Motor drive control method and system, computer equipment and storage medium

Abstract

The invention relates to a motor drive control method and system, computer equipment and a storage medium, and relates to the field of motor control. The motor driving control method comprises the following steps: each slave controller sends the driving speed and the current running power of a motor driven by the slave controller to a master controller; the main controller determines target operation power according to the driving speed of each motor and the current operation power, and sends the target operation power to each slave controller; each slave controller determines a target driving speed corresponding to each slave controller according to the target operation power; and each slave controller drives the corresponding motor again according to the corresponding target driving speed. According to the invention, the structural damage risk can be reduced.

Description

[0001] This application claims a divisional application of the Chinese patent application filed with the State Intellectual Property Office on October 13, 2023, with application number 2023113328507 and invention name “Motor drive control method, system, computer equipment and storage medium”, some of its contents are incorporated by reference in this application. Technical Field

[0002] The present application relates to the field of motor control, and in particular to a motor drive control method, system, computer equipment and storage medium. Background Art

[0003] Generally, power generation can be achieved by controlling the rotation of the motor used for power generation in the power generation system. At present, with the rapid development of semiconductor technology and new energy technology, the photovoltaic industry has become the mainstream development trend of renewable energy utilization, and photovoltaic power generation has also been widely promoted.

[0004] In order to improve the efficiency of photovoltaic power generation, a tracking photovoltaic power generation system can be used for photovoltaic power generation. The photovoltaic system evenly distributes multiple driving devices on a main beam to control the corresponding motor rotation through multiple driving devices to drive the photovoltaic components. However, in the actual motor rotation process, there may be a large difference in the rotation of each motor, which will bring the risk of structural damage to the photovoltaic power generation system. Summary of the invention

[0005] Based on this, it is necessary to provide a motor drive control method, system, computer device, computer readable storage medium and computer program product to address the above technical problems, which can reduce the risk of structural damage.

[0006] In a first aspect, the present application provides a motor drive control method, comprising:

[0007] Each slave controller sends the driving speed and current operating power of the motor driven by each slave controller to the master controller;

[0008] The master controller determines the target operating power according to the driving speed and current operating power of each motor, and sends the target operating power to each slave controller;

[0009] Each slave controller determines a target driving speed corresponding to each slave controller according to the target operating power;

[0010] Each slave controller re-drives the corresponding motor according to its corresponding target driving speed.

[0011] In a second aspect, the present application provides a motor drive control system, including: slave controllers and a master controller;

[0012] Each slave controller is used to send the driving speed and current operating power of the motor driven by each slave controller to the master controller;

[0013] A master controller, used to determine a target operating power according to the driving speed and current operating power of each motor, and send the target operating power to each slave controller;

[0014] Each slave controller is used to determine a target driving speed corresponding to each slave controller according to a target operating power;

[0015] Each slave controller is used to re-drive the corresponding motor according to the corresponding target driving speed.

[0016] In some embodiments, the main controller is further configured to compare the maximum driving speed of the driving speeds of each motor with a preset maximum motor speed. When the maximum driving speed and the maximum motor speed meet a proximity condition, the main controller is further configured to determine a target operating power according to the current operating power of each motor.

[0017] In some embodiments, when the maximum driving speed and the maximum motor speed do not meet the proximity condition, the main controller is also used to determine the target operating power based on the average of the current operating power of each motor and a preset power compensation value.

[0018] In some embodiments, the target operating power is obtained by the feedback adjustment performed by the master controller this time. Each slave controller is also used to determine the historical operating power of the motor driven by each of them; the historical operating power is obtained by the master controller performing feedback adjustments on the corresponding motor; for each current slave controller in each slave controller, the driving speed of the motor driven by the current slave controller is calculated according to the historical operating power, current operating power and target operating power of the current slave controller to obtain the target driving speed.

[0019] In some embodiments, each slave controller is also used to determine the control parameters corresponding to the current slave controller for each current slave controller in each slave controller; the control parameters are parameters used to perform feedback control on the target operating power; the current slave controller determines the current power error of the current slave controller based on the target operating power and the current operating power; the current slave controller determines the historical power errors of the current slave controller based on the current operating power and the historical operating power; the current slave controller determines the target driving speed based on the control parameters, the current power error and the historical power error.

