Industrial actuator controller and control method

Abstract

The invention belongs to the technical field of power distribution, and particularly relates to a power supply circuit, in particular to an industrial actuator controller and a control method, and the industrial actuator controller comprises a control module and at least two power modules electrically connected with the control module; the control module is configured to control the output mode of the power supply module according to the load demand so as to adjust the total switching frequency or the total duty ratio range or the total current output or the total voltage output of the corresponding power supply module, thereby realizing the stable output when the plurality of power supply modules cooperate. And the output range can be expanded through the cooperation of a plurality of power supply modules, and more load use requirements can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of power distribution, and specifically relates to a power supply circuit, and more particularly to an industrial actuator controller and a control method. Background Art

[0002] The industrial actuator controller is provided with a power module, which provides the required voltage, etc. to the load through the power module. In the related art, the industrial actuator controller is only provided with one power module, but the load has multiple requirements during use. The power module will have more violent fluctuations at high frequency output, resulting in the inability to provide stable and accurate output to the load. In addition, the output frequency, etc. of a single power module are limited by material limitations.

[0003] Therefore, due to the technical problem that the output frequency of a single power module is limited and fluctuations occur during high-frequency output, it is necessary to design an industrial actuator controller and a control method.

[0004] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the invention

[0005] The embodiments of the present disclosure at least provide an industrial actuator controller and a control method.

[0006] In a first aspect, an embodiment of the present disclosure provides an industrial actuator controller, comprising: A control module, and at least two power modules electrically connected to the control module; The control module is configured to control the output mode of the power module according to the load demand, so as to adjust the total switching frequency or the total duty cycle range or the total current output or the total voltage output of the corresponding power module; The control module is configured to adjust the total switching frequency of the corresponding power module according to the high-frequency output mode, that is, When the total switching frequency required by the load exceeds the preset maximum switching frequency of a single power module, the control module determines that the output mode of the power module is a high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load at this time according to the number of power modules, and the control module distributes the short pulse width after the even division to the corresponding power modules. Then the control module controls each power module to work in sequence, so that the short pulse width of each power module is connected, that is, the tail end of the short pulse width of the last working power module is connected to the head end of the short pulse width of the next working power module. After each power module starts working in sequence, the short pulse width of each power module is connected to the total switching frequency required by the load.

[0007] In an optional implementation, the control module is configured to adjust the total duty cycle range of the corresponding power module according to the general power output mode, that is, When the duty cycle corresponding to the voltage required by the load is greater than the maximum duty cycle of a single power module preset, the control module determines that the output mode of the power module is a general power output mode. At this time, the control module controls each power module to maintain a preset optimal duty cycle, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the high level corresponding to the preset optimal duty cycle is extended, so that the preset optimal duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0008] In an optional implementation, the control module is configured to adjust the total duty cycle range of the corresponding power module according to the general power output mode, that is, When the accuracy of the duty cycle corresponding to the voltage required by the load is higher than the duty cycle accuracy of the preset single power module, the control module determines that the output mode of the power module is a general power output mode. At this time, the control module controls the working duty cycle of each power module to be less than the duty cycle corresponding to the voltage required by the load, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the working duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the working duty cycle corresponding to the high level is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0009] In an optional embodiment, the control module is configured to adjust the total current output of the corresponding power module according to the high-load power output mode, that is, When the total current required by the load exceeds the preset maximum current of a single power module, the control module determines that the output mode of the power module is a high-load power output mode. The control module first detects the current waveforms of all power modules, and takes the minimum value of the valley values ​​corresponding to each valley in the current waveform as the standard current of the power module. The control module controls the output current of each power module to be less than or equal to the corresponding standard current, and provides current to the load after connecting each power module in parallel. After being connected in parallel, the total current output by the power modules meets the total current required by the load. At this time, the voltage corresponding to the duty cycle of each power module is the voltage required by the load.

[0010] In an optional embodiment, the control module is configured to adjust the total voltage output of the corresponding power module according to the high voltage output mode, that is, When the total voltage required by the load exceeds the preset maximum voltage of a single power module, the control module determines that the output mode of the power module is a high voltage output mode. The control module first detects the voltage waveforms of all power modules, and takes the minimum value of the valley values ​​corresponding to each valley in the voltage waveform as the standard voltage of the power module. The sum of the standard voltages of all power modules is compared with the total voltage required by the load to determine the control method for each power module.

