Synchronous control device for multi-axis master-slave drive

Abstract

The application relates to the technical field of industrial motor drive control, and provides a synchronous control device for multi-shaft master-slave drive, which comprises a plurality of first motor drive units, a shaft synchronization unit and a motion controller; the shaft synchronization unit is connected with the plurality of first motor drive units through a shaft synchronization bus, the shaft synchronization unit is used for combining the plurality of first motor drive units into a synchronous shaft group, and setting a driving shaft and a driven shaft in the synchronous shaft group; the motion controller is connected with the shaft synchronization unit through a real-time industrial bus, and the motion controller is used for controlling synchronous motion of each first motor drive unit in the synchronous shaft group. The synchronous control device for multi-shaft master-slave drive provided by the application has high real-time performance and can improve multi-shaft synchronous control performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial motor drive control, and in particular to a synchronous control device for multi-axis master-slave drive. BACKGROUND

[0002] In industrial large-scale mechanical equipment, due to heavy mechanical load and large equipment span, a gantry type design mechanism is often used. The motor drive units on both sides of the gantry shaft need to have high synchronous control performance to ensure the synchronous movement of the gantry shaft and prevent the deformation of the machining profile caused by mechanical torsional swing. Moreover, for large gantry equipment, due to the existence of intermittent transmission chain (gear / rack), the two sides of the gantry shaft need to complete the anti-backlash control at the same time under master-slave drive. In such cases, four motors are usually required for synchronous control of the master-slave shaft group.

[0003] For the drive control of master-slave shafts, there are two existing technical solutions: one is a master-slave control scheme with double-motor double-drive, which realizes real-time interaction of synchronous data between the driving shaft and the driven shaft through special communication, and completes real-time synchronous control of the master-slave shafts in the drive unit; the other is to realize the interaction of synchronous data through real-time industrial bus, and complete the real-time synchronous control of the master-slave shafts in the motion controller. The first scheme cannot meet the technical requirements of four-axis synchronous control of large equipment; in the second scheme, due to the data bandwidth limitation of the general industrial bus, the real-time performance of data interaction between multiple shafts is not high, resulting in a decline in the control performance of multi-axis synchronization. SUMMARY

[0004] The present application provides a synchronous control device for multi-axis master-slave drive to solve the defects that the existing technology cannot meet the multi-axis synchronous control or has poor control performance.

[0005] The present application provides a synchronous control device for multi-axis master-slave drive, comprising:

[0006] a plurality of first motor drive units, a shaft synchronization unit and a motion controller;

[0007] The shaft synchronization unit is connected with the plurality of first motor drive units through a shaft synchronization bus, and the shaft synchronization unit is used to combine the plurality of first motor drive units into a synchronous shaft group, and set a driving shaft and a driven shaft in the synchronous shaft group;

[0008] The motion controller is connected with the shaft synchronization unit through a real-time industrial bus, and the motion controller is used to control the synchronous movement of each first motor drive unit in the synchronous shaft group.

[0009] According to the multi-axis master-slave driving synchronization control device provided by the application, the shaft synchronization unit comprises a real-time industrial bus data input port, a real-time industrial bus data output port, and a plurality of shaft synchronization bus data interaction ports, the number of the shaft synchronization bus data interaction ports is greater than or equal to the number of the first motor driving units.

[0010] According to the multi-axis master-slave driving synchronization control device provided by the application, the shaft synchronization unit comprises:

[0011] A parameter configuration subunit is configured to configure operation parameters of the shaft synchronization unit.

[0012] A state monitoring subunit is configured to monitor whether the shaft synchronization unit has a fault.

[0013] A data interaction subunit is configured to send synchronization data to the first motor driving unit and receive feedback data returned by the first motor driving unit.

[0014] A timing synchronization subunit is configured to periodically correct synchronization timing of the shaft synchronization unit and the first motor driving unit.

