Motor and group control method and device thereof, storage medium, controller and program product

Abstract

The invention provides a motor and a group control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: outputting a first voltage signal through a first speed regulation channel, and enabling the voltage of the first voltage signal to be within a preset voltage range corresponding to a target motor; outputting a second voltage signal through a second speed regulation channel so as to regulate the running state and / or the rotating speed of the target motor; after receiving the first voltage signal, the target motor determines whether the voltage of the first voltage signal is within a preset voltage range corresponding to the target motor; and if it is determined that the voltage of the first voltage signal is within the preset voltage range corresponding to the first voltage signal, receiving the second voltage signal, and adjusting the running state and / or the rotating speed of the first voltage signal according to the second voltage signal. According to the scheme provided by the invention, the problems of complex deployment and high deployment cost caused by a large number of required speed regulation channels during speed regulation control of motor group control can be solved.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to an electric motor and its group control method, device, storage medium, controller, and program product. Background Art

[0002] In industrial control scenarios, there are often situations where multiple electric motors need to be controlled. For the control of a single electric motor, the VSP speed control method is often used. VSP (Voltage Speed Profiling), that is, a technology for controlling the speed of an electric motor with an analog voltage signal. The magnitude of the voltage affects the speed of the electric motor, and the greater the voltage, the faster the rotation speed. If it involves the group control of multiple electric motors, more VSP speed control channels are required. Generally speaking, the number of VSP speed control channels should correspond to the number of electric motors to be group-controlled. Therefore, related technologies mostly use the method of directly increasing the number of VSP channels to solve the problem of electric motor group control. Although this type of method directly solves the problem of electric motor group control, it has deficiencies such as complex line deployment and increased deployment costs. Summary of the Invention

[0003] The main purpose of the present invention is to overcome the defects of the above-mentioned related technologies, and provide an electric motor and its group control method, device, storage medium, and computer program product to solve the problem that in the related technologies, when performing speed control technology for electric motor group control, too many speed control channels are required, resulting in complex deployment and high deployment costs.

[0004] On the one hand, the present invention provides a group control method for an electric motor, which is used for the control side to control two or more electric motors to be controlled. The two or more electric motors respectively correspond to two or more preset voltage ranges. The group control method includes: outputting a first voltage signal through a first speed control channel, the magnitude of the first voltage signal being within the preset voltage range corresponding to the target motor; outputting a second voltage signal through a second speed control channel to adjust the operating state and / or speed of the target motor; wherein, after receiving the first voltage signal, the target motor determines whether the magnitude of the first voltage signal is within the preset voltage range corresponding to itself; if it is determined that the magnitude of the first voltage signal is within the preset voltage range corresponding to itself, then receive the second voltage signal and adjust its own operating state and / or speed according to the second voltage signal.

[0005] Optionally, a voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges.

[0006] Optionally, outputting the first voltage signal through the first speed regulation channel includes: outputting the first voltage signal through the first speed regulation channel for a continuous preset time; when the target motor receives the first voltage signal output through the first speed regulation channel for a continuous preset time and determines that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself, it will receive the second voltage signal.

[0007] On the other hand, the present invention provides a control method for a motor, which is used on the motor side to control any one of two or more motors to be controlled. The method is characterized in that the two or more motors respectively correspond to two or more preset voltage ranges. The control method includes: when receiving the first voltage signal output through the first speed regulation channel, determining whether the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself; if it is determined that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself, then receiving the second voltage signal output through the second speed regulation channel; when receiving the second voltage signal output through the second speed regulation channel, adjusting its own operating state and / or speed according to the received second voltage signal.

[0008] Optionally, a voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges.

[0009] Optionally, when receiving the first voltage signal output through the first speed regulation channel for a continuous preset time and determining that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself, the second voltage signal output through the second speed regulation channel is received.

[0010] On yet another aspect, the present invention provides a group control device for motors, which is used on the control side to control two or more motors to be controlled. The device is characterized in that the two or more motors respectively correspond to two or more preset voltage ranges. The group control device includes: a first output unit for outputting a first voltage signal through the first speed regulation channel, and the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor; a second output unit for outputting a second voltage signal through the second speed regulation channel to adjust the operating state and / or speed of the target motor; wherein, after receiving the first voltage signal, the target motor determines whether the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself; if it is determined that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself, then it receives the second voltage signal and adjusts its own operating state and / or speed according to the second voltage signal.

[0011] Optionally, a voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges.

[0012] Optionally, the first output unit outputs the first voltage signal through the first speed control channel, including: outputting the first voltage signal through the first speed control channel for a continuous preset time; the target motor receives the second voltage signal only when it receives the first voltage signal output through the first speed control channel for a continuous preset time and determines that the voltage size of the first voltage signal is within its corresponding preset voltage range.

[0013] On the other hand, the present invention provides a motor control device, which is used on the motor side to control any one of two or more motors to be controlled, and the two or more motors correspond to more than two preset voltage ranges respectively. The control device includes: a first receiving unit, used to receive a first voltage signal output through a first speed regulation channel; a determination unit, used to determine whether the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself when the first receiving unit receives the first voltage signal output through the first speed regulation channel; a second receiving unit, used to receive a second voltage signal output through a second speed regulation channel if the determination unit determines that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself; and an adjustment unit, used to adjust its own operating state and / or speed according to the received second voltage signal when the second receiving unit receives the second voltage signal output through the second speed regulation channel.

[0014] Optionally, a voltage transition region is provided between every two adjacent voltage ranges in the more than two preset voltage ranges.

[0015] Optionally, the second receiving unit is further used to: receive the second voltage signal output through the second speed regulation channel only when the first receiving unit receives the first voltage signal output through the first speed regulation channel for a continuous preset time, and the determination unit determines that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself.

[0016] On the other hand, the present invention provides a storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the program implements the steps of any of the aforementioned methods for the control side, or implements the steps of any of the aforementioned methods for the motor side.

[0017] In another aspect, the present invention provides a controller, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the aforementioned methods for the control side are implemented.

[0018] In another aspect, the present invention provides a motor, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of any of the aforementioned methods for the motor side are implemented.

[0019] In another aspect, the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of any of the aforementioned methods for the control side are implemented, or the steps of any of the aforementioned methods for the motor side are implemented.

