the flexible circuit board. This reduces the impact of external electromagnetic interference on the flexible circuit board and also reduces the electromagnetic radiation emitted by the flexible circuit board to the outside. The shielding effect of the grid copper can improve the stability and reliability of the transmitted signal. The addition of grid copper can also be achieved through printing technology or chemical etching technology. Through precise processing, a uniform grid copper layer can be formed on the surface of the flexible circuit board to ensure its conductivity and stability. The shape, density, and thickness of the grid copper can also be adjusted according to actual needs to achieve the best anti-interference effect.

[0086] In an optional embodiment, the system further includes an encoder and a current acquisition module, the encoder being used to acquire the rotational position and rotational speed of the motor, and the current acquisition module being used to acquire the sampled current of the motor.

[0087] For example, an encoder is connected to the motor shaft. When the motor rotates, the encoder generates pulse signals. By counting and timing these pulse signals, the motor's position and speed can be determined. For instance, an incremental encoder can measure the motor's relative position and speed. The current acquisition module includes a current sensor that converts current into voltage or digital signals for acquisition and processing. Common current sensors include current transformers, Hall effect sensors, and resistive sensors.

[0088] like Figure 2 As shown in the figure, an embodiment of the present invention provides a distributed motor control method, comprising:

[0089] S1, obtain the current sampling current, rotational position and speed of the motor;

[0090] S2, generate a control strategy based on the sampled current, the rotational position, and the rotational speed;

[0091] S3, The control strategy is sent to the drive module;

[0092] S4, drive the motor according to the control strategy.

[0093] The distributed motor control method in this embodiment of the invention has similar technical effects to the above-mentioned distributed motor control system, and will not be described in detail here.

[0094] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0095] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A distributed motor control system, characterized in that, The system includes a distributed control module, a drive module, and a transmission module. The transmission module includes a flexible circuit board, and the control module and the drive module communicate through the flexible circuit board. The control module is used to acquire the current sampling current, rotation position, and speed of the motor; generate a control strategy based on the sampling current, rotation position, and speed; and send the control strategy to the drive module. The drive module is used to drive the motor according to the control strategy; The step of generating a control strategy based on the sampled current, the rotational position, and the rotational speed includes: A current control signal is obtained based on the sampled current and the preset desired current; a rotation position control signal is obtained based on the rotation position and the preset desired rotation position; and a rotation speed control signal is obtained based on the rotation speed and the preset desired rotation speed. The control strategy is generated based on the current control signal, the rotation position control signal, and the speed control signal; The current control signal includes a first adjusting current and a first adjusting voltage; the rotational position control signal includes a second adjusting current and a second adjusting voltage; the rotational speed signal includes a third adjusting current and a third adjusting voltage; generating the control strategy based on the current control signal, the rotational position control signal, and the rotational speed control signal includes: The motor adjustment voltage is obtained by summing the first adjustment voltage, the second adjustment voltage, and the third adjustment voltage; the motor adjustment current is obtained by summing the first adjustment current, the second adjustment current, and the third adjustment current. The control strategy is generated based on the motor adjustment voltage and the motor adjustment current.

2. The distributed motor control system according to claim 1, characterized in that, The step of obtaining the current control signal based on the sampled current and the preset desired current includes: A current error signal is generated based on the sampled current and the desired current; The current error signal is input into a preset current controller, which then outputs the current control signal.

3. The distributed motor control system according to claim 1, characterized in that, The step of obtaining the rotation position control signal based on the rotation position and the preset desired rotation position includes: A rotation position error signal is generated based on the rotation position and the desired rotation position; The rotational position error signal is input into a preset rotational position controller, which outputs the rotational position control signal.

4. The distributed motor control system according to claim 1, characterized in that, The step of obtaining the speed control signal based on the speed and the preset desired speed includes: A speed error signal is generated based on the stated speed and the desired speed. The speed signal is input to a preset speed controller, which then outputs the speed control signal.

5. The distributed motor control system according to claim 1, characterized in that, Sending the control strategy to the driver module includes: The transmission signal of the control strategy is converted into a low-voltage differential signal and sent to the drive module.

6. The distributed motor control system according to claim 1, characterized in that, The drive module includes a switching circuit; the switching circuit is used to control the motor; driving the motor according to the control strategy includes: A pulse width modulation signal is generated according to the control strategy; The control voltage and control current are obtained by controlling the switching circuit through the pulse width modulation signal; The motor is driven by the control voltage and the control current.

7. The distributed motor control system according to claim 1, characterized in that, The transmission module also includes a copper grid, which is laid on the upper and lower surfaces of the flexible circuit board.

8. A distributed motor control method, characterized in that, include: Obtain the current sampling current, rotational position, and speed of the motor; A control strategy is generated based on the sampled current, the rotational position, and the rotational speed. The control strategy is sent to the driver module; The motor is driven according to the control strategy; The step of generating a control strategy based on the sampled current, the rotational position, and the rotational speed includes: A current control signal is obtained based on the sampled current and the preset desired current; a rotation position control signal is obtained based on the rotation position and the preset desired rotation position; and a rotation speed control signal is obtained based on the rotation speed and the preset desired rotation speed. The control strategy is generated based on the current control signal, the rotation position control signal, and the speed control signal; The current control signal includes a first adjusting current and a first adjusting voltage; the rotational position control signal includes a second adjusting current and a second adjusting voltage; the rotational speed signal includes a third adjusting current and a third adjusting voltage; generating the control strategy based on the current control signal, the rotational position control signal, and the rotational speed control signal includes: The motor adjustment voltage is obtained by summing the first adjustment voltage, the second adjustment voltage, and the third adjustment voltage; the motor adjustment current is obtained by summing the first adjustment current, the second adjustment current, and the third adjustment current. The control strategy is generated based on the motor adjustment voltage and the motor adjustment current.

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