[0011] In an optional implementation, when the sum of the standard voltages of all power modules is greater than the total voltage required by the load, the control module controls the power modules to be connected in series, adjusts the output voltage of each power module, and the output voltage of each power module is less than or equal to the corresponding standard voltage, and the sum of the voltages output by each power module is the same as the total voltage required by the load; When the sum of the standard voltages of all power modules is less than the total voltage required by the load, the control module sorts the power modules from large to small according to the second-to-last value of the valley value corresponding to each trough in the voltage waveform of each power module, and uses the power modules in the first half of the sorting as power supply modules, and the remaining power modules as compensation modules. Each power supply module corresponds to a compensation module, and the second-to-last value of the valley value corresponding to each trough in the voltage waveform of the power supply module is used as the supply voltage. The control module connects the power supply modules in series, controls each power supply module to supply power, and controls the working time point of the compensation module so that when the voltage waveform of the power supply module is between the standard voltage and the supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

[0012] In an optional implementation, the power modules are electrically connected to each other, and the lengths of the lines used for compensation between the power modules are equal.

[0013] In an optional implementation, the power modules are all electrically connected to a power supply circuit, and the power supply circuit is connected to a load.

[0014] In a second aspect, the present disclosure also provides a control method using the above industrial actuator controller, including: The power module adjusts the output mode according to the load demand to adjust the total switching frequency or the total duty cycle range or the total current output or the total voltage output of the corresponding power module.

[0015] The beneficial effect of the present invention is that the industrial actuator controller includes: a control module, and at least two power modules electrically connected to the control module; the control module is configured to control the output mode of the power module according to load requirements to adjust the total switching frequency or total duty cycle range or total current output or total voltage output of the corresponding power module, thereby achieving stable output when multiple power modules are coordinated, and the output range can be improved through the coordination of multiple power modules to meet more load usage requirements.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, this article specifically cites preferred embodiments and provides detailed descriptions as follows in conjunction with the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A principle block diagram of an industrial actuator controller provided in an embodiment of the present disclosure; Figure 2 A schematic diagram of a total switching frequency waveform provided by an embodiment of the present disclosure; Figure 3 A schematic diagram of a total duty cycle waveform provided in an embodiment of the present disclosure; Figure 4 A compensation schematic diagram provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] As used herein, the phrases "in one embodiment," "according to one embodiment," "in some embodiments," and the like generally refer to the fact that the particular feature, structure, or characteristic following the phrase may be included in at least one embodiment of the present disclosure. Therefore, a particular feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, so that these phrases do not necessarily refer to the same embodiment. As used herein, the terms "example," "exemplary," and the like are used to "serve as an example, instance, or illustration." Any implementation, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. On the contrary, the use of the terms "example," "exemplary," and the like is intended to present concepts in a concrete manner.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] like Figure 1 As shown, at least one disclosed embodiment provides an industrial actuator controller, comprising: a control module, and at least two power modules electrically connected to the control module; the control module is configured to control the output mode of the power module according to load requirements to adjust the total switching frequency or total duty cycle range or total current output or total voltage output of the corresponding power module, thereby achieving stable output when multiple power modules are coordinated, and the output range can be improved through the coordination of multiple power modules to meet more load usage requirements.

[0025] In this embodiment, the duty cycle is the duty cycle of the modulation voltage output by the power module, for example, the maximum duty cycle of the preset single power module is the maximum duty cycle of the modulation voltage output by the preset single power module.

[0026] In this embodiment, there may be four power modules distributed at four corners of the circuit board to avoid interference between the power modules.

[0027] In this embodiment, under the condition of the same material, the cooperation of multiple power modules can achieve a total switching frequency that is multiple times the total switching frequency that can be achieved by one power module in the related art.

[0028] In this embodiment, the coordination of multiple power modules can achieve higher output current and higher output voltage, meeting more usage requirements of the load.

[0029] In this embodiment, the coordination of multiple power modules can achieve more duty cycle adjustment ranges, precisions, and gears to meet more usage requirements of the load.

[0030] In an optional embodiment, the control module is configured to adjust the total switching frequency of the corresponding power supply module according to the high-frequency output mode, that is, when the total switching frequency required by the load exceeds the preset maximum switching frequency of a single power supply module, the control module determines that the output mode of the power supply module is a high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load at this time according to the number of power supply modules, and the control module distributes the short pulse width after the even division to the corresponding power supply module. Then the control module controls each power supply module to work in sequence, so that the short pulse width of each power supply module is connected, that is, the tail end of the short pulse width of the last working power supply module is connected to the head end of the short pulse width of the next working power supply module. After each power supply module starts working in sequence, the short pulse width of each power supply module is connected to the total switching frequency required by the load.