[0020] In some embodiments, the control parameters include a proportional parameter, a differential parameter, and an integral parameter. The current slave controller is also used to determine the speed ratio of power adjustment to the target operating power according to the proportional parameter and the current power error to obtain a first control item; predict the error trend according to the differential parameter and the historical power error to obtain a second control item; accumulate the error according to the integral parameter, the current power error, and the historical power error to obtain a third control item; determine the target driving speed according to the first control item, the second control item, and the third control item.

[0021] In a third aspect, the present application provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method when executing the computer program.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the above method when executed by a processor.

[0023] In a fifth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps in the above method.

[0024] The motor drive control method, system, computer device, computer readable storage medium and computer program product send the driving speed and current operating power of the motor driven by each slave controller to the main controller through each slave controller. The main controller determines the target operating power according to the driving speed and current operating power of each motor, and sends the target operating power to each slave controller, so that each slave controller can make feedback adjustments to the driving speed of the motor driven by each slave controller according to the target operating power to obtain the target driving speed. In this way, each slave controller can re-drive the corresponding motor according to its corresponding target driving speed, so as to control the current operating power of each motor to be closer to the target operating power, and control the current operating power of each motor to be as close as possible, so that each motor can be controlled to rotate synchronously, thereby reducing the risk of structural damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 An application environment diagram of a motor drive control method provided in an embodiment of the present application;

[0026] FIG2 is a schematic flow chart of a motor drive control method provided in an embodiment of the present application;

[0027] Figure 3 A structural diagram of a photovoltaic power generation system provided in an embodiment of the present application;

[0028] Figure 4A schematic flow chart of another motor drive control method provided in an embodiment of the present application;

[0029] Figure 5 A structural block diagram of a motor drive control system provided in an embodiment of the present application;

[0030] Figure 6 An internal structure diagram of a computer device provided in an embodiment of the present application;

[0031] Figure 7 An internal structure diagram of another computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] The motor drive control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the main controller 102 communicates with each slave controller 104 through a communication network. The data storage system can store data that the main controller 102 needs to process. The data storage system can be integrated on the main controller 102, or it can be placed on the cloud or other network servers. Each slave controller 104 sends the driving speed and current operating power of the motor driven by each to the main controller 102; the main controller 102 determines the target operating power according to the driving speed and current operating power of each motor, and sends the target operating power to each slave controller 104; each slave controller 104 determines the corresponding target driving speed of each slave controller 104 according to the target operating power; each slave controller 104 re-drives the corresponding motor according to its corresponding target driving speed.

[0034] As shown in FIG. 2 , the present application embodiment provides a motor drive control method, which can be Figure 1 The method is implemented by interaction between the master controller 102 and each slave controller 104, and the method comprises the following steps:

[0035] S202, each slave controller sends the driving speed and current operating power of the motor driven by each slave controller to the master controller.

[0036] Each controller can independently drive a corresponding motor for power generation. A motor refers to a DC motor that can convert mechanical energy into electrical energy, and the DC motor includes at least one of a DC brushed motor and a DC brushless motor. In some embodiments, the motor for power generation can be a photovoltaic motor, which is a motor that converts sunlight into electrical energy using the photovoltaic effect.

[0037] In some embodiments, the controller includes a master controller and a slave controller. The master controller communicates with each slave controller to achieve data interaction. The master controller is used to collect information from all slave controllers and send information for controlling the motor to each slave controller, such as calculating a unified target operating power based on the driving speed and current operating power sent by each slave controller, and sending the target operating power to each slave controller. Each slave controller is used to detect the current operating power of the driven motor and feed it back to the master controller, and receive information returned by the master controller to control the rotation of the motor, such as sending the driving speed and current operating power of each driven motor to the master controller, and adjusting each driving speed in a targeted manner according to the target operating power sent by the master controller to re-drive the corresponding motor.

