Multi-drive-based combined control system

Abstract

The invention relates to the technical field of multi-drive control, in particular to a combined control system based on multi-drive. According to the system, which driving mode is adopted is determined according to different input signal types, control logic is automatically set, then data from a sensor and user control equipment are received, and the data are filtered and amplified through a data processing module, so that the accuracy of the data is ensured; afterwards, equipment operation parameters are adjusted according to the environment parameters, whether instruction conveying is qualified or not is judged according to equipment operation data detected after the output instruction is executed, reasons are analyzed when the instruction conveying is unqualified, and then accurate control over the motor is achieved. Through cooperative work of the series of units, an appropriate driving mode can be selected according to specific requirements, so that the flexibility and expandability of the system are improved, and the controller can efficiently respond to different application requirements and flexibly cope with various motion control scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-drive control, and particularly to a joint control system based on multi-drive. Background Art

[0002] With the rise of Internet of Things (IoT) technology, more and more devices need to be interconnected, and a general controller with multiple communication methods and protocols has thus emerged. Through network connection, the controller can collect information from different data sources and make real-time decisions, improving the intelligence level of the system. Such a controller not only needs to support multiple drive modes, but also needs to have good communication capabilities to achieve data interaction with other intelligent devices, sensors, and cloud platforms. The general controller with multiple drive modes can be widely used in multiple fields, including but not limited to: controlling the operation and adjustment of home appliances (such as smart lights, monitoring devices, etc.); controlling various motors in production lines, robots, and automation equipment to achieve efficient production; driving control of agricultural equipment such as intelligent irrigation systems and greenhouse control; and motion control and precise navigation in drones and autonomous vehicles. However, with the continuous progress of automation and intelligent technologies, the demand for control systems in various industries is increasing day by day. Traditional controllers often can only support specific types of drive modes and cannot flexibly cope with changing application scenarios and requirements. Therefore, the development of a general controller that can support multiple drive modes has become an urgent need in the market. Such a controller can reduce the switching cost between different drive modes of devices, increase the flexibility of system integration, and improve the overall efficiency.

[0003] Chinese Patent Publication No.: CN117957845A discloses a general controller. Among them, the invention discloses a system and method for providing general remote control. The control schemes for multiple remote control devices can be stored in the memory of the general remote control, and each of the control schemes includes a command set for a corresponding one of the remote control devices. Instructions for each command can be encoded, and each command corresponds to one or more signals for the corresponding remote control device. Based on the current orientation of the mobile device relative to the remote control device in the real-world environment, one of the remote control devices can be identified as selected. Based on the stored control scheme for the selected remote control device, a display of the mobile device can be generated, where the generated display includes a command set corresponding to the selected remote control device. A selection of a command in the generated display can be received. The selection corresponding to one or more signals can be identified based on the control scheme for the selected remote control device. The identified signals can be transmitted to the selected remote control device, where the transmitted signals include instructions that can be executed by the selected remote control device to execute the selected command.

[0004] As can be seen, the following problems exist in the prior art: It is impossible to select an appropriate driving method according to specific requirements, thereby reducing the flexibility and scalability of the system, and it is also impossible to enable the controller to efficiently respond to different application requirements and flexibly handle various motion control scenarios. Summary of the Invention

[0005] For this reason, the present invention provides a combined control system based on multiple drives to overcome the problems in the prior art that it is impossible to select an appropriate driving method according to specific requirements, thereby reducing the flexibility and scalability of the system, and it is also impossible to enable the controller to efficiently respond to different application requirements and flexibly handle various motion control scenarios.