[0031] like Figure 2 As shown, in this embodiment, taking four power modules as an example, the total switching frequency required by a load is 20000 Hz, if the corresponding pulse width is 25 μs, the switching frequency of a single power module cannot reach the total switching frequency required by the load, or the corresponding waveform of a single power module will fluctuate violently when reaching the total switching frequency, resulting in the inability to output stably and accurately to the load. Therefore, the pulse width corresponding to the total switching frequency is evenly distributed into four parts, each of which is 6.25 μs. At this time, the control module controls the four power modules to work in sequence, that is, the first power module maintains a high frequency for 6.25 μs and then stops. At this time, the second power module starts to maintain a high frequency for 6.25 μs, and so on. The four power modules respectively maintain a high frequency of 6.25 μs, so that the total high frequency is maintained for 25 μs, which meets the total switching frequency required by the load, avoids fluctuations of a single power module in the high frequency mode, and avoids the impact of fluctuations on the load.

[0032] In this embodiment, the power module uses a high-speed switching device (such as SiC MOSFET) whose switching response time is less than 0.5μs, ensuring that the short pulse width (such as 6.25μs) of each module is switched without significant delay or loss in the high-frequency mode.

[0033] In an optional embodiment, the control module is configured to adjust the total duty cycle range of the corresponding power modules according to the general power output mode, that is, when the duty cycle corresponding to the voltage required by the load is greater than the maximum duty cycle of the preset single power module, the control module determines that the output mode of the power module is the general power output mode. At this time, the control module controls each power module to maintain a preset optimal duty cycle, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the high level corresponding to the preset optimal duty cycle is extended, so that the preset optimal duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0034] In this embodiment, the power module is at its best performance when it is at an optimal duty cycle, and the preset optimal duty cycle of the power module is a calibration setting of the power module when it leaves the factory.

[0035] like Figure 3 As shown, in this embodiment, if the maximum duty cycle of a power module is 50%, and the duty cycle of the load demand is 60%, the control module controls the first power module to start working, and when the first power module works to a time point corresponding to one-fifth of the pulse width, the control module controls the second power module to start working, so that after the high level duration of the first power module ends, the second power module is still at a high level, so that the total high level time of the two power modules is greater than the high level time corresponding to the maximum duty cycle of one power module, so that the duty cycle increases to meet the load demand, so that when the load demand is greater than the maximum duty cycle of one power module, the duty cycle is increased through the cooperation of multiple power modules to meet the load demand, reaching a duty cycle position that cannot be achieved by one power module.

[0036] In an optional embodiment, the control module is configured to adjust the total duty cycle range of the corresponding power modules according to the general power output mode, that is, when the accuracy of the duty cycle corresponding to the voltage required by the load is higher than the duty cycle accuracy of the preset single power module, the control module determines that the output mode of the power module is the general power output mode. At this time, the control module controls the working duty cycle of each power module to be less than the duty cycle corresponding to the voltage required by the load, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the working duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the working duty cycle corresponding to the high level is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0037] In this embodiment, if the duty cycle required by the load is 60%, but one power module cannot reach 60% when adjusting the duty cycle, for example, the adjustment accuracy of the power module is a multiple of 7, then the duty cycle cannot be accurately adjusted to 60%. At this time, the control module can adjust the duty cycles of the first power module and the second power module between 30% and 60%, and then control the first power module to start working. After the first power module starts working, the second power module is controlled to start working at a corresponding time point, so that when the high level of the first power module ends, the second power module is still at a high level, and when the high level of the second power module ends, the total high level of the first power module and the second power module is 60%, which meets the use requirements of the load and achieves a duty cycle accuracy that one power module cannot reach.

[0038] In an optional embodiment, the control module is configured to adjust the total current output of the corresponding power modules according to the high-load power output mode, that is, when the total current required by the load exceeds the preset maximum current of a single power module, the control module determines that the output mode of the power module is the high-load power output mode, and the control module first detects the current waveforms of all power modules, and takes the minimum value of the valley values ​​corresponding to each valley in the current waveform as the standard current of the power module. The control module controls the output current of each power module to be less than or equal to the corresponding standard current, and provides current to the load after connecting each power module in parallel. After the parallel connection, the total current output by the power modules meets the total current required by the load. At this time, the voltage corresponding to the duty cycle of each power module is the voltage required by the load.

[0039] In this embodiment, the standard current can be obtained through real-time sampling detection, so as to accurately maintain the standard current.

