Multi-motor synchronous control method and system, storage medium and seat system

Abstract

The invention provides a multi-motor synchronous control method, a multi-motor synchronous control system, a non-transient readable storage medium and a seat system. The multi-motor synchronous control method comprises the following steps: starting a plurality of motors based on a request of a main controller, the plurality of motors including a first motor and at least one second motor, the first motor and the at least one second motor being respectively controlled by a first motor controller and at least one second motor controller which are in communication connection with each other; acquiring first position information of the first motor and second position information of the second motor; and adjusting the running speed of the first motor or the second motor based on the first position information and the second position information. According to the invention, the real-time position information of the first motor and the second motor is obtained, and the operation speeds of the plurality of motors are adjusted through the respective motor controllers of the first motor and the second motor, so that the independent and synchronous operation of the plurality of motors is realized.

Description

Technical Field

[0001] The present invention relates to the field of drive elements, and more particularly to the field of synchronous control of drive elements. More specifically, the present invention relates to a multi-motor synchronous control method, a multi-motor synchronous control system, a non-transitory readable storage medium applying the multi-motor synchronous control method, and a seat system applying the multi-motor synchronous control system or using the multi-motor synchronous control method. Background Art

[0002] With the continuous progress of motor technology, more and more work and production scenarios rely on the operation of motors. In applications with high requirements for driving load capacity, such as vehicles and numerical control machine tools, multi-motor systems have been widely used. Achieving synchronous control of multiple motors has become a key challenge in these applications because this synchronous control directly affects the stability and performance of the system.

[0003] Currently, the main method for achieving multi-motor synchronous control involves speed detection, that is, by detecting the running speed of the motors and adjusting the speed of the corresponding motors to ensure that they run at the same speed. However, this method cannot completely eliminate the position deviation problem that may occur during the operation of multiple motors. Summary of the Invention

[0004] The object of the present invention is to solve the problems existing in the above-mentioned prior art, and provide a multi-motor synchronous control method to improve the synchronous process of multiple motors in a cost-effective and reliable manner.

[0005] To this end, according to one aspect of the present invention, a multi-motor synchronous control method is provided. The multi-motor synchronous control method includes: starting a plurality of motors based on a request from a main controller, the plurality of motors including a first motor and at least one second motor, the first motor and the at least one second motor being controlled by a first motor controller and at least one second motor controller respectively, and the first motor controller and the second motor controller being communicatively connected to each other; obtaining real-time first position information of the first motor and real-time second position information of the second motor; and adjusting the running speed of the first motor or the second motor based on the first position information and the second position information.

[0006] According to the above technical concept, the present invention may further include any one or more of the following optional forms.

[0007] In some alternative forms, adjusting the operating speed of the first motor or the second motor based on the first position information and the second position information includes: obtaining a position distance between the first motor and the second motor and a target position distance between the first motor and a target position based on the first position information and the second position information; in response to the position distance being greater than a first preset value and the target position distance being greater than a second preset value, and in response to both the first motor and the second motor reaching a first preset speed value, synchronizing the start-up phases of the first motor and the second motor.

[0008] In some alternative forms, the start-up phase synchronization includes: based on the first position information and the second position information, stopping one of the first motor and the second motor until the position distance is less than a fourth preset value.

[0009] In some alternative forms, if the position distance is greater than the fourth preset value within a preset adjustment time, a synchronization error signal is generated.

[0010] In some alternative forms, the fourth preset value is less than the first preset value.

[0011] In some alternative forms, adjusting the operating speed of the first motor or the second motor based on the first position information and the second position information further includes: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to the current operating speeds of the first motor and the second motor being greater than a third preset value, synchronizing the running phases of the first motor and the second motor.

[0012] In some alternative forms, the running phase synchronization includes: based on the first position information and the second position information of the first motor and the second motor in the acceleration phase, increasing the operating acceleration of one of the first motor and the second motor; based on the first position information and the second position information of the first motor and the second motor in the running synchronous constant-speed phase, increasing the operating speed of one of the first motor and the second motor.

[0013] In some alternative forms, adjusting the operating speed of the first motor or the second motor based on the first position information and the second position information further includes: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to a stop request from the main controller, synchronizing the stop phases of the first motor and the second motor.

