Method for solving problem that motor cannot be normally stopped due to abnormal communication of multiple board cards

Abstract

The invention discloses a method for solving the problem that a motor cannot be normally stopped due to abnormal communication of multiple board cards, and relates to the technical field of printers. Comprising the steps that a main control board sends a starting instruction to start an ink pump motor; after the ink pump board receives the starting instruction, timing counting is started, and when the instruction of the main control board is not received for a period of time, the motor is forcibly stopped; after the main control board is started, a dog feeding instruction is sent regularly; the ink pump plate receives the dog feeding instruction and resets the counter to avoid timeout; when the main control board needs to turn off the motor, a stop command is sent, and dog feeding is stopped; the ink pump plate receives the stop command, stops the motor and stops counting; the problem that the motor cannot be normally stopped due to abnormal communication of multiple board cards in an industrial automation system is solved through electronic communication and a control strategy, the stability and safety of the system are improved, the starting and stopping processes of the motor are optimized by introducing sensitivity analysis and a PID control algorithm, the label printing efficiency and accuracy are improved, and resource consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of printers, and in particular to a method for solving the problem of a motor being unable to stop normally due to abnormal multi-board communication. Background Art

[0002] In modern industrial automation systems, multi-board communication is one of the key technologies to achieve collaborative work of equipment. These systems usually include multiple control boards, which are interconnected through communication networks to coordinate various operations and control processes. As an important component of these systems, the ink pump motor is responsible for accurately controlling the supply of ink to ensure the continuity and quality of printing or other related processes.

[0003] However, in actual applications, multi-board communication may be abnormal due to various reasons, such as hardware failure, software error, network problem, etc. These communication anomalies may cause the ink pump motor to fail to receive the correct stop command and thus fail to stop running normally. This will not only affect production efficiency, but may also cause damage to the equipment and even cause safety accidents. Summary of the invention

[0004] The purpose of the present invention is to provide a method for solving the problem that the motor cannot stop normally due to abnormal communication between multiple boards. When the communication abnormality is detected, the safety stop mechanism of the ink pump motor is automatically triggered, aiming to solve the problem that the ink pump motor cannot stop normally due to abnormal communication between multiple boards.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present application provides a method for solving the problem of a motor failing to stop normally due to abnormal communication of multiple boards, comprising the following steps:

[0007] The main control board sends a start command to start the ink pump motor;

[0008] After the ink pump board receives the start command, it starts timing counting. If it does not receive the command from the main control board for a period of time, it will force the motor to stop.

[0009] After the main control board is started, it sends the dog feeding command regularly;

[0010] The ink pump board receives the dog feeding command and resets the counter to avoid timeout;

[0011] When the main control board needs to turn off the motor, it sends a stop command and stops feeding the dog;

[0012] The ink pump board receives the stop command, stops the motor and stops counting.

[0013] Furthermore, after the ink pump board receives the start-up instruction, the method further includes: optimizing through a sensitivity analysis algorithm, adjusting and optimizing the threshold of the timing count.

[0014] Furthermore, the optimization through sensitivity analysis algorithm specifically includes: after receiving the start-up instruction, the ink pump board starts the sensitivity analysis algorithm, collects data related to communication anomaly detection by real-time monitoring of the communication status and system response; then, the collected data is counted and analyzed to evaluate the impact of different communication parameters on system stability; based on the analysis results, the time threshold of communication anomaly detection is dynamically adjusted to adapt to the current communication environment and system status; then, according to historical data and real-time feedback, the sending frequency of dog feeding instructions is optimized; and the exception handling strategy is updated according to the results of the sensitivity analysis.

[0015] Furthermore, when updating the exception handling strategy based on the results of the sensitivity analysis, the method of measuring the contribution of the input variable to the variance of the output variable through the Sobol index includes:

[0016] The variance of the dependent variable generated by the variance of each input variable is shown by the first-order influence index, which is used to quantify the sensitivity of a single variable to the model; the first-order influence index is expressed as:

[0017] Where V represents variance, E represents expectation, Y is the output variable, X i is the i-th input variable;

[0018] Shows the variance of the dependent variable resulting from the variance of each input variable and its interaction with other input variables; the total effect index is expressed as: Where D is the total number of input variables, S j is the first-order influence index of the jth input variable;

[0019] The second-order impact index is used to measure the impact of the interaction between two input variables on the model output;

[0020] The second-order impact index is expressed as: Among them, X i and X j are two different input variables.

