Multi-motor control system and control method of brushless motor

Abstract

The invention relates to a multi-motor control system and control method for brushless motors, and the system comprises motors, a motor driving unit, and a linkage control unit which analyzes the operation information of each motor according to a user instruction, and traverses and accesses all motors according to the operation information. In the access process, whether the running state of the motor needs to be covered, whether the motor breaks down, whether the motor needs to act and whether the motor is a synchronous action motor are judged according to the operation information, and then a corresponding control instruction and corresponding mark information are generated according to the judgment result. According to the invention, the coordinated operation of the multiple motors is controlled through the linkage control unit, the linkage control of the multiple brushless motors is realized, the operation consistency of the motors is ensured, and the smooth, stable and accurate action is ensured when a user controls the movement of components in products such as an electric sofa, a massage chair, an electric bed, a medical bed, a lifting table and the like.

Description

Technical Field

[0001] The invention relates to a multi-motor control system and a control method for a brushless motor, and is applicable to the technical field of motors. Background Art

[0002] In electric sofas, massage chairs, electric beds, medical beds, lifting tables and other products, the mechanical structure of the motor-driven product is usually used to adjust the backrest, seat surface, bed board, massage parts and other parts of the product. At present, the driving motors in the above products are mostly brushed motors, but the noise, power supply and electromagnetic interference of brushed motors are large, the reliability is poor, and the service life is short. In order to solve the above problems, a patent with publication number CN114744927A provides a stepless power supply circuit and control method using a brushless motor instead of a brushed motor. The characteristics of brushless motors without brush loss and brushless friction noise solve the problems of high noise and low service life, and the mechanical commutation of the motor is improved to electronic commutation through the power supply circuit, which improves the control accuracy of the brushless motor. At the same time, the motor is provided with undervoltage, overcurrent, overtemperature, overload, stall and other protections, ensuring the reliability of the brushless motor.

[0003] However, in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables, there are usually multiple motor groups, and the driving of each component of the product usually requires the coordinated operation of multiple motors in the corresponding motor group. As mentioned above, the above-mentioned products in the prior art mostly use brushed motors. At present, the control of multiple brushed motors is usually achieved by adjusting the voltage of each brushed motor separately or performing PWM modulation on the power supply. The consistency between multiple motors cannot be guaranteed, which easily leads to problems such as movement jamming, poor stability, and inaccurate movement position when controlling the movement of product components. Although the above-mentioned public patent provides a method for controlling brushless motors, which solves the problems of noise, life, and operation reliability of single motors, this method can only control a single brushless motor. Therefore, there is currently a lack of a control system and method that can perform linkage control on multiple brushless motors. Summary of the invention

[0004] In order to solve the defects of the prior art mentioned above, the present invention proposes a multi-motor control system and a control method of a brushless motor.

[0005] On the one hand, the present invention provides a multi-motor control system of a brushless motor, comprising: at least two motors; a motor drive unit, used to drive the motor and read the running state of the motor, the number of the motor drive units is the same as the number of the motors and is connected to the motors one by one; a linkage control unit, used to receive and calculate the information input by the user and the feedback of the motor drive unit and push information and control instructions to the user and the motor drive unit, the linkage control unit is connected to the motor drive unit, and the linkage control unit includes a first power supply module, a first controller, a communication module connected between the first controller and the motor drive unit, and a user operation module connected to the first controller and used to transmit user instructions to the first controller. Specifically, the user operation module allows the user to issue a user operation instruction through buttons, knobs, touch, voice, etc., and the user operation module forwards the instruction to the first controller, and the first controller parses the user operation instruction and decomposes the operation information of each motor. At the same time, the first controller communicates with the motor drive unit in real time through the communication module, traverses all motors through each motor drive unit, and generates a control instruction corresponding to each motor according to the operation information, and then sends the control instruction to the corresponding motor drive unit, and the motor drive unit controls the corresponding motor to act according to the control instruction, thereby realizing linkage control of multiple motors. In addition, the linkage control unit analyzes user commands and uniformly allocates multiple motors to control the coordinated operation of each motor, thereby ensuring consistency between multiple motors and ensuring that users can control the movement of various product components smoothly, steadily and accurately.