[0014] In some alternative forms, the stop-phase synchronization includes: increasing the operating deceleration of one of the first motor and the second motor based on the first position information and the second position information of the first motor and the second motor during the deceleration phase; reducing the operating speed of one of the first motor and the second motor based on the first position information and the second position information of the first motor and the second motor during the uniform-speed phase of the stop-phase synchronization.

[0015] In some alternative forms, the stop-phase synchronization further includes: stopping the operation of the first motor and the second motor based on the difference between the operating speeds of the first motor and the second motor and a preset stop speed.

[0016] In some alternative forms, the multi-motor synchronization control method is applicable to the control of a vehicle seat slide assembly.

[0017] According to another aspect of the present invention, there is provided a multi-motor synchronization control system. The multi-motor synchronization control system includes a plurality of motors, and the plurality of motors include a first motor and at least one second motor. The multi-motor synchronization control system further includes: a start module configured to start the first motor and the at least one second motor based on a main controller request. The first motor and the at least one second motor are respectively controlled by a first motor controller and at least one second motor controller, and the first motor controller and the second motor controller are communicatively connected to each other; an acquisition module configured to acquire real-time first position information of the first motor and real-time second position information of the second motor; a synchronization module configured to adjust the operating speed of the first motor or the second motor based on the first position information and the second position information.

[0018] In some alternative forms, the synchronization module includes a start-phase synchronization unit configured to: acquire a position distance between the first motor and the second motor and a target position distance between the first motor and a target position based on the first position information and the second position information; in response to the position distance being greater than a first preset value and the target position distance being greater than a second preset value, and in response to both the first motor and the second motor reaching a first preset speed value, perform start-phase synchronization on the first motor and the second motor.

[0019] In some alternative forms, the synchronization module further includes an operation-phase synchronization unit configured to: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to the current operating speeds of the first motor and the second motor being greater than a third preset value, synchronize the first motor and the second motor in the operation phase.

[0020] In some alternative forms, the synchronization module further includes a stop-phase synchronization unit configured to: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to a stop request from the main controller, synchronize the first motor and the second motor in the stop phase.

[0021] According to another aspect of the present invention, there is provided a non-transitory readable storage medium having non-transitory executable instructions stored thereon, the non-transitory executable instructions being for causing a device to execute the multi-motor synchronization control method described above.

[0022] According to another aspect of the present invention, there is provided a seat system, the seat system including the multi-motor synchronization control system described above, or the seat system using the multi-motor synchronization control method described above to control a slide rail assembly of the seat system.

[0023] The present invention realizes the independent and synchronous operation of multiple motors by acquiring the real-time position information of the first motor and the second motor and adjusting the operating speeds of the multiple motors through the respective motor controllers of the first motor and the second motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features and advantages of the present invention will be better understood from the following alternative embodiments described in detail in conjunction with the drawings, wherein:

[0025] Figure 1 Shows a flowchart of a multi-motor synchronization control method according to an embodiment of the present invention;

[0026] Figure 2 Shows a flowchart of a multi-motor synchronization control method according to another embodiment of the present invention;

[0027] Figure 3 Shows Figure 2 a flowchart of the start-phase synchronization process in;

[0028] Figure 4 Shows Figure 2 a flowchart of the operation-phase synchronization process in;

[0029] Figure 5 ShowsFigure 2 Flowchart of the stop-phase synchronization process in

[0030] Figure 6 Schematic diagram showing a multi-motor synchronization control system according to an embodiment of the present invention. Detailed implementation

[0031] The implementation and use of the embodiments are discussed in detail below. However, it should be understood that the specific embodiments discussed are merely exemplary illustrations of specific ways of implementing and using the present invention, and do not limit the scope of the present invention.

[0032] In addition, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the methods and systems according to various embodiments of the present invention. It should be noted that the functions marked in the blocks may also occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved.

[0033] Multi-motors are widely used in various fields because they have a stronger driving load capacity than single motors. The inventor found that there will be a position deviation during the operation of current multi-motors, and the synchronization accuracy is relatively low.

[0034] Refer to Figure 1 , Figure 1 Flowchart showing a multi-motor synchronization control method according to an embodiment of the present invention.