[0020] According to the technical solution of the present invention, the output voltage signal voltage of a speed regulation channel is divided into two or more voltage ranges, which respectively correspond to two or more motors to be controlled. When a motor recognizes that the voltage on the speed regulation channel is within its corresponding voltage range, it confirms that it is selected, and then adjusts its own speed according to the voltage signal on another speed regulation channel. In this way, the dual-channel VSP motor group control is realized by selecting the target motor through one speed regulation channel and controlling the speed through another speed regulation channel. The technical solution of the present invention has a simple configuration, low deployment difficulty and cost, optimizes the working nature that a single motor needs to correspond to one VSP speed regulation channel in the related art, and improves the utilization rate of the VSP speed regulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0022] Figure 1 is a schematic diagram of a method of an embodiment of the group control method of the motor for the control side provided by the present invention;

[0023] Figure 2 shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention;

[0024] Figure 3 shows a schematic diagram of the enabling of the first speed regulation channel signal according to a specific embodiment of the present invention;

[0025] Figure 4 shows a schematic diagram of the enabling of the second speed regulation channel signal according to a specific embodiment of the present invention;

[0026] Figure 5 is a flow chart of dual-channel VSP motor group control according to a specific embodiment of the present invention;

[0027] Figure 6 is a schematic diagram of a method of an embodiment of the control method of the motor for the motor side provided by the present invention;

[0028] Figure 7 It is a structural block diagram of an embodiment of a group control device for motors on the control side provided by the present invention;

[0029] Figure 8 It is a structural block diagram of an embodiment of a group control device for motors on the control side provided by the present invention. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] In the face of the problem of motor group control, the method of RS485 bus control is often adopted to solve it. Although such methods can well solve the problem of motor group control with a larger number of motors, there are also problems such as complex control communication protocols and the inability of the RS485 bus matching termination resistors to well balance single motors and multiple motors.

[0033] On the one hand, the present invention provides a group control method for motors on the control side. This method is mainly applicable to controlling two or more motors to be controlled. The control side can specifically be a controller.

[0034] Figure 1 It is a schematic diagram of a method of an embodiment of the group control method for motors on the control side provided by the present invention.

[0035] As Figure 1 shown, according to an embodiment of the present invention, the group control method of the motors includes at least step S110 and step S120.

[0036] Step S110, output a first voltage signal through a first speed regulation channel.

[0037] Specifically, two or more motors to be controlled are controlled by two speed regulation signals. The two speed regulation signals respectively output voltage information through a first speed regulation signal output port and a second speed regulation signal output port, that is, two or more motors to be controlled are controlled through two speed regulation channels. Among them, the first speed regulation signal output port corresponds to the first speed regulation channel, and the second speed regulation signal output port corresponds to the second speed regulation channel. For example, when using VSP speed regulation control, the first speed regulation channel is VSP1, and the second speed regulation channel is VSP2. The first speed regulation channel outputs a first voltage signal, that is, the first voltage signal is output through the first speed regulation signal output port.

[0038] The voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor. Each of the two or more motors corresponds to two or more preset voltage ranges, that is, each motor among the two or more motors corresponds to a preset voltage range. According to the preset voltage range corresponding to the pre-determined target motor, a voltage signal within this preset voltage range is output through the first speed regulation channel (that is, through the first speed regulation signal output port), that is, the target motor is selected.

[0039] Preferably, the voltage magnitude of the first voltage signal is equal to the voltage magnitude at the middle position within the voltage range corresponding to the target motor. That is, when selecting the target motor by outputting the first voltage signal, the voltage magnitude of the output first voltage signal is controlled at the middle position within the voltage range corresponding to the target motor, which is convenient for data reading and can effectively reduce misjudgment situations. The target motor can be selected by the user. For example, the user can select through the control side, such as by pressing a button on the controller. Specifically, according to the number of the two or more motors in advance, the voltage range of the voltage signal output through the first speed regulation channel (that is, the first speed regulation signal output port) is divided, that is, divided into two or more preset voltage ranges corresponding to the two or more motors respectively, and each motor corresponds to a preset voltage range. For example, when using VSP speed regulation control, the voltage range of the voltage signal output by VSP1 (the first speed regulation channel) is 0 - 10V, and the number of controlled motors (that is, the two or more motors) is 6, then the voltage range of 0 - 10V is divided, that is, divided into 6 voltage ranges corresponding to 6 motors respectively. The two or more voltage ranges do not overlap, that is, it is ensured that each motor has a voltage range corresponding to itself and does not overlap with the voltage ranges corresponding to other motors. When dividing the voltage range, the error of the sampling circuit and the AD sampling sensitivity should also be considered to ensure that the voltage ranges corresponding to each motor do not conflict due to voltage signal acquisition errors. For example, when it is clear that there is a deviation value between the AD sampling result of the sampling circuit and the VSP input, the deviation value is considered in the division of the voltage ranges of different motors.

[0040] Preferably, a voltage transition region is provided between every two adjacent voltage ranges among the two or more preset voltage ranges to prevent miscontrol. For example, if the number of controlled motors (i.e., the two or more motors) is 6, then the voltage range of 0-10V is divided, and the corresponding voltage ranges are set to 0-1.3V, 1.6-2.9V, 3.2V-4.5V, 4.8V-6.1V, 6.4V-7.7V, 8-9.3V respectively, and 1.3V-1.6V, 2.9V-3.2V, 4.5V-4.8V, 6.1V-6.4V, 7.7V-8V are set as transition intervals respectively.

[0041] Figure 2 The schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention is shown. Figure 3 The schematic diagram of the enabling of the signal of the first speed regulation channel (VSP1) according to a specific embodiment of the present invention is shown.

[0042] Reference Figure 2 、 Figure 3 As shown, determine the number of group-controlled motors, divide the output voltage range of the VSP1 channel according to the number of group-controlled motors. Assume that the output voltage range of the first speed regulation channel VSP1 channel (the first speed regulation signal output port) is 0-10V, divide the voltage range of 0-10V to ensure that each motor has a corresponding voltage range of its own, and this voltage range does not overlap with the voltage ranges corresponding to other motors. Taking the group control of 6 motors as an example, the 6 motors are: MOTOR1, MOTOR2,..., MOTOR6. Taking 1.3V as a voltage range, corresponding to one controlled motor. When dividing the voltage range, to prevent miscontrol, a voltage transition region is set between every two adjacent voltage ranges, such as Figure 2 、 Figure 3As shown, the voltage range corresponding to MOTOR 1 is set to 0 - 1.3V. Considering that there should be a reasonable transition zone between the voltage ranges corresponding to each motor, 1.3V - 1.6V is set as the transition interval for the voltage range corresponding to MOTOR 2 to prevent miscontrol. Similarly, the voltage range corresponding to MOTOR 2 is set to 1.6 - 2.9V, and 2.9V - 3.2V is set as the transition interval for the voltage range corresponding to MOTOR 3, …, the voltage range corresponding to MOTOR 3 is set to 3.2V - 4.5V, and 4.5V - 4.8V is set as the transition interval for the voltage range corresponding to MOTOR 4, the voltage range corresponding to MOTOR 4 is set to 4.8V - 6.1V, and 6.1V - 6.4V is set as the transition interval for the voltage range corresponding to MOTOR 5, the voltage range corresponding to MOTOR 5 is set to 6.4V - 7.7V, and 7.7V - 8V is set as the transition interval for the voltage range corresponding to MOTOR 6, the voltage range corresponding to MOTOR 6 is set to 8 - 9.3V to prevent miscontrol.

[0043] Step S120: Output a second voltage signal through the second speed regulation channel to adjust the operating state and / or speed of the target motor.