[0038] In some embodiments, the motor drive control method of the present application can be applied to Figure 3 In the photovoltaic power generation system shown in FIG. The photovoltaic power generation system includes a motor, a motor connection line, a main beam, a main controller, a slave controller and a communication cable. Among them, a motor is arranged at all driving points of the main beam, and the main controller and the slave controller can be installed on the main beam through structural members. The main beam is a crossbeam for fixing the photovoltaic module. The main controller is connected to the corresponding motor through the motor connection line, and the slave controller is connected to the corresponding motor through the motor connection line. The main controller and the slave controller can control the rotation of the corresponding motor according to the motor connection line, and can detect the real-time voltage and real-time current of the driven motor. The controllers can be connected to each other in a hand-in-hand manner through communication cables to achieve communication. It should be noted that, using the photovoltaic power generation system shown in FIG. 2, the direction of the corresponding photovoltaic module can be automatically adjusted according to the lighting conditions, so that the angle between the photovoltaic module and the direct sunlight can be reduced, more solar radiation can be obtained, and the power generation efficiency can be effectively improved.

[0039] The driving speed refers to the speed at which each slave controller drives the corresponding motor to rotate, which can be understood as the input from the slave controller to the motor, which is equivalent to the duty cycle of the control voltage signal. The current operating power refers to the current operating power of the motor driven by each slave controller.

[0040] Specifically, each slave controller collects the real-time voltage and real-time current of the motor driven by each slave controller, and calculates the current operating power of the corresponding motor according to the collected real-time voltage and real-time current. Each slave controller sends the driving speed and current operating power of the motor driven by each slave controller to the master controller.

[0041] S204: The master controller determines a target operating power according to the driving speed of each motor and the current operating power, and sends the target operating power to each slave controller.

[0042] Specifically, the master controller determines whether the driving speed of each motor is fast enough. If the driving speed of each motor is fast enough, the master controller can directly determine a unified target operating power according to the current operating power of each motor, and send the target operating power to each slave controller. If the driving speed of each motor is not fast enough, the master controller can also first determine a unified operating power according to the current operating power of each motor, and then perform power compensation on this basis to obtain a larger operating power, that is, the target operating power, and send the target operating power to the slave controller, so that the slave controller can calculate a larger target driving speed according to the target operating power to drive the corresponding motor to rotate at a faster speed, thereby improving the power generation efficiency.

[0043] S206, each slave controller determines a target driving speed corresponding to each slave controller according to the target operating power.

[0044] The target driving speed refers to the speed at which each slave controller re-drives the corresponding motor to rotate.

[0045] Specifically, each slave controller calculates its corresponding target driving speed according to the target operating power sent by the master controller, the current operating power of each slave controller's driving motor, and the historical operating power of each slave controller's driving motor.

[0046] S208, each slave controller re-drives the corresponding motor according to its corresponding target driving speed.

[0047] Specifically, after each slave controller calculates its corresponding target driving speed, the target driving speed is input to the corresponding driven motor to control the corresponding motor to rotate based on the target driving speed.

[0048] The motor drive control method described above sends the driving speed and current operating power of the motor driven by each slave controller to the main controller. The main controller determines the target operating power according to the driving speed and current operating power of each motor, and sends the target operating power to each slave controller, so that each slave controller can make feedback adjustments to the driving speed of the motor driven by each slave controller according to the target operating power to obtain the target driving speed. In this way, each slave controller can re-drive the corresponding motor according to its corresponding target driving speed, so as to control the current operating power of each motor to be closer to the target operating power, and control the current operating power of each motor to be as close as possible, so that each motor can be controlled to rotate synchronously, thereby reducing the risk of structural damage.

[0049] It should be noted that in a photovoltaic power generation system, since each motor can drive the photovoltaic components to rotate, the motor drive control method of the embodiment of the present application can ensure that the inclination angle of the photovoltaic components driven by each motor remains consistent while ensuring the current operating power of each motor is consistent, thereby reducing the risk of damage to the main beam.

[0050] In some embodiments, S204 specifically includes but is not limited to: the main controller compares the maximum driving speed among the driving speeds of each motor with the preset maximum motor speed; when the maximum driving speed and the maximum motor speed meet the proximity condition, the main controller determines the target operating power based on the current operating power of each motor.

[0051] Among them, the proximity condition refers to a condition that reflects the degree of proximity between the maximum drive speed and the maximum speed of the motor. In some embodiments, the proximity condition may be that the difference between the maximum drive speed and the maximum speed of the motor is less than or equal to a preset difference. In other embodiments, the proximity condition may be that the maximum drive speed is equal to the maximum speed of the motor.