[0035] The multi-motor synchronization control method according to the present invention can be used for controlling the slide rail assembly of the seat system of a vehicle. In this case, multiple motors can respectively drive two slide rail assemblies under the seat of the vehicle to adjust the position of the seat. The multi-motor synchronization control method will be described below in the case of being applied to the control of the slide rail assembly of the seat system of a vehicle. It can be understood that the application of the multi-motor synchronization control method according to the present invention is not limited thereto, and it can also be used in other fields such as production line conveyor belts and ships as needed.

[0036] The multi-motor synchronization control method according to an embodiment of the present invention includes the following steps:

[0037] Step S101: Start multiple motors based on a request from the main controller, where the multiple motors include a first motor and at least one second motor, the first motor and the at least one second motor are respectively controlled by a first motor controller and at least one second motor controller, and the first motor controller and the second motor controller are communicatively connected to each other.

[0038] In step S101, multiple motors can be started based on the seat adjustment instruction of the main controller, and the seat adjustment instruction can come from seat position adaptive adjustment, welcome, send-off, testing, user requests, etc. In this embodiment, since there are two slide rail assemblies under the vehicle seat, the multiple motors can include a first motor and a second motor to drive the two slide rail assemblies respectively.

[0039] In some embodiments, the first motor controller and the second motor controller can be communicatively connected to each other via a Controller Area Network (CAN) bus to improve the synchronization accuracy of the first motor and the second motor.

[0040] Step S102: Obtain the real-time first position information of the first motor and the real-time second position information of the second motor.

[0041] In step S102, the corresponding position information of the first motor and the second motor can be obtained through a position sensor such as an encoder.

[0042] Step S103: Adjust the running speed of the first motor or the second motor based on the first position information and the second position information.

[0043] In step S103, the first motor controller and the second motor controller can receive the position information from the position sensor and independently control the running speed of the first motor or the second motor based on the position information, so that the first motor and the second motor are synchronized in terms of speed and position.

[0044] In this way, according to the multi-motor synchronous control method of the present embodiment, based on the position information of multiple motors and through the corresponding motor controllers of multiple motors, the synchronous operation of multiple motors is achieved, the synchronization accuracy between multiple motors is improved, the stability during the vehicle seat adjustment process is increased, and the user's riding experience is improved.

[0045] Refer to Figure 2 , Figure 2 shows a flowchart of a multi-motor synchronous control method according to another embodiment of the present invention.

[0046] The multi-motor synchronous control method according to another embodiment of the present invention mainly includes the following steps.

[0047] Step S201: After the first motor controller and the second motor controller receive the seat adjustment instruction, send seat adjustment signals to the first motor and the second motor respectively, so that the first motor and the second motor start running at the motor start speed preset by the seat system. In some embodiments, the motor start speed can be 1000 rmp.

[0048] Step S202: Obtain the real-time position information of the first motor and the second motor through a position sensor, and based on the obtained position information, obtain the position distance (i.e., the absolute position difference) between the first motor and the second motor, and determine whether this position distance is greater than a first preset value, which indicates an obvious out-of-sync situation of the motors. In some embodiments, the first preset value can be 6 mm.

[0049] Step S203: If the position distance between the first motor and the second motor is greater than the first preset value, then determine whether the target position distance between the current position of the first motor and the target position sent by the main controller is less than a second preset value, that is, determine whether the current position of the first motor has approached the target position. In some embodiments, the second preset value can be 12 mm.

[0050] Step S204: If the target position distance is greater than the second preset value, indicating that the current position of the first motor has not approached the target position, then start the start-phase synchronization process.

[0051] In step S204, after starting the start-phase synchronization, continuously determine the position distance between the first motor and the second motor. If within a certain period of time, this position distance is still greater than the first preset value, indicating that the first motor and the second motor are still in an obvious out-of-sync situation, then stop the movement of the seat slide assembly to ensure the safety of the seat adjustment process. In some embodiments, the certain period of time can be 10 s.

[0052] Step S205: In step S203, if the target position distance between the current position of the first motor and the target position is less than the second preset value, then determine whether the first motor controller and the second motor controller have received a stop instruction from the main controller.

[0053] Step S206: In step S205, if the first motor controller and the second motor controller have not received a stop instruction, then determine whether the current speeds of the first motor and the second motor are greater than a third preset value. In some embodiments, the third preset value can be 1000 rmp.

