Separation method and separation control device using rotator

Abstract

The invention relates to the technical field of medical instruments, and provides a separation method and device using a rotator, and the method comprises the steps: obtaining a target instruction which comprises the first enabling information of a first motor and the second enabling information of a second motor; the first motor is selectively driven to rotate according to the first enabling information, the second motor is selectively driven to rotate according to the second enabling information, and when the first motor and the second motor jointly act on the separation container through the first enabling information and the second enabling information respectively, the separation container is separated from the separation container. The priority set by the target rotating speed of the first motor is higher than that set by the target rotating speed of the second motor, and the target rotating speed of the second motor is matched with the target rotating speed of the first motor. According to the separation method and device, the response speed and the rotating speed of the separation device can be effectively increased, and resource waste is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a separation method and a separation control device using a rotator. Background Art

[0002] In the field of biological applications, it is often necessary to use a centrifugal device to separate effective substances from samples or other biological materials for detection or other sample processing. Existing centrifugal devices generally use a rotary centrifugal method to separate liquids containing target substances, that is, after the sample liquid is stored in a liquid container, the liquid container is driven to rotate at high speed by a driving device. Because the substances in the liquid have different centrifugal effects due to their own specific gravity, their sedimentation speeds are different, and then they are separated from each other in the liquid container. This centrifugal separation method is one of the most commonly used methods for separating nucleic acids, proteins, enzymes and cell subcomponents, blood, and DNA. At present, in the prior art, a single brushless motor is used to drive a driving turntable connected to a liquid container such as a reaction cup to rotate at high speed to maintain the centrifugal effect of the liquid in the liquid container on the driving turntable. However, since the torque of the brushless motor is relatively small at low speed, the startup acceleration and shutdown deceleration are slow, resulting in a longer total time for the centrifugal process and low efficiency.

[0003] In addition, considering the compatibility of equipment functions, the centrifugal device can realize both centrifugal function and oscillation mixing function. The existing oscillation mixing function is that the motor rotates at a fixed speed to drive the reaction cup to rotate, and then changes the rotation direction after rotating for a period of time, and then rotates at the same speed or a fixed speed after the change. Such repeated movements form an oscillation effect, so that the various substances in the reaction cup are fully mixed. When switching directions, this solution prolongs the total duration of the oscillation process due to the inertia factor, and also has the problem of low efficiency. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, an object of the present invention is to provide a separation method and a separation control device using a rotator.

[0005] In a first aspect, the present invention provides a separation method using a rotator, the rotator comprising a separation container for loading an object to be separated and a first motor and a second motor for driving the separation container to rotate, the separation method comprising: Acquire a target instruction, wherein the target instruction includes first enabling information for the first motor and second enabling information for the second motor; selectively driving the first motor to rotate according to the first enabling information, and selectively driving the second motor to rotate according to the second enabling information, Among them, when the first enabling information and the second enabling information respectively enable the first motor and the second motor to act on the separation container together, the priority of the target speed setting of the first motor is higher than the priority of the target speed setting of the second motor, and the target speed of the second motor is matched with the target speed of the first motor.

[0006] According to the separation method provided in the first aspect of the present invention, the separation effect of the separation container can be significantly increased by driving with two motors. When one of the motors is used as the guide motor, the priority of the target speed setting of the motor is increased so that the other motor cooperates with the motor. This can avoid the problem of motor control being asynchronous during the simultaneous control of the two motors, resulting in unstable coordination of the two motors. In addition, when the target speed exceeds the maximum stable speed of a single motor, the stable output of the dual motors is guaranteed at a speed exceeding the maximum stable speed through the priority target setting, thereby further improving the separation effect of the separation container. The method has a fast response speed and a high speed, which can not only realize high-speed centrifugal operation, but also speed up the start-up process and the stop deceleration process of the separation container, taking less time and making the speed change process stable. The method can also quickly overcome the steering inertia during the reversing process of the separation container, enhance the oscillation and mixing effect of the mixed liquid, and improve efficiency.

[0007] In a preferred embodiment of the present invention, the target instruction includes a first instruction, and when executing the first instruction, the method includes: determining a first speed of the first motor and the second motor based on the first instruction; Determining whether the first speed is greater than a maximum speed of the first motor, wherein the maximum speed is a maximum speed that can be achieved by the first motor independently driving the separation container to rotate in a stable state; If it is greater than, the first enabling information controls the first motor to rotate with the first speed as the target speed, and the second enabling information also controls the first motor to rotate with the first speed as the target speed; The output parameter of the first motor is adjusted according to the actual rotation speed of the first motor, and the target rotation speed of the second motor is made consistent with the target rotation speed of the first motor.

[0008] In a preferred embodiment of the present invention, adjusting the output parameter of the first motor according to the actual rotation speed of the first motor includes: Acquire a first actual rotational speed achieved by the first motor and the second motor acting together; determining whether the first actual speed is greater than the maximum speed; If it is greater, the first parameter controlling the output of the first motor is switched to a second parameter, and the first motor and the second motor are continued to be driven to rotate with the first speed as the target speed.

[0009] In a preferred embodiment of the present invention, the step of adjusting the output parameter of the first motor according to the actual rotation speed of the first motor further includes: Continue to obtain a second actual speed achieved by the first motor and the second motor working together, and determine whether a maximum speed that can be achieved by the first motor and the second motor under the action of a second limiting parameter is greater than the first speed; If the maximum rotational speed is less than the first rotational speed, the output torques of the first motor and the second motor are increased without exceeding the respective torques of the first motor and the second motor.

[0010] In a preferred embodiment of the present invention, the step of adjusting the output parameter of the first motor according to the actual rotation speed of the first motor further includes: Continue to obtain a third actual speed achieved by the first motor and the second motor acting together, and determine whether a limit speed that can be achieved by the first motor and the second motor under the action of the limit output torque is greater than the first speed; If the limit speed is less than the first speed, driving the first motor and the second motor to rotate with the limit speed as the target speed; If the limit speed is greater than or equal to the first speed, the first motor and the second motor are driven to rotate with the first speed that can be reached by the first motor and the second motor before the third actual speed reaches the limit speed as the target speed.

[0011] In a preferred embodiment of the present invention, the first motor is a stepper motor and the output parameter is the subdivision number of the stepper motor.

[0012] In a preferred embodiment of the present invention, when executing the first instruction, the method further includes: Starting from the stable operation of the first motor and the second motor, calculating a first time for the stable operation of the first motor and the second motor; Determining whether the first time reaches a specified time; If so, the operation of the first motor and the second motor is stopped.

