Dual-motor sliding rail control method and device, equipment, storage medium and program product

Abstract

The invention relates to a dual-motor sliding rail control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring absolute position data of double motors; wherein the absolute position data is determined by a preset initial position, front and rear side motor analysis is performed according to the operation instruction and the absolute position data to obtain front and rear side motor data, and the operation instruction is used for determining the moving direction of the double motors; and performing parameter setting on a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model, and performing sliding control on the double motors according to the target sliding control model. By adopting the method, the operation stability of the dual-motor slide rail seat can be improved on the premise of using the Hall effect sensor.

Description

Technical Field

[0001] The present application relates to the field of dual-motor slide rail control, and in particular to a dual-motor slide rail control method and device, equipment, storage medium, and program product. Background Art

[0002] With the development of motor control technology, the dual-motor solution can be controlled using magnetic encoders, resolvers, Hall effect sensors and other solutions. Usually, the left and right motors are controlled by adjusting the speed difference to achieve synchronous operation of the left and right motors. However, due to the low position accuracy of the Hall effect sensor solution, the speed adjustment accuracy is low in the traditional speed adjustment solution. In the actual synchronous operation process, the left and right motors may not run synchronously, resulting in poor operation stability of the dual-motor slide rail seat, or causing jitter and noise, affecting the driving experience. The dual-motor control solution using magnetic encoders and resolvers is not conducive to the design of the overall solution structure because the sensor size is larger than that of the Hall sensor.

[0003] Therefore, how to improve the operating stability of the dual-motor slide rail seat under the premise of using Hall effect sensors has become an urgent problem to be solved. Summary of the invention

[0004] Based on this, it is necessary to provide a dual-motor slide rail control method, device, computer equipment, computer-readable storage medium and computer program product that can improve the operating stability of a dual-motor slide rail seat under the premise of using a Hall effect sensor to address the above technical problems.

[0005] In a first aspect, the present application provides a dual-motor slide rail control method, comprising:

[0006] Obtaining absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position;

[0007] Performing front and rear motor analysis according to the operation instruction and the absolute position data to obtain front and rear motor data; wherein the operation instruction is used to determine the moving direction of the dual motors;

[0008] Setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model;

[0009] The dual motors are subjected to slip control according to the target slip control model.

[0010] In one embodiment, the front and rear motors are analyzed according to the operation instruction and the absolute position data to obtain the front and rear motor data, including:

[0011] If the moving direction is forward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the lagging side motor, and the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the leading side motor; wherein, forward along the slide rail is the moving direction of the dual motor away from the preset initial position;

[0012] If the moving direction is backward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the lagging side motor; and the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the leading side motor; wherein, backward along the slide rail is the moving direction of the dual motors approaching the preset initial position;

[0013] The front and rear motor data are determined based on the leading motor and the lagging motor.

[0014] In one embodiment, the front and rear motor data include: leading motor data and lagging motor data; and determining the front and rear motor data according to the leading motor and the lagging motor includes:

[0015] Determine the leading side motor data according to the leading side motor and the absolute position data;

[0016] The lagging-side motor data is determined based on the lagging-side motor and the absolute position data.

[0017] In one embodiment, the original sliding control model includes: an original lagging side control sub-model and an original leading side control sub-model; the front and rear side motor data include: leading side motor data and lagging side motor data; the parameter setting of the preset original sliding control model according to the moving direction and the front and rear side motor data to obtain the target sliding control model includes:

[0018] Setting parameters of the original lagging-side control submodel according to the lagging-side motor data and the moving direction to obtain a target lagging-side control submodel;

[0019] Setting parameters of the original leading-side control submodel according to the leading-side motor data and the moving direction to obtain a target leading-side control submodel;

[0020] The target sliding control model is obtained by constructing a model according to the target lagging side control sub-model and the target leading side control sub-model.