[0021] Furthermore, it also includes constructing a mathematical model to describe the communication process between the main control board and the ink pump board, including the sending and receiving of commands such as start, feed, and stop;

[0022] The state transition of the mathematical model is expressed as: S(t+1)=f(S(t), where S(t) is the current state, I(t) is the instruction received at time t, and T is the time threshold.

[0023] Furthermore, it also includes introducing a PID control algorithm to optimize the start and stop process of the motor, including:

[0024] Define a structure to store all key parameters and states of the PID controller, including the target value, actual value, error, error integral, and the error value at the last moment;

[0025] Initialize the proportional, integral and differential coefficients of the PID controller, determine the response speed and method of the PID controller to the error, and then adjust and optimize it according to the system characteristics and control requirements;

[0026] The control output is calculated based on the target value and the actual value. The PID controller responds to the error immediately through the proportional term, eliminates the steady-state error through the integral term, and predicts the error trend and reduces overshoot through the differential term. The motor input is adjusted according to the weighted sum of the three terms of the PID controller to drive the motor to the target state.

[0027] In the motor control loop, the PID calculation function is called periodically to dynamically calculate the new control output based on the latest actual operating state of the motor and the preset target state;

[0028] According to the results of the PID calculation function, the control instructions sent to the motor are dynamically adjusted.

[0029] Furthermore, before introducing the PID control algorithm to optimize the motor start and stop process, the speed and position changes of the motor acceleration and deceleration process are described by exponential functions;

[0030] The acceleration process of the exponential function is expressed as: Where v(t) is the speed of the motor at time t, v max is the maximum speed of the motor, τ acc is the acceleration time constant, which indicates the time required to reach the maximum speed; the position change during the acceleration process is expressed as:

[0031]

[0032] The deceleration process of the exponential function is expressed as: Among them, τ dec is the deceleration time constant, which indicates the time required to decelerate from maximum speed to stop; the position change during the deceleration process is expressed as:

[0033] Furthermore, when the ink pump board receives the dog feeding instruction, the received dog feeding instruction is verified by CRC verification, which specifically includes:

[0034] Initialize the CRC register and process the dog feeding instructions in batches, one byte per batch.

[0035] Among them, the byte is XORed with the lower 8 bits of the CRC register, and the result is stored back in the CRC register; the content of the CRC register is shifted right by one bit, and the shifted bit is checked; if the shifted bit is 1, the CRC register is XORed with the predefined polynomial;

[0036] Based on all processed bytes, the checksum is compared with a predefined or known correct checksum, where the content in the CRC register is the calculated checksum;

[0037] When the check code does not match, it indicates that the dog feeding instruction may have been damaged or tampered with during the transmission process. When the check code matches, it confirms that the dog feeding instruction is correct and executes the corresponding dog feeding operation.

[0038] Furthermore, the calculated check code is used to check the data through a polynomial, which is specifically expressed as: M(χ)×χ n =Q(χ)×K(χ)-R(χ), where M(χ) is the original polynomial representing the data sequence to be sent; χ n It means that the number of bits of the original information polynomial M(χ) is expanded by n bits, where n is the order of the generating polynomial K(χ); Q(χ) is the quotient polynomial, which means M(χ)×χ n The quotient obtained after being divided by K(χ), K(χ) is the generating polynomial, which is a predetermined polynomial used for CRC verification, and R(χ) is the remainder polynomial, which is the calculated CRC verification value.

[0039] The beneficial effects of the present invention are:

[0040] The present invention solves the problem that the motor cannot stop normally due to abnormal communication of multiple boards in modern industrial automation systems. Through electronic communication and control strategies, it ensures that the motor can stop safely when no continuous instructions are received, avoiding motor loss of control and potential equipment damage caused by communication failure. This method not only improves the stability and reliability of the entire system, but also ensures the continuity and safety of the production process.