[0015] According to the multi-axis master-slave driving synchronization control device provided by the application, the operation parameters of the shaft synchronization unit comprise at least one of the following:

[0016] Mode control parameters, the mode control parameters comprising control modes of the shaft synchronization unit and master-slave shaft settings.

[0017] Synchronization position errors, the synchronization position errors being used to constrain maximum errors between master-slave shafts of a gantry shaft group.

[0018] Synchronization torque errors, the synchronization torque errors being used to constrain maximum errors between master-slave shafts of a tension shaft group.

[0019] Synchronization timing limits, the synchronization timing limits being used to constrain synchronization timing error between the shaft synchronization unit and the first motor driving unit.

[0020] Synchronization timing periods, the synchronization timing periods being used to set communication periods of the shaft synchronization bus.

[0021] According to the multi-axis master-slave driving synchronization control device provided by the application, the state monitoring subunit is configured to:

[0022] Obtain fault states of each first motor driving unit, synchronization errors between master-slave shafts, and timing errors between master-slave shafts.

[0023] Based on at least one of the fault states, the synchronization errors, and the timing errors, monitor whether the shaft synchronization unit has a fault.

[0024] According to the application, the synchronization data includes at least one of the following: synchronization position, synchronization speed, synchronization torque, synchronization control word and synchronization timing correction amount.

[0025] Correspondingly, the feedback data includes at least one of the following: feedback position, feedback speed, feedback torque, running state word and synchronization timing deviation.

[0026] According to the application, the timing synchronization subunit is configured to:

[0027] Obtain the synchronization timing deviation of the current period through the shaft synchronization bus;

[0028] Based on the synchronization timing deviation of the current period, calculate the synchronization timing correction amount of the next period, and send the synchronization timing correction amount of the next period to the first motor drive unit, so that the first motor drive unit corrects the next period and returns the synchronization timing deviation of the next period;

[0029] Take the next period as the current period to calculate the synchronization timing correction amount, until the synchronization timing correction amount is within the preset range.

[0030] According to the application, any first motor drive unit includes a real-time industrial bus data input port, a real-time industrial bus data output port and a shaft synchronization bus data interaction port.

[0031] According to the application, the device further includes:

[0032] The second motor drive unit is connected with the motion controller and the shaft synchronization unit through the real-time industrial bus, and is configured to serve as a drive.

[0033] According to the application, the device further includes:

[0034] A field programmable gate array (FPGA) is used for parallel processing of interaction data and logic timing.

[0035] A microcontroller is used to control the shaft synchronization unit and the first motor drive unit.

[0036] A storage medium is used to store the control program and configuration parameters of the microcontroller.

[0037] The application provides a multi-shaft master-slave driving synchronous control device, a shaft synchronization unit and a shaft synchronization bus, a plurality of first motor driving units are combined into a synchronous shaft group, and a driving shaft and a driven shaft in the synchronous shaft group are arranged, so that multi-shaft master-slave driving synchronous control is realized. Point-to-point communication between the shaft synchronization unit and the first motor driving unit is realized through the shaft synchronization bus, and high real-time performance can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0039] Figure 1 is one of the structural schematic diagrams of the multi-shaft master-slave driving synchronous control device provided by the application;

[0040] Figure 2 is a communication interface schematic diagram of the shaft synchronization unit provided by the application;

[0041] Figure 3 is a structural schematic diagram of the shaft synchronization unit provided by the application;

[0042] Figure 4 is a flow schematic diagram of the shaft synchronization unit state monitoring method provided by the application;

[0043] Figure 5 is a data interaction schematic diagram provided by the application;

[0044] Figure 6 is a schematic diagram of the period correction of the synchronous timing provided by the application;

[0045] Figure 7 is a communication interface schematic diagram of any first motor driving unit provided by the application;

[0046] Figure 8 is the second structural schematic diagram of the multi-shaft master-slave driving synchronous control device provided by the application;

[0047] Figure 9 is a control system structural schematic diagram of the multi-shaft master-slave driving synchronous control device provided by the application.

