Industrial Actuator Controller and Control Method

Abstract

The present invention belongs to the field of power distribution technology, specifically relates to a power supply circuit, and particularly relates to an industrial actuator controller and a control method, including: a control module, and at least two power supply modules electrically connected to the control module; the control module is configured to control the output mode of the power supply modules 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 supply modules, thereby achieving stable output when multiple power supply modules cooperate, and the output range can be increased through the cooperation of multiple power supply modules to meet the usage requirements of more loads.

Description

Technical Field

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

[0002] A power supply module is provided in an industrial actuator controller, and the required voltage and the like are provided to a load through the power supply module. In the related art, only one power supply module is provided in the industrial actuator controller. However, the load has multiple requirements during use, and the power supply module will have relatively violent fluctuations during high-frequency output, resulting in an inability to provide a stable and accurate output to the load. Moreover, the output frequency and the like of a single power supply module are limited by the limitations of materials.

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

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

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

[0006] In a first aspect, the embodiments of the present disclosure provide an industrial actuator controller, including:

[0007] a control module, and at least two power supply modules electrically connected to the control module;

[0008] The control module is configured to control the output mode of the power supply module 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 supply module;

[0009] 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

[0010] when the total switching frequency required by the load exceeds the maximum switching frequency of a preset single power supply module, the control module determines that the output mode of the power supply module is the high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load according to the number of power supply modules. The control module distributes the evenly divided short pulse widths to the corresponding power supply modules, and then the control module controls each power supply module to work in turn, so that the short pulse widths of each power supply module are connected, that is, the tail end of the short pulse width of the previous 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 to work in turn, the short pulse widths of each power supply module are connected to the total switching frequency required by the load.

[0011] In an alternative embodiment, 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

[0012] When the duty cycle corresponding to the voltage required by the load is greater than the maximum duty cycle of a 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 the preset optimal duty cycle, and then the control module controls one power module to start working. According to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the 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.

[0013] In an alternative embodiment, 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

[0014] When the accuracy of the duty cycle corresponding to the voltage required by the load is higher than the duty cycle accuracy of a 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 one power module to start working. According to the working duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the high level, so that the high level corresponding to the working duty cycle is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0015] In an alternative 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

[0016] When the total current required by the load exceeds the maximum current of a preset single power module, the control module determines that the output mode of the power module is the high-load power output mode. The control module first detects the current waveforms of all power modules, and takes the minimum value among the valley values corresponding to the wave valleys in the current waveforms 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 the power modules are connected in parallel to provide current to the load. The total current output after parallel connection of 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.

[0017] In an alternative 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

[0018] When the total voltage required by the load exceeds the maximum voltage of a preset single power module, the control module determines that the output mode of the power module is the high-voltage output mode. The control module first detects the voltage waveforms of all power modules, takes the minimum value among the valley values corresponding to the wave valleys in the voltage waveforms as the standard voltage of the power module, and compares the sum of the standard voltages of all power modules with the total voltage required by the load to determine the control method for each power module.

[0019] In an alternative 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 voltages of the power modules. 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.

[0020] 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 values that are the second largest among the valley values corresponding to the wave valleys in the voltage waveforms of each power module from largest to smallest, takes the power modules in the first half of the sorting as the power supply modules, and the remaining power modules as the compensation modules. Each power supply module corresponds to a compensation module. The value that is the second largest among the valley values corresponding to the wave valleys in the voltage waveform of the power supply module is used as the power 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 power supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

[0021] In an alternative embodiment, the power modules are electrically connected to each other, and the line lengths for compensation between the power modules are equal.

[0022] In an alternative embodiment, the power modules are all electrically connected to the power supply line, and the power supply line is connected to the load.

[0023] In a second aspect, the embodiments of the present disclosure further provide a control method using the above industrial actuator controller, including:

[0024] 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.

[0025] The beneficial effects of the present invention are as follows. This 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 modules 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, thereby achieving stable output when multiple power modules cooperate, and the output range can be increased through the cooperation of multiple power modules to meet the usage requirements of more loads.