[0006] Furthermore, the linkage control unit also includes a wireless communication module connected to the first controller and used for wireless communication with the user terminal device, and a display module connected to the first controller. Specifically, the wireless communication module can communicate wirelessly with the user's mobile phone, tablet computer and other terminal devices through WiFi, Bluetooth, infrared, UWB and other technologies, so that the user can remotely control electric sofas, massage chairs and other products; the display module can display the status of each component of the product, fault information, etc. through display screens, indicator lights, etc., for easy reminders.

[0007] Furthermore, the motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and used for conditioning the communication signal between the communication module and the second controller, a driving module connected between the second controller and the motor, and a second power supply module connected to the second controller and the driving module and used for supplying power to both. The second controller receives the control instruction sent by the linkage control unit, and drives the motor through the driving module according to the control instruction to realize the control of the motor; wherein the first conditioning module can modulate the communication signal between the linkage control unit and the second controller so that the signals between the two can be compatible.

[0008] Furthermore, the motor drive unit further includes a second conditioning module connected between the second controller and the drive module and used to condition the motor drive signal sent by the second controller. The motor drive signal is modulated by the second conditioning module to avoid circuit abnormality between the second controller and the motor, provide undervoltage, overcurrent, overload and other protections for the motor, and ensure the reliability of the motor operation.

[0009] In another aspect, the present invention provides a control method for a multi-motor control system of a brushless motor, comprising: The S1 linkage control unit receives the instructions input by the user and parses the operation information of each motor according to the instructions; S2 The linkage control unit accesses the motor drive unit corresponding to any unmarked motor according to the operation information and generates an access record, and then determines whether the current motor is running through the motor drive unit. If so, execute step S3, otherwise execute step S4; it should be noted that the unmarked motor here means that the motor is not marked as any of the states below, including fault, idle, normal operation, etc.; further, whether each motor is marked is only effective when the linkage control unit sequentially accesses all motors according to the current operation information parsed by the current instruction. That is, when the linkage control unit receives a new user input instruction, parses the new operation information, and starts the next round of traversal access to all motors according to the new operation information, all motors are regarded as unmarked motors. For example: the linkage control unit receives user instruction a, and in the process of traversing and accessing all motors according to the operation information parsed from user instruction a, a motor is marked as faulty. In the current round of traversal access, the motor is regarded as a marked motor and is no longer accessed repeatedly. After completing the round of traversal access, the linkage control unit receives user instruction b, and in the process of traversing and accessing all motors according to the operation information parsed from user instruction b, the above motor is still regarded as an unmarked motor and can be accessed, but the fault information of the motor will be retained; S3: the linkage control unit determines whether the current running state of the motor needs to be overwritten according to the operation information, and if so, executes step S4; otherwise, maintains the current running state and executes step S4; S4: the linkage control unit determines whether the current motor is faulty through the current motor drive unit, if so, marks the motor as faulty and executes step S7; if not, executes step S5; S5 The linkage control unit determines whether the motor needs to be moved according to the operation information, and if so, executes step S6, otherwise, marks the motor as idle and executes step S7; S6 The linkage control unit determines whether the current motor is a synchronous action motor according to the operation information, and if so, executes step S6.1, otherwise, executes step S6.2; S6.1 The linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, generates synchronous control instructions corresponding to the current motor and the other motors, and sends the synchronous control instructions to the motor drive units corresponding to the current motor and the other motors, and marks that the synchronous operation of the current motor and the other motors is normal; S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor according to the operation information, and sends the single-machine control instruction to the motor drive unit corresponding to the current motor, and marks that the single-machine operation of the motor is normal; S7 The linkage control unit determines whether to traverse all motor drive units according to the access record. If so, steps S1 to S7 are repeated; otherwise, steps S2 to S7 are repeated.