[0006] To achieve the above object, the present invention provides a combined control system based on multiple drives, including:

[0007] A type matching unit for determining the driving method between the controller and the matching device;

[0008] A logic setting unit connected to the type matching unit for setting control logic based on the driving method and obtaining the parsing method of signals;

[0009] An instruction conversion unit connected to the logic setting unit for converting the set logic into control instructions for the controller;

[0010] A data acquisition unit for acquiring data, where the data includes device operation parameters and environmental parameters;

[0011] A data processing unit connected to the data acquisition unit for processing the acquired data;

[0012] A data parsing unit connected to the data processing unit for parsing and processing the processed data using the corresponding parsing method;

[0013] A decision-making judgment unit connected to the data parsing unit for analyzing based on the environmental parameters and determining whether to adjust the device operation parameters;

[0014] A control unit connected to the instruction conversion unit and the decision-making judgment unit respectively for outputting instructions and performing corresponding operations according to the output instructions;

[0015] A feedback unit connected to the control unit for re-detecting the device operation data, determining whether the transmission of the instruction is qualified based on the detection result, and analyzing the reason for non-conformity according to the determination result.

[0016] Further, the feedback unit is further configured to determine whether the delivery of the instruction is qualified based on the ratio of the actual change amount to the preset change amount of the device operation data, and analyze the reason for the unqualified delivery of the instruction based on the drawn time-device operation data curve or the detection response duration, where the response duration is the interval from the time node of sending the instruction to the time node when the device operation parameter changes.

[0017] Further, the feedback unit is further configured to generate a corresponding processing method based on the comparison result between the absolute value of the slope of the drawn time-device operation data curve and the corresponding preset absolute value, including adjusting the detection interval based on the difference between the absolute value and the preset absolute value, or analyzing the reason for the unqualified delivery of the instruction by the detection response duration.

[0018] Further, the feedback unit is further configured to increase the detection interval based on the difference between the absolute value and the preset absolute value, and the difference is proportional to the increase amplitude of the detection interval.

[0019] Further, the feedback unit is further configured to generate a corresponding processing method based on the comparison result between the detection response duration and the preset response duration, including adjusting the transmission power based on the difference between the response duration and the preset response duration, or sending a device failure notification.

[0020] Further, the feedback unit is further configured to increase the transmission power based on the difference between the response duration and the preset response duration, and the difference is proportional to the increase amplitude of the transmission power.

[0021] Further, if the feedback unit re-detects the response duration after adjusting the transmission power and the response duration is still less than or equal to the preset response duration, a re-matching notification is sent.

[0022] Further, the driving method between the controller in the type matching unit and the matched device includes a pulse modulation signal, or an analog voltage, or a digital logic level.

[0023] Further, the data parsing unit uses the corresponding parsing method to parse the processed data, including parsing the motion control signal by using a preset kinematic parsing algorithm, or adjusting the decision of the drive output through a built-in control algorithm, or performing a threshold comparison to trigger the generation of a decision.

[0024] Further, the logic setting unit is further configured to set the control logic by using the visual interface of the graphical user interface.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: The system determines which driving method to adopt according to different input signal types, sets the control logic by itself, then receives data from sensors and user control devices, and filters and amplifies these data through a data processing module to ensure the accuracy of the data; thereafter, adjusts the device operation parameters according to environmental parameters, determines whether the transmission of the instruction is qualified based on the device operation data detected after executing the output instruction, and analyzes the reasons when it is unqualified, thereby achieving precise control of the motor. The collaborative work of this series of units can select an appropriate driving method according to specific requirements, thereby improving the flexibility and scalability of the system, and enabling the controller to efficiently respond to different application requirements and flexibly handle various motion control scenarios.

[0026] Further, the present invention determines whether the transmission of the instruction is qualified by the ratio of the actual change amount to the preset change amount of the device operation data, which can quickly determine whether the transmission of the instruction is qualified, so that subsequent adjustments for unqualified reasons can be made more effectively, and further enables the controller to more efficiently respond to different application requirements.