[0021] In one embodiment, before setting parameters of the original leading-side control sub-model according to the leading-side motor data and the moving direction to obtain a target leading-side control sub-model, the method further includes:

[0022] receiving a stop control instruction, and setting parameters of the original sliding control model according to the stop control instruction to obtain a target sliding stop model;

[0023] The dual motors are slip-controlled according to the target slip-stop model.

[0024] In one embodiment, the target sliding control model includes: a target lagging side control sub-model and a target leading side control sub-model; and performing sliding control on the dual motors according to the target sliding control model includes:

[0025] Performing lagging-side control on the dual motors according to the target lagging-side control sub-model, so that the lagging-side motor of the dual motors slides toward the leading-side motor of the dual motors by a preset step length;

[0026] The leading-side control is performed on the dual motors according to the target leading-side control sub-model, so that the leading-side motor of the dual motors slides in the moving direction by the preset step length.

[0027] In one embodiment, the method further comprises:

[0028] Install the dual motors in parallel at one end of the dual slide rails, and obtain current position data of the dual motors;

[0029] The initial position is set as the position data.

[0030] In a second aspect, the present application also provides a dual-motor slide rail control device, comprising:

[0031] An acquisition module, used for acquiring the absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position;

[0032] An analysis module, used to analyze the front and rear motors according to the operation instructions and the absolute position data to obtain the front and rear motor data; wherein the operation instructions are used to determine the moving direction of the dual motors;

[0033] A setting module, used for setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model;

[0034] A control module is used to perform sliding control on the dual motors according to the target sliding control model.

[0035] In a third aspect, the present application also provides a computer device, including a memory and a processor, wherein

[0036] The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0037] Obtaining absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position;

[0038] Performing front and rear motor analysis according to the operation instruction and the absolute position data to obtain front and rear motor data; wherein the operation instruction is used to determine the moving direction of the dual motors;

[0039] Setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model;

[0040] The dual motors are subjected to slip control according to the target slip control model.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0042] Obtaining absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position;

[0043] Performing front and rear motor analysis according to the operation instruction and the absolute position data to obtain front and rear motor data; wherein the operation instruction is used to determine the moving direction of the dual motors;

[0044] Setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model;

[0045] The dual motors are subjected to slip control according to the target slip control model.

[0046] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0047] Obtaining absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position;

[0048] Performing front and rear motor analysis according to the operation instruction and the absolute position data to obtain front and rear motor data; wherein the operation instruction is used to determine the moving direction of the dual motors;

[0049] Setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model;

[0050] The dual motors are subjected to slip control according to the target slip control model.

[0051] The above-mentioned dual-motor slide rail control method, device, computer equipment, storage medium and computer program product obtain the absolute position data of the dual motors; wherein the absolute position data is determined by the preset initial position, and the front and rear motors are analyzed according to the operation instructions and the absolute position data to obtain the front and rear motor data, wherein the operation instructions are used to determine the moving direction of the dual motors; the preset original sliding control model is parameterized according to the moving direction and the front and rear motor data to obtain the target sliding control model, and the dual motors are slidingly controlled according to the target sliding control model. Therefore, by analyzing the accurate front and rear motor data, and realizing the accurate control of the position difference between the front and rear motors, the operating stability of the dual-motor slide rail seat can be improved under the premise of using Hall effect sensors, so as to avoid the seat jamming problem caused by the excessive position difference between the motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] FIG1 is an application environment diagram of a dual-motor slide rail control method according to an embodiment;

[0054] FIG2 is a schematic flow chart of a dual-motor slide rail control method in one embodiment;

[0055] FIG3 is a flowchart of a dual-motor slide control method according to an embodiment;

[0056] FIG4 is a schematic flow chart of a dual-motor slide rail control method in another embodiment;

[0057] FIG5 is a block diagram of a dual-motor slide rail control device in one embodiment;