[0048] REFERENCE SIGNS:

[0049] 110: first motor driving unit; 120: shaft synchronization unit; 130: motion controller. DETAILED DESCRIPTION

[0050] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0051] In order to improve the control performance, the present application is aimed at the problem that the prior art cannot meet the multi-axis synchronous control or the control performance is poor. The present application is characterized in that: a plurality of first motor driving units are combined into a synchronous axis group through an axis synchronization unit and an axis synchronization bus, and a master axis and a slave axis in the synchronous axis group are set, so as to realize the synchronous control of the multi-axis master-slave driving. The point-to-point communication between the axis synchronization unit and the first motor driving unit is realized through the axis synchronization bus, and high real-time performance can be achieved.

[0052] Based on the above-mentioned inventive concept, the present application provides a synchronous control device for multi-axis master-slave driving, which can be applied to the scene of synchronous control of a plurality of motors in the industrial motor driving control technical field, such as the scene of large gantry axis control, so as to provide the control performance of multi-axis synchronization.

[0053] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0054] The technical solutions of the present application will be described in detail below in conjunction with the drawings. Figure 1 is one of the structural schematic diagrams of the synchronous control device for multi-axis master-slave driving provided by the present application, as Figure 1 shown, the device comprises:

[0055] a plurality of first motor driving units 110, an axis synchronization unit 120 and a motion controller 130;

[0056] The axis synchronization unit 120 is connected with the plurality of first motor driving units 110 through an axis synchronization bus, and the axis synchronization unit 120 is used for combining the plurality of first motor driving units 110 into a synchronous axis group, and setting a master axis and a slave axis in the synchronous axis group;

[0057] The motion controller 130 is connected with the axis synchronization unit 120 through a real-time industrial bus, and the motion controller 130 is used for controlling the synchronous motion of each first motor driving unit 110 in the synchronous axis group.

[0058] Specifically, the first motor drive unit realizes the conversion of electric energy by electromagnetic induction and electromagnetic force, so as to drive the mechanical equipment to operate. The first motor drive unit can be a direct current motor or an alternating current motor, and the embodiments of the present application do not make specific limitations on this. The number of the first motor drive units can be 2 or more.

[0059] In order to realize the synchronous control of the plurality of first motor drive units, the embodiments of the present application introduce a special device: a shaft synchronization unit. The shaft synchronization unit is connected with the plurality of first motor drive units through a shaft synchronization bus, and simultaneously interacts with the plurality of first motor drive units. The shaft synchronization unit combines the plurality of first motor drive units into a synchronous shaft group, that is, a synchronous shaft. In addition, the shaft synchronization unit can set a driving shaft and a driven shaft in the synchronous shaft group, that is, set the control attribute of each first motor drive unit as a driving shaft or a driven shaft, for example, set the first motor drive unit A as a driving shaft, and set the first motor drive unit B as a driven shaft.

[0060] In addition, the synchronous control device further includes a motion controller connected with the shaft synchronization unit through a real-time industrial bus. The real-time industrial bus can identify that the shaft synchronization unit is a synchronous shaft device, so as to control the synchronous motion of each first motor drive unit in the synchronous shaft group.

[0061] The control device provided by the embodiments of the present application combines the plurality of first motor drive units into a synchronous shaft group through the shaft synchronization unit and the shaft synchronization bus, and sets a driving shaft and a driven shaft in the synchronous shaft group, so as to realize the synchronous control of multi-shaft driving and driven. The point-to-point communication between the shaft synchronization unit and the first motor drive unit is realized through the shaft synchronization bus, which can have high real-time performance.

[0062] Based on the above embodiments, the shaft synchronization unit includes a real-time industrial bus data input port, a real-time industrial bus data output port, and a plurality of shaft synchronization bus data interaction ports. The number of the shaft synchronization bus data interaction ports is greater than or equal to the number of the first motor drive units.