[0054] Step S207: If the current speeds of both the first motor and the second motor are greater than the third preset value, indicating that the speeds of the first motor and the second motor have reached the speed standard for the running-phase synchronization, then start the running-phase synchronization process.

[0055] In step S206, if the current speeds of the first motor and the second motor are less than the third preset value, it indicates that the speeds of the first motor and the second motor have not reached the speed standard for the running-phase synchronization. At this time, return to step S201 to adjust the start speeds of the first motor and the second motor and restart the judgment process.

[0056] Step S208: In step S205, if the first motor and the second motor receive a stop instruction from the main controller, the stop-phase synchronization process is started.

[0057] After the stop-phase synchronization process ends, the two motors stop running, and the seat slide rail assembly stops moving.

[0058] In this way, the first motor and the second motor are synchronized respectively in the starting, running, and stopping phases, improving the synchronization accuracy of the two motors.

[0059] The starting-phase synchronization process, the running-phase synchronization process, and the stopping-phase synchronization process will be described in detail below.

[0060] Referring to Figure 3 , Figure 3 shows Figure 2 the flowchart of the starting-phase synchronization process in

[0061] The starting-phase synchronization process in the multi-motor synchronization control method according to an embodiment of the present invention may include the following steps:

[0062] Step S301: Based on the initial positions of the first motor and the second motor, determine whether the position of the first motor exceeds the position of the second motor.

[0063] Step S302: When the position of the first motor lags behind the position of the second motor, keep the first motor running while decelerating or stopping the second motor to wait for the first motor.

[0064] Step S303: When the position of the first motor exceeds the position of the second motor, decelerate or stop the first motor to wait for the second motor.

[0065] Step S304: After the adjustment processes in step S302 and step S303, determine the relationship between the position distance between the first motor and the second motor and a fourth preset value.

[0066] Here, the fourth preset value is less than the first preset value. That is to say, the setting of the fourth preset value will be more stringent than the first preset value. In some embodiments, the fourth preset value may be 0.5 mm.

[0067] Step S305: If the positional distance between the first motor and the second motor is greater than the fourth preset value, then repeat the process of steps S301 to S304 to continuously adjust the positions of the first motor and the second motor, and continuously judge the positional distance between the first motor and the second motor within the preset adjustment time. If within the preset adjustment time, the positional distance between the first motor and the second motor is still greater than the fourth preset value, and at this time the first motor and the second motor cannot reach the set synchronization standard, then a synchronization error signal will be generated. In some embodiments, the preset adjustment time can be 5s.

[0068] In step S304, if the positional distance between the first motor and the second motor is less than the fourth preset value, then the first motor and the second motor reach the set synchronization standard. At this time, the start of the synchronization process is completed.

[0069] In this way, the synchronization of the first motor and the second motor in the startup phase is achieved, so that the first motor and the second motor can start running at the same speed and the same position.

[0070] Refer to Figure 4 , Figure 4 shows Figure 2 the flowchart of the synchronization process in the running phase in

[0071] The synchronization process in the running phase of the multi-motor synchronization control method according to an embodiment of the present invention may include the following steps:

[0072] Step S401: After the start of the synchronization in the running phase, the first motor and the second motor start running based on the preset running speed V and acceleration A of the seat system. In some embodiments, the running speed V can be 2000rmp, and the acceleration A can be 25rmp / s.

[0073] Step S402: Based on the first position information of the first motor and the second position information of the second motor, judge whether the first motor lags behind the second motor during the acceleration process in the running phase.

[0074] Step S403: If the first motor does not lag behind the second motor during the acceleration process, then the first motor continues to run at the default acceleration. At this time, the acceleration of the second motor can be appropriately increased.

[0075] Step S404: If the first motor lags behind the second motor during the acceleration process, then the acceleration of the first motor can be appropriately increased. At this time, the second motor can continue to run at the default acceleration.

[0076] Step S405: After the adjustment processes in steps S403 and S404, determine whether the first motor lags behind the second motor during the constant-speed process in the running stage, that is, the relationship between the position distance between the first motor and the second motor and a fifth preset value. In some embodiments, the fifth preset value can be 0.5 mm.

[0077] Step S406: If the first motor does not lag behind the second motor during the constant-speed process, determine whether the first motor is close to the second motor, that is, the relationship between the position distance between the first motor and the second motor and a sixth preset value. In some embodiments, the sixth preset value can be 0.2 mm.

