Multi-rotor control method

Abstract

The invention provides a multi-rotor control method, which comprises the following steps of: firstly, determining first processing information according to motion information of a driving rotor, and determining second processing information according to motion information of a driven rotor; determining a first control parameter according to the first processing information and the second processing information, and determining a first smooth transition curve according to the first control parameter; and finally, determining first control information according to the first smooth transition curve, and controlling the driven cell to move according to the first control information until the driven cell and the driving cell realize synchronous movement. According to the control mode, the first smooth transition curve is generated according to the motion information of the active cell and the motion information of the driven cell, and the motion of the driven cell is controlled according to the first control information determined by the first smooth transition curve, so that high-precision cooperative motion of a plurality of active cells in a complex path is realized; and no impact is ensured in the coupling process of the plurality of rotors, so that the flexibility level and the adaptive capacity of the multi-rotor dynamic coupling synchronous transmission system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic cams, and in particular to a multi-motor control method. Background Art

[0002] With the rapid development of intelligent manufacturing and flexible production lines, multi-motor coordinated transmission systems have become a core requirement of modern industrial automation. However, existing multi-motor synchronization technologies have the following major issues: ① Traditional multi-motor transmission systems use fixed coupling methods (such as mechanical connections or electronic synchronization). Once the system configuration is determined, it is difficult to dynamically adjust the combination of movers according to production needs, lacking true flexibility. ② Although existing magnetically driven transmission systems achieve contactless drive, the synchronization accuracy between multiple movers is generally insufficient. Especially under complex path conditions, the synchronization deviation often exceeds ±2mm, which cannot meet the requirements of precision manufacturing. ③ The existing fixed coupling method causes significant motion impact during the coupling and synchronization process. These issues have become bottlenecks restricting the further development of magnetically driven flexible transmission systems. Therefore, a new multi-motor synchronization design scheme is urgently needed to achieve dynamic coupling and decoupling between movers and improve the system's flexibility and adaptability. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a multi-motor control method to alleviate the above technical problems.

[0004] An embodiment of the present invention provides a multi-motor control method, which is applied to a multi-motor dynamic coupling synchronous transmission system. The multi-motor dynamic coupling synchronous transmission system includes a master and at least one slave. The method includes: obtaining motion information of the master, and determining first processing information based on the motion information of the master; obtaining motion information of the slave, and determining second processing information based on the motion information of the slave; determining a first control parameter based on the first processing information and the second processing information, and determining a first smooth transition curve based on the first control parameter; determining first control information based on the first smooth transition curve, and controlling the motion of the slave based on the first control information until the slave and the master achieve synchronous motion.

[0005] Optionally, the motion information of the active motor includes the first current position of the active motor, and the first processing information is determined based on the motion information of the active motor, including: mapping the first current position of the active motor to the first current angle of the virtual master axis in the electronic cam; the motion information of the slave motor includes the first current position and the first current speed of the slave motor, and the second processing information is determined based on the motion information of the slave motor, including: mapping the first current position of the slave motor to the first current angle of the virtual slave axis in the electronic cam, and mapping the first current speed of the slave motor to the first current angular velocity of the virtual slave axis.

[0006] Optionally, a first control parameter is determined based on the first processing information and the second processing information, and a first smooth transition curve is determined based on the first control parameter, including: determining a first target moment and a first target angle based on the first current angle of the virtual master axis and a preset mapping relationship between the angle of the virtual master axis and time; wherein the first target angle is the angle of the virtual master axis at the first target moment; determining a second target angle based on the first target moment and the first target angle; wherein the second target angle is the angle of the virtual slave axis at the first target moment; determining a first angle difference between the first current angle and the second target angle of the virtual slave axis based on the first current angle and the second target angle of the virtual slave axis; and determining the first smooth transition curve based on the first current angle, the first angle difference and the first target moment of the virtual slave axis.

[0007] Optionally, a first control parameter is determined based on the first processing information and the second processing information, and a first smooth transition curve is determined based on the first control parameter, including: determining the current angle difference between the first current angle of the virtual master axis and the first current angle of the virtual slave axis based on the first current angle of the virtual master axis and the first current angle of the virtual slave axis, and calculating the ratio of the current angle difference and the preset synchronization interval angle; generating the first smooth transition curve based on the ratio and the preset threshold.