[0013] In a preferred embodiment of the present invention, the target instruction includes a second instruction, and when executing the second instruction, the method includes: determining a second speed and a one-way running time of the first motor and the second motor based on the second instruction; driving the first motor to rotate with the second speed as a target speed according to the first enabling information, and driving the second motor to rotate at a speed consistent with the speed of the first motor according to the second enabling information; When the speed of the second motor reaches a threshold speed, the first enabling information is invalidated, and the first motor is controlled to stop, and the threshold speed is not greater than the second speed; After the second motor runs at the second speed for the unidirectional running time, the first motor is driven to rotate in the opposite direction with the second speed as the target speed according to the first enabling information, and the second motor is driven to rotate in the opposite direction according to the second enabling information and the speed of the second motor is consistent with the speed of the first motor.

[0014] In a preferred embodiment of the present invention, the method further comprises: Within a preset time before the running time of the second motor reaches the unidirectional running time, the second motor is driven to rotate in the opposite direction of the current rotation of the second motor according to the first enabling information with the second speed as the target speed.

[0015] In a preferred embodiment of the present invention, the method further comprises: When the total running time of the second instruction reaches a second time, stopping the running of the first motor and the second motor; When the total running time of the second instruction reaches the second time, the separation container returns to the initial position before the second instruction is run.

[0016] In a preferred embodiment of the present invention, the target instruction includes a third instruction, and when executing the third instruction, the method includes: determining a target moving distance of the separation container based on the third instruction; The operation of the second motor is stopped according to the second enabling information, and the first motor is driven to rotate the separation container at the target moving distance according to the first enabling information.

[0017] In a preferred embodiment of the present invention, the step of driving the first motor to rotate the separation container at the target moving distance according to the first enabling information includes: Obtaining an actual running distance of the first motor; Determine whether a deviation between the actual running distance and the target moving distance is greater than a deviation threshold; If it is greater, performing distance correction on the first motor; After performing distance correction on the first motor, reacquire the actual running distance of the first motor, and determine whether the difference between the actual running distance and the target moving distance is greater than a threshold; If it is greater, continue to perform distance correction on the first motor; When the distance correction times are greater than the preset times, an error is reported.

[0018] In a preferred embodiment of the present invention, the first motor is a stepping motor, and the second motor is a brushless motor.

[0019] Compared with the prior art, the present invention has the following beneficial effects: In a second aspect, the present invention provides a separation control device, applied to a rotator, the rotator comprising a separation container for loading an object to be separated and a first motor and a second motor for driving the separation container to rotate, the separation control device comprising: an acquisition unit, configured to acquire a target instruction including first enabling information for the first motor and second enabling information for the second motor; an execution unit, configured to selectively drive the first motor to rotate according to the first enabling information, and selectively drive the second motor to rotate according to the second enabling information, Among them, when the first enabling information and the second enabling information respectively enable the first motor and the second motor to act on the separation container together, the priority of the target speed setting of the first motor is higher than the priority of the target speed setting of the second motor, and the target speed of the second motor is matched with the target speed of the first motor.

[0020] In a third aspect, the present invention further provides a computer-readable storage medium, characterized in that a program is stored in the computer-readable storage medium, and when the program runs, the device controls the computer-readable storage medium to execute the method described in the first aspect embodiment.

[0021] Other features and advantages of the invention will be described in the following description, and partly become apparent from the description, or understood by implementing the technical solution of the invention. The purpose and other advantages of the invention can be achieved and obtained by the structures and / or processes specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of a rotator provided by an embodiment of the present invention;

[0023] Figure 2 A flow chart of a separation method provided by an embodiment of the present invention;

[0024] Figure 3 for Figure 2 A flowchart of the separation method provided in the embodiment when executing the first instruction;

[0025] Figure 4 for Figure 2 A flowchart of a separation method provided in one embodiment thereof when executing a first instruction;

[0026] Figure 5 for Figure 2 A flowchart of the separation method provided in the embodiment when executing the second instruction;

[0027] Figure 6 for Figure 2 A flowchart of the separation method provided in the embodiment when executing the third instruction;

[0028] Figure 7 A schematic structural diagram of a separation control device provided in an embodiment of the present invention.

[0029] Description of Figure Numbers: 1-separation container, 11-rotating base, 2-first motor, 3-second motor, 4-transmission component DETAILED DESCRIPTION

[0030] The following will describe the implementation methods of the present invention in detail in combination with the accompanying drawings and embodiments, so that the implementation process of how the present invention applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly. It should be noted that these specific descriptions are only for ordinary technicians in this field to understand the present invention more easily and clearly, rather than a restrictive interpretation of the present invention; for example, the first and second mentioned in the embodiments of the present invention do not constitute a limitation thereto, but are only for expressing the serial numbers of multiple identical or similar devices and mechanisms. Ordinary technicians in this field can also readjust these serial numbers for the convenience of expression or in the process of arranging technical solutions; and alternative solutions are described for some mechanisms in different embodiments, and these alternatives can also be applied to other identical or similar devices and mechanisms; and as long as there is no conflict, the various embodiments in the present invention and the various features in each embodiment can be combined with each other, and the technical solutions formed are all within the protection scope of the present invention.

[0031] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments.

[0032] First, the rotator used in the embodiment of the present invention is described. Figure 1The present invention provides a rotator, including a separation container 1 and a first motor 2 and a second motor 3 for driving the separation container 1 to rotate. The separation container 1 is used to load liquid. The liquid in the embodiment of the present invention can be a mixed liquid, such as a sample liquid with nucleic acid, enzyme, protein and other substances. Of course, it can also be other liquids, without limitation. The separation container 1 includes a rotating base 11 and a container body arranged on the rotating base 11. The container body can be fixedly arranged on the rotating base 11 by a detachable connection or the like, or can be placed on the rotating base 11. The rotating base 11 is connected to the first motor 2 and the second motor 3 through a transmission member 4, so that the driving force of the first motor 2 and the driving force of the second motor 3 can act on the rotating base 11, so that the rotation speed of the rotating base 11 is maintained at a target speed. Among them, the container body is set as a reaction cup in this embodiment, which is used to put the sample liquid to be separated, placed on the rotating base 11 and centrifugally rotated under the action of the rotating base 11. Of course, it can also be other liquid containers that can store liquids, without limitation.