[0052] Specifically, the main controller determines a maximum driving speed from the driving speeds of each motor to obtain the maximum driving speed. The main controller compares the determined maximum driving speed with the preset maximum speed of the motor. When the maximum driving speed and the maximum speed of the motor meet the proximity condition, it means that the maximum driving speed is close enough to the maximum speed of the motor, or that the maximum driving speed is the same as the maximum speed of the motor, which further indicates that the driving speed of each motor is fast enough. The main controller can directly determine a unified target operating power based on the current operating power of each motor without the need for additional power compensation for each motor, which can reduce the error between the target operating power and the current operating power of each motor, thereby improving the stability of the subsequent slave controller controlling the driven motor based on the target operating power.

[0053] In some embodiments, when the maximum driving speed and the maximum motor speed meet the proximity condition, the main controller can calculate the average value of the current operating power of each motor and use the average value of the current operating power of each motor as the target operating power.

[0054] In some embodiments, the motor drive control method of the present application specifically also includes but is not limited to: when the maximum drive speed and the maximum motor speed do not meet the proximity condition, the main controller determines the target operating power based on the average of the current operating power of each motor and the preset power compensation value.

[0055] The preset power compensation value refers to a pre-set power value, such as 2W.

[0056] Specifically, when the maximum drive speed and the maximum motor speed do not meet the proximity condition, it means that the maximum drive speed is not close to the maximum motor speed, which further indicates that the drive speed of each motor is not fast enough. At this time, the main controller not only needs to uniformly adjust the power of each motor, but also needs to perform power compensation on this basis, that is, the main controller needs to add the average of the current operating power of each motor and the preset power compensation value to obtain a larger target operating power. In this way, the slave controller can calculate a larger target drive speed based on the target operating power to drive the corresponding motor to rotate at a faster speed and reach the maximum speed of the motor faster, thereby improving the power generation efficiency.

[0057] In some embodiments, assuming that each motor includes motor No. 1, motor No. 2, motor No. 3, ..., and motor No. n, the current power values ​​of each motor summarized to the main controller at a certain time point are respectively: , the driving speeds of each motor are: .when hour, .in, is the target operating power, is the maximum speed of the motor, for example, 90% duty cycle, and n is the number of motors. hour, ,in, It is the power compensation value, for example, 2W.

[0058] In some embodiments, the target operating power is obtained by the feedback adjustment performed by the master controller. S206 specifically includes but is not limited to: each slave controller determines the historical operating power of the motor driven by each slave controller; for each current slave controller in each slave controller, according to the historical operating power, current operating power and target operating power of the current slave controller, calculates the driving speed of the motor driven by the current slave controller to obtain the target driving speed.

[0059] The historical operating power is obtained by performing feedback adjustments on the corresponding motor by the main controller, that is, by performing feedback adjustments on the corresponding motor in the past.

[0060] Specifically, each slave controller determines at least one historical operating power of the motor driven by each slave controller. For each current slave controller in each slave controller, the driving speed of the motor driven by the current slave controller is calculated according to the historical operating power, current operating power and target operating power of the current slave controller to obtain the target driving speed. The embodiment of the present application introduces the historical operating power as a reference, and controls and adjusts the driving speed of each motor in combination with the target operating power. Compared with the method of directly controlling and adjusting the driving speed of each motor according to the target operating power, the stability of the embodiment of the present application is better.

[0061] In some embodiments, the step of "for each current slave controller among the slave controllers, calculating the driving speed of the motor driven by the current slave controller according to the historical operating power, current operating power and target operating power of the current slave controller to obtain the target driving speed" specifically includes but is not limited to: for each current slave controller among the slave controllers, determining the control parameters corresponding to the current slave controller; the current slave controller determines the current power error of the current slave controller according to the target operating power and the current operating power; the current slave controller determines the historical power errors of the current slave controller according to the current operating power and the historical operating power; the current slave controller determines the target driving speed according to the control parameters, the current power error and the historical power error.

[0062] The control parameter is a parameter used for feedback control of the target operating power, and is used to calculate the target driving speed of each motor in combination with the feedback control algorithm. In some embodiments, the feedback control algorithm includes a proportional-integral-derivative (PID) control algorithm. The PID control algorithm is a control algorithm composed of three parts: proportional, integral, and differential. The PID control algorithm adjusts the output signal of the controller by measuring the difference between the actual output value and the expected reference value, so that the output value is as close to the expected value as possible.