[0027] Further, the present invention generates a corresponding processing method based on the comparison result between the absolute value of the slope of the time-device operation data curve drawn and the preset absolute value, which can judge the reason for the unqualified instruction transmission according to the change trend of the device operation data, so as to more accurately judge the reason for the unqualified instruction transmission, and make subsequent adjustments for unqualified reasons more effective, and further enables the controller to more efficiently respond to different application requirements.

[0028] Further, the present invention adjusts the detection interval by the difference between the absolute value and the preset absolute value, which can detect the interval more precisely, so that the detection result of the device operation parameters is more accurate, and further enables subsequent adjustments for unqualified reasons of the device operation parameters to be more effective, and further enables the controller to more efficiently respond to different application requirements.

[0029] Further, the present invention generates a corresponding processing method for the unqualified reason of the device operation parameters based on the comparison result between the detection response duration and the preset response duration, which can make more effective adjustments for the unqualified reason of the device operation parameters, and further enables the controller to more efficiently respond to different application requirements.

[0030] Further, the present invention adjusts the transmission power by the difference between the response duration and the preset response duration, which can reduce the influence on instruction transmission caused by unstable instruction environment, so that the controller can more efficiently respond to different application requirements and flexibly handle various motion control scenarios.

[0031] Furthermore, after adjusting the transmission power, the present invention re-detects the response duration, and if the response duration is still less than or equal to the preset response duration, a re-matching notification is issued, which can more accurately determine whether to further adjust according to the re-detected response duration, thereby further ensuring that the instruction can be delivered qualifiedly, and further enabling the controller to more efficiently respond to different application requirements.

[0032] Furthermore, by setting the driving mode between the controller and the matched device, the present invention can more effectively enable the system to operate normally in different scenarios, and further enable the controller to more efficiently respond to different application requirements.

[0033] Furthermore, by setting the output signal after parsing and processing the processed data, the present invention can make the output signal more adaptable to the current application scenario, and further enable the controller to more efficiently respond to different application requirements.

[0034] Furthermore, by using the visual interface of the graphical user interface to set the control logic, the present invention enables users to configure without in-depth programming knowledge, so that they can select the appropriate driving mode according to specific requirements, and further improve the flexibility and scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of the joint control system based on multiple drives according to an embodiment of the present invention;

[0036] Figure 2 It is a flowchart of the steps implemented by the joint control system based on multiple drives according to an embodiment of the present invention;

[0037] Figure 3 It is a flowchart of the steps for determining the comparison result between the actual change amount and the preset change amount of the device operation data and the preset ratio according to an embodiment of the present invention;

[0038] Figure 4 It is a flowchart of the steps for determining the comparison result between the detected response duration and the preset response duration according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the purpose and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention and do not limit the protection scope of the present invention.

[0041] It should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Please refer to Figure 1 as shown, which is a schematic structural diagram of the multi-drive based joint control system according to an embodiment of the present invention.

[0043] This system includes a type matching unit, a logic setting unit, an instruction conversion unit, a data acquisition unit, a data processing unit, a data parsing unit, a decision-making judgment unit, a control unit, and a feedback unit.

[0044] The type matching unit is used to determine the drive mode between the controller and the matching device;

[0045] The logic setting unit is connected to the type matching unit, and is used to set the control logic based on the drive mode, and obtain the parsing method of the signal;

[0046] The instruction conversion unit is connected to the logic setting unit, and is used to convert the set logic into a control instruction for the controller;

[0047] The data acquisition unit is used to acquire data, where the data includes device operation parameters and environmental parameters;

[0048] The data processing unit is connected to the data acquisition unit, and is used to process the acquired data;

[0049] The data parsing unit is connected to the data processing unit, and is used to perform parsing processing on the processed data using the corresponding parsing method;

[0050] The decision-making judgment unit is connected to the data parsing unit, and is used to analyze based on the environmental parameters to determine whether to adjust the device operation parameters;

[0051] The control unit is respectively connected to the instruction conversion unit and the decision-making judgment unit, and is used to output instructions and perform corresponding operations according to the output instructions;

[0052] The feedback unit is connected to the control unit, and is used to re-detect the device operation data, determine whether the transmission of the instruction is qualified based on the detection result, and analyze the reason for unqualified according to the determination result.