[0063] Specifically, Figure 2 is a communication interface schematic diagram of the shaft synchronization unit provided by the present application, as Figure 2 shown, the shaft synchronization unit includes 6 communication interfaces, which are:

[0064] IN: real-time industrial bus data input port;

[0065] OUT: real-time industrial bus data output port;

[0066] MSS1: shaft synchronization bus data interaction port 1;

[0067] MSS2: shaft synchronization bus data interaction port 2;

[0068] MSS3: shaft synchronization bus data interaction port 3;

[0069] MSS4: shaft synchronization bus data interaction port 4.

[0070] It can be understood that the number of shaft synchronization bus data interaction ports is greater than or equal to the number of first motor driving units. For example, if the number of shaft synchronization bus data interaction ports is 4, the number of first motor driving units can be 2, 3 or 4.

[0071] Based on any of the above embodiments, Figure 3 is a structural schematic diagram of the shaft synchronization unit provided by the application, as Figure 3 The shaft synchronization unit 120 includes a parameter configuration subunit 121, a state monitoring subunit 122, a data interaction subunit 123 and a timing synchronization subunit 124.

[0072] The parameter configuration subunit 121 is configured to configure the operating parameters of the shaft synchronization unit. In some embodiments, the operating parameters of the shaft synchronization unit include at least one of the following:

[0073] Mode control parameters, the mode control parameters including the control mode of the shaft synchronization unit and the master-slave shaft setting;

[0074] Synchronization position error, the synchronization position error being used to constrain the maximum error between the master-slave shafts of the gantry shaft group;

[0075] Synchronization torque error, the synchronization torque error being used to constrain the maximum error between the master-slave shafts of the tension shaft group;

[0076] Synchronization timing limiting, the synchronization timing limiting being used to constrain the timing synchronization error between the shaft synchronization unit and the first motor driving unit;

[0077] Synchronization timing cycle, the synchronization timing cycle being used to set the communication cycle of the shaft synchronization bus.

[0078] Specifically, the mode control parameters can be denoted as P01, and each control mode can be represented by mode control words 0, 1 and 2, respectively. For example, the mode control parameters can be shown as shown in Table 1, 0 indicating that the control mode is double-shaft gantry control, and the shaft synchronization bus data interaction port 1 of the shaft synchronization unit is connected in parallel with the active shaft, and the interaction port 3 is connected in parallel with the active shaft; for another example, 2 indicates that the control mode is four-shaft gantry+tension control.

[0079] Table 1

[0080]

[0081] The synchronous position error can be denoted as P02, used to constrain the maximum error between the master and slave shafts of the gantry shaft group, with the unit of pulse;

[0082] The synchronous torque error can be denoted as P03, used to constrain the maximum error between the master and slave shafts of the tension shaft group, with the unit of N.m;

[0083] The synchronous timing limiting can be denoted as P04, used to constrain the timing synchronization error between the shaft synchronization unit and the first motor driving unit, with the unit of ns;

[0084] The synchronous timing cycle can be denoted as P05, used to set the communication cycle of the shaft synchronization bus, with the unit of ns.

[0085] The state monitoring subunit 122 is used to monitor whether the shaft synchronization unit fails.

[0086] Further, the state monitoring subunit is specifically used for:

[0087] acquiring the fault state of each first motor driving unit, the synchronous error between the master and slave shafts, and the timing error between the master and slave shafts;

[0088] monitoring whether the shaft synchronization unit fails based on at least one of the fault state, the synchronous error, and the timing error.

[0089] In order to further improve the synchronous control performance, the device state needs to be monitored. Considering that the fault state of each first motor driving unit directly affects the running state of the shaft synchronization unit, the fault state of each first motor driving unit can be used to determine whether the shaft synchronization unit fails. If any first motor driving unit fails, the shaft synchronization unit can be triggered to enter a fault state.

[0090] In addition, the synchronous error between the master and slave shafts and / or the timing error between the master and slave shafts can also be used to monitor whether the shaft synchronization unit fails. If the synchronous error or the timing error exceeds the limit, the shaft synchronization unit fails.