[0078] Step S407: If the first motor lags behind the second motor during the constant-speed process, appropriately increase the acceleration of the first motor.

[0079] Step S408: If the position of the first motor is close to the second motor, restore the speed of the first motor to the preset operating speed V.

[0080] Step S409: If the position of the first motor is not close to the second motor, determine whether a stop instruction is received from the main controller.

[0081] In the case of receiving the stop instruction, end the synchronization process in the running stage. In the case of not receiving the stop instruction, return to step S402 and repeat the processes of steps S402 to S408 to continuously adjust the speeds of the first motor and the second motor.

[0082] In this way, the synchronization of the first motor and the second motor in the running stage is achieved. The synchronization process in the running stage is performed after the start of the synchronization process in the start-up stage and before receiving the stop instruction to ensure that the first motor and the second motor can run synchronously.

[0083] Refer to Figure 5 , Figure 5 shows Figure 2 the flowchart of the synchronization process in the stop stage in

[0084] The synchronization process in the stop stage in the multi-motor synchronization control method according to an embodiment of the present invention may include the following steps:

[0085] Step S501: After the start of the synchronization in the stop stage, the first motor and the second motor start to run based on the target stop speed and deceleration preset by the seat system. In some embodiments, the target stop speed can be 1000 rmp, and the deceleration can be 25 rmp / s.

[0086] Step S502: Based on the first position information of the first motor and the second position information of the second motor, determine whether the first motor exceeds the second motor during the deceleration process in the stop phase.

[0087] Step S503: If the first motor exceeds the second motor during the deceleration process, appropriately increase the deceleration of the first motor. At this time, the second motor can operate at the default deceleration.

[0088] Step S504: In Step S502, if the first motor does not exceed the second motor during the deceleration process, or after the adjustment process in Step S503, determine whether the first motor exceeds the second motor during the constant-speed process in the stop phase.

[0089] Step S505: If the first motor exceeds the second motor during the constant-speed process, appropriately reduce the speed of the first motor.

[0090] Step S506: In Step S504, if the first motor does not exceed the second motor during the constant-speed process, or after the adjustment process in Step S505, determine whether the real-time speeds of the first motor and the second motor are close to the target stop speed.

[0091] Step S507: If the real-time speeds of the first motor and the second motor are close to the target stop speed, stop the first motor and the second motor, and end the stop synchronization process.

[0092] In Step S506, if the real-time speeds of the first motor and the second motor are not close to the target stop speed, return to Step S502, and repeat Steps S502 to S506 to continuously adjust the speeds of the first motor and the second motor.

[0093] In this way, the synchronization of the first motor and the second motor in the stop phase is achieved, and the synchronization in the stop phase can also ensure that the first motor and the second motor can be better synchronized during the next operation. In addition, during the stop phase synchronization process, it will be repeatedly determined whether the first motor and the second motor are in the deceleration or constant-speed process, and then the corresponding speed adjustment will be performed to ensure the synchronization of the two motors.

[0094] Refer to Figure 6 , Figure 6 which shows a schematic diagram of a multi-motor synchronization control system according to an embodiment of the present invention.

[0095] A multi-motor synchronous control system 100 according to an embodiment of the present invention includes a plurality of motors 110, and the plurality of motors 110 include a first motor 111 and at least one second motor 112. The multi-motor synchronous control system 100 further includes a starting module 120, an obtaining module 130, and a synchronization module 140. The starting module 120 starts the first motor 111 and at least one second motor 112 based on a main controller request. Among them, the first motor 111 and at least one second motor 112 are respectively controlled by a first motor controller 151 and a second motor controller 152, and the first motor controller 151 and the second motor controller 152 are communicatively connected to each other. The obtaining module 130 is configured to obtain real-time first position information of the first motor 111 and real-time second position information of the second motor 112. The synchronization module 140 adjusts the running speeds of the first motor 111 and the second motor 112 based on the first position information and the second position information. The specific functions of the multi-motor synchronous control system 100 can refer to the description in the foregoing Figure 1 embodiment and will not be elaborated herein.