[0053] Specifically, in this embodiment, the logics constructed in the setting logic are all existing technologies or are constructed based on historical experience summary, and these settings may include device parameters, control conditions, trigger events, etc. This step allows users to configure without profound programming knowledge; moreover, the environmental parameters in the data acquisition unit mainly read environmental data in real time through sensors such as temperature sensors and humidity sensors, and these input data serve as the feedback basis for the control logic to determine subsequent control behaviors; meanwhile, the data processing unit filters and amplifies these data to ensure data accuracy; finally, the feedback unit determines whether the delivery of the instruction is qualified, so as to adjust more accurately according to the reasons for non-conformance.

[0054] Please refer to Figure 2 As shown, it is the step flowchart of the implementation of the joint control system based on multi-drive in the embodiment of the present invention.

[0055] The steps of the system in the embodiment of the present invention during actual operation include:

[0056] S1, determine the driving method between the controller and the matching device through the type matching unit;

[0057] S2, set the control logic based on the driving method through the logic setting unit connected to the type matching unit, and obtain the parsing method of the signal;

[0058] S3, convert the set logic into a control instruction for the controller through the instruction conversion unit connected to the logic setting unit;

[0059] S4, collect data through the data acquisition unit, where the data includes device operation parameters and environmental parameters;

[0060] S5, process the collected data through the data processing unit connected to the data acquisition unit;

[0061] S6, perform parsing processing on the processed data using the corresponding parsing method through the data parsing unit connected to the data processing unit;

[0062] S7, analyze based on the environmental parameters through the decision-making judgment unit connected to the data parsing unit, and determine whether to adjust the device operation parameters;

[0063] S8, output an instruction through the control unit connected to the instruction conversion unit and the decision-making judgment unit respectively, and execute the corresponding operation according to the output instruction;

[0064] S9, re-detect the device operation data through a feedback unit connected to the control unit, determine whether the delivery of the instruction is qualified based on the detection result, and analyze the reason for non-conformity according to the determination result.

[0065] Specifically, in this embodiment, the user uses a graphical user interface (GUI) to set control logic through a friendly visual interface. These settings may include device parameters, control conditions, trigger events, etc. This step allows the user to configure without in-depth programming knowledge.

[0066] Specifically, in this embodiment, an instruction is output through a control unit connected to the decision-making unit, and corresponding operations are performed according to the output instruction. Among them, the output instruction is transmitted to an actuator of a control device, such as a motor or a relay. After receiving the instruction, the actuator performs corresponding operations according to the received instruction, such as driving, stopping, adjusting speed, etc.

[0067] Please refer to Figure 3 As shown, it is a flowchart of the steps determined based on the comparison result of the ratio of the actual change amount to the preset change amount of the device operation data in the embodiment of the present invention and the preset ratio. In the embodiment of the present invention, the feedback unit is further used to determine whether the delivery of the instruction is qualified based on the ratio of the actual change amount to the preset change amount of the device operation data, and analyze the reason for the unqualified delivery of the instruction based on the drawn time-device operation data curve or the detection response duration, where the response duration is the interval from the time node when the instruction is sent to the time node when the device operation parameter changes.

[0068] Specifically, in this embodiment, the ratio of the change amount of the device operation parameter to the preset change amount can be divided into a first preset ratio L1 and a second preset ratio L2. It is set that in the ratio standard, the first preset ratio L1 = 0.9 and the second preset ratio L2 = 0.6. It should be noted that in other embodiments, the values of L1 and L2 can also be determined according to the joint control requirements of multiple drives; the specific process of comparing the ratio L with L1 and L2 is as follows:

[0069] If the ratio L is greater than or equal to the first preset ratio L1, it is determined that the delivery of the instruction is qualified;

[0070] If the ratio L is less than the first preset ratio L1 and greater than the second preset ratio L2, it means that the current detection result may be caused by other factors, and the reason for the unqualified delivery of the instruction is analyzed based on the drawn time-device operation data curve;

[0071] If the ratio L is less than or equal to the second preset ratio L2, it is determined that the delivery of the instruction is unqualified, and the reason for the unqualified delivery of the instruction is analyzed based on the detection response duration Q.

