A multi-motor synchronous rotation drive system and driving method thereof

Abstract

The present invention relates to the technical field of multi-motor synchronous drive, and discloses a multi-motor synchronous rotation drive system and a driving method thereof; the system and the driving method collect motor speed signals, motor position signals, control mode signals, reset signals and emergency stop signals through a signal acquisition module, and transmit the above signals to a controller module; the controller module calculates the motor standard speed, the motor standard motion position and the motor drive signal value according to the data transmitted by the signal acquisition module, and transmits the above calculated values ​​to the motor drive module; the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal, the reset signal, the emergency stop signal, the motor standard speed, the motor standard motion position and the motor drive signal value; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-motor synchronous drive, and in particular to a multi-motor synchronous rotation drive system and a drive method thereof. Background Art

[0002] A multi-motor synchronous drive system is a control system used to simultaneously control the speed and position of multiple electric motors so that they run synchronously. This drive system is usually used in applications that require multiple electric motors to work together, such as robots, automated production lines, and medical equipment. Multi-motor synchronous drive can ensure that the speed and position of each electric motor remain consistent, thereby improving the stability and accuracy of the system. At the same time, a multi-motor synchronous drive system can achieve a dual and multiple protection control mechanism to improve the safety of the system. When a problem occurs in a motor, other motors can continue to work to ensure the normal operation and safe operation of the system.

[0003] Since the control method of the traditional multi-motor synchronous drive system is relatively simple and the control strategy is not continuously optimized through algorithms, it is impossible to achieve fine control and adjustment. Therefore, in some high-demand application scenarios, it may not be able to meet the accuracy requirements, resulting in low motor working efficiency. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a multi-motor synchronous rotation drive system and a driving method thereof, which are equipped with a signal acquisition module for collecting motor speed signals Djsd, motor position signals Djwz, control mode signals Kzms, reset signals Fwxh and emergency stop signals Jtxh, and transmitting the above signals to a controller module; the controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values ​​to the motor drive module; the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor; and by adjusting and optimizing the motor control strategy, fine control and regulation of the motor are achieved, the working efficiency of the motor is improved, and the above problems are solved.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solutions: a multi-motor synchronous rotary drive system, comprising a signal acquisition module, a controller module, a motor drive module, a sensor module and a control strategy adjustment module;

[0008] The signal acquisition module is electrically connected to the controller module;

[0009] The controller module is electrically connected to the motor drive module;

[0010] The motor drive module is electrically connected to the sensor module;

[0011] The sensor module is electrically connected to the control strategy adjustment module;

[0012] The signal acquisition module is used to collect the motor speed signal Djsd, the motor position signal Djwz, the control mode signal Kzms, the reset signal Fwxh and the emergency stop signal Jtxh, and transmit the above signals to the controller module;

[0013] The controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values ​​to the motor drive module;

[0014] The motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh;

[0015] The sensor module continuously monitors the actual position, speed and load of the motor based on the motor’s operating status data, and feeds this information back to the control strategy adjustment module;

[0016] The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor.

[0017] Preferably, the signal acquisition module compiles the collected motor speed signal into a data set, and the data set is {Djsd n-9 ,Djsd n-8 ,Djsd n-7 , ..., Djsd n}.

[0018] Preferably, the signal acquisition module compiles the collected motor position signal into a data set, and the data set is {DjwZ n-9 ,Dj n-8 ,DjWz n-7 , ..., Djwz n}.

[0019] Preferably, the signal acquisition module compiles the acquired control mode signal into a data set, and the data set is {Kzms n-9 , Kzms n-8 , Kzms n-7 , ..., Kzms n}.

[0020] Preferably, the controller module calculates the motor standard speed Dbzs according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

[0021]

[0022] In the formula, Dbzs represents the standard speed of the motor, Mcxh represents the pulse signal frequency, which refers to the pulse signal frequency transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per revolution, Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per revolution of the motor encoder, and 60 represents the conversion of speed units from revolutions per minute to milliseconds per second.

[0023] Preferably, the controller module calculates the standard motion position Dbzw of the motor according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

[0024]

[0025] In the formula, Dbzw represents the standard motion position of the motor, Mcjs represents the pulse signal count value, which is the pulse signal count value transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per rotation, and Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per rotation of the motor encoder.

[0026] Preferably, the controller module calculates the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

[0027]

[0028] In the formula, Dqxh represents the motor drive signal value, e(t) represents the current motor position error, and K p , K i and K d Represents the proportional coefficient, integral coefficient, and differential coefficient.

[0029] Preferably, the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh, and the control method is as follows:

[0030] The motor drive module will first analyze the input signals such as the control mode signal, reset signal, and emergency stop signal to determine the current working mode and emergency control status;

[0031] The motor drive module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration;

[0032] During the process of controlling the motor operation, the motor drive module will monitor the motor's operating status in real time, including speed, position and current.