[0044] Outputting a second voltage signal through the second speed regulation channel means outputting the second voltage signal through the second speed regulation signal output port. Specifically, after receiving the first voltage signal, the target motor determines whether the voltage magnitude of the first voltage signal is within its corresponding preset voltage range. If it is determined that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range, it receives the second voltage signal and adjusts its operating state and / or speed according to the second voltage signal.

[0045] That is to say, after outputting the first voltage signal through the first speed regulation channel (the first speed regulation signal output port) to select the target motor to be controlled, output the second voltage signal through the second speed regulation channel (the second speed regulation signal output port) to adjust the operating state and / or speed of the target motor. Among them, according to the preset target speed of the target motor, output a voltage signal with a corresponding voltage magnitude, that is, the second voltage signal, through the second speed regulation channel, so that the target motor adjusts its operating state and / or speed according to the second voltage signal. The operating state means whether the motor is running.

[0046] For example, a VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the motor to be controlled. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and detects whether it is the motor to be controlled based on the received voltage value, thereby controlling the start and stop state of the motor. Another VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the desired motor speed. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and adjusts the power output to the motor according to the received voltage value, thereby changing the speed of the motor.

[0047] Figure 2 Fig. shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 4 Fig. shows a schematic diagram of enabling the signal of the second speed regulation channel (VSP2) according to a specific embodiment of the present invention.

[0048] As Figure 2 、 Figure 4 shown, VSP1, as the host computer, selects the voltage range corresponding to different motors by outputting different voltages. After any motor receives the first voltage signal output by the first speed regulation channel VSP1 (the first speed regulation signal output port), it first compares with its corresponding voltage range. If it meets the conditions of its corresponding voltage range, it confirms that it is selected, that is, it is the current controlled motor, namely the target motor. Then it detects and receives the second voltage signal output by the second speed regulation channel VSP2 (the second speed regulation signal output port), and adjusts its own speed according to the second voltage signal.

[0049] For example, the output voltage range of the second speed regulation channel (VSP2) is 0-10V, and different voltage magnitudes correspond to different speed magnitudes. The speed of the target motor is adjusted by outputting different voltage signals in the range of 0-10V.

[0050] After the target motor receives the second voltage signal, it adjusts its own speed according to the preset speed corresponding to different voltage magnitudes. For example, when the target motor detects a signal sent by VSP1 (the first speed regulation channel) and determines that it meets the conditions of the controlled motor (the target motor), it switches to the 0-10V speed regulation mode. By outputting a voltage signal through VSP2 (the second speed regulation channel), the controlled motor (the target motor) detects the voltage signal output by VSP2 and enables the motor to reach the corresponding speed. For example, refer to Figure 2As shown, a voltage signal of 0 - 1.3V is sent through the VSP1 channel. Each motor detects this voltage signal and compares it with its corresponding voltage range to determine whether the voltage signal meets its corresponding voltage range. If motor MOTOR1 determines that the voltage signal meets its corresponding voltage range, it confirms itself as the currently controlled motor, i.e., the target motor, and changes the speed regulation method to VSP2 for speed regulation. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, and MOTOR6 determine that the voltage signal does not meet their corresponding voltage ranges, they confirm that they are not the currently controlled motor, i.e., the target motor, and continue to maintain their current states.

[0051] Preferably, to avoid misjudgment, the first voltage signal is output through the first speed regulation channel for a continuous preset time; the target motor will receive the second voltage signal only when it receives the first voltage signal output through the first speed regulation channel for a continuous preset time and determines that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range.

[0052] For example, after any motor receives the voltage signal sent through the VSP1 channel, it first compares it with its corresponding voltage range. If it meets the conditions of its corresponding voltage range, it performs a 0.5 - second cyclic detection. If it always meets the conditions of its corresponding voltage range, it confirms itself as the currently controlled motor, i.e., the target motor, and changes the speed regulation method to VSP2 for 0 - 10V speed regulation. If it does not meet the conditions of its corresponding voltage range within 0.5 seconds, it is determined as a misjudgment signal and continues to maintain its current state.

[0053] According to the above embodiments of the present invention, it is possible to solve the problems that when using VSP speed regulation technology for motor group control, too many VSP channels are required, resulting in complex deployment and high deployment costs. At the same time, the scheme for VSP group control is optimized, and limited resources can be utilized to the greatest extent.

[0054] Such as Figure 2 、 Figure 3 、 Figure 4 As shown, taking the group control of 6 motors as an example, the 6 motors are respectively: MOTOR1, MOTOR2,..., MOTOR6. A voltage signal is output through the VSP1 channel to select the motor to be controlled, and a voltage signal is output through the VSP2 channel to regulate the speed of the selected motor. That is, a voltage signal is sent through the VSP1 channel to the group of motors to be controlled, and the control system of the controlled motor extracts the signal sent through the VSP1 channel and compares the extracted signal with the information already written in itself. If it meets the preset voltage range, the speed of this motor is regulated through the VSP2 channel.

[0055] Figure 5It is a flow chart of the group control of a dual-channel VSP motor according to a specific embodiment of the present invention.

[0056] Taking the control of motor MOTOR3 as an example, VSP1 sends out a voltage signal, and motor MOTOR3 detects the voltage signal sent out by VSP1 and compares it with its corresponding voltage range. If it is confirmed that it belongs to its corresponding voltage range, it is confirmed as its own controlled signal. VSP2 outputs a voltage signal to control the rotation speed of motor MOTOR3, and MOTOR3 receives the voltage signal output by VSP2 and adjusts its own rotation speed.

[0057] On the other hand, the present invention provides a control method for a motor on the motor side. This method is mainly applicable to controlling any one of two or more motors to be controlled.

[0058] Figure 6 It is a schematic diagram of a method of an embodiment of the group control method for a motor on the motor side provided by the present invention.

[0059] As Figure 6 shown, according to an embodiment of the present invention, the group control method of the motor at least includes step S210, step S220, and step S230.

[0060] In step S210, when receiving the first voltage signal output through the first speed regulation channel, determine whether the voltage magnitude of the first voltage signal is within its corresponding preset voltage range.

[0061] Specifically, the control side controls two or more motors to be controlled through two speed regulation signals. The two speed regulation signals respectively output voltage information through the first speed regulation signal output port and the second speed regulation signal output port, that is, controls two or more motors to be controlled through two speed regulation channels. Among them, the first speed regulation signal output port corresponds to the first speed regulation channel, and the second speed regulation signal output port corresponds to the second speed regulation channel. For example, when using VSP speed regulation control, the first speed regulation channel is VSP1, and the second speed regulation channel is VSP2. The first speed regulation channel outputs the first voltage signal, that is, outputs the first voltage signal through the first speed regulation signal output port.

[0062] The voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor. Each of the two or more motors corresponds to two or more preset voltage ranges, that is, each motor among the two or more motors corresponds to a preset voltage range. The control side (such as a controller) outputs a voltage signal within this preset voltage range through the first speed regulation channel (the first speed regulation signal output port) according to the preset voltage range corresponding to the pre-determined target motor. The target motor can be selected by the user. For example, the user can select it through the control side, such as by pressing a button on the controller. Specifically, according to the number of the two or more motors in advance, the voltage range of the voltage signal output by the first speed regulation channel is divided, that is, divided into two or more preset voltage ranges corresponding to the two or more motors respectively, and each motor corresponds to a preset voltage range.