[0091] Figure 4 is a flowchart of the shaft synchronization unit state monitoring method provided by the present application, as shown in Figure 4 Firstly, the shaft synchronization unit can acquire the fault state of each first motor driving unit through the shaft synchronization bus, and any fault of the first motor driving unit can trigger the shaft synchronization unit to enter a fault state.

[0092] In the case where the first motor driving unit is fault-free, the synchronous error between the master and slave shafts is acquired through the shaft synchronization bus, and if the synchronous error is greater than P02 (for the gantry shaft group) or P03 (for the tension shaft group), the synchronous unit fails.

[0093] In the case that the master-slave synchronization error is not out of limit, the shaft synchronization unit can obtain the timing error between the master shaft and the slave shaft through the shaft synchronization bus, and if the timing error is greater than P04, a synchronization unit fault is generated.

[0094] The data interaction subunit 123 is configured to send synchronization data to the first motor driving unit and receive feedback data returned by the first motor driving unit.

[0095] Figure 5 The data interaction schematic diagram is shown in FIG. 1. Figure 5 As shown in FIG. 1, the shaft synchronization unit performs data interaction with each first motor driving unit through the shaft synchronization bus.

[0096] The synchronization data includes at least one of a synchronization position, a synchronization speed, a synchronization torque, a synchronization control word and a synchronization timing correction amount.

[0097] Correspondingly, the feedback data includes at least one of a feedback position, a feedback speed, a feedback torque, an operation state word and a synchronization timing deviation.

[0098] Specifically, the synchronization position is a position instruction sent by the synchronization unit to the first motor driving unit.

[0099] The synchronization speed is a speed instruction sent by the shaft synchronization unit to the first motor driving unit.

[0100] The synchronization torque is a torque instruction sent by the shaft synchronization unit to the first motor driving unit.

[0101] The synchronization control word is a control word (enable control, fault reset, mode control) sent by the shaft synchronization unit to the first motor driving unit.

[0102] The synchronization timing correction is a timing correction time sent by the shaft synchronization unit to the first motor driving unit, that is, the time at which the driving unit needs to correct the increment in the next period.

[0103] Correspondingly, the feedback position is a position value fed back by the first motor driving unit to the shaft synchronization unit.

[0104] The feedback speed is a speed value fed back by the first motor driving unit to the shaft synchronization unit.

[0105] The feedback torque is a torque value fed back by the first motor driving unit to the shaft synchronization unit.

[0106] The operation state word is an operation state flag (enable flag, fault flag, mode flag) fed back by the first motor driving unit to the shaft synchronization unit.

[0107] The synchronization timing deviation is a timing deviation time fed back by the first motor driving unit to the shaft synchronization unit, that is, the deviation between the period starting time of the driving unit and the data interaction time of the synchronization bus.

[0108] The timing synchronization subunit 124 is configured to periodically correct the synchronization timing of the shaft synchronization unit and the first motor drive unit. Specifically, the timing synchronization subunit 124 is configured to:

[0109] obtain the synchronization timing deviation of the current period through the shaft synchronization bus;

[0110] based on the synchronization timing deviation of the current period, calculate the synchronization timing correction amount of the next period, and send the synchronization timing correction amount of the next period to the first motor drive unit, so that the first motor drive unit corrects the next period and returns the synchronization timing deviation of the next period;

[0111] take the next period as the current period to calculate the synchronization timing correction amount, until the synchronization timing correction amount is within the preset range.

[0112] Figure 6 is a schematic diagram of the present application for periodically correcting the synchronization timing, as shown in Figure 6 The synchronization timing is based on the period start time of the shaft synchronization unit. The shaft synchronization unit obtains the synchronization timing deviation of the current period through data interaction of the synchronization bus.