[0063] Specifically, for each current slave controller in each slave controller, a control parameter corresponding to the current slave controller is determined. The current slave controller determines the current power error of the current slave controller based on the difference between the target operating power and the current operating power. The current slave controller determines the difference between every two adjacent operating powers of the current slave controller based on the current operating power and the historical operating power, and obtains multiple historical power errors. The current slave controller determines the target drive speed based on the control parameters, the current power error and the historical power errors. The embodiment of the present application can effectively improve the control effect of the drive speed by introducing control parameters and controlling and adjusting the drive speed of each motor in combination with each power error.

[0064] In some embodiments, the current power error can be calculated by formula (1):

[0065] (1)

[0066] in, Indicates the current power error, The target operating power issued by the main controller this time, is the current operating power.

[0067] In some embodiments, the control parameters include a proportional parameter, a differential parameter, and an integral parameter. The step "the current slave controller determines the target driving speed according to the control parameters, the current power error, and the historical power error" specifically includes but is not limited to: the current slave controller determines the speed proportion for power adjustment to the target operating power according to the proportional parameter and the current power error to obtain a first control item; the current slave controller predicts the error trend according to the differential parameter and the historical power error to obtain a second control item; the current slave controller accumulates the error according to the integral parameter, the current power error, and the historical power error to obtain a third control item; the current slave controller determines the target driving speed according to the first control item, the second control item, and the third control item.

[0068] Among them, the proportional parameter is used for basic control, the differential parameter is used to speed up the control speed of the slave controller, and the integral parameter is used to eliminate static error.

[0069] Specifically, the current slave controller determines the speed proportion for power adjustment to the target operating power according to the product of the proportional parameter and the current power error, and obtains the first control item. The current slave controller predicts the error trend according to the product of the differential parameter and the historical power error, and obtains the second control item. The current slave controller accumulates the error according to the product of the integral parameter and the sum of the power errors, and obtains the third control item. Among them, the sum of the power errors is the sum of the current power error and multiple historical power errors. The current slave controller adds the first control item, the second control item and the third control item to obtain the target drive speed. The embodiment of the present application combines the three adjustment rules of proportional parameter, integral parameter and differential parameter together, which can not only quickly adjust the speed, but also eliminate the residual error, and can effectively improve the control effect of the drive speed.

[0070] In some embodiments, the target driving speed of each motor can be calculated by formula (2):

[0071] (2)

[0072] in, is the control quantity for the n+1th time, i.e., the target driving speed; is the scale parameter, is the differential coefficient, is the integration coefficient; Indicates the current power error; Indicates the last, that is, the nth, historical power error. is the j-th historical power error. is the first control item, is the second control item, is the third control item. It should be noted that different types of slave controllers correspond to , and All need to be calculated separately, for example, using the critical proportion method to obtain the values ​​of these parameters.

[0073] It should be noted that in the PID control algorithm, the role of the proportional parameter is to react to the deviation instantly. Once the deviation occurs, the control action is immediately generated from the controller to change the control amount in the direction of reducing the deviation. Among them, the strength of the control action depends on the proportional parameter. The larger the proportional parameter, the stronger the control action, the faster the transition process, and the smaller the static deviation of the control process. In the PID control algorithm, the role of the differential parameter is to prevent the change of the deviation. The differential parameter is controlled according to the speed of change of the deviation. The faster the deviation changes, the greater the output of the differential controller, and it can be corrected before the deviation value becomes larger. The introduction of the differential parameter will help reduce overshoot, overcome oscillation, and make the system stable. In the PID control algorithm, the role of the integral parameter is to eliminate static errors. The larger the integral parameter, the weaker the accumulation effect of the integral. At this time, the system will not produce oscillation during the transition, which can reduce overshoot and improve the stability of the system. When the integral parameter is small, the integral effect is stronger and the time required to eliminate the deviation is shorter.

[0074] In some embodiments, Figure 4 As shown, the motor drive control method of the present application specifically includes the following steps:

[0075] S402, each slave controller obtains the voltage and current of its own driving motor to calculate the current operating power of the corresponding motor according to the obtained voltage and current.

[0076] S404, each slave controller sends the driving speed and current operating power of the motor driven by each slave controller to the master controller.