[0033] Preferably, the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor, and the control strategy design method is as follows:

[0034] The control strategy adjustment module adjusts the control parameters through the genetic optimization algorithm to achieve the best control effect. The optimization process is based on sensor monitoring data and system performance indicators to find the optimal control strategy parameter combination;

[0035] The control strategy adjustment module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the motor operating status.

[0036] Preferably, a driving method for a multi-motor synchronous rotary drive comprises the following specific steps:

[0037] S1, collect motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh through the signal acquisition module, and transmit the above signals to the controller module;

[0038] S2, the controller calculates the target speed and position of each motor and the motor drive signal according to the signal data transmitted by the signal acquisition module;

[0039] S3, the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh;

[0040] S4, the sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds this information back to the control strategy adjustment module;

[0041] S5, the control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor. Through continuous calculation, control and adjustment, the system realizes the synchronous rotation motion of multiple motors.

[0042] Compared with the prior art, the present invention provides a multi-motor synchronous rotation drive system and a drive method thereof, which have the following beneficial effects:

[0043] The present invention collects a motor speed signal Djsd, a motor position signal Djwz, a control mode signal Kzms, a reset signal Fwxh and an emergency stop signal Jtxh through a signal acquisition module, and transmits the above signals to a controller module; the controller module calculates a motor standard speed Dbzs, a motor standard motion position Dbzw and a motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values ​​to a motor drive module; the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor; and by adjusting and optimizing the motor control strategy, fine control and regulation of the motor are achieved, thereby improving the working efficiency of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the system flow of the present invention.

[0045] Figure 2 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0046] 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 creative work are within the scope of protection of the present invention.

[0047] In view of the problem of low motor efficiency caused by inaccurate control in the current multi-motor synchronous drive process, a multi-motor synchronous rotary drive system is proposed. Figure 1 The system includes a signal acquisition module, a controller module, a motor drive module, a sensor module and a control strategy adjustment module, wherein:

[0048] The signal acquisition module is used to collect the motor speed signal Djsd, the motor position signal Djwz, the control mode signal Kzms, the reset signal Fwxh and the emergency stop signal Jtxh, and compile the above data into a data set. The motor speed signal data set is {Djsd n-9 ,Djsdn-8 ,Djsd n-7 , ..., Djsd n}, the motor position signal data set is {Djwz n-9 ,Djwz n-8 ,Djwz n-7 , ..., Djwz n}, the control mode signal data set is {Kzms n-9 , Kzms n-8 , Kzms n-7 , ..., Kzms n}, each data set contains ten sets of data;

[0049] The controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, where:

[0050] The formula for calculating the standard motor speed is as follows:

[0051]

[0052] The standard speed of the motor can be used as a reference benchmark to evaluate the performance of the actual operation of the motor. By comparing the difference between the actual speed and the standard speed, problems in the operation of the motor can be discovered in time, and corresponding measures can be taken to adjust and correct them. In the formula, Dbzs represents the standard speed of the motor, Mcxh represents the pulse signal frequency, which refers to the pulse signal frequency transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw for each revolution, Bmqs represents the number of encoder lines, which refers to the number of pulses output by the encoder for each revolution of the motor encoder, and 60 represents the conversion of the speed unit from revolutions per minute to milliseconds per second. By calculating the standard speed of the motor, the operating state of the motor can be controlled more accurately. In practical applications, the stability and efficiency of the motor can be ensured by adjusting the control signal to make the motor run within the standard speed range.

[0053] The formula for calculating the standard motion position of the motor is as follows:

[0054]

[0055] By calculating the standard motion position of the motor, more accurate position control can be achieved. Using the standard position as a reference value can help adjust the control system to ensure that the motor reaches the required position accuracy in actual operation. In the formula, Dbzw represents the standard motion position of the motor, Mcjs represents the pulse signal count value, which is the pulse signal count value transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per revolution, and Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per revolution of the motor encoder. Calculating the standard motion position of the motor can help optimize the production process and improve production efficiency. According to the requirements of the standard position, adjusting and optimizing the motor motion trajectory can reduce production errors and improve the stability and production efficiency of the production line.

[0056] The calculation formula of the motor drive signal value is as follows:

[0057]

[0058] By calculating the motor drive signal value, more accurate motor control can be achieved. According to the calculated signal value, the motor speed, output power and other parameters can be accurately adjusted to meet the requirements of the motor operation status in the production process. In the formula, Dqxh represents the motor drive signal value, e(t) represents the current motor position error, and K p , K i and K d Representing the proportional coefficient, integral coefficient and differential coefficient, and calculating the motor drive signal value can ensure that the motor operates within a reliable and stable working range. Reasonable drive signal values ​​can help reduce the vibration and impact of the motor during the start-stop process, thereby extending the life of the motor and equipment;

[0059] The motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal txh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh. The control method is as follows:

[0060] The motor drive module will first analyze the input signals such as the control mode signal, reset signal, and emergency stop signal to determine the current working mode and emergency control status;

[0061] The motor drive module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration;

[0062] During the process of controlling the motor operation, the motor driver module will monitor the motor's operating status in real time, including speed, position and current;

[0063] The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor. The control strategy design method is as follows:

[0064] The control strategy adjustment module adjusts the control parameters through the genetic optimization algorithm to achieve the best control effect. The optimization process is based on sensor monitoring data and system performance indicators to find the optimal control strategy parameter combination;

[0065] The control strategy adjustment module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the motor operation status;

[0066] Through the above workflow, the system continuously performs calculation optimization, control and adjustment of relevant signals, and finally realizes the synchronous rotation motion of multiple motors, while realizing fine control and adjustment of the motors, thereby improving the working efficiency of the motors.