[0113] The shaft synchronization unit calculates the time increment that the drive unit needs to correct in the next period, i.e., the synchronization timing correction amount, based on the obtained timing deviation time. Then, the drive unit corrects the period after obtaining the time increment of the timing correction.

[0114] After N periods of correction and adjustment, the timing correction amount is within the range of [-Tj, +Tj], where Tj is the synchronization jitter running time.

[0115] Based on any of the above embodiments, any first motor drive unit includes a real-time industrial bus data input port, a real-time industrial bus data output port, and a shaft synchronization bus data interaction port.

[0116] Specifically, Figure 7 is a communication interface schematic diagram of any first motor drive unit provided by the present application, as shown in Figure 7 The first motor drive unit includes three ports, which are:

[0117] IN: real-time industrial bus data input port;

[0118] OUT: real-time industrial bus data output port;

[0119] MSS: shaft synchronization bus data interaction port.

[0120] Based on any of the above embodiments, the synchronization control device further includes:

[0121] The second motor drive unit is connected with the motion controller and the shaft synchronization unit through the real-time industrial bus, and is used for servo driving.

[0122] Specifically, Figure 8 is a structural schematic diagram of a synchronization control device for multi-axis master-slave driving provided by the present application, as Figure 8 indicated, the synchronization control device further comprises a second motor drive unit. The structure and control system of the second motor drive unit here can be the same as or different from the first motor drive unit, and the present application embodiment does not make specific limitation thereon. In addition, the number of the second motor drive unit is also not limited.

[0123] Based on any of the above embodiments, Figure 9 is a control system structural schematic diagram of a synchronization control device for multi-axis master-slave driving provided by the present application, as Figure 9 indicated, the synchronization control device further comprises:

[0124] Field programmable gate array (FPGA) for parallel processing of interactive data and logic timing;

[0125] Microcontroller for controlling the shaft synchronization unit and the first motor drive unit;

[0126] Storage medium for storing the control program and configuration parameters of the microcontroller.

[0127] Specifically, FPGA is an integrated circuit chip, through its programmable logic unit and interconnection resources, it can receive and process data from different sources, such as sensors, other controllers, etc. It can convert, filter or combine data according to predetermined logic rules to meet the needs of synchronization control.

[0128] FPGA can handle multiple logic timing tasks in parallel. Through programming configuration, FPGA can perform multiple logic operations and data processing tasks at the same time, improving the response speed and processing capacity of the entire system.

[0129] The microcontroller coordinates the work of the shaft synchronization unit by sending control signals. It can adjust the speed, phase and position of the shaft according to the preset synchronization algorithm or strategy to achieve precise synchronization between multiple shafts.

[0130] The microcontroller is also responsible for controlling the first motor drive unit, i.e. directly controlling the operation of the motor. By sending appropriate drive signals, the microcontroller can start, stop or adjust the speed and direction of the motor to meet the requirements of synchronization control.

[0131] The microcontroller and the FPGA closely interact and cooperate with each other. The data processed by the FPGA can be transmitted to the microcontroller as the basis for its decision-making and control. At the same time, the microcontroller can also send control instructions to the FPGA to adjust its logic processing strategy or parameters.

[0132] The storage medium stores the control programs of the microcontroller, which define the behavior and functions of the microcontroller. When the device starts, the control program will be loaded into the memory of the microcontroller and guide it to perform various synchronization control tasks.

[0133] In addition to the control program, the storage medium also saves the configuration parameters of the synchronization control device. These parameters include the synchronization settings of the shaft, the driving parameters of the motor, the logic configuration of the FPGA, etc. These parameters can be adjusted and optimized according to the actual application requirements to improve the performance and stability of the device.