[0058] FIG. 6 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] The dual-motor slide rail control method provided in the embodiment of the present application can be applied in the application environment shown in FIG. 1. The terminal 102 communicates with the server 104 through the network. The server 104 can analyze and process the operation instructions uploaded by the terminal 102, and obtain the absolute position data of the dual motors from the data storage system; wherein the absolute position data is determined by the preset initial position, and the server 104 analyzes the front and rear motors according to the operation instructions and the absolute position data to obtain the front and rear motor data, wherein the operation instructions are used to determine the moving direction of the dual motors, and the preset original sliding control model is parameterized according to the moving direction and the front and rear motor data to obtain the target sliding control model, and the dual motors are slidingly controlled according to the target sliding control model. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0061] In an exemplary embodiment, as shown in FIG2 , a dual-motor slide rail control method is provided, which is described by taking the method applied to step 104 in FIG1 as an example, and includes the following steps 202 to 208 . Among them:

[0062] Step 202, obtaining the absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position.

[0063] In some embodiments, the absolute position data of the dual motors can be obtained from the non-volatile memory of the seat controller, or the dual motors can be monitored in real time through third-party software to obtain more real-time absolute position data, but this is not limited to this.

[0064] The absolute position data may include the absolute position data of the left motor and the absolute position data of the right motor;

[0065] In some embodiments, the preset initial position may be 0, and the absolute position data is determined according to the preset step length and the initial position. Specifically, for example, if the absolute position data of the left motor is 2, it means that the absolute position of the left motor is 2 steps away from the initial position.

[0066] Among them, the motor moves once every 60° in the moving direction as position step 1, and the preset step length is that the motor moves 60°*s in the moving direction, where s is the threshold of the position difference between the left and right motors that can be accepted in different product solutions.

[0067] In some embodiments, the method further includes: installing the dual motors in parallel at one end of the dual slide rails, acquiring current position data of the dual motors, and setting the initial position as the position data.

[0068] In the above embodiment method, the initial position is defined by installing the dual motors in parallel at one end of the dual slide rails, that is, starting from one end of the dual slide rails, and obtaining the current position data of the dual motors, and setting the initial position as the position data. Therefore, based on the specific practical application definition, the absolute position data of the dual motors in the subsequent sliding control process can be determined more accurately, thereby effectively improving the accuracy of the sliding control achieved by the position difference of the absolute position data between the left and right motors.

[0069] Step 204, analyzing the front and rear motors according to the operation instructions and the absolute position data to obtain the front and rear motor data; wherein the operation instructions are used to determine the moving direction of the dual motors.

[0070] In some embodiments, the operating instruction may be determined by acquiring the operation button selected by the user when adjusting the seat.

[0071] Among them, the operating instructions can be moving the seat forward and moving the seat backward.

[0072] In some embodiments, the motion instruction can be determined by the user pressing the forward button or the backward button to determine the motion direction of the seat in the motion instruction, so as to determine that the dual motors move a preset step length along the motion direction. The continuous sending of the motion instruction can also be determined by the user long pressing to achieve continuous sliding control of the seat. When the user stops long pressing, a stop control instruction is sent to the seat controller to achieve precise control of the seat.

[0073] In some embodiments, the motion instruction can be determined by the user clicking a forward button or a backward button to determine the movement direction of the seat in the motion instruction, and continuously commanding the dual motors to perform continuous sliding control along the direction of motion until the user sends a stop control instruction by clicking a stop button, thereby stopping the sliding control of the seat, thereby achieving precise control of the seat.

[0074] In some embodiments, motion instructions can be generated through a designated position pre-set by the user. The seat controller will compare the absolute position information of the dual motors with the designated position to determine the movement direction of the motor and the specific length the motor needs to slide, and move the motor to the designated position by continuously sending motion instructions.

[0075] The movement direction of the seat in the motion command is determined by clicking the forward button or the backward button, and the dual motors are continuously commanded to perform continuous sliding control along the direction of movement until the user sends a stop control command by clicking the stop button, thereby stopping the sliding control of the seat, thereby achieving precise control of the seat.