[0063] For example, if the voltage range of the voltage signal output through the VSP1 channel (the first speed regulation channel) is 0 - 10V and the number of controlled motors (i.e., the two or more motors) is 6, then the voltage range of 0 - 10V is divided, that is, divided into 6 voltage ranges corresponding to 6 motors respectively. The two or more voltage ranges do not overlap, that is, it is ensured that each motor has a voltage range corresponding to itself and does not repeat with the voltage ranges corresponding to other motors.

[0064] Preferably, a voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges to prevent miscontrol. For example, if the number of controlled motors (i.e., the two or more motors) is 6, then the voltage range of 0 - 10V is divided, and the corresponding voltage ranges are set to 0 - 1.3V, 1.6 - 2.9V, 3.2V - 4.5V, 4.8V - 6.1V, 6.4V - 7.7V, 8 - 9.3V respectively, and 1.3V - 1.6V, 2.9V - 3.2V, 4.5V - 4.8V, 6.1V - 6.4V, 7.7V - 8V are set as transition intervals respectively.

[0065] Figure 2 It shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 3 It shows a schematic diagram of the signal enabling of the first speed regulation channel (VSP1) according to a specific embodiment of the present invention.

[0066] Reference Figure 2 、 Figure 3As shown, determine the number of group-controlled motors, and divide the output voltage range of the VSP1 channel according to the number of group-controlled motors. Assume that the output voltage range of the first speed control channel, the VSP1 channel (the first speed control signal output port), is 0 to 10V. Divide the voltage range of 0 to 10V to ensure that each motor has a corresponding voltage range of its own, and this voltage range does not overlap with the voltage ranges corresponding to other motors. Take the example of group-controlling 6 motors. The 6 motors are: MOTOR1, MOTOR2, …, MOTOR6. Take 1.3V as a voltage range, corresponding to one controlled motor. When dividing the voltage range, to prevent miscontrol, set a voltage transition zone between every two adjacent voltage ranges, such as Figure 2 , Figure 3 As shown, the voltage range corresponding to MOTOR 1 is set to 0 to 1.3V. Considering that there should be a reasonable transition zone between the voltage ranges corresponding to each motor, set 1.3V to 1.6V as the transition interval for the voltage range corresponding to MOTOR 2 to prevent miscontrol. Similarly, the voltage range corresponding to MOTOR 2 is set to 1.6 to 2.9V, and set 2.9V to 3.2V as the transition interval for the voltage range corresponding to MOTOR 3, …, the voltage range corresponding to MOTOR 3 is set to 3.2V to 4.5V, and set 4.5V to 4.8V as the transition interval for the voltage range corresponding to MOTOR 4, the voltage range corresponding to MOTOR 4 is set to 4.8V to 6.1V, and set 6.1V to 6.4V as the transition interval for the voltage range corresponding to MOTOR 5, the voltage range corresponding to MOTOR 5 is set to 6.4V to 7.7V, and set 7.7V to 8V as the transition interval for the voltage range corresponding to MOTOR 6, the voltage range corresponding to MOTOR 6 is set to 8 to 9.3V to prevent miscontrol.

[0067] When any one of the two or more motors receives the first voltage signal output through the first speed control channel, determine whether the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range. If it is determined that the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range, then determine itself as the selected target motor. For example, refer to Figure 2As shown, the control side sends a voltage signal of 0 to 1.3V through the VSP1 channel. Each motor detects this voltage signal and compares it with its corresponding voltage range to determine whether the voltage signal meets its corresponding voltage range. If motor MOTOR1 determines that the voltage signal meets its corresponding voltage range, it confirms that it is the currently controlled motor, i.e., the target motor. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, and MOTOR6 determine that the voltage signal does not meet their corresponding voltage ranges, they confirm that they are not the currently controlled motor, i.e., the target motor.

[0068] Step S220: If it is determined that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range, then receive the second voltage signal output through the second speed regulation channel.

[0069] Step S230: When receiving the second voltage signal output through the second speed regulation channel, adjust its own operating state and / or speed according to the received second voltage signal.

[0070] Specifically, after the control side (such as a controller) outputs the first voltage signal through the first speed regulation channel and selects the target motor to be controlled, it outputs the second voltage signal through the second speed regulation channel to adjust the operating state and / or speed of the target motor. Outputting the second voltage signal through the second speed regulation channel means outputting the second voltage signal through the second speed regulation signal output port. Among them, the control side (such as a controller) outputs a voltage signal with a corresponding voltage magnitude, i.e., the second voltage signal, through the second speed regulation channel (second speed regulation signal output port) according to the preset target speed of the target motor. When any one of the two or more motors receives the first voltage signal output through the first speed regulation channel, if it is determined that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range, it determines that it is the selected target motor and adjusts its own operating state and / or speed according to the second voltage signal. The operating state means whether the motor is running.

[0071] For example, one VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts. This signal represents the motor expected to be controlled. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and detects whether it is the controlled machine according to the received voltage value, thereby controlling the start and stop state of the motor. Another VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts. This signal represents the expected motor speed. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and adjusts the power output to the motor according to the received voltage value, thereby changing the speed of the motor.

[0072] Figure 2Shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 4 Shows a schematic diagram of enabling the signal of the second speed regulation channel (VSP2) according to a specific embodiment of the present invention.

[0073] As Figure 2 , Figure 4 Shown, VSP1, as the host computer, selects the voltage range corresponding to different motors by outputting different voltages. After receiving the first voltage signal output by the first speed regulation channel VSP1 (the first speed regulation signal output port), any motor (as the slave computer) first compares it with its corresponding voltage range. If it meets the conditions of its corresponding voltage range, it confirms that it is selected, that is, it is the current controlled motor, namely the target motor, and then detects and receives the second voltage signal output by the second speed regulation channel VSP2 (the second speed regulation signal output port), and adjusts its own speed according to the second voltage signal.

[0074] For example, the output voltage range of the second speed regulation channel (VSP2) is 0 - 10V, and different voltage magnitudes correspond to different rotational speeds. By outputting different voltage signals of 0 - 10V, the rotational speed of the target motor is adjusted.

[0075] After any motor determines that it is the target motor and receives the second voltage signal, it adjusts its rotational speed according to the rotational speed corresponding to the preset different voltage magnitudes. For example, when the target motor detects the signal sent by VSP1 and determines that it meets the conditions of the controlled machine (target motor), it switches to the VSP 0 - 10V speed regulation mode. By outputting a voltage signal through VSP2, the controlled machine (target motor) detects the voltage signal output by VSP2, and enables the motor to reach the corresponding rotational speed. For example, as shown in Figure 2 , by sending a voltage signal of 0 - 1.3V through the VSP1 channel, each motor detects this voltage signal and compares it with its corresponding voltage range to determine whether this voltage signal meets its corresponding voltage range. If motor MOTOR1 determines that this voltage signal meets its corresponding voltage range, it confirms that it is the current controlled motor, namely the target motor, and changes the speed regulation method to VSP2 for speed regulation. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, MOTOR6 determine that this voltage signal does not meet their corresponding voltage ranges, they confirm that they are not the current controlled motors, namely the target motors, and continue to maintain the current state.