[0041] Specifically, by introducing sensitivity analysis algorithm and PID control algorithm, the optimization of the motor start and stop process is achieved. The sensitivity analysis algorithm monitors the communication status and system response in real time, collects key parameter data, dynamically adjusts the time threshold of communication anomaly detection, optimizes the sending frequency of dog feeding instructions, and reduces the risk of misjudging communication anomalies; the PID control algorithm accurately adjusts the operating state of the motor to enable it to reach the preset target quickly, smoothly and stably, while reducing overshoot and steady-state error, thereby improving the responsiveness and stability of the system; the received dog feeding instructions are verified through CRC check to ensure the integrity and correctness of the instructions, further enhancing the robustness and reliability of the system; it not only solves the problems existing in the traditional label printing method, but also improves the efficiency and accuracy of label printing and reduces resource consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] For better understanding and implementation, the technical solution of the present application is described in detail below with reference to the accompanying drawings.

[0043] Figure 1 A flowchart of the steps of the method provided in Example 1 of the present application for solving the problem of a motor being unable to stop normally due to abnormal communication between multiple boards. DETAILED DESCRIPTION

[0044] In order to further explain the technical means and effects taken by the present invention to achieve the predetermined invention purpose, exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of methods and systems consistent with some aspects of the present application as detailed in the attached claims.

[0045] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0046] The specific implementation methods, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0047] Example 1

[0048] See also Figure 1This embodiment provides a method for solving the problem that the motor cannot stop normally due to abnormal communication of multiple boards, which is used to solve the problems existing in the traditional label printing method, improve the efficiency and accuracy of label printing, and reduce resource consumption.

[0049] The present invention provides a method for solving the problem of a motor failing to stop normally due to abnormal multi-board communication, comprising the following steps:

[0050] The main control board sends a start command to start the ink pump motor;

[0051] After the ink pump board receives the start command, it starts timing counting. If it does not receive the command from the main control board for a period of time, it will force the motor to stop.

[0052] After the main control board is started, it sends the dog feeding command regularly;

[0053] The ink pump board receives the dog feeding command and resets the counter to avoid timeout;

[0054] When the main control board needs to turn off the motor, it sends a stop command and stops feeding the dog;

[0055] The ink pump board receives the stop command, stops the motor and stops counting.

[0056] Among them, "Watchdog Timer" is a common technology in electronic and computer systems, and its core function is to monitor the normal operation status of the system. The watchdog instruction refers to a signal that the main control board sends to the ink pump board regularly to reset the counter on the ink pump board to prevent it from misjudging communication abnormalities due to timeout and avoiding unnecessary motor stops.

[0057] Specifically, when an abnormality occurs in the multi-board communication system, it can automatically detect and respond in a timely manner to ensure that the ink pump motor stops safely without receiving continuous instructions, avoiding motor loss of control and potential equipment damage due to communication failures, improving the stability and reliability of the entire system, and ensuring the continuity and safety of the production process.

[0058] Furthermore, after the ink pump board receives the start-up instruction, it also includes: optimizing through a sensitivity analysis algorithm to adjust and optimize the threshold of the timing count to ensure that the system can accurately detect anomalies in different communication environments.

[0059] Furthermore, the optimization by the sensitivity analysis algorithm specifically includes: after receiving the start-up command, the ink pump board starts the sensitivity analysis algorithm, monitors the communication status and system response in real time, and collects data related to communication anomaly detection, such as communication delay, packet loss rate, command response time and other key parameters;

[0060] Then, the collected data is counted and analyzed to evaluate the impact of different communication parameters on system stability, with a special focus on the impact of the time threshold of communication anomaly detection on system response;

[0061] Based on the analysis results, the time threshold for communication anomaly detection is dynamically adjusted to adapt to the current communication environment and system status, ensuring that the system can still accurately and timely detect anomalies when communication conditions change;

[0062] Based on historical data and real-time feedback, optimize the sending frequency of dog feeding instructions to reduce the risk of misjudging communication abnormalities due to timeouts;

[0063] At the same time, the exception handling strategy is updated according to the results of the sensitivity analysis. For example, when a high-risk communication anomaly is detected, more proactive motor protection measures can be taken.