[0010] Furthermore, between step S1 and step S2, the following steps are also included: S1.1 The linkage control unit determines whether the operation on each motor is a valid operation according to the operation information, and if so, executes step S2, otherwise executes step S1.2; S1.2 The linkage control unit determines whether there is historical operation information for each motor. If so, step S2 is executed according to the historical operation information, otherwise, step S1 is returned. It should be noted that the valid operation here refers to the operation that does not exceed the preset operating limit value of each motor. For example, a motor used to control the tilt angle of the backrest of a massage chair, the tilt angle range of the backrest is 90°~180°, then the preset operating limit value of the motor is: the rotation angle of the shaft does not exceed the range between ±X°. When the operation of the motor causes the rotation angle of the shaft to exceed the range of ±X°, the operation is deemed to be an invalid operation.

[0011] Further, in step S4, the linkage control unit determines whether the current motor is faulty through the current motor drive unit, specifically including: S4.1 The linkage control unit determines whether the current motor is faulty through the current motor drive unit. If so, the motor is marked as faulty and step S7 is executed. Otherwise, step S4.2 is executed. S4.2 The linkage control unit determines whether the current motor is marked as faulty through the current motor drive unit, and if so, cancels the mark and executes step S5, otherwise executes step S5. This step can refresh the fault status of the motor, so that when the motor is normal, its fault alarm can be canceled in time.

[0012] Furthermore, in step S6.1, the linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, and determines whether the other motors are faulty. If so, the other motors are marked as faulty and step S7 is executed. Otherwise, the current step is continued.

[0013] Furthermore, in step S6, the method for determining whether the synchronous action motor is a synchronous action motor is as follows: if the operation information of any two motors among the at least two motors is the same, then the two motors are both synchronous action motors and are mutually synchronous action motors.

[0014] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: The multi-motor control system and control method of the brushless motor of the present invention receives and analyzes user instructions through a linkage control unit, and uniformly allocates multiple motors through a motor drive unit to control the coordinated operation of the multiple motors. It not only realizes the linkage control of multiple brushless motors, but also ensures the consistency of each motor during coordinated operation, thereby ensuring that users can control the movement of components in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables smoothly, steadily and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings: Figure 1 It is a structural schematic diagram of an embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the structure of the linkage control unit in the illustrated embodiment; Figure 3 yes Figure 1 A schematic diagram of the structure of the motor drive unit in the illustrated embodiment; Figure 4 yes Figure 1 A circuit structure diagram of the first conditioning module in the illustrated embodiment; Figure 5 yes Figure 1 A logic flow chart of the control method in the illustrated embodiment; DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0017] In the description of the present invention, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0018] On the one hand, refer to the attached Figure 1-4 In this embodiment, a multi-motor control system of a brushless motor is provided, including: at least two motors 1, a motor drive unit for driving the motor 1 and reading the operating status of the motor 1, and a linkage control unit for receiving and calculating information input by a user and feedback from the motor drive unit and pushing information and control instructions to the user and the motor drive unit. The number of the motor drive units is the same as the number of the motors 1 and is connected to the motors 1 in a one-to-one correspondence.

[0019] The linkage control unit is connected to the motor drive unit, and the linkage control unit includes a first power supply module, a first controller, a communication module connected between the first controller and the motor drive unit, and a user operation module connected to the first controller and used to transmit user instructions to the first controller. Specifically, the user operation module allows the user to issue user operation instructions through buttons, knobs, touch, voice, etc., and the user operation module forwards the instructions to the first controller, and the first controller parses the user operation instructions and decomposes the operation information of each motor 1. At the same time, the first controller communicates with the motor drive unit in real time through the communication module, traverses all motors 1 through each motor drive unit, and generates control instructions corresponding to each motor 1 according to the operation information, and then sends the control instructions to the corresponding motor drive unit, and the motor drive unit controls the corresponding motor 1 to act according to the control instructions, thereby realizing the linkage control of multiple motors 1. In addition, the linkage control unit parses the user instructions, and uniformly allocates multiple motors 1, controls each motor 1 to operate in coordination, ensures the consistency between multiple motors 1, and thus ensures that the user controls the movement of each component of the product smoothly, steadily and accurately.

[0020] The motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and used to condition the communication signal between the communication module and the second controller, a driving module connected between the second controller and the motor 1, a second power supply module connected to the second controller and the driving module and used to power both, and a second conditioning module connected between the second controller and the driving module and used to condition the motor drive signal sent by the second controller. The second controller receives the control instruction sent by the linkage control unit, and drives the motor 1 through the driving module according to the control instruction to realize the control of the motor 1. The second conditioning module modulates the motor drive signal to avoid circuit abnormalities between the second controller and the motor 1, and provides undervoltage, overcurrent, overload and other protections for the motor 1 to ensure the reliability of the operation of the motor 1.