[0096] In some embodiments, the synchronization module 140 may include a starting-phase synchronization unit 141. The starting-phase synchronization unit 141 obtains the position distance between the first motor 111 and the second motor 112 and the target position distance between the first motor 111 and the target position based on the first position information and the second position information. The starting-phase synchronization unit 141 causes the first motor 111 and the second motor 112 to perform starting-phase synchronization in response to the position distance being greater than a first preset value, the target position distance being greater than a second preset value, and both the first motor 111 and the second motor 112 reaching a first preset speed value, and the first preset speed value may be 1000 rmp. The specific functions of the starting-phase synchronization unit 141 can refer to the description in the foregoing Figure 3 embodiment and will not be elaborated herein.

[0097] In some embodiments, the synchronization module 140 may further include an operating-phase synchronization unit 142. The operating-phase synchronization unit 142 causes the first motor 111 and the second motor 112 to perform operating-phase synchronization in response to the position distance being greater than the first preset value, the target position distance being less than the second preset value, and the current running speeds of the first motor 111 and the second motor 112 being greater than a third preset value. The specific functions of the operating-phase synchronization unit 142 can refer to the description in the foregoing Figure 4 embodiment and will not be elaborated herein.

[0098] In some embodiments, the synchronization module 140 may further include a stop-phase synchronization unit 143. The stop-phase synchronization unit 143 causes the first motor 111 and the second motor 112 to perform stop-phase synchronization in response to the position distance being greater than a first preset value and the target position distance being less than a second preset value and in response to a stop request from the main controller. For the specific functions of the stop-phase synchronization unit 143, reference may be made to the description in the foregoing Figure 5 embodiments and will not be elaborated herein.

[0099] In an exemplary embodiment of the present invention, a non-transitory readable storage medium is further provided. The non-transitory readable storage medium has non-transitory executable instructions stored thereon, and the non-transitory executable instructions are used to cause a device to execute the multi-motor synchronization control method according to the above embodiments.

[0100] Optionally, the non-transitory readable storage medium according to the present embodiment may be a random access memory (RAM), a read-only memory (ROM), a semiconductor storage device, a magnetic surface storage device, an optical storage device, etc.

[0101] The multi-motor synchronization control method according to the present invention independently adjusts the operating speeds of the first motor and the second motor through the first motor controller and the second motor controller based on the acquired real-time position information of the first motor and the second motor. The first motor controller and the second motor controller may be communicatively connected via a CAN bus to ensure the real-time data transfer rate between the two controllers and improve the efficiency of position information interaction.

[0102] It should be understood that the embodiments shown in the figures only show alternative configuration modes of the multi-motor synchronization control system according to the present invention. However, they are illustrative only and not restrictive. Other configuration modes may be adopted without departing from the spirit and scope of the present invention.

[0103] The technical content and technical features of the present invention have been disclosed above. However, it can be understood that under the creative concept of the present invention, those skilled in the art can make various changes and improvements to the above-disclosed concept, but all fall within the protection scope of the present invention. The description of the above embodiments is illustrative rather than restrictive, and the protection scope of the present invention is determined by the claims.

Claims

1. A multi-motor synchronous control method, characterized in that, The multi-motor synchronous control method includes: Starting multiple motors based on a request from a main controller (S101). The multiple motors include a first motor and at least one second motor. The first motor and the at least one second motor are controlled by a first motor controller and at least one second motor controller respectively, and the first motor controller and the second motor controller are communicatively connected to each other; Obtaining real-time first position information of the first motor and real-time second position information of the second motor (S102); Adjusting the running speed of the first motor or the second motor based on the first position information and the second position information (S103).

2. The multi-motor synchronous control method according to claim 1, wherein Adjusting the running speed of the first motor or the second motor based on the first position information and the second position information includes: obtaining the position distance between the first motor and the second motor and the target position distance between the first motor and the target position based on the first position information and the second position information; in response to the position distance being greater than a first preset value and the target position distance being greater than a second preset value, and in response to both the first motor and the second motor reaching a first preset speed value, synchronizing the start-up phases of the first motor and the second motor.

3. The multi-motor synchronous control method according to claim 2, wherein The start-up phase synchronization includes: based on the first position information and the second position information, stopping one of the first motor and the second motor until the position distance is less than a fourth preset value.

4. The multi-motor synchronous control method according to claim 3, wherein Within a preset adjustment time, if the position distance is greater than the fourth preset value, a synchronization error signal is generated.