[0076] Preferably, to avoid misjudgment, the first voltage signal is output through the first speed regulation channel for a continuous preset time; the target motor receives the second voltage signal only when it continuously receives the first voltage signal output through the first speed regulation channel for a preset time and determines that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range.

[0077] For example, after receiving the voltage signal sent by the VSP1 channel, any motor first compares it with its corresponding voltage range. If the condition of its corresponding voltage range is met, a 0.5-second cyclic detection is performed. If the condition of its corresponding voltage range is always met, it is confirmed that itself is the currently controlled motor, i.e., the target motor, and the speed regulation method is changed to VSP2 for speed regulation from 0 to 10V. If the condition of its corresponding voltage range is not met within 0.5 seconds, it is determined as a misjudged signal, and the current state is continued to be maintained.

[0078] According to the above embodiments of the present invention, the problem that too many VSP channels are required for the motor group control when using the VSP speed regulation technology, resulting in complex deployment and high deployment costs, can be solved. At the same time, the scheme for group control by VSP is optimized, and limited resources can be utilized to the greatest extent.

[0079] Another aspect of the present invention provides a group control device for motors on the control side. This device is mainly applicable to controlling two or more motors to be controlled. The control side can specifically be a controller.

[0080] Figure 7 It is a structural block diagram of an embodiment of the group control device for motors on the control side provided by the present invention. As Figure 7 shown, the group control device 100 includes: a first output unit 110 and a second output unit 120.

[0081] The first output unit 110 is used to output a first voltage signal through the first speed regulation channel, and the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor.

[0082] Specifically, two or more motors to be controlled are controlled by two speed regulation signals. The two speed regulation signals respectively output voltage information through the first speed regulation signal output port and the second speed regulation signal output port, that is, two or more motors to be controlled are controlled through two speed regulation channels. Among them, the first speed regulation signal output port corresponds to the first speed regulation channel, and the second speed regulation signal output port corresponds to the second speed regulation channel. For example, when using VSP speed regulation control, the first speed regulation channel is VSP1, and the second speed regulation channel is VSP2. The first speed regulation channel outputs a first voltage signal, that is, a first voltage signal is output through the first speed regulation signal output port.

[0083] The voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor. Each of the two or more motors corresponds to two or more preset voltage ranges, that is, each motor among the two or more motors corresponds to a preset voltage range. According to the preset voltage range corresponding to the pre-determined target motor, a voltage signal within this preset voltage range is output through (i.e., through the first speed regulation signal output port) the first speed regulation channel, that is, the target motor is selected.

[0084] Preferably, the voltage magnitude of the first voltage signal is equal to the voltage magnitude at the middle position within the voltage range corresponding to the target motor. That is, when selecting the target motor by outputting the first voltage signal, the voltage magnitude of the output first voltage signal is controlled to be at the middle position within the voltage range corresponding to the target motor, which is convenient for data reading and can effectively reduce misjudgment situations. The target motor can be selected by the user. For example, the user can make a selection through the control side, such as by pressing a button on the controller. Specifically, according to the number of two or more motors, the voltage range of the voltage signal output through the first speed regulation channel (i.e., the first speed regulation signal output port) is divided, that is, divided into two or more preset voltage ranges corresponding to the two or more motors, and each motor corresponds to a preset voltage range. For example, using VSP speed regulation control, the voltage range of the voltage signal output by VSP1 (the first speed regulation channel) is 0 to 10V, and the number of controlled motors (i.e., the two or more motors) is 6. Then, the voltage range of 0 to 10V is divided, that is, divided into 6 voltage ranges corresponding to 6 motors. The two or more voltage ranges do not overlap, that is, it is ensured that each motor has a voltage range corresponding to itself and does not overlap with the voltage ranges corresponding to other motors. When dividing the voltage range, the error of the sampling circuit and the AD sampling sensitivity should also be considered to ensure that the voltage ranges corresponding to each motor do not conflict due to voltage signal acquisition errors. For example, when it is clear that there is a deviation value between the AD sampling result of the sampling circuit and the VSP input, the deviation value is considered in the division of the voltage ranges of different motors.

[0085] Preferably, a voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges to prevent miscontrol. For example, the number of controlled motors (i.e., the two or more motors) is 6. Then, the voltage range of 0 to 10V is divided, and the corresponding voltage ranges are set to 0 to 1.3V, 1.6 to 2.9V, 3.2V to 4.5V, 4.8V to 6.1V, 6.4V to 7.7V, 8 to 9.3V respectively, and 1.3V to 1.6V, 2.9V to 3.2V, 4.5V to 4.8V, 6.1V to 6.4V, 7.7V to 8V are respectively set as transition intervals.

[0086] Figure 2 Fig. shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 3 Fig. shows a schematic diagram of the enabling of the signal of the first speed regulation channel (VSP1) according to a specific embodiment of the present invention.

[0087] Refer to Figure 2 、 Figure 3As shown, determine the number of group-controlled motors, and divide the output voltage range of the VSP1 channel according to the number of group-controlled motors. Assume that the output voltage range of the first speed control channel, the VSP1 channel (the first speed control signal output port), is 0 to 10V. Divide the voltage range of 0 to 10V to ensure that each motor has a corresponding voltage range of its own, and this voltage range does not overlap with the voltage ranges corresponding to other motors. Taking the example of group-controlling 6 motors, the 6 motors are: MOTOR1, MOTOR2, …, MOTOR6. Taking 1.3V as a voltage range, corresponding to one controlled motor. When dividing the voltage range, to prevent miscontrol, a voltage transition zone is set between every two adjacent voltage ranges, such as Figure 2 , Figure 3 As shown, the voltage range corresponding to MOTOR 1 is set to 0 to 1.3V. Considering that there should be a reasonable transition zone between the voltage ranges corresponding to each motor, set 1.3V to 1.6V as the transition interval for the voltage range corresponding to MOTOR 2 to prevent miscontrol. Similarly, the voltage range corresponding to MOTOR 2 is set to 1.6 to 2.9V, and set 2.9V to 3.2V as the transition interval for the voltage range corresponding to MOTOR 3, …, the voltage range corresponding to MOTOR 3 is set to 3.2V to 4.5V, and set 4.5V to 4.8V as the transition interval for the voltage range corresponding to MOTOR 4, the voltage range corresponding to MOTOR 4 is set to 4.8V to 6.1V, and set 6.1V to 6.4V as the transition interval for the voltage range corresponding to MOTOR 5, the voltage range corresponding to MOTOR 5 is set to 6.4V to 7.7V, and set 7.7V to 8V as the transition interval for the voltage range corresponding to MOTOR 6, the voltage range corresponding to MOTOR 6 is set to 8 to 9.3V to prevent miscontrol.