[0077] S406, the main controller compares the maximum driving speed of the driving speeds of the motors with the preset maximum motor speed. If the maximum driving speed and the maximum motor speed meet the approach condition, jump to step S408, if the maximum driving speed and the maximum motor speed do not meet the approach condition, jump to S410.

[0078] S408: The main controller determines the target operating power according to the current operating power of each motor.

[0079] S410, the main controller determines the target operating power according to the average value of the current operating power of each motor and a preset power compensation value.

[0080] S412, the master controller sends the target operating power to each slave controller.

[0081] S414, each slave controller determines the historical operating power of the motor driven by each slave controller.

[0082] S416, each slave controller determines a speed ratio for adjusting power toward the target operating power according to its corresponding ratio parameter and the current power error, and obtains a first control item.

[0083] S418, each slave controller predicts the error trend according to its corresponding differential parameter and historical power error to obtain a second control item.

[0084] S420, each slave controller accumulates errors according to its corresponding integral parameter, current power error and historical power error to obtain a third control item.

[0085] S422, each slave controller determines a target driving speed according to the first control item, the second control item and the third control item corresponding to each slave controller.

[0086] S424, each slave controller re-drives the corresponding motor according to its corresponding target driving speed.

[0087] It should be understood that, although the steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indications of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, 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 may 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.

[0088] Based on the same inventive concept, the embodiment of the present application also provides a motor drive control system. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more motor drive control system embodiments provided below can refer to the limitations of the motor drive control method above, and will not be repeated here.

[0089] like Figure 5 As shown, the embodiment of the present application provides a motor drive control system, including: slave controllers 502 and a master controller 504;

[0090] Each slave controller 502 is used to send the driving speed and current operating power of the motor driven by each slave controller 502 to the master controller 504;

[0091] The master controller 504 is used to determine the target operating power according to the driving speed and current operating power of each motor, and send the target operating power to each slave controller 502;

[0092] Each slave controller 502 is used to determine a target driving speed corresponding to each slave controller 502 according to the target operating power;

[0093] Each slave controller 502 is used to re-drive the corresponding motor according to its corresponding target driving speed.

[0094] The motor drive control system sends the driving speed and current operating power of the motor driven by each slave controller 502 to the main controller 504. The main controller 504 determines the target operating power according to the driving speed and current operating power of each motor, and sends the target operating power to each slave controller 502, so that each slave controller 502 can make feedback adjustments to the driving speed of the motor driven by each slave controller according to the target operating power to obtain the target driving speed. In this way, each slave controller 502 can re-drive the corresponding motor according to its corresponding target driving speed, so as to control the current operating power of each motor to be closer to the target operating power, and control the current operating power of each motor to be as close as possible, so that each motor can be controlled to rotate synchronously, thereby reducing the risk of structural damage to the photovoltaic system.

[0095] In some embodiments, the main controller 504 is further configured to compare the maximum driving speed of the driving speeds of each motor with a preset maximum motor speed. When the maximum driving speed and the maximum motor speed meet the approach condition, the main controller 504 is further configured to determine the target operating power according to the current operating power of each motor.

[0096] In some embodiments, when the maximum driving speed and the maximum motor speed do not meet the proximity condition, the main controller 504 is also used to determine the target operating power according to the average of the current operating power of each motor and the preset power compensation value.

[0097] In some embodiments, the target operating power is obtained by the feedback adjustment performed by the master controller 504. Each slave controller 502 is also used to determine the historical operating power of the motor driven by each of them; the historical operating power is obtained by the master controller 504 performing feedback adjustments on the corresponding motor; for each current slave controller in each slave controller 502, the driving speed of the motor driven by the current slave controller is calculated according to the historical operating power, current operating power and target operating power of the current slave controller to obtain the target driving speed.

[0098] In some embodiments, each slave controller 502 is also used to determine the control parameters corresponding to the current slave controller for each current slave controller in each slave controller 502; the control parameters are parameters used to perform feedback control on the target operating power; the current slave controller determines the current power error of the current slave controller based on the target operating power and the current operating power; the current slave controller determines the historical power errors of the current slave controller based on the current operating power and the historical operating power; the current slave controller determines the target driving speed based on the control parameters, the current power error and the historical power error.