[0076] In some embodiments, if the operation instruction is to move the seat forward, the movement direction of the dual motors can be determined to be forward along the slide rail according to the motion instruction. If the operation instruction is to move the seat backward, the movement direction of the dual motors can be determined to be backward along the slide rail according to the motion instruction.

[0077] In some embodiments, the front and rear motors are analyzed according to the operation instructions and the absolute position data, and the front and rear motor data are obtained, including: if the moving direction is forward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the lagging side motor, and the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the leading side motor; wherein, forward along the slide rail is the movement direction of the dual motor away from the preset initial position; if the moving direction is backward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the lagging side motor; and the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the leading side motor; wherein, backward along the slide rail is the movement direction of the dual motor close to the preset initial position; the front and rear motor data are determined according to the leading side motor and the lagging side motor.

[0078] In some embodiments, the first data condition may be the absolute position data with the smallest position data among the absolute position data, and the second data condition may be the absolute position data with the largest position data among the absolute position data.

[0079] In some embodiments, if the two motors satisfy both the first data condition and the second data condition, it means that the absolute positions of the two motors are the same at this time, and one of the motors is arbitrarily selected as the lagging motor, and the other is the leading motor. It should be noted that, when the smallest absolute position data in the absolute position data and the largest absolute position data in the absolute position data are the same integer, for example, the absolute position data are both 5, then the two motors are at the same absolute position at this time, and any one of the two motors can be selected as the lagging motor, and the other motor can be selected as the leading motor.

[0080] It should be noted that in the actual dual-motor sliding control process, although the dual motors are usually installed in parallel in the dual slide rails and slide controlled synchronously, in fact, in most cases, there is a gap between the slide rails and the motors. Therefore, in actual application scenarios, position differences between the motors on both sides are allowed. However, this position difference usually has a threshold. Once the threshold is exceeded, the seat will be stuck and unable to slide.

[0081] Among them, the threshold of the position difference can be set according to the actual situation in different slide rail control schemes. Usually, this threshold is very small, and the smaller the threshold is, the more precise the position control requirement is.

[0082] Among them, when there is a position difference between the motors on both sides, it is necessary to judge the relative positions of the motors on both sides based on the motor running direction in the sliding control and the absolute position data of the motors on both sides. The motor that is in a lagging position along the motor running direction is the lagging side motor, and the motor that is in a leading position along the motor running direction is the leading side motor.

[0083] It should be further explained that since the solution of achieving sliding control through the speed difference of the Hall effect sensor cannot achieve fine control of the position of the dual motors, when the speed control accuracy is poor, the position difference between the dual motors will more easily exceed the threshold, resulting in frequent seat jams and inability to slide.

[0084] In the above embodiment, by adopting and combining the preset data conditions according to the operation instruction and the absolute position data, the front and rear motors of the dual motors are analyzed, so as to more accurately analyze the front and rear motor data determined based on the motor running direction. Therefore, after accurately determining the front and rear motor data, it is more conducive to controlling the relative position difference between the motors to avoid the seat jam problem caused by the excessive position difference between the motors.

[0085] In some embodiments, the front and rear side motor data include: leading side motor data and lagging side motor data; determining the front and rear side motor data based on the leading side motor and the lagging side motor includes: determining the leading side motor data based on the leading side motor and the absolute position data; determining the lagging side motor data based on the lagging side motor and the absolute position data.

[0086] In the above embodiment, the absolute position data of the corresponding motor can be obtained from the absolute position data based on the leading side motor, thereby accurately determining the motor and the absolute position data corresponding to the leading side motor data; the absolute position data of the corresponding motor can be obtained from the absolute position data based on the lagging side motor, thereby accurately determining the motor and the absolute position data corresponding to the lagging side motor data.

[0087] Step 206 , setting parameters of the preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model.

[0088] In some embodiments, the preset original sliding control model may be a FOC control algorithm or a six-step commutation method. Of course, different sliding control models may have different corresponding adjustment parameters, and the specific parameter settings will not be described in detail here.