[0008] Optionally, a first smooth transition curve is generated according to the ratio and a preset threshold, including: if the ratio is greater than the preset threshold and the active sub-axis moves at a uniform speed, a first smooth transition curve is generated to control the uniform acceleration motion or uniform acceleration-uniform speed motion of the virtual slave axis; or, if the ratio is less than the preset threshold and the active sub-axis moves at a uniform speed, a first smooth transition curve is generated to control the uniform deceleration motion or uniform deceleration-uniform speed motion of the virtual slave axis.

[0009] Optionally, the method further includes: obtaining motion information of the active sub-module, and determining third processing information based on the motion information of the active sub-module; determining second control information based on the third processing information and a preset corresponding curve, and controlling the motion of the passive sub-module based on the second control information so that the passive sub-module maintains synchronous motion with the active sub-module.

[0010] Optionally, the motion information of the active element includes a second current position of the active element, and determining the third processing information according to the motion information of the active element includes: mapping the second current position of the active element to a second current angle of a virtual main shaft in the electronic cam; According to the third processing information and the preset corresponding curve, the second control information is determined, and the movement of the slave is controlled according to the second control information, including: determining the third target angle and target angular velocity of the virtual slave axis according to the second current angle of the virtual master axis and the preset corresponding curve; wherein the third target angle and target angular velocity are the motion parameters of the virtual slave axis corresponding to the second current angle of the virtual master axis in the preset corresponding curve; determining the theoretical position of the virtual slave axis according to the third target angle and the target angular velocity; determining the theoretical position of the slave according to the theoretical position of the virtual slave axis, and controlling the movement of the slave based on the theoretical position of the slave.

[0011] Optionally, the method also includes: acquiring motion information of the active sub-module or the motion information of the passive sub-module, and determining fourth processing information based on the acquired motion information of the active sub-module or the motion information of the passive sub-module; determining a second control parameter based on the fourth processing information, and determining a second smooth transition curve based on the second control parameter; determining third control information based on the second smooth transition curve, and controlling the motion of the passive sub-module based on the third control information until the passive sub-module transitions from synchronous motion with the active sub-module to independent motion.

[0012] Optionally, the motion information of the active element includes a third current position and a current speed of the active element, and determining the fourth processing information according to the motion information of the active element includes: mapping the third current position of the active element to a third current angle of a virtual main shaft in the electronic cam, and mapping the current speed of the active element to a current angular speed of the virtual main shaft; Determine a second control parameter based on the fourth processing information, and determine a second smooth transition curve based on the second control parameter, including: determining a second target moment and a fourth target angle based on the third current angle of the virtual master axis and a preset mapping relationship between the angle of the virtual master axis and time; wherein the fourth target angle is the angle of the virtual slave axis at the second target moment; determine the second smooth transition curve based on the third current angle of the virtual master axis, the fourth target angle of the virtual slave axis, and the second target moment.

[0013] Optionally, the motion information of the slave includes a second current position and a second current speed of the slave, and determining the fourth processing information according to the acquired motion information of the slave includes: mapping the second current position of the slave to a second current angle of a virtual slave axis in the electronic cam, and mapping the second current speed of the slave to a second current angular velocity of the virtual slave axis; Determine a second control parameter based on the fourth processing information, and determine a second smooth transition curve based on the second control parameter, including: determining a third target moment and a fifth target angle based on the second current angle of the virtual slave axis and a preset mapping relationship between the angle of the virtual slave axis and time; wherein the fifth target angle is the angle of the virtual slave axis at the third target moment; determine the second smooth transition curve based on the second current angle of the virtual slave axis, the fifth target angle of the virtual slave axis, and the third target moment.

[0014] The embodiments of the present invention bring the following beneficial effects: An embodiment of the present invention provides a multi-motor control method, which first obtains the motion information of the active motor and determines the first processing information based on the motion information of the active motor; obtains the motion information of the slave motor and determines the second processing information based on the motion information of the slave motor; then, determines the first control parameter based on the first processing information and the second processing information, and determines the first smooth transition curve based on the first control parameter; finally, determines the first control information based on the first smooth transition curve, and controls the motion of the slave motor based on the first control information until the slave motor and the active motor achieve synchronous motion. The above control method generates a first smooth transition curve based on the motion information of the active motor and the motion information of the slave motor, and controls the motion of the slave motor based on the first control information determined by the first smooth transition curve. This not only achieves high-precision coordinated motion of multiple movers under complex paths, but also ensures that there is no impact on the multiple movers during the coupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