[0033] In one embodiment, the transmission member 4 includes a transmission main shaft rotating with the rotating base 11 and a transmission structure connected to the transmission main shaft, and the transmission structure can be a belt structure, one of the first motor 2 and the second motor 3 is directly connected to the transmission main shaft, and the other motor transmits the driving force to the rotating base 11 by connecting the transmission main shaft through the belt structure. Of course, the transmission structure can also be a gear structure or other transmission methods, which can also achieve the above effect. Through the above transmission structure, in this embodiment, if the second motor 3 is connected to the transmission main shaft, the first motor 2 is connected to the transmission structure, at this time, the second motor 3 provides a first driving force to act on the rotating base 11, and at the same time, the second motor 3 provides a second driving force to act on the rotating base 11, so that the driving forces between the two can be combined to act in the separation container 1. In addition, in order to achieve independent driving of the separation container 1 by the first motor 2 and the second motor 3, a clutch can be further provided between the second motor 3 and the first connecting component of the transmission member 4, such as the transmission main shaft in the present embodiment, and / or between the first motor 2 and the second connecting component of the transmission member 4, such as the transmission structure in the present embodiment. When the corresponding clutch is closed, the corresponding first motor 2 or the second motor 3 can output power to the rotating base 11. After the corresponding clutch is disconnected, the corresponding first motor 2 or the second motor 3 cannot transmit driving force.

[0034] Among them, in the rotator used in the embodiment of the present invention, the speed performance of the first motor 2 acting on the transmission member 4 should match the speed performance of the second motor 3 acting on the transmission member 4. For example, in the aforementioned embodiment, when the target speed of the rotating base 11 is V0, the speed of the first motor 2 used to drive the rotating base 11 to reach the target speed is the first speed V1, and the speed of the second motor used to drive the rotating base 11 to reach the target speed is the second speed V2. Because the speed conversion ratio of the first motor 2 and the second motor 3 in the transmission structure and the rotating base 11 may be inconsistent, the first speed V1 and the second speed V2 may also be inconsistent when the rotating base 11 reaches the target speed V0. For example, when the target speed V0 is the same, the first speed V1 is half of the second speed V2. At this time, in order to make the target speed of the first motor 2 and the target speed of the second motor 3 keep the driving speed of the rotating base 11 consistent, the first target speed V01 should be half of the second target speed V02, so that the speed performance between the two motors matches.

[0035] In this embodiment, in order to facilitate the control of the target speeds of the first motor 2 and the second motor 3, the speeds of the two motors are made to be the same under the same driving speed of the rotating base 11. That is, in order to make the rotating base 11 reach the target speed, the first target speed of the first motor 2 and the second target speed of the second motor 3 are adapted to the target speed of the rotating base 11 and the first target speed is made the same as the second target speed.

[0036] According to the above structure, the driving states of the first motor and the second motor for the separation container include at least the following three states: State 1: the first motor or the second motor is driven independently, and the other undriven motor does not provide driving force to the rotating base plate of the separation container. The rotation of the separation container is only performed by the independently driven first motor or the second motor in a single motor driving form: State 2: The first motor and the second motor drive together, and both motors provide driving force to the rotating base of the separation container, which can significantly improve the driving performance of the rotating base; In state three, both the first motor and the second motor stop driving, and the separation container does not receive the driving force of the first motor and the second motor.

[0037] Therefore, according to the above description of the rotator, the present invention provides a separation method using the rotator in the first aspect, referring to Figure 2 , used in rotators, including: S100, obtaining a target instruction, where the target instruction includes first enabling information for a first motor and second enabling information for a second motor; The target instruction can be issued by the main controller of the device including the rotator and transmitted to the sub-controller of the rotator, and the sub-controller further controls the first motor and the second motor to rotate the separation container. The instruction can also be issued by an external device or terminal outside the device, wherein the target instruction can be issued to the sub-controller through a program control process, or it can be issued through external input, such as through an operation panel or an external device and terminal. The external device and the terminal can transmit the target instruction to the device through wired data transmission methods such as USB and Type-C. It can also be transmitted in the form of WiFi, Bluetooth, data network, etc., or the corresponding target instruction can be obtained from the operation terminal by obtaining interactive information through a cloud server. No excessive restrictions are made here.

[0038] The target instruction includes first enabling information and second enabling information. The first enabling information includes an enabling signal for the first motor. The first motor performs a driving action and adjusts the target speed or other output parameters for controlling the first motor based on the enabling signal in the first enabling information, such as the number of subdivisions in the stepping motor. The second enabling information includes an enabling signal for the second motor. The second motor performs a driving action and adjusts the target speed or other parameters for controlling the motor based on the enabling signal in the second enabling information. In addition, the first enabling information and the second enabling information may also be a first control command for the first motor and a second control command for the second motor. The first motor and the second motor are not directly controlled by the enabling signal. Instead, after the target instruction is sent to the controller of the rotator, the controller sends the enabling signal for the first motor and the enabling signal for the second motor respectively according to the first control command and the second control command, so that the first motor is executed according to the first control command, and the second motor is executed according to the second control command. For example, when the first control command includes a first target speed, the controller sends a corresponding enable signal to the first motor according to the first target speed, so that the first motor rotates at the first target speed and maintains the speed. When the first control command includes a stop command, the controller sends a stop enable signal to the first motor according to the stop instruction, so that the first motor stops rotating. The first control command can also be combined with a clock signal in the controller to enable the controller to send a stop enable signal to the first motor at a specified time to stop the first motor. Similarly, the second control command can also refer to the above method to control the second motor, which will not be repeated here.

[0039] Between the controller and the first motor and the second motor, PI control (proportional-integral control) or PID control (proportional-integral-derivative control) can be used to send an enable signal to control the first motor and the second motor to rotate. The first enable information and the second enable information can respectively include parameters of the first motor and the second motor for PI control or PID control. The controller can modify the relevant parameters in the PI control or PID control according to the first enable information and the second enable information, and then change the control strategy of the first motor and the second motor to cooperate with the execution process of the target instruction.

[0040] S200 , selectively driving the first motor to rotate according to the first enabling information, and selectively driving the second motor to rotate according to the second enabling information.

[0041] The first enabling information and the second enabling information respectively include driving commands and stop commands for the first motor and the second motor, which can selectively make the first motor or the second motor work or stop. When the target instruction includes a driving instruction and / or a stop instruction for the first motor, the driving instruction and the stop instruction are both included in the first enabling information. Based on the driving instruction, the first enabling information controls the rotation of the first motor through an enabling signal, and based on the stop instruction, the first enabling information controls the rotation of the first motor through an enabling signal. Similarly, when the target instruction includes a driving instruction and / or a stop instruction for the second motor, the driving instruction and the stop instruction are both included in the second enabling information. Based on the driving instruction, the second enabling information controls the rotation of the second motor through an enabling signal, and based on the stop instruction, the second enabling information controls the rotation of the second motor through an enabling signal. Therefore, the first enabling information can selectively drive the first motor to rotate, and the second enabling information can selectively drive the second motor to rotate, so that in the target instruction, the first motor or the second motor can rotate independently to independently drive the separation container to rotate, and the first motor and the second motor can rotate simultaneously to act on the separation container together, or the rotation of the first motor and the second motor can be stopped to make the separation container stationary.