[0088] The second output unit 120 is used to output a second voltage signal through the second speed control channel to adjust the operating state and / or speed of the target motor;

[0089] Output a second voltage signal through the second speed control channel, that is, output a second voltage signal through the second speed control signal output port. Specifically, after receiving the first voltage signal, the target motor determines whether the voltage magnitude of the first voltage signal is within its corresponding preset voltage range. If it is determined that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range, it receives the second voltage signal and adjusts its own operating state and / or speed according to the second voltage signal.

[0090] That is to say, after outputting a first voltage signal through a first speed regulation channel (first speed regulation signal output port) to select a target motor to be controlled, a second voltage signal is output through a second speed regulation channel (second speed regulation signal output port) to adjust the operating state and / or speed of the target motor. Among them, according to a preset target speed of the target motor, a voltage signal with a corresponding voltage magnitude, that is, a second voltage signal, is output through the second speed regulation channel, so that the target motor adjusts its own operating state and / or speed according to the second voltage signal. The operating state is whether the motor is running or not.

[0091] For example, one VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the motor to be controlled. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and detects whether it is the motor to be controlled according to the received voltage value, so as to control the start and stop state of the motor. Another VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the desired motor speed. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and adjusts the power output to the motor according to the received voltage value, so as to change the speed of the motor.

[0092] Figure 2 The schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention is shown. Figure 4 The schematic diagram of enabling the signal of the second speed regulation channel (VSP2) according to a specific embodiment of the present invention is shown.

[0093] Such as Figure 2 、 Figure 4 As shown, VSP1, as the host computer, selects the voltage range corresponding to different motors by outputting different voltages. After receiving the first voltage signal output by the first speed regulation channel VSP1 (first speed regulation signal output port), any motor first compares it with its own corresponding voltage range. If it meets the conditions of its own corresponding voltage range, it confirms that it is selected, that is, it is the current controlled motor, that is, the target motor, and then detects and receives the second voltage signal output by the second speed regulation channel VSP2 (second speed regulation signal output port), and adjusts its own speed according to the second voltage signal.

[0094] For example, the output voltage range of the second speed regulation channel (VSP2) is 0-10V, and different voltage magnitudes correspond to different speed magnitudes. The speed of the target motor is adjusted by outputting different voltage signals in the range of 0-10V.

[0095] After receiving the second voltage signal, the target motor adjusts its speed according to the preset speed corresponding to different voltage magnitudes. For example, when the target motor detects a signal sent by VSP1 (the first speed regulation channel) and determines that it meets the conditions of the controlled machine (the target motor), it switches to the VSP 0-10V speed regulation mode. The voltage signal is output through VSP2 (the second speed regulation channel), and the controlled machine (the target motor) detects the voltage signal output by VSP2 to enable the motor to reach the corresponding speed. For example, refer to Figure 2 As shown, a voltage signal of 0`1.3V is sent through the VSP1 channel. Each motor detects this voltage signal and compares it with its corresponding voltage range to determine whether the voltage signal meets its corresponding voltage range. If motor MOTOR1 determines that the voltage signal meets its corresponding voltage range, it confirms that it is the current controlled motor, i.e., the target motor, and the speed regulation method is changed to VSP2 for speed regulation. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, and MOTOR6 determine that the voltage signal does not meet their corresponding voltage ranges, they confirm that they are not the current controlled motor, i.e., the target motor, and continue to maintain their current states.

[0096] Preferably, to avoid misjudgment, the first voltage signal is output through the first speed regulation channel for a continuous preset time; the target motor receives the second voltage signal only when it continuously receives the first voltage signal output through the first speed regulation channel for a preset time and determines that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range.

[0097] For example, after any motor receives the voltage signal sent by the VSP1 channel, it first compares it with its corresponding voltage range. If it meets the conditions of its corresponding voltage range, it performs a 0.5-second cyclic detection. If it always meets the conditions of its corresponding voltage range, it confirms that it is the current controlled motor, i.e., the target motor, and the speed regulation method is changed to VSP2 for 0-10V speed regulation. If it does not meet the conditions of its corresponding voltage range within 0.5 seconds, it is determined as a misjudgment signal and continues to maintain its current state.

[0098] On the other hand, the present invention provides a control device for a motor on the motor side. This device is mainly applicable to controlling any one of two or more motors to be controlled.

[0099] Figure 8 is a structural block diagram of an embodiment of the control device for a motor on the motor side provided by the present invention. As Figure 8 shown, the control device 200 includes: a first receiving unit 210, a determining unit 220, a second receiving unit 230, and an adjusting unit 240.

[0100] The first receiving unit 210 is configured to receive a first voltage signal output through the first speed regulation channel; the determining unit 220 is configured to determine whether the voltage magnitude of the first voltage signal is within the corresponding preset voltage range when the first receiving unit receives the first voltage signal output through the first speed regulation channel.

[0101] Specifically, the control side controls two or more motors to be controlled through two speed regulation signals. The two speed regulation signals respectively output voltage information through the first speed regulation signal output port and the second speed regulation signal output port, that is, two or more motors to be controlled are controlled through two speed regulation channels. Among them, the first speed regulation signal output port corresponds to the first speed regulation channel, and the second speed regulation signal output port corresponds to the second speed regulation channel. For example, when VSP speed regulation control is adopted, the first speed regulation channel is VSP1, and the second speed regulation channel is VSP2. The first speed regulation channel outputs a first voltage signal, that is, the first voltage signal is output through the first speed regulation signal output port.

[0102] The voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor. The two or more motors respectively correspond to two or more preset voltage ranges, that is, each motor among the two or more motors corresponds to a preset voltage range. The control side (such as a controller) outputs a voltage signal within this preset voltage range through the first speed regulation channel (the first speed regulation signal output port) according to the preset voltage range corresponding to the pre-determined target motor. The target motor can be selected by the user. For example, the user can select it through the control side, such as by pressing a button on the controller. Specifically, the voltage range of the voltage signal output by the first speed regulation channel is divided in advance according to the number of the two or more motors, that is, divided into two or more preset voltage ranges corresponding to the two or more motors respectively, and each motor corresponds to a preset voltage range.

[0103] For example, if the voltage range of the voltage signal output through the VSP1 channel (the first speed regulation channel) is 0 - 10V and the number of controlled motors (i.e., the two or more motors) is 6, then the voltage range of 0 - 10V is divided, that is, divided into 6 voltage ranges corresponding to 6 motors respectively. The two or more voltage ranges do not overlap, that is, it is ensured that each motor has a voltage range corresponding to itself and not repeated with the voltage ranges corresponding to other motors.