[0026] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0027] To make the above objectives, features, and advantages of the present invention more obvious and understandable, specific preferred embodiments are hereby given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic diagram of the principle of an industrial actuator controller provided by an embodiment of the present disclosure;

[0030] Figure 2 It is a schematic diagram of the total switching frequency waveform provided by an embodiment of the present disclosure;

[0031] Figure 3 It is a schematic diagram of the total duty cycle waveform provided by an embodiment of the present disclosure;

[0032] Figure 4 It is a compensation schematic diagram provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0034] As used herein, phrases such as "in one embodiment", "according to one embodiment", "in some embodiments", etc. generally refer to the fact that the specific feature, structure, or characteristic after the phrase can be included in at least one embodiment of the present disclosure. Thus, a specific feature, structure, or characteristic can be included in more than one embodiment of the present disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, terms such as "example", "exemplary", etc. are used "as an example, instance, or illustration. Any embodiment, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or superior to other embodiments, aspects, or designs. Instead, the use of terms such as "example", "exemplary", etc. is intended to present concepts in a concrete manner.

[0035] It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] The following describes in detail some embodiments of the present invention in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0037] As Figure 1 shown, at least one disclosed embodiment provides an industrial actuator controller, including: 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 modules 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 modules, thereby achieving stable output when multiple power modules cooperate, and the output range can be increased through the cooperation of multiple power modules to meet more load usage requirements.

[0038] In this embodiment, the duty cycle is the duty cycle of the output modulation voltage of the power module. For example, the maximum duty cycle of a preset single power module is the maximum duty cycle of the output modulation voltage of the preset single power module.

[0039] In this embodiment, there may be four power modules, which are distributed at the four corners of the circuit board to avoid interference between the power modules.

[0040] In this embodiment, in the case of the same material, the cooperation of multiple power modules can achieve a total switching frequency that is multiple times that of a single power module in the related art.

[0041] In this embodiment, the cooperation of multiple power modules can achieve higher output current and higher output voltage to meet more load usage requirements.

[0042] In this embodiment, the cooperation of multiple power modules can achieve a wider adjustment range, higher precision, and more grades of duty cycle, meeting more usage requirements of the load.

[0043] In an alternative embodiment, 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 maximum switching frequency of a single preset power module, the control module determines that the output mode of the power module is the high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load according to the number of power modules, and the control module distributes the evenly divided short pulse widths to the corresponding power modules. Then, the control module controls each power module to work in sequence, so that the short pulse widths of each power module are connected, that is, the tail end of the short pulse width of the previously 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 to work in sequence, the short pulse widths of each power module are connected to form the total switching frequency required by the load.

[0044] As Figure 2 shown, in this embodiment, taking the number of power modules as four as an example, the total switching frequency required by a load is 20,000 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 at this time, or the corresponding waveform of a single power module will show severe fluctuations when reaching this total switching frequency, resulting in an inability to stably and accurately output to the load. Therefore, the pulse width corresponding to the total switching frequency is evenly divided into four parts, each part being 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, and at this time, the second power module starts to maintain a high frequency for 6.25 μs, and so on. By each of the four power modules maintaining a high frequency for 6.25 μs, the total high-frequency maintenance is 25 μs, meeting the total switching frequency required by the load and avoiding fluctuations in a single power module in the high-frequency mode, thus avoiding the impact of fluctuations on the load.

[0045] In this embodiment, the power module uses a high-speed switching device (such as SiC MOSFET), and its switching response time is less than 0.5 μs, ensuring that there is no significant delay or loss in the switching of the short pulse widths (such as 6.25 μs) of each module in the high-frequency mode.

[0046] In an alternative embodiment, 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 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 the preset optimal duty cycle, and then the control module controls one power module to start working. According to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the 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.

[0047] In this embodiment, the power module is in the best performance when it is at the optimal duty cycle, and the preset optimal duty cycle of the power module is calibrated and set at the factory.