[0042] Among them, when the first enabling information and the second enabling information respectively make the rotation of the first motor and the second motor act on the separation container together, the priority of the target speed setting of the first motor is higher than the priority of the target speed setting of the second motor, and the target speed of the second motor is matched with the target speed of the first motor. That is, when the first motor and the second motor act on the separation container together, the speed conversion process and the speed maintenance process give priority to the first motor, so that the speed of the second motor matches the speed of the first motor.

[0043] In the first embodiment, for example, in the process of setting the same target speed V0 to synchronously drive the first motor and the second motor, the maximum speed Vm that the first motor can reach under the current load is independently considered. If the maximum speed Vm is greater than the target speed V0, the second motor is driven to rotate with the target speed V0 as the target speed, and the target speed of the second motor is matched with the target speed of the first motor. When the speeds of the first motor and the second motor act on the separation container in the same proportion, the target speed of the second motor is consistent with the target speed of the first motor. Therefore, in the control process, because the first motor itself can reach the target speed V0, and after adding the second motor as the drive, the target speed V0 can also be achieved, and both can act on the separation container at the target speed V0.In another case, if the maximum speed Vm that the first motor can reach under the current load is less than the target speed V0, there may be a situation where the target speed V0 cannot be reached under the joint action of the first motor and the second motor. Therefore, the first target speed of the first motor is first set as the target speed V0, and the second target speed of the second motor is set as the target speed V0, so that the first motor and the second motor rotate at the target speed V0 at the same time, and the stable operation of the first motor and the second motor is monitored at the same time. If the actual speeds of the first motor and the second motor are in a stable operation state when reaching the target speed V0, the target speed V0 can be maintained to make the first motor rotate at the first target speed and the second motor rotate at the second target speed; if the actual speed of the first motor is in an unstable operation state when reaching the target speed V0 or the actual operating speed before that, that is, it exceeds the maximum speed of continuous stable operation in the current state, wherein the maximum speed is the maximum speed Vm1 of continuous stable operation that the first motor and the second motor can reach when the first motor and the second motor act on the separation container at the same time, which is different from the maximum speed of the first motor when it runs independently under the current load. Generally, the maximum speed Vm1 is greater than the maximum speed of independent operation. Speed ​​Vm, at this time, the output parameters of the first motor are adjusted and the target speed V0 is continued to be maintained, so that the first motor continues to be in an accelerated state, and the maximum speed Vm2 of the first motor that can be achieved for continuous and stable operation when the first motor and the second motor act on the separation container at the same time in this case and the target speed V0 are judged. If Vm2 is greater than V0, the first target speed of the first motor is reduced and the second target speed of the second motor is correspondingly reduced to the target speed V0 and the operation is maintained. If Vm2 is less than V0, the output parameters of the first motor and the output parameters of the second motor are continued to be adjusted, so that the first motor and The second motor continues to accelerate until it is determined that the first motor and the second motor have reached the limit output state, and the limit stable speed Vm3 that the first motor can reach is reached. The limit stable speed Vm3 and the target speed V0 are determined. If Vm3 is greater than V0, the first motor and the second motor will stably operate with V0 as the target speed while maintaining the current output parameters. If Vm3 is less than V0, the first target speed of the first motor is adjusted with the limit stable speed Vm3 as the target speed, and the second target speed of the second motor is matched with the first target speed, and they also operate with the limit stable speed Vm3 as the target speed.

[0044] It should be noted that, due to the different amounts or types of liquid carried in the container body, the load borne by the first motor when driving the separation container to rotate is also different. Therefore, the maximum speed of the first motor to independently drive the separation container under different loads is also different. The maximum speed of the first motor to continuously and stably operate can be obtained through the maximum speed operation curve between the first motor and the load, and its maximum speed operation curve is obtained by combining actual test data with curve fitting. During the joint action of the first motor and the second motor, the acceleration of the two motors is set to be the same while setting the target speed of the two motors to be the same.

[0045] In the second embodiment, when the first motor and the second motor act on the separation container at the target speed together, if there is an acceleration time during the process of continuously accelerating from a stationary state or a low-speed state to the target speed Vn, when the acceleration time of the two motors is inconsistent and the speeds are not synchronized, a lag or lead phenomenon is formed due to the mismatch of the speeds between the two motors. Therefore, it is necessary to increase the speed and target speed priority of one motor, i.e., the first motor, so that the speed and target speed of the other motor, i.e., the second motor, match those of the first motor. Specifically, when the first motor and the second motor are set to target the target speed Vn and operate at the same acceleration an, the operating speed of the first motor is monitored in real time. If the control speed of the second motor does not match the speed of the first motor, the second motor is matched with the operating speed of the first motor through an enable signal until the first motor and the second motor reach the target speed Vn or a preset threshold speed together.

[0046] Among them, the second motor can make the speed of the second motor match the actual operating speed of the first motor through a control strategy such as PI control or PID control. That is, after the controller obtains the actual operating speed, it adjusts the target speed of the second motor at this time through the control strategy, so that the target speed of the second motor matches the actual speed of the first motor to prevent the lag or lead of speed mismatch. Therefore, when the first motor is driven at the target speed Vn, whether in the acceleration state or in the state of maintaining the target speed, the target speed of the second motor is matched with the target speed of the first motor as the main body, which can avoid the incompatibility of the dual motors when they work together in the separation container.

[0047] In summary, when the target instruction indicates that the first motor and the second motor act together on the separation container, the setting priority of the target speed of the first motor is higher than the setting priority of the target speed of the second motor, and the target speed of the first motor is adjusted preferentially. After the target speed of the first motor is adjusted, the target speed of the second motor matches the process of the first motor rotating at the target speed, ensuring that the speed remains stable with the first motor in the case of speed changes and stable speed state rotation. Among them, the above-mentioned embodiment is set as the implementation situation that the speeds of the first motor and the second motor drive the separation container in the same proportion, and the implementation situation when the speeds of the first motor and the second motor drive the separation container in different proportions can also be executed by matching, which is also within the protection scope of the embodiment of the present invention.

[0048] The target instruction in the separation method provided in the embodiment of the present invention may include multiple target instructions, and each target instruction has different first enabling information and second enabling information, thereby having different driving control modes for the first motor and the second motor.