[0015] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a multi-motor dynamic coupling synchronous transmission system provided by an embodiment of the present invention; Figure 2 This is a flow chart of a multi-motor control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0021] The embodiment of the present invention provides a multi-motor control method, which is applied to a multi-motor dynamic coupling synchronous transmission system. Figure 1 As shown, the multi-motor dynamic coupling synchronous transmission system includes a stator, multiple movers, and a controller. The stator is equipped with coils, and each mover is equipped with a magnet corresponding to the coil. Driven by the stator's magnetic field, the movers move along the stator's extended arrangement direction. The specific number of movers can be set according to actual conditions.

[0022] Furthermore, existing multi-motor dynamic coupling synchronous transmission systems generally employ a centralized control architecture, where all movers rely on a single control center. This not only presents the risk of single-point failure but also limits system scalability. In contrast, the present invention employs a distributed virtual cam architecture, where the controller includes a dynamic coupling management module, a master control center module, and a virtual cam engine corresponding to each mover (i.e., a sub-control center for each mover). A virtual master axis serves as the synchronization reference, maintained by the master control center module and broadcast to all virtual cam engines.

[0023] In practical applications, the dynamic coupling management module is responsible for coordinating the coupling relationships between multiple movers, establishing or disabling cam-follower relationships based on production requirements. When multiple movers require synchronized motion, the dynamic coupling management module sends a coupling request to the relevant virtual cam engine, specifying the mover corresponding to the virtual master axis (i.e., the master) and the mover corresponding to the virtual slave axis (i.e., the slave). Since each mover is equipped with a complete virtual cam engine, not only does this eliminate the need for all movers to rely on a single control center, enhancing system scalability and supporting the dynamic increase or decrease of the number of movers without reconfiguring the master control center module, but it also enables each mover to have autonomous computing capabilities, allowing it to independently execute complex motion curves, significantly reducing the computational burden on the master control center module (e.g., by approximately 75%).

[0024] Furthermore, the aforementioned multi-motor dynamic coupling synchronous transmission system achieves a multi-level, meshed dynamic coupling relationship, transcending the existing master-slave single chain structure. This allows the system to support more complex collaborative modes. For example, a single master can simultaneously establish coupling relationships of varying strengths with multiple slaves, or rapidly switch slaves at different stages, providing unprecedented flexibility for complex process flows. Furthermore, by dynamically adjusting the collaborative relationships between the movers, optimizing material flow paths, and reducing waiting times, system utilization can be increased by 30%.

[0025] Furthermore, when a slave fails, the system can reconstruct the collaborative relationship at the millisecond level to minimize the scope of impact. At the same time, it can also be extended to three-dimensional spatial coupling control, introducing the concept of spatial cams to achieve the coordinated movement of multiple movers in a three-dimensional space, providing technical support for scenarios such as spatial assembly and three-dimensional warehousing. In some scenarios, a decentralized point-to-point communication mode can be used to replace the virtual spindle broadcast mechanism. Each active unit directly establishes a temporary communication link with the relevant slave units, reducing dependence on central communication facilities and enriching the application scenarios of the system.

[0026] Example 1 Based on the above multi-motor dynamic coupling synchronous transmission system, an embodiment of the present invention provides a multi-motor control method. For the sake of convenience, the multi-motor dynamic coupling synchronous transmission system including a master and a slave is used as an example. Figure 1 As shown, mover 1 is the active mover and mover 2 is the passive mover.

[0027] like Figure 2 As shown, the method includes the following steps: Step S202: acquiring motion information of the active element, and determining first processing information according to the motion information of the active element.

[0028] The motion information of the active element includes the active element's first current position. In actual applications, each active element is also equipped with a position detector for detecting the corresponding active element's real-time position, real-time velocity, and / or real-time acceleration. Therefore, the active element's first current position (i.e., the active element's position at the time of motion information detection) can be obtained through the active element's corresponding position detector. It should be noted that in some scenarios, the active element's motion information may include, in addition to the first current position, the first current velocity and the first current acceleration, etc. These can be set according to actual circumstances.

[0029] After the first current position of the active element is obtained, the first processing information is determined according to the motion information of the active element; specifically, the first current position of the active element is mapped to the first current angle of the virtual main shaft in the electronic cam.