[0099] In some embodiments, the control parameters include a proportional parameter, a differential parameter, and an integral parameter. The current slave controller is also used to determine the speed ratio of power adjustment to the target operating power according to the proportional parameter and the current power error to obtain a first control item; predict the error trend according to the differential parameter and the historical power error to obtain a second control item; accumulate the error according to the integral parameter, the current power error, and the historical power error to obtain a third control item; determine the target driving speed according to the first control item, the second control item, and the third control item.

[0100] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, 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 data related to motor drive control. 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 through a network connection. When the computer program is executed by the processor, the steps in the above-mentioned motor drive control method are implemented.

[0101] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, the steps in the above-mentioned motor drive control method are implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen; the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0102] Those skilled in the art will understand that Figure 6 or Figure 7 The structure shown in the figure is only a block diagram of a part of the 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 those shown in the figure, or combine certain components, or have a different arrangement of components.

[0103] In some embodiments, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0104] In some embodiments, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0105] In some embodiments, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0106] 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 laws, regulations and standards of relevant countries and regions.

[0107] 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.

[0108] 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.

[0109] 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 motor drive control method, characterized in that: include: Each slave controller sends the driving speed and current operating power of the motor driven by each slave controller to the master controller; When the maximum driving speed and the maximum rotation speed of the motor do not meet the approach condition, the main controller determines the target operating power according to the average value of the current operating power of each motor and the preset power compensation value; Each slave controller determines a target driving speed corresponding to each slave controller according to the target operating power; Each slave controller re-drives the corresponding motor according to the corresponding target driving speed.

2. The method according to claim 1, characterized in that The main controller determines the target operating power according to the driving speed and current operating power of each motor, including: The main controller compares the maximum driving speed among the driving speeds of each motor with a preset maximum rotating speed of the motor; In a case where the maximum driving speed and the maximum rotation speed of the motor meet a proximity condition, the main controller determines a target operating power according to a current operating power of each of the motors.

3. The method according to claim 1, characterized in that The target operating power is obtained by the feedback adjustment performed by the master controller this time; each slave controller determines the target driving speed corresponding to each slave controller according to the target operating power, including: Each slave controller determines the historical operating power of the motor driven by each slave controller; the historical operating power is obtained by the master controller performing feedback adjustments on the corresponding motor; For each current slave controller among the slave controllers, determining a control parameter corresponding to the current slave controller; the control parameter is a parameter used for performing feedback control on the target operating power; The current slave controller determines a current power error of the current slave controller according to the target operating power and the current operating power; The current slave controller determines the historical power errors of the current slave controller according to the current operating power and the historical operating power; The current slave controller determines the target driving speed according to the control parameter, the current power error and the historical power error; the target driving speed is obtained by controlling and adjusting the driving speed of each of the motors by combining the control parameter with the current power error and the historical power error.

4. The method according to claim 3, characterized in that The control parameters include a proportional parameter, a differential parameter and an integral parameter; the current slave controller determines the target driving speed according to the control parameters, the current power error and the historical power error, including: The current slave controller determines the speed ratio of power adjustment to the target operating power according to the ratio parameter and the current power error to obtain a first control item; The current slave controller predicts the error trend according to the differential parameter and the historical power error to obtain a second control item; The current slave controller performs error accumulation according to the integral parameter, the current power error and the historical power error to obtain a third control item; The current slave controller determines the target driving speed according to the first control item, the second control item and the third control item.

5. The method according to claim 4, characterized in that The proportional parameter is used to react to the deviation instantaneously, the differential parameter is used to speed up the control speed of the slave controller, and the integral parameter is used to eliminate static error.

6. The method according to claim 1, characterized in that The step of determining the target operating power according to the average value of the current operating power of each motor and the preset power compensation value includes: The target operating power is obtained by adding the average value of the current operating power of each motor and the preset power compensation value.

7. A motor drive control system, characterized in that: include: Each slave controller and the master controller; Each slave controller is used to send the driving speed and current operating power of the motor driven by each slave controller to the master controller; The main controller is used to determine the target operating power according to the average value of the current operating power of each motor and the preset power compensation value when the maximum driving speed and the maximum motor speed do not meet the approach condition; Each slave controller is used to determine a target driving speed corresponding to each slave controller according to the target operating power; Each slave controller is used to re-drive the corresponding motor according to the corresponding target driving speed.

8. 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 6 are implemented.

9. 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 6 are implemented.

10. 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 6 are implemented.

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