5. The multi-motor synchronous control method according to claim 3, characterized in that The fourth preset value is less than the first preset value.

6. The multi-motor synchronous control method according to claim 2, wherein Adjusting the running speed of the first motor or the second motor based on the first position information and the second position information further includes: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to the current running speeds of the first motor and the second motor being greater than a third preset value, synchronizing the running phases of the first motor and the second motor.

7. The multi-motor synchronous control method according to claim 6, characterized in that, The running phase synchronization includes: based on the first position information and the second position information of the first motor and the second motor in the acceleration phase, increasing the running acceleration of one of the first motor and the second motor; based on the first position information and the second position information of the first motor and the second motor in the constant-speed phase of the running phase synchronization, increasing the running speed of one of the first motor and the second motor.

8. The multi-motor synchronous control method according to claim 2, wherein Adjusting the running speed of the first motor or the second motor based on the first position information and the second position information further includes: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to a stop request from the main controller, synchronizing the stop phases of the first motor and the second motor.

9. The multi-motor synchronous control method according to claim 8, characterized in that, The stop-phase synchronization includes: increasing the operating deceleration of one of the first motor and the second motor based on the first position information and the second position information of the first motor and the second motor in the deceleration phase; and decreasing the operating speed of one of the first motor and the second motor based on the first position information and the second position information of the first motor and the second motor in the uniform-speed phase of the stop-phase synchronization.

10. The multi-motor synchronous control method according to claim 9, characterized in that, The stop-phase synchronization further includes: stopping the operation of the first motor and the second motor based on the difference between the operating speeds of the first motor and the second motor and a preset stop speed.

11. The multi-motor synchronous control method according to any one of claims 1 to 10, characterized in that, The multi-motor synchronization control method is applicable to the control of a vehicle seat slide assembly.

12. A multi-motor synchronous control system, the multi-motor synchronous control system (100) includes a plurality of motors (110), the plurality of motors (110) includes a first motor (111) and at least one second motor (112), characterized in that, The multi-motor synchronization control system (100) further includes: a start module (120) configured to start the first motor (111) and the at least one second motor (112) based on a main controller request. The first motor (111) and the at least one second motor (112) are respectively controlled by a first motor controller (151) and at least one second motor controller (152), and the first motor controller (151) and the second motor controller (152) are communicatively connected to each other; an acquisition module (130) configured to acquire real-time first position information of the first motor (111) and real-time second position information of the second motor (112); a synchronization module (140) configured to adjust the operating speed of the first motor (111) or the second motor (112) based on the first position information and the second position information.

13. The multi-motor synchronous control system according to claim 12, characterized in that, The synchronization module (140) includes a start-phase synchronization unit (141) configured to: obtain a position distance between the first motor (111) and the second motor (112) and a target position distance between the first motor (111) and a target position based on the first position information and the second position information; and cause the first motor (111) and the second motor (112) to perform start-phase synchronization in response to the position distance being greater than a first preset value and the target position distance being greater than a second preset value, and in response to both the first motor (111) and the second motor (112) reaching a first preset speed value.

14. The multi-motor synchronous control system according to claim 13, characterized in that, The synchronization module (140) further includes an operation-phase synchronization unit (142) configured to: cause the first motor (111) and the second motor (112) to perform operation-phase synchronization in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to the current operating speeds of the first motor (111) and the second motor (112) being greater than a third preset value.

15. The multi-motor synchronous control system according to claim 13, wherein The synchronization module (140) further includes a stop-phase synchronization unit (143), and the stop-phase synchronization unit (143) is configured to: in response to the position distance being greater than the first preset value and the target position distance being less than the second preset value, and in response to a stop request from the main controller, perform stop-phase synchronization on the first motor (111) and the second motor (112).

16. A non-transitory readable storage medium, characterized in that, The non-transitory readable storage medium has non-transitory executable instructions stored thereon, and the non-transitory executable instructions are used to cause the device to execute the multi-motor synchronization control method according to any one of claims 1 to 11.

17. A seat system, characterized in that, The seat system includes the multi-motor synchronization control system according to any one of claims 12 to 15, or the seat system uses the multi-motor synchronization control method according to any one of claims 1 to 11 to control the slide rail assembly of the seat system.

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