[0030] In practical applications, an electronic cam is a software system that uses a constructed cam curve to simulate a mechanical cam in order to achieve the same nonlinear motion between the camshaft and the main shaft as the mechanical cam system. Among them, the electronic cam can also be called a virtual cam architecture, which generally includes multiple components such as a virtual cam engine, a virtual main shaft, a virtual slave shaft, and a control system software platform. The virtual cam engine works in coordination with the virtual main shaft, the virtual slave shaft, etc. to realize the motion control function of the entire system and complete complex multi-axis coordinated motion control tasks. Here, the virtual main shaft can be understood as a virtual reference axis, which usually represents the motion of the active shaft. It can be an abstraction of an actual physical shaft or a completely virtual shaft. The embodiment of the present invention uses a virtual main shaft to characterize the motion of the active sub-shaft. Similarly, a virtual slave shaft is used to characterize the motion of the driven sub-shaft.

[0031] Therefore, after obtaining the first current position of the active element, the angle corresponding to the virtual master axis in the electronic cam can be determined based on the first current position of the active element. For the sake of convenience, the angle of the virtual master axis corresponding to the first current position of the active element is referred to as the first current angle, that is, the first current position of the active element is mapped to the first current angle of the virtual master axis in the electronic cam, so that the virtual cam engine uses the virtual master axis as the driving source, determines the motion parameters of the virtual slave axis according to the motion state of the virtual master axis and the cam curve, and controls the corresponding slave element according to the motion parameters of the virtual slave axis, thereby realizing the control of multiple movers.

[0032] It should be noted that the first processing information includes but is not limited to the first current angle of the virtual spindle. In some scenarios, it may also include the first current angular velocity of the virtual spindle corresponding to the first current velocity of the active sub-son, the first current angular acceleration of the virtual spindle corresponding to the first current acceleration of the active sub-son, etc., which can be set specifically according to actual conditions.

[0033] Step S204 , obtaining motion information of the follower, and determining second processing information according to the motion information of the follower.

[0034] Similarly, for the follower, the motion information of the follower can be detected by the corresponding position detector. Here, the motion information of the follower includes the first current position and the first current speed of the follower, that is, the position and speed of the follower at the moment of motion information detection. In some scenarios, in addition to the first current position and the first current speed, the motion information of the follower also includes the first current acceleration of the follower at the moment of motion information detection, etc., which can be adaptively adjusted according to actual conditions.

[0035] After the motion information of the follower is obtained as described above, the second processing information is determined based on the motion information of the follower; specifically, the first current position of the follower is mapped to the first current angle of the virtual slave axis in the electronic cam, and the first current speed of the follower is mapped to the first current angular velocity of the virtual slave axis, thereby realizing the control of the corresponding follower through the virtual slave axis, and further realizing the control of multiple followers.

[0036] It should be noted that the second processing information includes but is not limited to the first current angle and the first current angular velocity of the virtual slave axis. In some scenarios, it may also include the first current angular acceleration of the virtual slave axis corresponding to the first current acceleration of the follower, etc., and can be set specifically according to actual conditions.

[0037] Step S206 : determining a first control parameter according to the first processing information and the second processing information, and determining a first smooth transition curve according to the first control parameter.

[0038] Specifically, the first smooth transition curve mainly includes the following two determination methods: (1) The first determination method: determining a first target moment and a first target angle based on a first current angle of the virtual master axis and a preset mapping relationship between the angle of the virtual master axis and time; wherein the first target angle is the angle of the virtual master axis at the first target moment; determining a second target angle based on the first target moment and the first target angle; wherein the second target angle is the angle of the virtual slave axis at the first target moment; determining a first angle difference between the first current angle and the second target angle of the virtual slave axis based on the first current angle and the second target angle of the virtual slave axis; and determining a first smooth transition curve based on the first current angle of the virtual slave axis, the first angle difference and the first target moment.

[0039] Specifically, after determining the first current angle of the virtual master axis and the first current angle of the virtual slave axis as mentioned above, the angle of the virtual master axis at a specified future moment is first determined based on the first current angle of the virtual master axis. Since the preset mapping relationship between the angle and time of the virtual master axis is stored in the electronic cam table, the active lobe generally moves regularly or according to a certain plan, so the angle information at any time in the future specified time period can be determined based on the current angle of the virtual master axis. Therefore, after determining the first current angle of the virtual master axis, the first target moment specified in the future and the first target angle of the virtual master axis corresponding to the first target moment can be determined based on the preset mapping relationship between the angle and time of the virtual master axis.