[0067] See also Figure 2 , a driving method for a multi-motor synchronous rotary drive, the specific steps are as follows:

[0068] S1, collect motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh through the signal acquisition module, and transmit the above signals to the controller module;

[0069] S2, the controller calculates the target speed and position of each motor and the motor drive signal according to the signal data transmitted by the signal acquisition module;

[0070] S3, the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh;

[0071] S4, the sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds this information back to the control strategy adjustment module;

[0072] S5, the control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor. Through continuous calculation, control and adjustment, the system realizes the synchronous rotation motion of multiple motors.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-motor synchronous rotary drive system, characterized in that: It includes a signal acquisition module, a controller module, a motor drive module, a sensor module and a control strategy adjustment module; The signal acquisition module is electrically connected to the controller module; The controller module is electrically connected to the motor drive module; The driving module is electrically connected to the sensor module; The sensor module is electrically connected to the control strategy adjustment module; The signal acquisition module is used to collect the motor speed signal Djsd, the motor position signal Djwz, the control mode signal Kzms, the reset signal Fwxh and the emergency stop signal Jtxh, and transmit the above signals to the controller module; the controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values ​​to the motor drive module; The formula for calculating the motor standard speed Dbzs is as follows: In the formula, Dbzs represents the standard speed of the motor, Mcxh represents the pulse signal frequency, which refers to the pulse signal frequency transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw rod per revolution, Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per revolution of the motor encoder, and 60 represents the conversion of the speed unit from revolutions per minute to milliseconds per second; The formula for calculating the motor standard motion position Dbzw is as follows: In the formula, Dbzw represents the standard motion position of the motor, Mcjs represents the pulse signal count value, which is the pulse signal count value transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw rod per rotation, and Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per rotation of the motor encoder line number; The motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; The sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds back this information to the control strategy adjustment module; The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor.

2. A multi-motor synchronous rotation drive system according to claim 1, characterized in that: The signal acquisition module compiles the collected motor speed signal into a data set, which is {Djsd n-9 ,Djsd n-8 ,Djsd n-7 ,...,Djsd n }.

3. A multi-motor synchronous rotation drive system according to claim 2, characterized in that: The signal acquisition module compiles the collected motor position signals into a data set, which is {Djwz n-9 ,Dj n-8 ,Dj n-7 ,...,Djwz n }.

4. A multi-motor synchronous rotation drive system according to claim 3, characterized in that: The signal acquisition module compiles the acquired control mode signals into a data set, and the data set is {Kzms n-9 ,Kzms n-8 ,Kzms n-7 ,...,Kzms n }.

5. A multi-motor synchronous rotation drive system according to claim 4, characterized in that: The controller module calculates the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module. The calculation formula is as follows: In the formula, Dqxh represents the motor drive signal value, e(t) represents the current motor position error, and K p , K i and K d Represents the proportional coefficient, integral coefficient, and differential coefficient.

6. A multi-motor synchronous rotation drive system according to claim 5, characterized in that: The motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh, and the control method is as follows: The motor drive module will first analyze the input signals such as the control mode signal, reset signal, and emergency stop signal to determine the current working mode and emergency control status; The motor drive module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration; During the process of controlling the motor operation, the motor drive module will monitor the motor's operating status in real time, including speed, position and current.

7. A multi-motor synchronous rotation drive system according to claim 6, characterized in that: The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor. The control strategy design method is as follows: The control strategy adjustment module adjusts the control parameters through the genetic optimization algorithm to achieve the best control effect. The optimization process is based on sensor monitoring data and system performance indicators to find the optimal control strategy parameter combination; The control strategy adjustment module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the motor operating status.

8. The driving method of a multi-motor synchronous rotation driving system according to claim 1, wherein the specific steps are as follows: S1, collect motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh through the signal acquisition module, and transmit the above signals to the controller module; S2, the controller calculates the target speed and position of each motor and the motor drive signal according to the signal data transmitted by the signal acquisition module; S3, the motor drive module controls the running state of the motor according to the numerical values ​​of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; S4, the sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds this information back to the control strategy adjustment module; S5, the control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor. Through continuous calculation, control and adjustment, the system realizes the synchronous rotation motion of multiple motors.

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