[0134] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions described in the foregoing examples can still be modified or some technical features can be replaced by equivalents. The modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A synchronous control device of a multi-axis master-slave drive, characterized by, The application relates to a synchronous shaft unit and a motor drive system. The motor drive system comprises a plurality of first motor drive units, a shaft synchronous unit and a motion controller. The shaft synchronous unit is connected with the plurality of first motor drive units through a shaft synchronous bus, and is used for combining the plurality of first motor drive units into a synchronous shaft group and setting a driving shaft and a driven shaft in the synchronous shaft group. The motion controller is connected with the shaft synchronous unit through a real-time industrial bus, and is used for controlling synchronous motion of each first motor drive unit in the synchronous shaft group. The shaft synchronous unit comprises a timing synchronization subunit, which is used for periodically correcting synchronous timing of the shaft synchronous unit and the first motor drive unit. The timing synchronization subunit is used for: obtaining a synchronous timing deviation of a current period through the shaft synchronous bus; calculating a synchronous timing correction amount of a next period based on the synchronous timing deviation of the current period, and sending the synchronous timing correction amount of the next period to the first motor drive unit, so that the first motor drive unit corrects the next period and returns a synchronous timing deviation of the next period; circulating the calculation of the synchronous timing correction amount with the next period as the current period until the synchronous timing correction amount is within a preset range.

2. The synchronous control apparatus of a multiple-shaft master-slave drive according to claim 1, characterized by The shaft synchronous unit further comprises a real-time industrial bus data input port, a real-time industrial bus data output port and a plurality of shaft synchronous bus data interaction ports, and the number of the shaft synchronous bus data interaction ports is greater than or equal to the number of the first motor drive units.

3. The synchronous control apparatus of a multiple-shaft master-slave drive according to claim 2, characterized by The shaft synchronous unit further comprises: a parameter configuration subunit, which is used for configuring operation parameters of the shaft synchronous unit; a state monitoring subunit, which is used for monitoring whether the shaft synchronous unit generates a fault; a data interaction subunit, which is used for sending synchronous data to the first motor drive unit and receiving feedback data returned by the first motor drive unit.

4. The synchronous control apparatus of a multiple-axis master-slave drive according to claim 3, characterized by The operation parameters of the shaft synchronous unit comprise at least one of the following: mode control parameters, which comprise a control mode of the shaft synchronous unit and a master-slave shaft setting; a synchronous position error, which is used for restricting a maximum error between master-slave shafts of a gantry shaft group; a synchronous torque error, which is used for restricting a maximum error between master-slave shafts of a tension shaft group; a synchronous timing limiting amplitude, which is used for restricting a timing synchronization error between the shaft synchronous unit and the first motor drive unit; a synchronous timing period, which is used for setting a communication period of the shaft synchronous bus.

5. The apparatus according to claim 3, wherein The state monitoring subunit is used for: obtaining a fault state of each first motor drive unit, a synchronous error between master-slave shafts and a timing error between master-slave shafts; monitoring whether the shaft synchronous unit generates a fault based on at least one of the fault state, the synchronous error and the timing error.

6. The apparatus according to claim 3, wherein The synchronous data comprise at least one of a synchronous position, a synchronous speed, a synchronous torque, a synchronous control word and a synchronous timing correction amount. Correspondingly, the feedback data comprise at least one of a feedback position, a feedback speed, a feedback torque, an operation state word and a synchronous timing deviation.

7. The synchronous control apparatus of a master-slave drive of a multi-axis according to any one of claims 1 to 6, characterized by, Any first motor drive unit comprises a real-time industrial bus data input port, a real-time industrial bus data output port and a shaft synchronization bus data interaction port.

8. The synchronous control apparatus of a multiple-shaft master-slave drive according to any one of claims 1 to 6, characterized by The device further comprises: A second motor drive unit connected with the motion controller and the shaft synchronization unit through a real-time industrial bus, the second motor drive unit being used for servo driving.

9. The synchronous control apparatus of a multiple-shaft master-slave drive according to any one of claims 1 to 6, characterized by The device further comprises: A field programmable gate array (FPGA) for parallel processing of interaction data and logic timing; A microcontroller for controlling the shaft synchronization unit and the first motor drive unit; A storage medium for storing control programs and configuration parameters of the microcontroller.

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