[0064] Specifically, the results of the sensitivity analysis will be fed back to the user interface, allowing operators to make manual adjustments based on system recommendations, and all analysis data and system adjustments will be recorded in the log for post-audit and performance evaluation. Through this series of optimization processes, the system can maintain a high degree of stability and reliability in different communication environments, effectively avoiding motor loss of control and potential equipment damage caused by communication anomalies, and ensuring the continuity and safety of the production process.

[0065] Furthermore, when updating the exception handling strategy based on the results of the sensitivity analysis, the method of measuring the contribution of the input variable to the variance of the output variable through the Sobol index includes:

[0066] The variance of the dependent variable generated by the variance of each input variable is shown by the first-order influence index, which is used to quantify the sensitivity of a single variable to the model; the first-order influence index is expressed as: Where V represents variance, E represents expectation, Y is the output variable, X i is the i-th input variable;

[0067] Shows the variance of the dependent variable resulting from the variance of each input variable and its interaction with other input variables; the total effect index is expressed as: Where D is the total number of input variables, S j is the first-order influence index of the jth input variable;

[0068] The second-order impact index is used to measure the impact of the interaction between two input variables on the model output; the second-order impact index is expressed as: Among them, X i and X j are two different input variables.

[0069] Among them, the Sobol index is a method for global sensitivity analysis, which quantifies the impact of each input variable and the interaction between variables on the model output through variance decomposition. The Sobol index includes the first-order index and the total effect index, where the first-order index measures the contribution of a single input variable to the variance of the output variable, while the total effect index measures the contribution of the variance of each input variable and its interaction with other input variables to the variance of the output variable.

[0070] Specifically, the Sobol index can be used to quantify the impact of each input variable and the interaction between variables on the output results, and then update the exception handling strategy according to the results of sensitivity analysis to optimize system performance.

[0071] Furthermore, it also includes constructing a mathematical model to describe the communication process between the main control board and the ink pump board, including the sending and receiving of commands such as start, feed, and stop;

[0072] The state transition of the mathematical model is expressed as: S(t+1)=f(S(t), where S(t) is the current state, I(t) is the instruction received at time t, and T is the time threshold.

[0073] A mathematical model based on a state machine is constructed to describe the communication process between the main control board and the ink pump board. The model defines states including system initialization, motor start-up, dog feeding counter reset, and motor stop. The transfer between states is controlled according to the received start instructions, dog feeding instructions, stop instructions, and time thresholds, thereby ensuring accurate detection and response in the event of multi-board communication abnormalities and achieving safe starting, running, and stopping of the motor.

[0074] Furthermore, it also includes introducing a PID control algorithm to optimize the start and stop process of the motor, including:

[0075] Define a structure to store all the key parameters and states of the PID controller. This includes the target value (i.e. the set point that the motor should reach), the actual value (the actual current operating state of the motor), the error (the difference between the target value and the actual value), the error integral (the accumulation of the error over time), and the last moment value of the error (used to calculate the rate of change of the error);

[0076] Initialize the proportional (Kp), integral (Ki) and differential (Kd) coefficients of the PID controller. These coefficients determine the response speed and method of the PID controller to errors and need to be adjusted and optimized according to system characteristics and control requirements.

[0077] The control output is calculated based on the target value and the actual value. The PID controller responds to the error immediately through the proportional term (Kp error), eliminates the steady-state error through the integral term (Ki error integral), and predicts the error trend and reduces overshoot through the differential term (Kd*rate of change of error). The weighted sum of these three terms is the control output, which is used to adjust the motor input, such as voltage or current, to drive the motor to the target state;

[0078] In the motor control loop, the PID calculation function is called periodically. This means that in each control cycle, a new control output is dynamically calculated based on the latest actual operating state of the motor (such as current speed or position) and the preset target state. This process is continuous, ensuring that the motor control can respond to system changes in real time;

[0079] Based on the results of the PID calculation function, the control instructions sent to the motor are dynamically adjusted. This may involve adjusting the voltage, current or other control signals of the motor so that the actual operating state of the motor is as close to the target state as possible.