[0048] As Figure 3 shown, in this embodiment, if the maximum duty cycle of a power module is 50%, and the duty cycle required by the load at this time is 60%, the control module controls the first power module to start working, and when the first power module works to the time point corresponding to one-fifth of the pulse width, the control module controls the second power module to start working, so that the second power module is still at the high level after the high level duration of the first power module ends, 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 a single power module, so that the duty cycle increases to meet the requirements of the load. When the requirements of the load are greater than the maximum duty cycle of a single power module, the duty cycle is increased through the cooperation of multiple power modules to meet the requirements of the load, achieving a duty cycle gear that cannot be achieved by a single power module.

[0049] In an alternative embodiment, 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 a 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 one power module to start working. According to the working duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the high level, so that the high level corresponding to the working duty cycle is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

[0050] In this embodiment, if the duty cycle required by the load is 60%, but a power module cannot reach 60% when adjusting the duty cycle. For example, if the adjustment accuracy of the power module is a multiple of 7, it is impossible to accurately adjust the duty cycle 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, at the corresponding time point, control the second power module to start working, so that the second power module is still at the high level when the high level of the first power module ends, 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%, meeting the usage requirements of the load and achieving the duty cycle accuracy that a single power module cannot reach.

[0051] In an alternative 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 maximum current of a preset single power module, the control module determines that the output mode of the power module is the high-load power output mode. The control module first detects the current waveforms of all power modules, takes the minimum value among the valley values corresponding to the troughs in the current waveforms as the standard current of the power module, and the control module controls the output current of each power module to be less than or equal to the corresponding standard current, and the power modules are connected in parallel to provide current to the load. The total current output after parallel connection of 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.

[0052] In this embodiment, the standard current can be obtained by real-time sampling detection to accurately maintain the standard current.

[0053] In this embodiment, the control module can detect the current waveforms corresponding to the currents of each power module. There will be multiple troughs above 0 amperes in the current waveforms, and the minimum value corresponding to the trough is set as the standard current of the power module. The current waveform output by the power module is stable and accurate under this standard current; when the power module outputs the standard current, the overall waveform of the current output by the power module is below the standard current value.

[0054] In an alternative 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 maximum voltage of a preset single power module, the control module determines that the output mode of the power module is the high-voltage output mode. The control module first detects the voltage waveforms of all power modules, takes the minimum value among the valley values corresponding to the troughs in the voltage waveforms as the standard voltage of the power module, and compares the sum of the standard voltages of all power modules with the total voltage required by the load to determine the control method for each power module.

[0055] In this embodiment, the control module can detect the voltage waveforms corresponding to the currents of each power module. There will be multiple troughs above 0 volts in the voltage waveforms, and the minimum value corresponding to the trough is set as the standard voltage of the power module. At this standard voltage, the voltage waveform output by the power module is stable and accurate.

[0056] In an alternative 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 each power module to be connected in series and adjusts the output voltages 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 output voltages of each power module is the same as the total voltage required by the load; the sum of voltages is the peak accumulation.

[0057] In this embodiment, if the standard voltage of each power module is 2.5V and the total voltage required by the load is 8V at this time, the control module controls each power module to be connected in series. The output voltage of each power module is 2V, and the total output voltage of four power modules is 8V, meeting the requirements of the load.

[0058] 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 values of the second smallest from the bottom among the valley values corresponding to the troughs in the voltage waveforms of each power module from large to small. The power modules in the first half of the sorting are used as power supply modules, and the remaining power modules are used as compensation modules. Each power supply module corresponds to a compensation module. The value of the second smallest from the bottom among the valley values corresponding to the troughs in the voltage waveform of the power supply module is used as the power 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 power supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

[0059] Such as Figure 4As shown, in this embodiment, if the standard voltage of each power supply module is 2V, and the total voltage required by the load is 9V at this time, the control module determines the voltage value corresponding to the second smallest reciprocal value of the valley value in the voltage waveforms of each power supply module. For example, the second smallest values of the four power supply modules are 5V for the first power supply module, 4.8V for the second power supply module, 4.5V for the third power supply module, and 4.2V for the fourth power supply module. At this time, the control module controls the first and second power supply modules to supply power to the load to meet the load's requirements. The third power supply module compensates the first power supply module, and the fourth power supply module compensates the second power supply module. The first power supply module will jitter between two wave valleys. At this time, by controlling the working time point of the third power supply module, when the waveform of the first power supply module is between two wave valleys, the second power supply module is in a stable waveform to supplement the fluctuations of the first power supply. After compensating for the fluctuations of the first power supply, the second power supply module is turned off to restart in the next fluctuation cycle of the first power supply for compensation. Similarly, the third power supply module is compensated by the fourth power supply module when it is working.