[0040] In this embodiment, the control module can detect the current waveform corresponding to the current of each power module. There will be multiple troughs above 0 amperes in the current waveform. The minimum value corresponding to the trough is set as the standard current of the power module. Under this standard current, the current waveform output by the power module is stable and accurate; when the power module outputs the standard current, the waveform of the current output by the power module is generally below the standard current value.

[0041] In an optional embodiment, the control module is configured to adjust the total voltage output of the corresponding power supply module according to the high voltage output mode, that is, when the total voltage required by the load exceeds the preset maximum voltage of a single power supply module, the control module determines that the output mode of the power supply module is a high voltage output mode, and the control module first detects the voltage waveforms of all power supply modules, and takes the minimum value of the valley values ​​corresponding to each valley in the voltage waveform as the standard voltage of the power supply module, and compares the sum of the standard voltages of all power supply modules with the total voltage required by the load to determine the control method for each power supply module.

[0042] In this embodiment, the control module can detect the voltage waveform corresponding to the current of each power module. There will be multiple troughs above 0 volts in the voltage waveform. The minimum value corresponding to the trough is set as the standard voltage of the power module. Under this standard voltage, the voltage waveform output by the power module is stable and accurate.

[0043] In an optional embodiment, when the sum of the standard voltages of all power modules is greater than the total voltage required by the load, the control module controls the power modules to be connected in series and adjusts the output voltage of each power module. The output voltage of each power module is less than or equal to the corresponding standard voltage, and the sum of the voltages output by each power module is the same as the total voltage required by the load; the voltage sum is the peak accumulation.

[0044] In this embodiment, if the standard voltage of each power module is 2.5V, and the total voltage required by the load is 8V, the control module controls the power modules to be connected in series, the output voltage of each power module is 2V, and the total output voltage of the four power modules is 8V, which meets the load requirements.

[0045] When the sum of the standard voltages of all power modules is less than the total voltage required by the load, the control module sorts the power modules from large to small according to the second-to-last value of the valley value corresponding to each trough in the voltage waveform of each power module, and uses the power modules in the first half of the sorting as power supply modules, and the remaining power modules as compensation modules. Each power supply module corresponds to a compensation module, and the second-to-last value of the valley value corresponding to each trough in the voltage waveform of the power supply module is used as the supply voltage. The control module connects the power supply modules in series, controls each power supply module to supply power, and controls the working time point of the compensation module so that when the voltage waveform of the power supply module is between the standard voltage and the supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

[0046] like Figure 4As shown, in this embodiment, if the standard voltage of each power module is 2V, the total voltage required by the load is 9V. At this time, the control module determines the voltage value corresponding to the second smallest value of the valley value in the voltage waveform of each power module. For example, the second smallest values ​​of the four power modules are 5V for the first power module, 4.8V for the second power module, 4.5V for the third power module, and 4.2V for the fourth power module. At this time, the control module controls the first power module and the second power module to supply power to the load to meet the load demand. The third power module compensates the first power module, and the fourth power module compensates the second power module. The first power module will jitter between the two valleys. At this time, by controlling the working time point of the third power module, when the waveform of the first power module is between the two valleys, the second power module is in a stable waveform to compensate for the fluctuation of the first power supply. After compensating for the fluctuation of the first power supply, the second power module is shut down to restart in the next fluctuation cycle of the first power supply to compensate. Similarly, the third power module is compensated by the fourth power module when it is working.

[0047] In an optional embodiment, the power modules are electrically connected to each other, and the lengths of the lines used for compensation between the power modules are equal, so that when compensation is required between the power modules, the compensation time can be precisely controlled.

[0048] In an optional embodiment, the power modules are all electrically connected to a power supply line, the power supply line is connected to a load, the total voltage provided by each power module can be provided through the power supply line, and the total current etc. can also be provided through the power supply line.

[0049] At least one other disclosed embodiment also provides a control method using the above-mentioned industrial actuator controller, including: the power module adjusts the output mode according to the load demand to adjust the total switching frequency or total duty cycle range or total current output or total voltage output of the corresponding power module.

[0050] To summarize, the industrial actuator controller includes: a control module, and at least two power modules electrically connected to the control module; the control module is configured to control the output mode of the power module according to load requirements to adjust the total switching frequency or total duty cycle range or total current output or total voltage output of the corresponding power module, thereby achieving stable output when multiple power modules are coordinated, and the output range can be improved through the coordination of multiple power modules to meet more load usage requirements.