[0089] In some embodiments, the original sliding control model includes: an original lagging side control sub-model and an original leading side control sub-model; the front and rear side motor data include: leading side motor data and lagging side motor data; the preset original sliding control model is parameterized according to the moving direction and the front and rear side motor data to obtain a target sliding control model, including: parameterizing the original lagging side control sub-model according to the lagging side motor data and the moving direction to obtain a target lagging side control sub-model; parameterizing the original leading side control sub-model according to the leading side motor data and the moving direction to obtain a target leading side control sub-model; constructing a model according to the target lagging side control sub-model and the target leading side control sub-model to obtain a target sliding control model.

[0090] In the above embodiment, the original sliding control model is divided into the original lagging side control sub-model and the original leading side control sub-model and the parameters are set respectively, thereby obtaining the target lagging side control sub-model and the target leading side control sub-model, and finally constructing the target sliding control model. By setting the parameters respectively, the target sliding control model can be used to perform special control on the leading side motor and the lagging side motor in the subsequent control process.

[0091] In some embodiments, the special control may be to stop the leading motor or the lagging motor, or to perform sliding control on the front and rear motors according to different step lengths.

[0092] In some embodiments, by setting parameters separately, it is also beneficial to effectively set the monitoring program in different control sub-models in the sliding control model in the solution where the sliding control process needs to be monitored, so as to achieve a more accurate monitoring effect of the control process.

[0093] Step 208 , performing sliding control on the dual motors according to the target sliding control model.

[0094] In some embodiments, the sliding control of the dual motors by using a target sliding control model generated based on motion instructions generated by real-time user interaction can more accurately control the sliding of the seat in real time, making the seat sliding control more responsive and timely.

[0095] In some embodiments, the target sliding control model includes: a target lagging side control sub-model and a target leading side control sub-model; sliding control of the dual motors according to the target sliding control model includes: performing lagging side control on the dual motors according to the target lagging side control sub-model, so that the lagging side motor in the dual motors slides toward the leading side motor in the dual motors by a preset step length; performing leading side control on the dual motors according to the target leading side control sub-model, so that the leading side motor in the dual motors slides in the moving direction by a preset step length.

[0096] In some embodiments, the step-by-step alternating sliding control of the dual motors is implemented by the target lagging side control sub-model and the target leading side control sub-model. The lagging side motor and the leading side motor in the dual motors are alternately controlled by the step-by-step alternating sliding control. Before the seat controller receives the stop control instruction, the seat controller will continue to perform alternating control until one of the lagging side motor and the leading side motor cannot operate. Since the slide rail has an end, when one side of the motor cannot continue to operate, that is, when it reaches the end of the slide rail, the absolute position data of the motors on both sides need to be recorded and stored in the seat controller.

[0097] Each time the seat controller performs alternating sliding control, the lagging motor will be firstly subjected to sliding control to prevent the leading motor from sliding first, which would cause the position difference threshold between the motors on both sides to be too large.

[0098] In some embodiments, the step-by-step alternating sliding control process of the dual motors is implemented through the target lagging side control sub-model and the target leading side control sub-model. The specific implementation step process flow chart can be found in FIG3 .

[0099] In the above dual-motor slide rail control method, the absolute position data of the dual motors is obtained; wherein the absolute position data is determined by a preset initial position, and the front and rear motors are analyzed according to the operation instructions and the absolute position data to obtain the front and rear motor data, wherein the operation instructions are used to determine the moving direction of the dual motors; the preset original sliding control model is parameterized according to the moving direction and the front and rear motor data to obtain the target sliding control model, and the dual motors are slidingly controlled according to the target sliding control model. Therefore, by obtaining accurate front and rear motor data and realizing accurate control of the position difference between the front and rear motors, the operating stability of the dual-motor slide rail seat can be improved under the premise of using Hall effect sensors to avoid the seat jamming problem caused by the excessive position difference between the motors.

[0100] In an exemplary embodiment, as shown in FIG4 , the method further includes steps 402 to 404. Among them:

[0101] Step 402: receiving a stop control instruction, and setting parameters of the original sliding control model according to the stop control instruction to obtain a target sliding stop model.