[0021] Specifically, the second controller, the drive module, the second power supply module, and the second conditioning module in the motor drive unit can all realize their functions through existing technologies. The circuit structure of the first conditioning module is shown in the attached figure. Figure 4As shown, the COMM terminal is connected to the communication module, the COMM_SIGNAL terminal is connected to the communication signal input port of the second controller, and the signal sent by the linkage control unit is input from the COMM terminal, passes through the filtering and limiting circuit composed of R1, D1, and C1, enters the communication level conversion circuit, is converted into a level signal compatible with the second controller, and is input into the second controller through the COMM_SIGNAL terminal. The communication signal between the linkage control unit and the second controller is modulated by the first conditioning module to ensure signal compatibility between the two.

[0022] In a more preferred embodiment, the linkage control unit also includes a wireless communication module connected to the first controller and used for wireless communication with the user terminal device, and a display module connected to the first controller. Specifically, the wireless communication module can communicate wirelessly with the user's mobile phone, tablet computer and other terminal devices through WiFi, Bluetooth, infrared, UWB and other technologies, so that the user can remotely control electric sofas, massage chairs and other products; the display module can display the status of each component of the product, fault information, etc. through a display screen, indicator lights, etc., so as to facilitate reminders.

[0023] On the other hand, see Appendix Figure 5 In this embodiment, a control method for a multi-motor control system of a brushless motor is also provided, comprising: S1 linkage control unit receives the instruction input by the user and parses the operation information of each motor 1 according to the instruction.

[0024] Specifically, between step S1 and step S2, the following steps are also included: S1.1 The linkage control unit determines whether the operation on each motor 1 is a valid operation according to the operation information, and if so, executes step S2, otherwise executes step S1.2; S1.2 The linkage control unit determines whether there is historical operation information for each motor 1. If so, step S2 is executed according to the historical operation information, otherwise, step S1 is returned. It should be noted that the valid operation here refers to the operation that does not exceed the preset operating limit value of each motor 1. For example, a motor 1 used to control the inclination angle of the backrest of a massage chair, the inclination angle range of the backrest is 90°~180°, then the preset operating limit value of the motor 1 is: the rotation angle of the shaft does not exceed the range between ±X°. When the operation of the motor 1 causes the rotation angle of the shaft to exceed the range of ±X°, the operation is deemed to be an invalid operation.

[0025] S2 linkage control unit accesses the motor drive unit corresponding to any unmarked motor 1 according to the operation information and generates an access record, and then determines whether the current motor 1 is running through the motor drive unit, if so, executes step S3, otherwise executes step S4; It should be noted that the unmarked motor 1 here means that the motor 1 is not marked as any of the states including fault, idle, normal operation, etc.; further, whether each motor 1 is marked is only effective when the linkage control unit sequentially accesses all motors 1 according to the current operation information parsed by the current instruction. That is, when the linkage control unit receives a new user input instruction, parses the new operation information, and starts the next round of traversal access to all motors 1 according to the new operation information, all motors 1 are regarded as unmarked motors 1. For example: the linkage control unit receives user instruction a, and in the process of traversing and accessing all motors 1 according to the operation information parsed by user instruction a, a motor 1 is marked as faulty. In the current round of traversal access, the motor 1 is regarded as a marked motor 1 and is no longer visited repeatedly. After completing the traversal access of this round, the linkage control unit receives user instruction b. When traversing and accessing all motors 1 according to the operation information parsed by user instruction b, the above motor 1 is still regarded as an unmarked motor and can be accessed, but the fault information of the motor 1 will be retained.

[0026] S3 The linkage control unit determines whether the current running state of the motor 1 needs to be covered according to the operation information. If so, step S4 is executed; otherwise, the current running state is maintained and step S4 is executed.