[0080] The effect of introducing the PID control algorithm to optimize the motor start and stop process is as follows: through real-time calculation and adjustment of the control output, the PID controller can accurately adjust the operating state of the motor so that it can quickly, smoothly and stably reach the preset target, while reducing overshoot and steady-state errors, improving the responsiveness and stability of the system, and ensuring that the motor can operate efficiently and safely under various operating conditions.

[0081] Furthermore, before introducing the PID control algorithm to optimize the motor start and stop process, using exponential functions to describe the speed and position changes of the motor acceleration and deceleration process can achieve smoother start and stop, reduce mechanical stress and energy consumption;

[0082] The acceleration process of the exponential function is expressed as: Where v(t) is the speed of the motor at time t, v max is the maximum speed of the motor, τ acc is the acceleration time constant, which indicates the time required to reach the maximum speed; the position change during the acceleration process is expressed as:

[0083]

[0084] The deceleration process of the exponential function is expressed as: Among them, τ dec is the deceleration time constant, which indicates the time required to decelerate from maximum speed to stop; the position change during the deceleration process is expressed as:

[0085] Specifically, the exponential function can provide a smooth acceleration change curve, which is particularly important for reducing mechanical stress and energy consumption during starting and stopping. By integrating the exponential function into the PID control algorithm, the entire dynamic process of the motor from stationary to target speed and from target speed to stop can be accurately planned. In the PID control loop, the control output can be dynamically adjusted according to the actual operating state of the motor and the preset target state to achieve exponential acceleration and deceleration control. This means that the starting and stopping of the motor is no longer a simple linear change, but follows a carefully designed exponential curve, which can optimize the energy consumption of the motor and reduce mechanical wear while maintaining high responsiveness and stability; through this exponential acceleration and deceleration control strategy, the PID controller can not only achieve precise control of the motor position, but also ensure the dynamic performance of the motor throughout the movement process, making it more in line with the requirements of smoothness and efficiency in practical applications.

[0086] Furthermore, when the ink pump board receives the dog feeding instruction, the received dog feeding instruction is verified by CRC verification, which specifically includes:

[0087] Initialize the CRC register and process the dog feeding instructions in batches, one byte per batch.

[0088] Among them, the byte is XORed with the lower 8 bits of the CRC register, and the result is stored back in the CRC register; the content of the CRC register is shifted right by one bit, and the shifted bit is checked; if the shifted bit is 1, the CRC register is XORed with the predefined polynomial;

[0089] According to all processed bytes, the check code is compared with a predefined or known correct check code to verify the integrity and correctness of the dog feeding instruction, wherein the content in the CRC register is the calculated check code;

[0090] When the check code does not match, it indicates that the dog feeding instruction may have been damaged or tampered with during the transmission process. When the check code matches, it confirms that the dog feeding instruction is correct and executes the corresponding dog feeding operation, that is, resets the counter on the ink pump board to avoid timeout.

[0091] Specifically, by implementing CRC check when the ink pump board receives the dog feeding instruction, this process can effectively detect whether there is an error in the transmission of the dog feeding instruction, ensuring the integrity and correctness of the instruction. If the check code matches, it means that the instruction is not damaged, the dog feeding operation can be safely executed, the counter can be reset, and the motor can be prevented from stopping due to timeout; if the check code does not match, it indicates possible data damage or tampering, thereby triggering necessary error handling measures, enhancing the robustness and reliability of the system.

[0092] Furthermore, the calculated check code is used to check the data through a polynomial, which is specifically expressed as: M(χ)×χ n =Q(χ)×K(χ)-R(χ), where M(χ) is the original polynomial, representing the data sequence to be sent. In CRC checking, data is usually regarded as a polynomial, in which each number corresponds to a coefficient of the polynomial; χ n It means that the number of bits of the original information polynomial M(χ) is extended by n bits, where n is the order of the generating polynomial K(χ), Q(χ) is the quotient polynomial, and it means M(χ)×χ n The quotient obtained after being divided by K(χ), K(χ) is the generating polynomial, which is a predetermined polynomial used for CRC check and is related to the number of bits of the check code, and R(χ) is the remainder polynomial, that is, the calculated CRC check value.