[0102] In some embodiments, after receiving the stop control instruction, the seat controller can use the stop control instruction to set parameters for the original lagging side control sub-model and the original leading side control sub-model in the original sliding control model respectively, and achieve efficient and accurate stop parameter setting through step-by-step parameter setting to obtain a target sliding stop model that can achieve timely braking.

[0103] Step 404 , performing sliding control on the dual motors according to the target sliding stop model.

[0104] In some embodiments, the target sliding stop model set by step-by-step parameter setting can realize timely braking control of a single motor in the dual motors. For example, after the sliding control occurs on the lagging motor, the seat controller immediately stops sliding control on the leading motor upon receiving a stop control instruction. If the seat controller receives a stop control instruction before the sliding control occurs on the lagging motor, it immediately stops sliding control on the lagging motor and no longer performs sliding control on the leading motor, thereby avoiding excessive position difference between the motors on both sides.

[0105] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a dual-motor slide rail control device for implementing the dual-motor slide rail control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more dual-motor slide rail control device embodiments provided below can refer to the limitations of the dual-motor slide rail control method above, and will not be repeated here.

[0107] In an exemplary embodiment, as shown in FIG5 , a dual-motor slide rail control device is provided, comprising: an acquisition module, an analysis module, a setting module and a control module, wherein:

[0108] The acquisition module 501 is used to acquire the absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position.

[0109] The analysis module 502 is used to analyze the front and rear motors according to the operation instructions and the absolute position data to obtain the front and rear motor data; wherein the operation instructions are used to determine the moving direction of the dual motors.

[0110] The setting module 503 is used to set parameters of the preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model.

[0111] The control module 504 is used to perform sliding control on the dual motors according to the target sliding control model.

[0112] In some embodiments, the analysis module 502 is also used to analyze the front and rear motors according to the operation instructions and the absolute position data, and the front and rear motor data obtained include: if the moving direction is forward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the lagging side motor, and the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the leading side motor; wherein, forward along the slide rail is the movement direction of the dual motor away from the preset initial position; if the moving direction is backward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the lagging side motor; and the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the leading side motor; wherein, backward along the slide rail is the movement direction of the dual motor close to the preset initial position; the front and rear motor data are determined based on the leading side motor and the lagging side motor.

[0113] In some embodiments, the front and rear motor data include: leading side motor data and lagging side motor data; the analysis module 502 is also used to determine the leading side motor data based on the leading side motor and absolute position data; and determine the lagging side motor data based on the lagging side motor and absolute position data.

[0114] In some embodiments, the original sliding control model includes: an original lagging side control sub-model and an original leading side control sub-model; the front and rear side motor data include: leading side motor data and lagging side motor data; the setting module 503 is also used to set parameters of the original lagging side control sub-model according to the lagging side motor data and the moving direction to obtain a target lagging side control sub-model; set parameters of the original leading side control sub-model according to the leading side motor data and the moving direction to obtain a target leading side control sub-model; construct a model according to the target lagging side control sub-model and the target leading side control sub-model to obtain a target sliding control model.

[0115] In some embodiments, the device further includes: a stop control module, which is used to receive a stop control instruction, and set parameters of the original sliding control model according to the stop control instruction to obtain a target sliding stop model; and perform sliding control on the dual motors according to the target sliding stop model.

[0116] In some embodiments, the target sliding control model includes: a target lagging side control sub-model and a target leading side control sub-model; the control module 504 is also used to perform lagging side control on the dual motors according to the target lagging side control sub-model, so that the lagging side motor in the dual motors slides toward the leading side motor in the dual motors by a preset step length; perform leading side control on the dual motors according to the target leading side control sub-model, so that the leading side motor in the dual motors slides in the moving direction by a preset step length.

[0117] In some embodiments, the device further includes: an initial position setting module, which is used to install the dual motors in parallel at one end of the dual slide rails and obtain the current position data of the dual motors; and set the initial position as the position data.