[0049] In one embodiment, see Figure 3 , the target instruction includes a first instruction, and when executing the first instruction, the separation method includes: S111, determining a first rotation speed of the first motor and the second motor based on the first instruction; S112, determining whether the first rotational speed is greater than a maximum rotational speed of the first motor, wherein the maximum rotational speed is a maximum rotational speed that can be achieved by the first motor independently driving the separation container to rotate in a stable state; S113, if it is greater than, the first enabling information controls the first motor to rotate with the first speed as the target speed, and the second enabling information also controls the first motor to rotate with the first speed as the target speed; S114, adjusting the output parameter of the first motor according to the actual rotation speed of the first motor, and making the target rotation speed of the second motor consistent with the target rotation speed of the first motor.

[0050] In this embodiment, the first speed V1 to be reached in the first instruction is first determined, and the maximum speed that can be reached by the first motor to independently drive the separation container to rotate under a stable state, that is, the maximum speed Vm, is obtained according to the current load state. If the first speed V1 is less than the maximum speed Vm, it means that even when the first motor is independently running, the stable operation of the target speed V0 may be achieved. At this time, the first speed V1 is directly used as the target speed to keep the first motor and the second motor driving the separation container. When the first speed V1 is greater than the maximum speed Vm, it means that if the first speed is used as the target speed to drive the first motor to rotate, the first motor may not be able to maintain continuous and stable rotation under the current load state, but because the first enabling information and the second enabling information under the first instruction enable the first motor and the first motor to act on the separation container together, the second motor can share part of the load of the first motor, and the driving force of the two on the separation container can increase the maximum speed of continuous and stable rotation of the first motor under the current load state of the separation container, but the maximum speed is uncertain, so in this case, it is necessary to determine the situation in which the first motor and the second motor can be able to stably operate under the first speed while maintaining the current output state of the first motor and the second motor.

[0051] Further, in the case where it is judged that the first speed V1 is greater than the maximum speed Vm, the first motor and the second motor are driven to rotate with the first speed V1 as the target speed, and the operation of the first motor and the second motor is monitored. If the first actual speed of the first motor and the second motor acting together is in an unstable state before reaching the first speed V1 or before the speed reaches the first speed V1, it means that the rotation output of the first motor controlled based on the output parameters of the first motor exceeds the limit state of the first motor being able to operate stably, and the output parameters of the first motor need to be regulated to adapt to the output of the target speed of the first speed V1, so as to increase the limit speed when the first motor and the second motor act together in the separation container. It should be noted that the stable operation of the first actual speed of the first motor and the second motor can be determined by monitoring the speed of the transmission shaft of the transmission structure, or by independently monitoring the speed of the first motor and the second motor. If both motors are in a stable operation state, it means that the common speed is in a stable state at this time. Whether each motor is in a stable operation state can be evaluated by the stability of the speed within a specified time. If the speed cannot be maintained at a speed within a specified time and produces a large fluctuation, it means that the motor is in an unstable state. On the contrary, if it has a stable output speed, it means that it is in a stable state.

[0052] Therefore, adjusting the output parameter of the first motor according to the actual rotation speed of the first motor includes: S121, obtaining a first actual rotational speed achieved by the first motor and the second motor working together; S122, determining whether the first actual rotation speed is less than the first rotation speed; S123: If it is less than, the first parameter for controlling the output of the first motor is switched to the second parameter, and the first motor and the second motor are driven to rotate with the first speed as the target speed.

[0053] Among them, the output parameter of the first motor can be a relevant parameter in a control strategy such as PI control or PID control, or it can be the number of subdivisions in a stepper motor. By switching the output first parameter to the second parameter, the operation stability of the first motor under high-speed operation can be adjusted. Among them, when the output parameter of the first motor is the subdivision number of the stepper motor, that is, the first motor is a stepper motor, the subdivision number is reduced, and the speed is further increased. Therefore, in this embodiment, when the first speed V1 is greater than the maximum speed Vm and the target speed cannot be reached, the subdivision number of the first motor is first adjusted to maintain the stability of the first motor and enable the first motor to run stably at the first speed. When the second motor shares the load of the first motor, the target speed is adapted to the first motor. Because the driving speeds of the first motor and the second motor on the rotator for the separation container are synchronized with each other, when the first motor can run stably at the first speed, the second motor can also run in a stable state. On the contrary, if the second motor is in an unstable state, the state of the first motor will also be unstable. Therefore, adjusting with the target speed of the first motor as the priority can simplify the control process of the entire dual motor, wherein the first actual speed refers to the actual speed in a stable state achieved by the joint action of the first motor and the second motor. If the speed is not in a stable state, it does not belong to the category of the first actual speed. Therefore, in the process of gradually increasing the speed, the last actual speed in a stable state is the actual maximum stable speed used for judging with the first speed V1. It should be noted that there may be multiple second parameters, and the first parameter may need to be adjusted multiple times during the process of switching to the second parameter, that is, after adjusting the second parameter in sequence, the maximum speed that the first motor can achieve is selected, and the maximum speed is the maximum speed mentioned in the following embodiments.

[0054] It can be expanded that the second motor is a brushless motor, and the stability of the brushless motor at high speed is higher than that of the first motor as a stepper motor. Therefore, in this embodiment, the limit speed of stable operation of the first motor is lower than the limit speed of stable operation of the second motor. When the first motor is in a stable operation state, the second motor can also achieve a stable operation effect. Of course, other motor types can also be implemented, and the above effect can also be achieved when the target speed of one motor is adjusted with high priority in the embodiment of the present invention.

[0055] Of course, even if the output parameters of the first motor are adjusted, it may be impossible to maintain the first motor at the first speed V1. In this case, the output torque of the first motor and the second motor is further adjusted to increase the torque of the first motor and the second motor and to increase the maximum speed at which the first motor and the second motor can be in a stable state when they work together. Therefore, adjusting the output parameters of the first motor according to the actual speed of the first motor in S114 also includes: S124, continue to obtain a second actual speed achieved by the first motor and the second motor working together, and determine whether the maximum speed that can be achieved by the first motor and the second motor under the action of the second limit parameter is greater than the first speed; S125: If the maximum rotational speed is less than the first rotational speed, the output torques of the first motor and the second motor are increased without exceeding the respective torques of the first motor and the second motor.

[0056] After the first parameter controlling the output of the first motor is switched to the second parameter in the aforementioned embodiment, it is necessary to continue to monitor the second actual speed achieved by the joint action of the first motor and the second motor while maintaining the current target speed. At this time, the second parameter adjusted once or multiple times belongs to the limit output parameter of the first motor, for example, it corresponds to the smallest subdivision number in the stepping motor. Under the limit output parameter, the limit speed that the first motor can achieve in a stable state while maintaining the current torque state is the maximum speed Va, that is, the maximum speed that the first actual speed can achieve in a stable state. If the maximum speed Va is greater than or equal to the first speed V1, the first motor and the second motor can be kept in stable rotation at the first speed under the control of the limit output parameter, and the rotation of the first motor and the second motor can continue to be controlled with the first speed as the target speed. If the maximum speed Va is less than the first speed V1, the output torque of the first motor and the second motor is increased without exceeding the torque that each can achieve, the maximum output state is maintained, and the maximum stable speed of the first motor and the second motor acting together is further improved. In the process of adjusting the output torque, the torque can be gradually increased to adjust until the maximum torque output state is reached. For example, after adjusting the initial torque j0, the maximum stable speed Vb at this time is monitored. If it is still less than the first speed V1, the torque is continued to be increased to j1. After obtaining the maximum stable speed, continue to judge and gradually increase the torque output in sequence until the maximum torque that can be stably output is reached.