[0051] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An industrial actuator controller, characterized in that: include: A control module, and at least two power modules electrically connected to the control module; The control module is configured to control the output mode of the power module according to the load demand, so as to adjust the total switching frequency or the total duty cycle range or the total current output or the total voltage output of the corresponding power module; The control module is configured to adjust the total switching frequency of the corresponding power module according to the high-frequency output mode, that is, When the total switching frequency required by the load exceeds the preset maximum switching frequency of a single power module, the control module determines that the output mode of the power module is a high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load at this time according to the number of power modules, and the control module distributes the short pulse width after the even division to the corresponding power modules. Then the control module controls each power module to work in sequence, so that the short pulse width of each power module is connected, that is, the tail end of the short pulse width of the last working power module is connected to the head end of the short pulse width of the next working power module. After each power module starts working in sequence, the short pulse width of each power module is connected to the total switching frequency required by the load.

2. The industrial actuator controller according to claim 1, characterized in that: The control module is configured to adjust the total duty cycle range of the corresponding power module according to the general power output mode, that is, When the duty cycle corresponding to the voltage required by the load is greater than the maximum duty cycle of a single power module preset, the control module determines that the output mode of the power module is a general power output mode. At this time, the control module controls each power module to maintain a preset optimal duty cycle, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the high level corresponding to the preset optimal duty cycle is extended, so that the preset optimal duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

3. The industrial actuator controller according to claim 1, wherein: The control module is configured to adjust the total duty cycle range of the corresponding power module according to the general power output mode, that is, When the accuracy of the duty cycle corresponding to the voltage required by the load is higher than the duty cycle accuracy of the preset single power module, the control module determines that the output mode of the power module is a general power output mode. At this time, the control module controls the working duty cycle of each power module to be less than the duty cycle corresponding to the voltage required by the load, and then the control module controls a power module to start working, and controls the time point when other power modules start working according to the working duty cycle and the duty cycle corresponding to the voltage required by the load. When the high level of a working power module ends, there is still a power module maintaining a high level, so that the working duty cycle corresponding to the high level is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

4. The industrial actuator controller according to claim 1, characterized in that: The control module is configured to adjust the total current output of the corresponding power module according to the high-load power output mode, that is, When the total current required by the load exceeds the preset maximum output current of a single power module, the control module determines that the output mode of the power module is a high-load power output mode. The control module first detects the current waveforms of all power modules, and takes the minimum value of the valley values ​​corresponding to each valley in the current waveform as the standard current of the power module. The control module controls the output current of each power module to be less than or equal to the corresponding standard current, and provides current to the load after connecting each power module in parallel. After being connected in parallel, the total current output by the power modules meets the total current required by the load. At this time, the voltage corresponding to the duty cycle of each power module is the voltage required by the load.

5. The industrial actuator controller according to claim 1, wherein: The control module is configured to adjust the total voltage output of the corresponding power module according to the high voltage output mode, that is, When the total voltage required by the load exceeds the preset maximum voltage of a single power module, the control module determines that the output mode of the power module is a high voltage output mode. The control module first detects the voltage waveforms of all power modules, and takes the minimum value of the valley values ​​corresponding to each valley in the voltage waveform as the standard voltage of the power module. The sum of the standard voltages of all power modules is compared with the total voltage required by the load to determine the control method for each power module.

6. The industrial actuator controller according to claim 5, characterized in that: When the sum of the standard voltages of all power modules is greater than the total voltage required by the load, the control module controls the power modules to be connected in series and adjusts the output voltage of each power module so that the output voltage of each power module is less than or equal to the corresponding standard voltage, and the sum of the voltages output by each power module is the same as the total voltage required by the load; When the sum of the standard voltages of all power modules is less than the total voltage required by the load, the control module sorts the power modules from large to small according to the second-to-last value of the valley value corresponding to each trough in the voltage waveform of each power module, and uses the power modules in the first half of the sorting as power supply modules, and the remaining power modules as compensation modules. Each power supply module corresponds to a compensation module, and the second-to-last value of the valley value corresponding to each trough in the voltage waveform of the power supply module is used as the supply voltage. The control module connects the power supply modules in series, controls each power supply module to supply power, and controls the working time point of the compensation module so that when the voltage waveform of the power supply module is between the standard voltage and the supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

7. The industrial actuator controller according to claim 6, characterized in that: The power modules are electrically connected to each other, and the lengths of the lines used for compensation between the power modules are equal.

8. The industrial actuator controller according to claim 1, wherein: The power modules are all electrically connected to the power supply circuit, and the power supply circuit is connected to the load.

9. A control method using the industrial actuator controller as claimed in claim 1, characterized in that: include: The power module adjusts the output mode according to the load demand to adjust the total switching frequency or the total duty cycle range or the total current output or the total voltage output of the corresponding power module.

Images