[0072] Specifically, in the embodiments of the present invention, the feedback unit is further configured to generate a corresponding processing method based on the comparison result between the absolute value of the slope of the drawn time-device operation data curve and the corresponding preset absolute value, including adjusting the detection interval based on the difference between the absolute value and the preset absolute value, or analyzing the reason for the unqualified delivery of the detection response duration analysis instruction.

[0073] Specifically, in this embodiment, the preset absolute value P0 of the slope of the drawn time-device operation data curve is 0.95. The specific process of comparing the absolute value P of the slope with the preset absolute value P0 is as follows:

[0074] If the absolute value P is greater than the preset absolute value P0, it indicates that the device operation data is continuously changing. The reason is that the detection is too fast, resulting in the device not having enough time to reach the expected operation parameters. Adjust the detection interval based on the difference R between the absolute value and the preset absolute value.

[0075] If the absolute value P is less than or equal to the preset absolute value P0, it is determined that the delivery of the instruction is unqualified, and then analyze the reason for the unqualified delivery of the instruction based on the detection response duration Q.

[0076] Specifically, in the embodiments of the present invention, the feedback unit is further configured to increase the detection interval based on the difference between the absolute value and the preset absolute value, and the difference is proportional to the increase amplitude of the detection interval.

[0077] Specifically, in this embodiment, the preset difference R0 is 0.1. The specific process of comparing the difference R with the preset difference R0 is as follows:

[0078] If the difference R is less than or equal to the preset difference R0, adjust the detection interval to 1.2 times the original detection interval.

[0079] If the difference R is greater than the preset difference R0, adjust the detection interval to 1.9 times the original detection interval.

[0080] Please refer to Figure 4 As shown, it is the step flow chart determined by the embodiments of the present invention based on the comparison result between the detection response duration and the preset response duration. In the embodiments of the present invention, the feedback unit is further configured to generate a corresponding processing method based on the comparison result between the detection response duration and the preset response duration, including adjusting the transmission power based on the difference between the response duration and the preset response duration, or sending a device failure notification.

[0081] Specifically, in this embodiment, taking a smart home device as an example, the preset response duration Q0 is 500 ms. The specific process of comparing the response duration Q with the preset response duration Q0 is as follows:

[0082] If the response duration Q is less than or equal to the preset response duration Q0, it indicates that the instruction transmission may be affected due to unstable instruction transmission environment. Then, adjust the transmission power based on the difference T between the response duration and the preset response duration.

[0083] If the response duration Q is greater than the preset response duration Q0, it indicates that the device has a fault. Then, send a device fault notification.

[0084] Specifically, in the embodiment of the present invention, the feedback unit is further configured to increase the transmission power based on the difference between the response duration and the preset response duration, and the difference is proportional to the increase amplitude of the transmission power.

[0085] Specifically, in this embodiment, the preset difference T0 between the response duration and the preset response duration is 100 ms. The comparison process based on the difference T and the preset difference T0 is as follows:

[0086] If the difference T is less than or equal to the preset difference T0, adjust the transmission power to 1.5 times the original transmission power.

[0087] If the difference T is greater than the preset difference T0, adjust the transmission power to 2.1 times the original transmission power.

[0088] Specifically, in the embodiment of the present invention, the feedback unit is further configured to re-detect the response duration after adjusting the transmission power, and if the response duration is still less than or equal to the preset response duration, send a re-matching notification.