[0057] In the case where the target speed of the first motor is adjusted preferentially by switching the output parameters and changing the output torque and the target speed of the second motor is matched with the target speed of the first motor, if the maximum stable speed achieved by the first motor and the second motor working together is still less than the first speed, it means that the first speed cannot be achieved, and information is fed back and the motor rotates at the maximum stable speed. Corresponding to this embodiment, adjusting the output parameters of the first motor according to the actual speed of the first motor also includes: S126, continue to obtain a third actual speed achieved by the first motor and the second motor working together, and determine whether a limit speed that can be achieved by the first motor and the second motor under the action of the limit output torque is greater than the first speed; S127, if the limit speed is less than the first speed, driving the first motor and the second motor to rotate with the limit speed as the target speed; S128: If the limit speed is greater than or equal to the first speed, the first motor and the second motor are driven to rotate at a first speed that can be reached by the first motor and the second motor before the third actual speed reaches the limit speed as a target speed.

[0058] This first instruction can be expressed as a centrifugal separation instruction in the separation method, that is, by driving the first motor and the second motor in one direction, the separation container forms a centrifugal separation effect under a high speed state. Therefore, in this embodiment, it is necessary to determine the maximum stable operating speed of the first motor, and adjust the centrifugal limit speed with the first motor as the dominant state when the first motor and the second motor work together.

[0059] In addition, when executing the first instruction, the separation method further includes: Starting from the stable operation of the first motor and the second motor, calculating a first time of stable operation of the first motor and the second motor; Determine whether the first time reaches the specified time; If so, the operation of the first motor and the second motor is stopped.

[0060] After the first motor and the second motor reach a stable state, the first motor and the second motor are operated at the speed maintained in the stable state. After the operation reaches a specified time, the mixture in the separation container is centrifugally separated uniformly, and then the operation is stopped.

[0061] According to the above embodiment, refer to Figure 4 , the execution flow of the first instruction is as follows: S101, determining a first rotation speed V1; S102, determining whether V1 is greater than Vm, if so, proceeding to S103, if not, proceeding to S110, where Vm is the maximum speed that the first motor can reach under the current load; S103, rotating at a first speed V1 as a target speed, and obtaining an actual speed V that can be achieved by the first motor and the second motor acting together; S104, determine whether V is less than V1, if so, proceed to S105, otherwise proceed to S110; S105, adjusting the output parameters of the first motor, and continuing to obtain the actual rotation speed V achieved by the first motor and the second motor acting together; S106, determine whether V is less than V1, if so, proceed to S107, otherwise proceed to S110; S107, determine whether the output parameter is a limit parameter, if not, return to S105, if yes, go to S108; S108, adjusting the output torque of the first motor and the second motor, and continuing to obtain the actual rotation speed V achieved by the first motor and the second motor working together; S109, determine whether V is less than V1, if so, proceed to S109a, otherwise proceed to S110; S109a, determining whether the output torque is the maximum output torque, if not, returning to S108, otherwise entering S109b; S109b, driving the first motor and the second motor to rotate with the maximum stable speed Vn of V as the target speed.

[0062] S110, rotating at a first rotation speed V1 as a target speed.

[0063] In another embodiment, the target instruction includes a second instruction, and when executing the second instruction, the method includes: S211, determining a second rotation speed and a one-way operation time of the first motor and the second motor based on the second instruction; S212, driving the first motor to rotate with the second speed as the target speed according to the first enabling information, and driving the second motor to rotate with the speed consistent with the speed of the first motor according to the second enabling information; S213, when the speed of the second motor reaches the threshold speed, the first enabling information is invalidated, the first motor is controlled to stop, and the threshold speed is not greater than the second speed; S214, after the second motor runs unidirectionally at the second speed for a period of time, the first motor is driven to rotate in the opposite direction with the second speed as a target speed according to the first enabling information, and the second motor is driven to rotate in the opposite direction according to the second enabling information and the rotation speed of the second motor is consistent with the rotation speed of the first motor.

[0064] Different from the first instruction, the second instruction has a control command for controlling the separation container to rotate forward and reverse alternately, that is, an oscillation mixing instruction, so that a vibration mixing effect is generated in the separation container to make the mixture evenly mixed. Generally, since the oscillation period of the separation container during the oscillation process is fixed, the unidirectional running time of the separation container in one direction is determined, so it is necessary to determine the target speed reached by the first motor and the second motor when they act together on the separation container and the unidirectional running time of driving the separation container to run according to the second instruction.

[0065] Based on this, the first enabling information adjusts the target speed of the first motor to the second speed, and the second enabling information adaptively adjusts the speed of the second motor to be consistent with that of the first motor. Specifically, when the target speed of the first motor is preferentially adjusted to the second speed, the target speed of the second motor is also adjusted to the second speed. During the acceleration process of the first motor, the actual speed of the first motor is detected in real time, and the detected actual speed information is fed back to the controller. The controller drives the speed of the second motor to be consistent with the actual speed of the first motor through the enabling signal, so as to avoid the occurrence of asynchronism and cause lag or advance, making the rotation of the separation container unstable. Among them, after receiving the actual speed information, the controller of this embodiment follows up the speed control of the second motor through PI control or PID control.

[0066] In this second instruction, the first motor is used as the guide motor of the second motor. In the process of the second motor using its own torque as the torque to reach the second speed, combined with the guide torque of the first motor, the acceleration effect when the separation container reaches the target rotation speed can be effectively improved, avoiding the problem of slow acceleration when a single motor acts, and affecting the oscillation mixing effect. In this embodiment, when the second motor is used as the driving force output of the main motor, the first motor disconnects the driving force connection with the separation container after guiding the second motor to the threshold speed, and the second motor quickly maintains the second speed to drive the separation container to rotate stably after overcoming the slow acceleration time period in the early stage and also reaching the threshold speed. After the second motor stably runs to the specified unidirectional running time, when it needs to change direction, restart the first motor, and drive the first motor in the opposite direction with the second speed as the target speed according to the first enabling information, providing a reverse driving force to act on the separation container, at this time, the second enabling information drives the second motor to rotate in the same reverse direction, and controls the rotation speed of the second motor to be consistent with the rotation speed of the first motor. In this implementation process, the drive of the first motor is given high priority and the target speed and direction of the first motor are adjusted first, so that the drive of the second motor matches the target speed and direction of the first motor. In this case, the first motor provides a directional torque in advance to reduce the speed of the separation container, and due to the deceleration torque of the second motor itself, the second motor quickly reduces the commutation time and improves the speed change ability. It quickly speeds up to the second speed during the oscillation commutation cycle, effectively enhancing the oscillation mixing effect of the rotator, and can ensure the stability of the speed and reduce rotation fluctuations.