[0060] In an alternative embodiment, the power supply modules are electrically connected to each other, and the lengths of the compensation lines between the power supply modules are equal, so that when compensation is required between the power supply modules, the compensation time can be accurately controlled.

[0061] In an alternative embodiment, the power supply modules are all electrically connected to the power supply line, and the power supply line is connected to the load. The total voltage provided by each power supply module can be provided through the power supply line, and the total current, etc. can also be provided through this power supply line.

[0062] At least one other disclosed embodiment also provides a control method using the above industrial actuator controller, including: the power supply 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 supply module.

[0063] In summary, this industrial actuator controller includes: a control module, and at least two power supply modules electrically connected to the control module; the control module is configured to control the output mode of the power supply module 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 supply module, thereby achieving stable output when multiple power supply modules cooperate, and the output range can be increased through the cooperation of multiple power supply modules to meet the usage requirements of more loads.

[0064] Based on the above-mentioned ideal embodiments of the present invention as inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in 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, Including: 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 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 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 maximum current of a preset single power module, the control module determines that the output mode of the power module is the high-load power output mode. The control module first detects the current waveforms of all power modules, and takes the minimum value among the valley values corresponding to the troughs in the current waveforms 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 the power modules are connected in parallel to provide current to the load. The total current output after parallel connection of 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; 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 maximum voltage of a preset single power module, the control module determines that the output mode of the power module is the high-voltage output mode. The control module first detects the voltage waveforms of all power modules, and takes the minimum value among the valley values corresponding to the troughs in the voltage waveforms as the standard voltage of the power module, and compares the sum of the standard voltages of all power modules with the total voltage required by the load to determine the control method for each power module.

2. The industrial actuator controller according to claim 1, wherein: 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 maximum switching frequency of a preset single power module, the control module determines that the output mode of the power module is the high-frequency output mode. At this time, the control module evenly divides the pulse width of the total switching frequency required by the load according to the number of power modules, and the control module distributes the evenly divided short pulse widths to the corresponding power modules, and then the control module controls each power module to work in sequence, so that the short pulse widths of each power module are connected, that is, the tail end of the short pulse width of the previous 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 to work in sequence, the short pulse widths of each power module are connected to be the total switching frequency 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 duty cycle corresponding to the voltage required by the load is greater than the maximum duty cycle of a 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 the preset optimal duty cycle, and then the control module controls one power module to start working. According to the preset optimal duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the 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.

4. 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 a 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 one power module to start working. According to the working duty cycle and the duty cycle corresponding to the voltage required by the load, the control module controls the start time points of other power modules. When the high level of a working power module ends, there are still power modules maintaining the high level, so that the high level corresponding to the working duty cycle is extended, so that the working duty cycle is extended to the duty cycle corresponding to the voltage required by the load.

5. The industrial actuator controller according to claim 1, wherein: 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 voltages of the power modules. 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 values of the second smallest from the bottom among the valley values corresponding to the valleys in the voltage waveforms of each power module from large to small. The power modules in the first half of the sorting are used as power supply modules, and the remaining power modules are used as compensation modules. Each power supply module corresponds to a compensation module. The value of the second smallest from the bottom among the valley values corresponding to the valleys in the voltage waveform of the power supply module is used as the power supply voltage. The control module connects the power supply modules in series, the control module controls each power supply module to supply power, and the control module controls the working time points of the compensation modules so that when the voltage waveform of the power supply module is between the standard voltage and the power supply voltage, the compensation module compensates the corresponding power supply module with the standard voltage.

6. The industrial actuator controller according to claim 5, wherein: The power modules are electrically connected to each other, and the lengths of the lines for compensation between the power modules are equal.

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

8. A method of using an industrial actuator controller as described in claim 1, characterized in that, Including: The power supply 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 supply module.

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