[0040] Furthermore, the synchronous motion of the master and slave means that the spacing between them remains constant. Therefore, after determining the first target angle of the virtual master axis at the first target moment, the second target angle of the virtual slave axis corresponding to the first target moment can be determined based on the first target moment and the first target angle. Furthermore, a corresponding first angle difference is calculated based on the first current angle of the virtual slave axis and the second target angle at the first target moment, and a first smooth transition curve is determined based on the first current angle of the virtual slave axis, the first angle difference, and the first target moment. Here, the first smooth transition curve is a smooth angular velocity variation curve, for example, controlling the virtual slave axis to achieve uniform acceleration, uniform acceleration-uniform speed, uniform deceleration-uniform speed, uniform acceleration-uniform deceleration-uniform speed, etc.

[0041] (2) The second determination method: based on the first current angle of the virtual master axis and the first current angle of the virtual slave axis, determine the current angle difference between the first current angle of the virtual master axis and the first current angle of the virtual slave axis, and calculate the ratio of the current angle difference to the preset synchronization interval angle; generate a first smooth transition curve based on the ratio and the preset threshold value.

[0042] Specifically, if the ratio is greater than the preset threshold and the active sub-axis moves at a uniform speed, a first smooth transition curve is generated to control the uniform acceleration motion or uniform acceleration-uniform speed motion of the virtual slave axis; or, if the ratio is less than the preset threshold and the active sub-axis moves at a uniform speed, a first smooth transition curve is generated to control the uniform deceleration motion or uniform deceleration-uniform speed motion of the virtual slave axis.

[0043] Among them, the preset threshold is preferably 1. When the ratio is greater than 1, it means that the distance between the active sub-axis and the passive sub-axis is too large, that is, the current angle difference is too large. At this time, it is necessary to use the first smooth transition curve to accelerate the passive sub-axis relative to the active sub-axis. Therefore, when the active sub-axis moves at a uniform speed, the first smooth transition curve generated at this time must satisfy the uniform acceleration motion or uniform acceleration-uniform speed motion of the virtual slave axis, thereby realizing the synchronous motion of the passive sub-axis and the active sub-axis.

[0044] Similarly, when the ratio is less than 1, it means that the distance between the active and passive elements is too small, that is, the current angle difference is too small. At this time, the first smooth transition curve is needed to decelerate the passive element relative to the active element. Therefore, when the active element moves at a uniform speed, the first smooth transition curve generated at this time must satisfy the uniform deceleration motion or uniform deceleration-uniform speed motion of the virtual slave axis to achieve synchronous motion of the passive and active element.

[0045] Therefore, based on the motion information of the active element and the motion information of the passive element, a first smooth transition curve is flexibly generated in a deterministic manner, and the motion of the passive element is controlled according to the first control information determined by the first smooth transition curve. This not only achieves high-precision coordinated motion of multiple movers under complex paths, but also ensures that the multiple movers are impact-free during the coupling / decoupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system. It should be noted that the specific value of the preset threshold and the value of the preset synchronization interval angle can be adaptively set according to actual conditions, and the embodiments of the present invention do not limit this description.

[0046] Step S208 : determining first control information according to the first smooth transition curve, and controlling the movement of the driven member according to the first control information until the driven member and the driving member achieve synchronous movement.

[0047] After the above-mentioned first smooth transition curve is determined, the first control information can be determined based on the first smooth transition curve. When the first determination method is used to generate the first smooth transition curve, the first control information at this time includes but is not limited to: the follower position difference corresponding to the first angle difference and the first target moment, and the movement time required for the follower to complete the follower position difference, etc., so that when the movement of the follower is controlled according to the first control information, the synchronous movement of the follower and the master can be achieved.

[0048] In addition, when the second determination method is used to generate the first smooth transition curve, the first smooth transition curve realizes that the angle of the virtual slave axis in the future specified time period = the angle of the virtual master axis + the preset synchronization interval angle. Therefore, the first control information at this time includes but is not limited to: the angle of the virtual slave axis in the future specified time period, and the position information of the slave corresponding to the angle of the virtual slave axis in the future specified time period. When the slave is controlled according to the position information of the slave, the synchronous movement of the slave and the master can be achieved.