[0027] S4: the linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit. If so, the motor 1 is marked as faulty and step S7 is executed; if not, step S5 is executed; Specifically, in step S4, the linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit, which specifically includes: S4.1 The linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit. If so, the motor 1 is marked as faulty and step S7 is executed. Otherwise, step S4.2 is executed. S4.2 The linkage control unit determines whether the current motor 1 is marked as faulty through the current motor drive unit. If so, the mark is cancelled and step S5 is executed; otherwise, step S5 is executed. The above steps can refresh the fault status of the motor, so that the fault alarm can be cancelled in time when the motor is normal.

[0028] S5: The linkage control unit determines whether the motor 1 needs to move according to the operation information. If so, step S6 is executed; otherwise, the motor 1 is marked as idle and step S7 is executed.

[0029] S6 linkage control unit determines whether the current motor 1 is a synchronous action motor according to the operation information, and if so, executes step S6.1, otherwise executes step S6.2; specifically, in step S6, the method for determining the synchronous action motor is: if the operation information of any two motors 1 of at least two motors 1 is the same, then the two motors 1 are both synchronous action motors and are mutually synchronous action motors; S6.1 The linkage control unit searches for other motors 1 that are synchronous motors with the current motor 1 according to the operation information, and determines whether the other motor 1 has a fault. If so, the other motor 1 is marked as faulty and step S7 is executed; if not, a synchronous control instruction corresponding to the current motor 1 and the other motor 1 is generated and the synchronous control instruction is sent to the motor drive unit corresponding to the current motor 1 and the other motor 1, and the current motor 1 and the other motor 1 are marked as running normally in synchronization; further, after the linkage control unit marks that the current motor 1 and the other motor 1 are running normally in synchronization, the current motor 1 and the other motor 1 are divided into a group of synchronous motors, The motor drive unit corresponding to the group of synchronous motors monitors and collects the operating status of the group of synchronous motors in real time. When there is a difference between the actual operating status of any motor 1 and the operating status corresponding to the synchronous control instruction (such as a decrease in the speed of any motor), the average value of the actual operating status of the group of synchronous motors is calculated, and the actual operating status of each motor 1 in the group of synchronous motors is controlled to be adjusted to the average value. After adjusting to the average value, the operating status of the group of synchronous motors is synchronously controlled to be adjusted to the operating status corresponding to the above-mentioned synchronous control instruction, thereby improving the consistency and coordination of a group of synchronous motors during operation, thereby ensuring smooth and stable actions of users when controlling the movement of product components. It should be noted that in this step, the other motors 1 that have been marked are regarded as marked motors, and the other motors are no longer accessed in the current round of traversal access, so as to improve the response speed of the synchronous operation of the motors.

[0030] S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor 1 according to the operation information, and sends the single-machine control instruction to the motor drive unit corresponding to the current motor 1, and at the same time marks that the single-machine operation of motor 1 is normal.

[0031] S7 The linkage control unit determines whether to traverse all motor drive units according to the access record. If so, steps S1 to S7 are repeated; otherwise, steps S2 to S7 are repeated.

[0032] Specifically, the linkage control unit and the motor drive unit can use TRIGGER, PWM, PFM, UART, SPI, IIC, CAN, single bus and other communication protocols to send synchronous control instructions or stand-alone control instructions. The specific method of generating the control instruction is: the linkage control unit is used as the host, and the motor 1 corresponding to the motor drive unit connected to the linkage control unit is used as the slave. The linkage control unit simulates the information of the motor operation according to the operation information and the specific communication protocol, and sends the information as a control instruction to the motor drive unit. For example: when the TRIGGER protocol is used, the linkage control unit can generate a trigger signal by simulating that the motor rotates a fixed angle every time. The trigger signal can be a high level with a fixed width, a low level with a fixed width, or a flip level. When the motor drive unit receives the trigger signal, it will control the corresponding motor 1 to rotate a corresponding angle to achieve the drive of the motor.

[0033] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: The multi-motor control system and control method of the brushless motor of the present invention receives and analyzes user instructions through a linkage control unit, and uniformly allocates multiple motors through a motor drive unit to control the coordinated operation of the multiple motors. It not only realizes the linkage control of multiple brushless motors, but also ensures the consistency of each motor during coordinated operation, thereby ensuring that users can control the movement of components in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables smoothly, steadily and accurately.