[0118] Each module in the dual-motor slide control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0119] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG6. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the absolute position data of the dual motors. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a dual-motor slide rail control method is implemented.

[0120] Those skilled in the art will understand that the structure shown in FIG. 6 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0121] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0122] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0123] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0124] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0125] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0126] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A dual-motor slide rail control method, characterized in that: The method comprises: Obtaining absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position; Performing front and rear motor analysis according to the operation instruction and the absolute position data to obtain front and rear motor data; wherein the operation instruction is used to determine the moving direction of the dual motors; Setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model; The dual motors are subjected to slip control according to the target slip control model.

2. The method according to claim 1, characterized in that: The front and rear motors are analyzed according to the operation instruction and the absolute position data to obtain the front and rear motor data, including: If the moving direction is forward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the lagging side motor, and the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the leading side motor; wherein, forward along the slide rail is the moving direction of the dual motor away from the preset initial position; If the moving direction is backward along the slide rail, the motor corresponding to the position data in the absolute position data that satisfies the second data condition is set as the lagging side motor; and the motor corresponding to the position data in the absolute position data that satisfies the first data condition is set as the leading side motor; wherein, backward along the slide rail is the moving direction of the dual motors approaching the preset initial position; The front and rear motor data are determined based on the leading motor and the lagging motor.

3. The method according to claim 2, characterized in that The front and rear motor data include: leading motor data and lagging motor data; the front and rear motor data are determined based on the leading motor and the lagging motor, including: Determine the leading side motor data according to the leading side motor and the absolute position data; The lagging-side motor data is determined based on the lagging-side motor and the absolute position data.

4. The method according to claim 1, characterized in that: The original sliding control model includes: an original lagging side control sub-model and an original leading side control sub-model; the front and rear side motor data include: leading side motor data and lagging side motor data; the parameter setting of the preset original sliding control model according to the moving direction and the front and rear side motor data to obtain the target sliding control model includes: Setting parameters of the original lagging-side control submodel according to the lagging-side motor data and the moving direction to obtain a target lagging-side control submodel; Setting parameters of the original leading-side control submodel according to the leading-side motor data and the moving direction to obtain a target leading-side control submodel; The target sliding control model is obtained by constructing a model according to the target lagging side control sub-model and the target leading side control sub-model.

5. The method according to claim 4, characterized in that Before setting parameters of the original leading-side control sub-model according to the leading-side motor data and the moving direction to obtain a target leading-side control sub-model, the method further includes: receiving a stop control instruction, and setting parameters of the original sliding control model according to the stop control instruction to obtain a target sliding stop model; The dual motors are slip-controlled according to the target slip-stop model.

6. The method according to claim 1, characterized in that The target sliding control model includes: a target lagging side control sub-model and a target leading side control sub-model; and the sliding control of the dual motors according to the target sliding control model includes: Performing lagging-side control on the dual motors according to the target lagging-side control sub-model, so that the lagging-side motor of the dual motors slides toward the leading-side motor of the dual motors by a preset step length; The leading-side control is performed on the dual motors according to the target leading-side control sub-model, so that the leading-side motor of the dual motors slides in the moving direction by the preset step length.

7. The method according to claim 1, characterized in that The method further comprises: Install the dual motors in parallel at one end of the dual slide rails, and obtain current position data of the dual motors; The initial position is set as the position data.

8. A dual-motor slide rail control device, characterized in that: The device comprises: An acquisition module, used for acquiring the absolute position data of the dual motors; wherein the absolute position data is determined by a preset initial position; An analysis module, used to analyze the front and rear motors according to the operation instructions and the absolute position data to obtain the front and rear motor data; wherein the operation instructions are used to determine the moving direction of the dual motors; A setting module, used for setting parameters of a preset original sliding control model according to the moving direction and the front and rear motor data to obtain a target sliding control model; A control module is used to perform sliding control on the dual motors according to the target sliding control model.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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