[0104] Preferably, a voltage transition region is provided between every two adjacent voltage ranges among the two or more preset voltage ranges to prevent miscontrol. For example, if the number of controlled motors (i.e., the two or more motors) is 6, the voltage range of 0 to 10V is divided, and the corresponding voltage ranges are set to 0 to 1.3V, 1.6 to 2.9V, 3.2V to 4.5V, 4.8V to 6.1V, 6.4V to 7.7V, 8 to 9.3V respectively, and 1.3V to 1.6V, 2.9V to 3.2V, 4.5V to 4.8V, 6.1V to 6.4V, 7.7V to 8V are set as transition intervals respectively.

[0105] Figure 2 Shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 3 Shows a schematic diagram of the enabling of the signal of the first speed regulation channel (VSP1) according to a specific embodiment of the present invention.

[0106] Reference Figure 2 、 Figure 3 As shown, determine the number of group-controlled motors, divide the output voltage range of the VSP1 channel according to the number of group-controlled motors. Assume that the output voltage range of the first speed regulation channel VSP1 channel (the first speed regulation signal output port) is 0 to 10V, divide the voltage range of 0 to 10V, ensure that each motor has a corresponding voltage range of its own, and this voltage range does not overlap with the voltage ranges corresponding to other motors. Take the example of group-controlling 6 motors. The 6 motors are: MOTOR1, MOTOR2,..., MOTOR6. Taking 1.3V as a voltage range, corresponding to one controlled motor. When dividing the voltage range, to prevent miscontrol, a voltage transition region is set between every two adjacent voltage ranges, such as Figure 2 、 Figure 3As shown, the voltage range corresponding to MOTOR 1 is set to 0 to 1.3V. Considering that there should be a reasonable transition zone between the voltage ranges corresponding to each motor, 1.3V to 1.6V is set as the transition interval for the voltage range corresponding to MOTOR 2 to prevent miscontrol. Similarly, the voltage range corresponding to MOTOR 2 is set to 1.6 to 2.9V, and 2.9V to 3.2V is set as the transition interval for the voltage range corresponding to MOTOR 3,..., the voltage range corresponding to MOTOR 3 is set to 3.2V to 4.5V, and 4.5V to 4.8V is set as the transition interval for the voltage range corresponding to MOTOR 4, the voltage range corresponding to MOTOR 4 is set to 4.8V to 6.1V, and 6.1V to 6.4V is set as the transition interval for the voltage range corresponding to MOTOR 5, the voltage range corresponding to MOTOR 5 is set to 6.4V to 7.7V, and 7.7V to 8V is set as the transition interval for the voltage range corresponding to MOTOR 6, the voltage range corresponding to MOTOR 6 is set to 8 to 9.3V to prevent miscontrol.

[0107] When any one of the two or more motors receives the first voltage signal output through the first speed control channel, it determines whether the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range. If it is determined that the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range, it determines itself as the selected target motor. For example, referring to Figure 2 As shown, the control side issues a voltage signal of 0`1.3V through the VSP1 channel. Each motor detects this voltage signal and compares it with its own corresponding voltage range to determine whether the voltage signal meets its own corresponding voltage range. If motor MOTOR1 determines that the voltage signal meets its own corresponding voltage range, it confirms itself as the current controlled motor, i.e., the target motor. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, MOTOR6 determine that the voltage signal does not meet their own corresponding voltage ranges, they confirm that they are not the current controlled motors, i.e., the target motors.

[0108] The second receiving unit 230 is used to receive the second voltage signal output through the second speed control channel if the determining unit 220 determines that the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range; the adjusting unit 240 is used to adjust its own operating state and / or speed according to the received second voltage signal when the second receiving unit 230 receives the second voltage signal output through the second speed control channel.

[0109] Specifically, after the control side (such as a controller) outputs a first voltage signal through a first speed regulation channel and selects a target motor to be controlled, it outputs a second voltage signal through a second speed regulation channel to adjust the operating state and / or speed of the target motor. Outputting the second voltage signal through the second speed regulation channel means outputting the second voltage signal through the second speed signal output port. Among them, the control side (such as a controller) outputs a voltage signal with a corresponding voltage magnitude, that is, the second voltage signal, through the second speed regulation channel (second speed signal output port) according to the preset target speed of the target motor. When any one of the two or more motors receives the first voltage signal output through the first speed regulation channel, if it determines that the voltage magnitude of the first voltage signal is within its own corresponding preset voltage range, it determines itself as the selected target motor and adjusts its own operating state and / or speed according to the second voltage signal. The operating state refers to whether the motor is running.

[0110] For example, one VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the motor to be controlled. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and detects whether it is the motor to be controlled according to the received voltage value, so as to control the start and stop state of the motor. Another VSP generates an analog voltage signal with a voltage magnitude between 0 and 10 volts, and this signal represents the desired motor speed. This voltage signal is transmitted to the motor driver through a cable. The motor driver receives this voltage signal and adjusts the power output to the motor according to the received voltage value, so as to change the speed of the motor.

[0111] Figure 2 Fig. shows a schematic diagram of dual-channel motor group control according to a specific embodiment of the present invention. Figure 4 Fig. shows a schematic diagram of enabling the signal of the second speed regulation channel (VSP2) according to a specific embodiment of the present invention.

[0112] As Figure 2 、 Figure 4 shown, VSP1, as the host computer, selects the voltage range corresponding to different motors by outputting different voltages. After any motor (as the slave computer) receives the first voltage signal output by the first speed regulation channel VSP1 (first speed signal output port), it first compares it with its own corresponding voltage range. If it meets the conditions of its own corresponding voltage range, it confirms that it is selected, that is, it is the current controlled motor, namely the target motor, and then detects and receives the second voltage signal output by the second speed regulation channel VSP2 (second speed signal output port), and adjusts its own speed according to the second voltage signal.

[0113] For example, the output voltage range of the second speed control channel (VSP2) is 0 to 10V. Different voltage magnitudes correspond to different rotational speeds. By outputting different voltage signals in the range of 0 to 10V, the rotational speed of the target motor is adjusted.

[0114] After any motor determines itself to be the target motor and receives the second voltage signal, it adjusts its rotational speed according to the rotational speed corresponding to the preset different voltage magnitudes. For example, when the target motor detects a signal sent by VSP1 and determines that it meets the conditions of the controlled machine (target motor), it switches to the VSP 0 - 10V speed control mode. Through the output voltage signal of VSP2, the controlled machine (target motor) detects the voltage signal output by VSP2, enabling the motor to reach the corresponding rotational speed. For example, as Figure 2 shown, by sending a voltage signal of 0 - 1.3V through the VSP1 channel, each motor detects this voltage signal and compares it with its corresponding voltage range to determine whether the voltage signal meets its corresponding voltage range. If motor MOTOR1 determines that the voltage signal meets its corresponding voltage range, it confirms itself as the current controlled motor, i.e., the target motor, and changes the speed control method to VSP2 for speed control. If motors MOTOR 2, MOTOR3, MOTOR4, MOTOR5, and MOTOR6 determine that the voltage signal does not meet their corresponding voltage ranges, they confirm that they are not the current controlled motor, i.e., the target motor, and continue to maintain their current states.