[0049] The multi-motor control method provided by an embodiment of the present invention first determines first processing information based on the motion information of the active motor, and determines second processing information based on the motion information of the passive motor; then determines first control parameters based on the first processing information and the second processing information, and determines a first smooth transition curve based on the first control parameter; finally, determines first control information based on the first smooth transition curve, and controls the motion of the passive motor based on the first control information until the passive motor and the active motor achieve synchronous motion. The above control method generates a first smooth transition curve based on the motion information of the active motor and the motion information of the passive motor, and controls the motion of the passive motor based on the first control information determined by the first smooth transition curve. This not only achieves high-precision coordinated motion of multiple movers under complex paths, but also ensures that there is no impact on the multiple movers during the coupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

[0050] In practical applications, when the follower is controlled according to the first smooth transition curve, since the follower and the master eventually achieve synchronous motion, the above control process can also be called the synchronization stage, that is, the stage in which the follower and the master gradually achieve synchronous motion from asynchronous motion. Among them, in the synchronization stage, the control methods of the multiple movers are mainly divided into the following two situations: (A1) First, the motion information of the active motor and the motion information of the passive motor are obtained; wherein the motion information of the active motor includes the first current position of the active motor, and the motion information of the passive motor includes the first current position and the first current speed of the passive motor; then, first processing information is determined based on the motion information of the active motor, that is, the first current position of the active motor is mapped to the first current angle of the virtual main shaft in the electronic cam; second processing information is determined based on the motion information of the passive motor, that is, the first current position of the passive motor is mapped to the first current angle of the virtual slave shaft in the electronic cam, and the first current speed of the passive motor is mapped to the first current angular speed of the virtual slave shaft.

[0051] Next, a first control parameter is determined based on the first and second processed information, and a first smooth transition curve is determined based on the first control parameter. Specifically, a first target moment and a first target angle of the virtual master axis at the first target moment are determined based on the first current angle of the virtual master axis and a preset mapping relationship between the virtual master axis angle and time. A second target angle of the virtual slave axis at the first target moment is determined based on the first target moment and the first target angle, and a first angle difference between the first current angle and the second target angle of the virtual slave axis is determined. A first smooth transition curve is determined based on the first current angle of the virtual slave axis, the first angle difference, and the first target moment. Finally, first control information is determined based on the first smooth transition curve, and the movement of the slave is controlled based on the first control information until the slave and the master achieve synchronous motion.

[0052] (A2) First, the motion information of the active motor and the motion information of the passive motor are obtained; wherein, the motion information of the active motor includes the first current position of the active motor, and the motion information of the passive motor includes the first current position and the first current speed of the passive motor; then, first processing information is determined based on the motion information of the active motor, that is, the first current position of the active motor is mapped to the first current angle of the virtual main shaft in the electronic cam; second processing information is determined based on the motion information of the passive motor, that is, the first current position of the passive motor is mapped to the first current angle of the virtual slave shaft in the electronic cam, and the first current speed of the passive motor is mapped to the first current angular speed of the virtual slave shaft.

[0053] Next, a first control parameter is determined based on the first and second processed information, and a first smooth transition curve is determined based on the first control parameter. Specifically, the current angle difference between the first current angle of the virtual master axis and the first current angle of the virtual slave axis is determined, and the ratio of the current angle difference to a preset synchronization interval angle is calculated. The first smooth transition curve is generated based on the ratio and a preset threshold. Finally, first control information is determined based on the first smooth transition curve, and the movement of the slave is controlled based on the first control information until the slave and master achieve synchronized motion.

[0054] Therefore, during the synchronization phase, a first smooth transition curve is generated based on the motion information of the master and slave elements, and the motion of the slave element is controlled based on the first control information determined by the first smooth transition curve. This not only enables high-precision coordinated motion of multiple movers along complex paths, but also ensures that the multiple movers are impact-free during the coupling / decoupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system. It should be noted that the specific processes of each step in (A1) and (A2) above can be referred to in the aforementioned embodiments, and the embodiments of the present invention will not be described in detail here.

[0055] Example 2 After the driven element and the active element achieve synchronous motion, a synchronization maintenance phase is provided after the synchronization phase to ensure synchronization. For the synchronization maintenance phase, the multi-motor control method provided by an embodiment of the present invention further includes: obtaining motion information of the active element, determining third processing information based on the motion information of the active element; determining second control information based on the third processing information and a preset corresponding curve; and controlling the motion of the driven element based on the second control information to maintain synchronous motion between the driven element and the active element.