[0067] Among them, the separation method in this embodiment also includes: S221, when the total running time of the second instruction reaches the second time, stopping the running of the first motor and the second motor; S222, when the total running time of the second instruction reaches the second time, the separation container returns to the initial position before the second instruction is run.

[0068] The total running time of the second instruction is the oscillation time of the rotator. When the time reaches the oscillation time, it means that the oscillation is uniform. At this time, the operation of the first motor and the second motor is stopped, and the separation container is reset to the initial position before the execution of the second instruction, so that the next instruction can be continued to be executed.

[0069] It should be noted that, in this embodiment, the second speed is generally set to be lower than the maximum speed of the first motor at which it can stably operate under the current load. However, in actual application, it can also be set to a situation where the first motor and the second motor act together in the separation container under the current load and the second speed is higher than the maximum speed. The control method for reaching the target speed of the second speed can be set to be the same as the control method of the first instruction in the previous embodiment, and the process will not be repeated here.

[0070] In this embodiment, the first motor is a stepper motor and the second motor is a brushless motor. The torque of the stepper motor at low speed is larger than that of the brushless motor, and it has a stable speed-up effect. The speed of the brushless motor is more stable at a steady speed. Therefore, the advantage of the first motor in the speed change process can enable the second motor to quickly maintain the target speed and enhance the oscillation effect.

[0071] In yet another embodiment, the target instruction includes a third instruction, and when executing the third instruction, the method includes: S311, based on the third instruction, determining the target moving distance of the separation container: S312, stopping the operation of the second motor according to the second enabling information, and driving the first motor to move the separation container by a target moving distance according to the first enabling information.

[0072] The third instruction is used to realize the movement of the separation container at the target position. After the target moving distance is determined based on the target position or directly determined, a single motor is used to drive the separation container to move the target moving distance, which can avoid the control error caused by the dual motors and reduce resource waste.

[0073] Further, driving the first motor to move the separation container by a target moving distance according to the first enabling information includes: S321, obtaining an actual running distance of the first motor; S322, determining whether the deviation between the actual running distance and the target moving distance is greater than a deviation threshold; S323, if it is greater than, performing distance correction on the first motor; S324, after performing distance correction on the first motor, reacquire the actual running distance of the first motor, and determine whether the difference between the actual running distance and the target moving distance is greater than a threshold; S325, if it is greater than, continue to perform distance correction on the first motor; S326, when the number of distance corrections is greater than the preset number, an error is reported.

[0074] The actual running distance of the first motor can be obtained through the encoder of the first motor. The actual running distance of the first motor is known through the encoder. If the actual running distance of the first motor is inconsistent with the target running distance, it is determined whether the deviation value between the two is greater than the deviation threshold. If it is greater, it means that there is an error in the running distance of the first motor. The distance of the first motor is corrected according to the deviation value, and the operation of the target moving distance is re-executed. It is continued to be determined whether the actual running distance of the first motor is greater than the threshold. If it is greater than the threshold, correction is performed. If the problem still exists after the correction is performed several times, it means that there is an error in the control process of the first motor, and an error report is performed on the error.

[0075] Wherein, before the first motor moves the separation container, an initialization process is also included. After the origin is obtained on the rotating base of the separation container, the rotating base is reset to the initial position according to the origin, and then the third instruction is continued to be executed.

[0076] In addition, when the first motor is a stepper motor, the distance control accuracy of the stepper motor is higher than that of the brushless motor, and the third instruction can be executed better. In this embodiment, if the third instruction is executed after the first instruction, the subdivision number in the output parameter needs to be adjusted to a larger subdivision number, so as to reduce abnormal noise during the execution of the third instruction.

[0077] In an embodiment of the present invention, when executing the first instruction and the second instruction, the overall control of the separation process of the entire mixed liquid can be achieved by switching instructions. For example, before executing the first instruction or the second instruction, the third instruction is executed first to move the position of the separation container to the target position, and then the first instruction or the second instruction is executed after it is in place, or the first instruction, the second instruction and the third instruction are combined into an overall control process, and the controller controls the first motor and the second motor based on the control process to drive the separation container.

[0078] Finally, it should be noted that the first speed, the second speed, the specified time, the one-way operation time, and the threshold speed can be preset in the memory in advance and called by the controller to implement the first instruction and the second instruction. Of course, they can also be input or obtained through other methods, which are not limited here.

[0079] In a second aspect, the present invention further provides a separation control device 50, which is applied to a rotator. The separation control device 50 comprises: An acquisition unit 51 is used to acquire a target instruction including first enabling information for the first motor 2 and second enabling information for the second motor 3; an execution unit 52, configured to selectively drive the first motor 2 to rotate according to the first enabling information, and selectively drive the second motor 3 to rotate according to the second enabling information, Among them, when the first enabling information and the second enabling information respectively enable the first motor 2 and the second motor 3 to act together on the separation container 1, the priority of the target speed setting of the first motor 2 is higher than the priority of the target speed setting of the second motor 3, and the target speed of the second motor 3 is matched with the target speed of the first motor 2.

[0080] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium comprising a stored program, wherein when the program is running, the computer-readable storage medium is controlled to execute the mixed liquid processing method of the embodiment of the first aspect of the present invention in a device.

[0081] The embodiment of the present invention further provides a computer device, the computer device of the embodiment comprises: a processor, a memory, and a computer program stored in the memory and executable on the processor, the computer program when executed by the processor implements the method in the embodiment, to avoid repetition, it is not described one by one here. Alternatively, the computer program when executed by the processor implements the functions of each model / unit of the control device in the embodiment, to avoid repetition, it is not described one by one here.

[0082] Computer devices include, but are not limited to, processors and memories. Those skilled in the art will appreciate that the above are merely examples of computer devices and do not constitute a limitation on computer devices. Computer devices may include more or fewer components than shown in the figure, or may combine certain components, or different components. For example, computer devices may also include input and output devices, network access devices, buses, etc.