[0089] Specifically, in the embodiment of the present invention, the driving method between the controller in the type matching unit and the matched device includes a pulse modulation signal, or, an analog voltage, or, a digital logic level.

[0090] Specifically, in this embodiment, determine which driving method to adopt according to different input signal types. Among them, the driving methods include pulse width modulation (PWM), analog output, or digital signal.

[0091] Specifically, in the embodiment of the present invention, the data parsing unit uses the corresponding parsing method to parse the processed data, including parsing the motion control signal by using a preset kinematic parsing algorithm, or, adjusting the decision of the driving output through a built-in control algorithm, or, performing a threshold comparison to trigger the generation of a decision.

[0092] Specifically, in this embodiment, based on these judgment results, the data parsing unit will synthesize corresponding output instructions. For motion control signals, the data parsing unit will use a preset kinematic parsing algorithm to parse the signals and convert them into specific execution instructions for the driver. If the input signal involves error data, the data parsing unit will precisely adjust the drive output through a built-in PID control algorithm. For simple environmental signals, the data parsing unit will perform a direct threshold comparison and trigger specific control instructions accordingly.

[0093] Specifically, in this embodiment, the specific process of precisely adjusting the drive output through the built-in PID control algorithm is as follows:

[0094] Step 1: Set the target value and real-time feedback

[0095] Target value (Setpoint): Set the desired motor speed (e.g., 1000 RPM).

[0096] Actual value (Feedback): Measure the current motor speed in real time through a sensor (such as an encoder).

[0097] Error calculation: e(t) = 1000 - current speed

[0098] Step 2: Calculate the three components of PID

[0099] For the proportional term (P), directly amplify the current error. The function of this step is that the larger the error, the greater the adjustment amplitude of the drive output (e.g., when the current speed is 800 RPM and the error is 200 RPM, the P term directly promotes acceleration).

[0100] For the integral term (I), accumulate historical errors. The function of this step is to eliminate long-term deviations that cannot be solved by P (e.g., if the motor is always 50 RPM slower due to friction, the I term gradually increases the output compensation).

[0101] For the derivative term (D), predict the error change rate. The function of this step is to suppress overshoot caused by rapid changes (e.g., when the speed approaches the target value, the D term slows down the adjustment speed).

[0102] Step 3: Comprehensive output and drive adjustment

[0103] First, the total output is the sum of the proportional term (P) amplifying the current error, the integral term (I) accumulating historical errors, and the derivative term (D) predicting the error change rate.

[0104] After that, the drive adjustment is to convert the total output into an actual drive signal (such as PWM duty cycle, voltage, or current) to control the motor power output.

[0105] Step 4: Closed-loop feedback loop

[0106] Continuously monitor the actual rotation speed and repeat the above steps until the actual value stabilizes near the target value.

[0107] In summary, in practical applications, parameters need to be adjusted according to system characteristics (inertia, delay, non-linearity), and techniques such as anti-saturation and filtering are combined to optimize performance.

[0108] Specifically, the logic setting unit in the embodiment of the present invention is further configured to set control logic using the visual interface of the graphical user interface.

[0109] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0110] Embodiment 1

[0111] In the data acquisition unit of this embodiment, a sensor and a processing unit are integrated on the edge device to collect sensor data in real time and perform data analysis and decision-making. For example, the smart speaker in a smart home system can independently process voice commands and directly control home devices without passing through a cloud server. The edge device can use lightweight machine learning models to recognize user behaviors and optimize control strategies.

[0112] Embodiment 2

[0113] In the data acquisition unit of this embodiment, the sensor uploads data to the cloud, and the computing resources of the cloud platform (such as AWS, Azure, etc.) are used to process the data in real time and convert it into control instructions. The user accesses the integrated Web application through a browser to remotely monitor and set the device, and all information is stored in the cloud to ensure centralized management of multiple devices. This solution is suitable for complex applications that require a large amount of computing power and data storage.