[0093] Specifically, the method provided in this embodiment for solving the problem that the motor cannot stop normally due to abnormal communication of multiple boards is intended to solve the motor control problem caused by abnormal communication in the traditional label printing method, thereby improving the efficiency and accuracy of label printing and reducing resource consumption. The method ensures that the motor can stop safely when it does not receive continuous instructions through a series of electronic communications and control strategies, avoids motor loss of control and potential equipment damage caused by communication failures, enhances the stability and reliability of the entire system, and ensures the continuity and safety of the production process.

[0094] In this method, the main control board first sends a start command to start the ink pump motor. After receiving the start command, the ink pump board starts to count regularly. If the command from the main control board is not received within the preset time, the motor will be automatically forced to stop to prevent infinite operation caused by communication abnormalities. After starting, the main control board will periodically send dog feeding commands. After receiving the dog feeding command, the ink pump board resets the counter to avoid misjudging communication abnormalities due to timeouts. When the main control board needs to turn off the motor, it will send a stop command and stop feeding the dog. After receiving the stop command, the ink pump board will immediately stop the motor and stop counting;

[0095] This method introduces a sensitivity analysis algorithm to optimize system performance and dynamically adjusts the time threshold for communication anomaly detection to adapt to different communication environments and system states. By real-time monitoring of communication states and system responses, and collecting key parameters such as communication delay, packet loss rate, and command response time, the system can evaluate the impact of different communication parameters on stability and update the anomaly handling strategy accordingly. In addition, the frequency of sending dog-feeding commands will be optimized based on historical data and real-time feedback to reduce the risk of misjudging communication anomalies.

[0096] This method also constructs a mathematical model based on a state machine to describe the communication process between the main control board and the ink pump board, including the sending and receiving of commands such as start, dog feeding, and stop. By defining states such as system initialization, motor start, dog feeding reset counter, and motor stop, and controlling the transfer between states according to the received commands and time thresholds, it ensures accurate detection and response in the case of multi-board communication abnormalities;

[0097] In order to optimize the starting and stopping process of the motor, this method introduces the PID control algorithm, which defines a structure to store all the key parameters and states of the PID controller, including the target value, actual value, error, error integral, and the error value at the previous moment. The PID controller calculates the control output through the weighted sum of the proportional term, integral term, and differential term, and dynamically adjusts the motor input, such as voltage or current, to drive the motor to change to the target state. This control strategy can accurately adjust the operating state of the motor so that it can quickly, smoothly and stably reach the preset target, while reducing overshoot and steady-state errors, and improving the responsiveness and stability of the system;

[0098] Finally, in order to ensure the accuracy and reliability of data transmission, this method implements CRC check when the ink pump board receives the dog feeding instruction, verifies the data through a polynomial, expands the number of bits of the original information polynomial, compares it with the generating polynomial, and calculates the remainder polynomial, namely the CRC check value. By comparing the calculated check code with the pre-defined correct check code, the system can verify the integrity and correctness of the dog feeding instruction to ensure that the instruction has not been damaged or tampered with during the transmission process.

[0099] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally, characterized in that: The method comprises the following steps: the main control board sends a start command to start the ink pump motor; After the ink pump board receives the start command, it starts timing counting. If it does not receive the command from the main control board for a period of time, it will force the motor to stop. After the main control board is started, it sends the dog feeding command regularly; The ink pump board receives the dog feeding command and resets the counter to avoid timeout; When the main control board needs to turn off the motor, it sends a stop command and stops feeding the dog; The ink pump board receives the stop command, stops the motor and stops counting.

2. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 1, characterized in that: After the ink pump board receives the start-up instruction, the method further includes: optimizing through a sensitivity analysis algorithm, adjusting and optimizing the threshold of the timing count.

3. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 2, characterized in that: The optimization through sensitivity analysis algorithm specifically includes: after receiving the start-up instruction, the ink pump board starts the sensitivity analysis algorithm, collects data related to communication anomaly detection by real-time monitoring of the communication status and system response; then, the collected data is counted and analyzed to evaluate the impact of different communication parameters on system stability; based on the analysis results, the time threshold of communication anomaly detection is dynamically adjusted to adapt to the current communication environment and system status; then, according to historical data and real-time feedback, the sending frequency of dog feeding instructions is optimized; and the exception handling strategy is updated according to the results of the sensitivity analysis.

4. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 3, characterized in that: When updating the anomaly handling strategy based on the results of sensitivity analysis, the Sobol index is used to measure the contribution of input variables to the variance of output variables, including: The variance of the dependent variable generated by the variance of each input variable is shown by the first-order influence index, which is used to quantify the sensitivity of a single variable to the model; the first-order influence index is expressed as: Where V represents variance, E represents expectation, Y is the output variable, X i is the i-th input variable; Shows the variance of the dependent variable resulting from the variance of each input variable and its interaction with other input variables; the total effect index is expressed as: Where D is the total number of input variables, S j is the first-order influence index of the jth input variable; The second-order impact index is used to measure the impact of the interaction between two input variables on the model output; The second-order impact index is expressed as: Among them, X i and X j are two different input variables.

5. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 1, characterized in that: It also includes,building a mathematical model to describe the communication process between the main control board and the ink pump board,,including the sending and receiving of commands such as start, feed, and stop; The state transition of the mathematical model is expressed as: S(t+1)=f(S(t), where S(t) is the current state, I(t) is the instruction received at time t, and T is the time threshold.

6. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 1, characterized in that: It also includes the introduction of PID control algorithms to optimize the motor start and stop process, including: Define a structure to store all key parameters and states of the PID controller, including the target value, actual value, error, error integral, and the error value at the last moment; Initialize the proportional, integral and differential coefficients of the PID controller, determine the response speed and method of the PID controller to the error, and then adjust and optimize it according to the system characteristics and control requirements; The control output is calculated based on the target value and the actual value. The PID controller responds to the error immediately through the proportional term, eliminates the steady-state error through the integral term, and predicts the error trend and reduces overshoot through the differential term. The motor input is adjusted according to the weighted sum of the three terms of the PID controller to drive the motor to the target state. In the motor control loop, the PID calculation function is called periodically to dynamically calculate the new control output based on the latest actual operating state of the motor and the preset target state; According to the results of the PID calculation function, the control instructions sent to the motor are dynamically adjusted.

7. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 6, characterized in that: Before the PID control algorithm was introduced to optimize the motor start and stop process, the speed and position changes of the motor acceleration and deceleration process were described by exponential functions; The acceleration process of the exponential function is expressed as: Where v(t) is the speed of the motor at time t, v max is the maximum speed of the motor, τ acc is the acceleration time constant, which indicates the time required to reach the maximum speed; the position change during the acceleration process is expressed as: The deceleration process of the exponential function is expressed as: Among them, τ dec is the deceleration time constant, which indicates the time required to decelerate from maximum speed to stop; the position change during the deceleration process is expressed as:

8. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 1, characterized in that: When the ink pump board receives the dog feeding instruction, the received dog feeding instruction is verified by CRC verification, which specifically includes: Initialize the CRC register and process the dog feeding instructions in batches, one byte per batch. Among them, the byte is XORed with the lower 8 bits of the CRC register, and the result is stored back in the CRC register; the content of the CRC register is shifted right by one bit, and the shifted bit is checked; if the shifted bit is 1, the CRC register is XORed with the predefined polynomial; Based on all processed bytes, the checksum is compared with a predefined or known correct checksum, where the content in the CRC register is the calculated checksum; When the check code does not match, it indicates that the dog feeding instruction may have been damaged or tampered with during the transmission process. When the check code matches, it confirms that the dog feeding instruction is correct and executes the corresponding dog feeding operation.

9. The method for solving the problem of abnormal multi-board communication causing the motor to fail to stop normally according to claim 8, characterized in that: The calculated check code is used to check the data through a polynomial, specifically expressed as: M(χ)×χ n =Q(χ)×K(χ)-R(χ), where M(χ) is the original polynomial representing the data sequence to be sent; χ n It means that the number of bits of the original information polynomial M(χ) is expanded by n bits, where n is the order of the generating polynomial K(χ); Q(χ) is the quotient polynomial, which means M(χ)×χ n The quotient obtained after being divided by K(χ), K(χ) is the generating polynomial, which is a predetermined polynomial used for CRC verification, and R(χ) is the remainder polynomial, which is the calculated CRC verification value.

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