[0083] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0084] The memory may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. The memory may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Furthermore, the memory may include both an internal storage unit of the computer device and an external storage device. The memory is used to store computer programs and other programs and data required by the computer device. The memory may also be used to temporarily store data that has been output or is to be output.

[0085] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0086] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0087] Finally, it should be noted that the above description is only the best embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and simple replacements to the technical solution of the present invention by using the above disclosed practices and technical contents without departing from the scope of the technical solution of the present invention, which all belong to the scope of protection of the technical solution of the present invention.

Claims

1. A separation method using a rotator, characterized in that: The rotator comprises a separation container for loading the object to be separated and a first motor and a second motor for driving the separation container to rotate, and the separation method comprises: Acquire a target instruction, wherein the target instruction includes first enabling information for the first motor and second enabling information for the second motor; selectively driving the first motor to rotate according to the first enabling information, and selectively driving the second motor to rotate according to the second enabling information, Among them, when the first enabling information and the second enabling information respectively enable the first motor and the second motor to act on the separation container together, the priority of the target speed setting of the first motor is higher than the priority of the target speed setting of the second motor, and the target speed of the second motor is matched with the target speed of the first motor.

2. The method according to claim 1, characterized in that The target instruction includes a first instruction. When executing the first instruction, the method includes: determining a first speed of the first motor and the second motor based on the first instruction; Determining whether the first speed is greater than a maximum speed of the first motor, wherein the maximum speed is a maximum speed that can be achieved by the first motor independently driving the separation container to rotate in a stable state; If it is greater than, the first enabling information controls the first motor to rotate with the first speed as the target speed, and the second enabling information also controls the first motor to rotate with the first speed as the target speed; The output parameter of the first motor is adjusted according to the actual rotation speed of the first motor, and the target rotation speed of the second motor is made consistent with the target rotation speed of the first motor.

3. The method according to claim 2, characterized in that The adjusting the output parameter of the first motor according to the actual rotation speed of the first motor comprises: Acquire a first actual rotational speed achieved by the first motor and the second motor acting together; determining whether the first actual speed is less than the first speed; If it is less than, the first parameter controlling the output of the first motor is switched to a second parameter, and the first motor and the second motor are continued to be driven to rotate with the first speed as the target speed.

4. The method according to claim 3, characterized in that The step of adjusting the output parameter of the first motor according to the actual rotation speed of the first motor further includes: Continue to obtain a second actual speed achieved by the first motor and the second motor working together, and determine whether a maximum speed that can be achieved by the first motor and the second motor under the action of a second limiting parameter is greater than the first speed; If the maximum rotational speed is less than the first rotational speed, the output torques of the first motor and the second motor are increased without exceeding the respective torques of the first motor and the second motor.

5. The method according to claim 4, characterized in that The step of adjusting the output parameter of the first motor according to the actual rotation speed of the first motor further includes: Continue to obtain a third actual speed achieved by the first motor and the second motor acting together, and determine whether a limit speed that can be achieved by the first motor and the second motor under the action of the limit output torque is greater than the first speed; If the limit speed is less than the first speed, driving the first motor and the second motor to rotate with the limit speed as the target speed; If the limit speed is greater than or equal to the first speed, the first motor and the second motor are driven to rotate with the first speed that can be reached by the first motor and the second motor before the third actual speed reaches the limit speed as the target speed.

6. The method according to claim 2, characterized in that The first motor is a stepper motor and the output parameter is the subdivision number of the stepper motor.

7. The method according to claim 2, characterized in that: When executing the first instruction, the method further includes: Starting from the stable operation of the first motor and the second motor, calculating a first time for the stable operation of the first motor and the second motor; Determining whether the first time reaches a specified time; If so, the operation of the first motor and the second motor is stopped.

8. The method according to claim 1, characterized in that The target instruction includes a second instruction, and when executing the second instruction, the method includes: determining a second speed and a one-way running time of the first motor and the second motor based on the second instruction; driving the first motor to rotate with the second speed as a target speed according to the first enabling information, and driving the second motor to rotate at a speed consistent with the speed of the first motor according to the second enabling information; When the speed of the second motor reaches a threshold speed, the first enabling information is invalidated, and the first motor is controlled to stop, and the threshold speed is not greater than the second speed; After the second motor runs at the second speed for the unidirectional running time, the first motor is driven to rotate in the opposite direction with the second speed as the target speed according to the first enabling information, and the second motor is driven to rotate in the opposite direction according to the second enabling information and the speed of the second motor is consistent with the speed of the first motor.

9. The method according to claim 8, characterized in that The method further comprises: Within a preset time before the running time of the second motor reaches the unidirectional running time, the second motor is driven to rotate in the opposite direction of the current rotation of the second motor according to the first enabling information with the second speed as the target speed.

10. The method according to claim 9, characterized in that The method further comprises: When the total running time of the second instruction reaches a second time, stopping the running of the first motor and the second motor; When the total running time of the second instruction reaches the second time, the separation container returns to the initial position before the second instruction is run.

11. The method according to claim 1, characterized in that: The target instruction includes a third instruction. When executing the third instruction, the method includes: determining a target moving distance of the separation container based on the third instruction; The operation of the second motor is stopped according to the second enabling information, and the first motor is driven to rotate the separation container at the target moving distance according to the first enabling information.

12. The method according to claim 11, characterized in that The step of driving the first motor to rotate the separation container by the target moving distance according to the first enabling information includes: Obtaining an actual running distance of the first motor; Determine whether a deviation between the actual running distance and the target moving distance is greater than a deviation threshold; If it is greater, performing distance correction on the first motor; After performing distance correction on the first motor, reacquire the actual running distance of the first motor, and determine whether the difference between the actual running distance and the target moving distance is greater than a threshold; If it is greater, continue to perform distance correction on the first motor; When the distance correction times are greater than the preset times, an error is reported.

13. The method according to claims 1 to 12, characterized in that The first motor is a stepper motor, and the second motor is a brushless motor.

14. A separation control device, applied to a rotator, the rotator comprising a separation container for loading an object to be separated and a first motor and a second motor for driving the separation container to rotate, characterized in that: The separation control device comprises: an acquisition unit, configured to acquire a target instruction including first enabling information for the first motor and second enabling information for the second motor; an execution unit, configured to selectively drive the first motor to rotate according to the first enabling information, and selectively drive the second motor to rotate according to the second enabling information, Among them, when the first enabling information and the second enabling information respectively enable the first motor and the second motor to act on the separation container together, the priority of the target speed setting of the first motor is higher than the priority of the target speed setting of the second motor, and the target speed of the second motor is matched with the target speed of the first motor.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and when the program runs, the device controls the computer-readable storage medium to execute the method according to any one of claims 1 to 13.

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