[0114] Embodiment 3

[0115] In the data acquisition unit of this embodiment, historical data is used to train the machine learning model, and the model can self-adjust based on new environmental data. For example, data on temperature, humidity, and user habits are collected, and a prediction model is established using deep learning algorithms and applied to the HVAC (heating, ventilation, and air conditioning) system to achieve intelligent temperature control. The system gradually improves the control strategy as the data is continuously updated.

[0116] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0117] The above are only the preferred 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 substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-drive based joint control system, characterized in that, Including: A type matching unit for determining the driving mode between the controller and the matched device; A logic setting unit connected to the type matching unit for setting control logic based on the driving mode and obtaining the parsing method of signals; An instruction conversion unit connected to the logic setting unit for converting the set logic into control instructions for the controller; A data acquisition unit for acquiring data, where the data includes device operation parameters and environmental parameters; A data processing unit connected to the data acquisition unit for processing the acquired data; A data parsing unit connected to the data processing unit for parsing and processing the processed data using the corresponding parsing method; A decision-making and judgment unit connected to the data parsing unit for analyzing based on the environmental parameters and determining whether to adjust the device operation parameters; A control unit connected to the instruction conversion unit and the decision-making and judgment unit respectively for outputting instructions and performing corresponding operations according to the output instructions; A feedback unit connected to the control unit for re-detecting the device operation data, determining whether the transmission of the instruction is qualified based on the detection result, and analyzing the reason for unqualified according to the determination result.

2. The multi-drive based joint control system according to claim 1, wherein The feedback unit is further configured to determine whether the transmission of the instruction is qualified based on the ratio of the actual change amount to the preset change amount of the device operation data, and analyze the reason for the unqualified transmission of the instruction based on the drawn time-device operation data curve or the detection response duration, where the response duration is the interval from the time node of sending the instruction to the time node when the device operation parameters change.

3. The joint control system based on multiple drives according to claim 2, wherein The feedback unit is further configured to generate a corresponding processing method based on the comparison result of the absolute value of the slope of the drawn time-device operation data curve and the corresponding preset absolute value, including adjusting the detection interval based on the difference between the absolute value and the preset absolute value, or analyzing the reason for the unqualified transmission of the instruction based on the detection response duration.

4. The joint control system based on multi-drive according to claim 3, characterized in that, The feedback unit is further configured to increase the detection interval based on the difference between the absolute value and the preset absolute value, and the difference is proportional to the increase amplitude of the detection interval.

5. The joint control system based on multi-drive according to claim 2, characterized in that, The feedback unit is further configured to generate a corresponding processing method based on the comparison result of the detection response duration and the preset response duration, including adjusting the transmission power based on the difference between the response duration and the preset response duration, or sending a device failure notification.

6. The joint control system based on multiple drives according to claim 5, wherein The feedback unit is further configured to increase the transmission power based on the difference between the response duration and the preset response duration, and the difference is proportional to the increase amplitude of the transmission power.

7. The multi-drive based joint control system according to claim 6, wherein The feedback unit is further configured to re-detect the response duration after adjusting the transmission power and if the response duration is still less than or equal to the preset response duration, send a re-matching notification.

8. The joint control system based on multi-drive according to claim 1, wherein The driving mode between the controller and the matched device in the type matching unit includes a pulse modulation signal, or an analog voltage, or a digital logic level.

9. The joint control system based on multiple drives according to claim 1, characterized in that The data parsing unit performs parsing processing on the processed data using the corresponding parsing method, including parsing the motion control signal by using a preset kinematic parsing algorithm, or adjusting the decision of the drive output through a built-in control algorithm, or performing a threshold comparison to trigger the generation of a decision.

10. The multi-drive based joint control system according to claim 1, characterized in that, The logic setting unit is further configured to set the control logic using the visual interface of the graphical user interface.

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