[0115] Preferably, to avoid misjudgment, the second receiving unit 230 is further configured to: when the first receiving unit 210 continuously receives the first voltage signal output through the first speed control channel for a preset time, and the determining unit determines that the voltage magnitude of the first voltage signal is within its corresponding preset voltage range, then it receives the second voltage signal output through the second speed control channel.

[0116] For example, after any motor receives the voltage signal sent by the VSP1 channel, it first compares it with its corresponding voltage range. If it meets the conditions of its corresponding voltage range, it performs a 0.5 - second cyclic detection. If it always meets the conditions of its corresponding voltage range, it confirms itself as the current controlled motor, i.e., the target motor, and changes the speed control method to VSP2 for 0 - 10V speed control. If it does not meet the conditions of its corresponding voltage range within 0.5 seconds, it is determined as a misjudgment signal, and it continues to maintain its current state.

[0117] According to the above embodiments of the present invention, the problem that when using the VSP speed control technology for motor group control, too many VSP channels are required, resulting in complex deployment and high deployment costs, can be solved. At the same time, the scheme for VSP group control is optimized, and limited resources can be utilized to the greatest extent.

[0118] The present invention also provides a storage medium corresponding to the group control method for the motor on the control side, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the foregoing methods are implemented.

[0119] The present invention also provides a storage medium corresponding to the control method for the motor on the motor side, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the foregoing control methods for the motor on the motor side are implemented.

[0120] The present invention also provides a controller corresponding to the group control method for the motor on the control side, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of any of the foregoing group control methods for the motor on the control side are implemented.

[0121] The present invention also provides a controller corresponding to the control method for the motor on the motor side, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of any of the foregoing control methods for the motor on the motor side are implemented.

[0122] The present invention also provides a computer program product corresponding to the group control method for the motor on the control side, including a computer program, and when the computer program is executed by a processor, the steps of any of the foregoing group control methods for the motor on the control side are implemented.

[0123] The present invention also provides a computer program product corresponding to the control method for the motor on the motor side, including a computer program, and when the computer program is executed by a processor, the steps of any of the foregoing control methods for the motor on the motor side are implemented.

[0124] Accordingly, in the solution provided by the present invention, when performing group control on multiple motors, the operating states and speeds of the multiple motors are precisely controlled through two VSP channels. The two speed regulation channels are functionally classified. The target motor among the group of motors is selected by the magnitude of the voltage signal output by one speed regulation channel (the first speed regulation channel VSP1), and the selected target motor is speed-regulated by the other speed regulation channel (the second speed regulation channel VSP2). Any motor receives the voltage signal of one speed regulation channel (the first speed regulation channel VSP1) to confirm its identity and determine whether it is the target motor. If it is determined to be the target controlled motor, it receives the voltage signal of the other speed regulation channel (the second speed regulation channel VSP2) to control the operating state and corresponding different speeds of the motor, which can solve the problems of complex deployment and high deployment costs caused by the need for a large number of speed regulation channels during motor group control. At the same time, the motor group control solution is optimized, the working nature of the traditional single motor that requires one VSP speed regulation is optimized, the utilization rate of the VSP speed regulation system is improved, and the limited resources can be utilized to the greatest extent.

[0125] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transmitted via a computer-readable medium as one or more instructions or codes. Other examples and implementations are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. In addition, each functional unit can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0126] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings, direct couplings, or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0127] The units described as separate components may or may not be physically separated. The components of the control device may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the related art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0129] The above are only the embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A group control method for motors, which is used for the control side to control two or more motors to be controlled, and is characterized in that, Two or more motors respectively correspond to two or more preset voltage ranges, and the group control method includes: Output a first voltage signal through a first speed regulation channel, and the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor; Output a second voltage signal through a second speed regulation channel to adjust the operating state and / or speed of the target motor; Wherein, after receiving the first voltage signal, the target motor determines whether the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself; if it is determined that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself, then receive the second voltage signal, and adjust its own operating state and / or speed according to the second voltage signal.

2. The method according to claim 1, characterized in that, A voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges.

3. The method according to claim 1 or 2, characterized in that, The voltage magnitude of the first voltage signal is equal to the voltage magnitude at the middle position within the voltage range corresponding to the target motor.

4. The method according to claim 1 or 2, characterized in that, Outputting a first voltage signal through a first speed regulation channel includes: Output the first voltage signal through the first speed regulation channel for a continuous preset time; The target motor receives the second voltage signal only when it continuously receives the first voltage signal output through the first speed regulation channel for a preset time and determines that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself.

5. A control method for a motor, which is used on the motor side to control any one of two or more motors to be controlled, and is characterized in that Two or more motors respectively correspond to two or more preset voltage ranges, and the control method includes: When receiving the first voltage signal output through the first speed regulation channel, determine whether the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself; If it is determined that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself, then receive the second voltage signal output through the second speed regulation channel; When receiving the second voltage signal output through the second speed regulation channel, adjust its own operating state and / or speed according to the received second voltage signal.

6. The method according to claim 5, characterized in that A voltage transition zone is provided between every two adjacent voltage ranges among the two or more preset voltage ranges.

7. The method according to claim 5 or 6, wherein The second voltage signal output through the second speed regulation channel is received only when the first voltage signal output through the first speed regulation channel is continuously received for a preset time and it is determined that the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to itself.

8. A group control device for an electric motor, which is used for the control side to control two or more electric motors to be controlled, and is characterized in that Two or more motors respectively correspond to two or more preset voltage ranges, and the group control device includes: A first output unit for outputting a first voltage signal through a first speed regulation channel, and the voltage magnitude of the first voltage signal is within the preset voltage range corresponding to the target motor; A second output unit for outputting a second voltage signal through a second speed regulation channel to adjust the operating state and / or speed of the target motor; Among them, after receiving the first voltage signal, the target motor determines whether the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself; if it is determined that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself, then it receives the second voltage signal and adjusts its own operating state and / or rotational speed according to the second voltage signal.

9. A control device for an electric motor, which is used on the motor side to control any one of two or more motors to be controlled, is characterized in that The two or more motors respectively correspond to two or more preset voltage ranges, and the control device includes: A first receiving unit, configured to receive a first voltage signal output through a first speed regulation channel; A determination unit, configured to determine whether the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself when the first receiving unit receives the first voltage signal output through the first speed regulation channel; A second receiving unit, configured to receive a second voltage signal output through a second speed regulation channel if the determination unit determines that the voltage magnitude of the first voltage signal is within the corresponding preset voltage range of itself; An adjustment unit, configured to adjust its own operating state and / or rotational speed according to the received second voltage signal when the second receiving unit receives the second voltage signal output through the second speed regulation channel.

10. A storage medium, characterized in that, A computer program is stored thereon, and when the program is executed by a processor, it implements the steps of any one of claims 1-4, or implements the steps of any one of claims 5-7.

11. A controller, characterized in that, It includes a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of any one of claims 1-4.

12. A motor, characterized in that, It includes a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of any one of claims 5-7.

13. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, it implements the steps of any one of claims 1-4, or implements the steps of any one of claims 5-7.

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