[0034] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-motor control system for a brushless motor, characterized in that: include: At least two motors; A motor drive unit, used to drive the motor and read the running status of the motor, the number of the motor drive units being the same as the number of the motors and being connected to the motors in a one-to-one correspondence; A linkage control unit is used to receive and calculate user input and information fed back by the motor drive unit and to push information and control instructions to the user and the motor drive unit. The linkage control unit is connected to the motor drive unit. The linkage control unit includes a first power supply module, a first controller, a communication module connected between the first controller and the motor drive unit, and a user operation module connected to the first controller and used to transmit user instructions to the first controller.

2. The multi-motor control system of the brushless motor according to claim 1, characterized in that: The linkage control unit also includes a wireless communication module connected to the first controller and used for wireless communication with a user terminal device, and a display module connected to the first controller.

3. The multi-motor control system of the brushless motor according to claim 1, characterized in that: The motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and used for conditioning the communication signal between the communication module and the second controller, a driving module connected between the second controller and the motor, and a second power supply module respectively connected to the second controller and the driving module and used for powering both.

4. The multi-motor control system of the brushless motor according to claim 3, characterized in that: The motor driving unit further includes a second conditioning module connected between the second controller and the driving module and used for conditioning the motor driving signal sent by the second controller.

5. A control method for a multi-motor control system of a brushless motor according to any one of claims 1 to 4, characterized in that: include: S1: the linkage control unit receives a command input by a user and parses the operation information of each motor according to the command; S2: the linkage control unit accesses the motor drive unit corresponding to any unmarked motor according to the operation information and generates an access record, and then determines whether the current motor is running through the motor drive unit, if so, executes step S3, otherwise executes step S4; S3: the linkage control unit determines whether the current running state of the motor needs to be overwritten according to the operation information, and if so, executes step S4; otherwise, maintains the current running state and executes step S4; S4: the linkage control unit determines whether the current motor is faulty through the current motor drive unit, and if so, marks the motor as faulty and executes step S7; if not, executes step S5; S5: the linkage control unit determines whether the motor needs to move according to the operation information, and if so, executes step S6; otherwise, marks the motor as idle and executes step S7; S6 The linkage control unit determines whether the current motor is a synchronous action motor according to the operation information, and if so, executes step S6.1, otherwise, executes step S6.2; S6.1 The linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, generates synchronous control instructions corresponding to the current motor and the other motors, and sends the synchronous control instructions to the motor drive units corresponding to the current motor and the other motors, and marks that the synchronous operation of the current motor and the other motors is normal; S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor according to the operation information, and sends the single-machine control instruction to the motor drive unit corresponding to the current motor, and marks that the single-machine operation of the motor is normal; S7: The linkage control unit determines whether to traverse all motor drive units according to the access record. If not, steps S2 to S7 are repeated.

6. The control method according to claim 5, characterized in that: The steps between step S1 and step S2 also include: S1.1 The linkage control unit determines whether the operation on each motor is a valid operation according to the operation information, and if so, executes step S2, otherwise executes step S1.2; S1.2 The linkage control unit determines whether there is historical operation information for each motor. If so, step S2 is executed according to the historical operation information, otherwise, it returns to step S1.

7. The control method according to claim 5, characterized in that: In step S4, the linkage control unit determines whether the current motor is faulty through the current motor drive unit, specifically including: S4.1 The linkage control unit determines whether the current motor is faulty through the current motor drive unit. If so, the motor is marked as faulty and step S7 is executed; otherwise, step S4.2 is executed; S4.2 The linkage control unit determines whether the current motor is marked as a fault through the current motor drive unit. If so, the mark is cancelled and step S5 is executed; otherwise, step S5 is executed.

8. The control method according to claim 5, characterized in that: In step S6.1, the linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, and determines whether the other motors are faulty. If so, the other motors are marked as faulty and step S7 is executed. If not, the current step is continued.

9. The control method according to claim 5, characterized in that: In step S6, the method for determining whether the synchronous motor is a synchronous motor is as follows: if the operation information of any two of the at least two motors is the same, then the two motors are both synchronous motors and are mutually synchronous motors.

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