[0056] In the synchronization maintenance phase, the motion information of the active element includes the second current position of the active element. Third processing information is determined based on the motion information of the active element, including: mapping the second current position of the active element to the second current angle of the virtual master axis in the electronic cam. In addition, second control information is determined based on the third processing information and a preset corresponding curve, and the motion of the slave element is controlled based on the second control information. Specifically, the third target angle and target angular velocity of the virtual slave axis are determined based on the second current angle of the virtual master axis and the preset corresponding curve; wherein the third target angle and target angular velocity are the motion parameters of the virtual slave axis corresponding to the second current angle of the virtual master axis in the preset corresponding curve; the theoretical position of the virtual slave axis is determined based on the third target angle and target angular velocity; the theoretical position of the slave element is determined based on the theoretical position of the virtual slave axis, and the motion of the slave element is controlled based on the theoretical position of the slave element.

[0057] In practical applications, the electronic cam table also stores a preset corresponding curve, which defines the motion state (angle, angular velocity, angular acceleration, etc.) of the virtual slave axis at each angular position of the virtual master axis. This curve can be understood as a virtual "cam profile." During the synchronization maintenance phase, the second current position of the master axis is acquired in real time or periodically, and the second current angle of the virtual master axis is derived based on the master axis's second current position. Based on the virtual master axis's second current angle and the preset corresponding curve, the third target angle and target angular velocity of the virtual slave axis can be determined. The theoretical position of the virtual slave axis can then be determined based on the third target angle and target angular velocity. Based on the theoretical position of the virtual slave axis, the second control information, corresponding to the theoretical position of the slave axis, is then determined. This allows the slave axis's motion to be controlled based on its theoretical position, ensuring that the slave axis maintains synchronous motion with the master axis.

[0058] In addition, during the motion control process of the slave, the real-time position of the slave is also obtained, and the real-time position of the slave is mapped to the real-time angle of the virtual slave axis, and the angle difference between the real-time angle of the virtual slave axis and the corresponding third target angle is calculated. If the angle difference exceeds the preset allowable range, the motion of the virtual slave axis is adjusted in real time according to the adjustment algorithm (such as PID (Proportional Integral Derivative) control algorithm, fuzzy control, adaptive control, etc.), and the corresponding slave is adjusted according to the adjustment of the virtual slave axis. After the adjustment is completed, it is continued to determine whether the angle difference exceeds the preset allowable range. If it exceeds, the above adjustment is continued until the angle difference does not exceed the preset allowable range, thereby ensuring the synchronous motion effect of the slave and the master.

[0059] Example 3 After the synchronization maintenance phase, there is also an exit synchronization phase, in which the master and slave switch from synchronized motion to an asynchronous state (i.e., independent motion). For the exit synchronization phase, the multi-mover control method provided by an embodiment of the present invention further includes: acquiring motion information of the master or the slave, determining fourth processing information based on the acquired motion information of the master or the slave; determining a second control parameter based on the fourth processing information, and determining a second smooth transition curve based on the second control parameter; determining third control information based on the second smooth transition curve, and controlling the motion of the slave based on the third control information until the slave transitions from synchronized motion with the master to independent motion.

[0060] Specifically, during the desynchronization phase, the motion information of the active element can be obtained and the second smooth transition curve can be determined based on the motion information of the active element, or the motion information of the passive element can be obtained and the second smooth transition curve can be determined based on the motion information of the passive element. The following describes the two scenarios in detail: (1) If the motion information of the active element is obtained, then in the exit synchronization phase, the motion information of the active element includes the third current position and current speed of the active element. At this time, the fourth processing information is determined based on the motion information of the active element: the third current position of the active element is mapped to the third current angle of the virtual main shaft in the electronic cam, and the current speed of the active element is mapped to the current angular velocity of the virtual main shaft.

[0061] At this time, the fourth processing information includes the third current angle and current angular velocity of the virtual master axis. The second control parameter is determined based on the fourth processing information, and the second smooth transition curve is determined based on the second control parameter. Specifically, the second target moment and the fourth target angle are determined based on the third current angle of the virtual master axis and the preset mapping relationship between the angle and time of the virtual master axis; wherein the fourth target angle is the angle of the virtual slave axis at the second target moment; the second smooth transition curve is determined based on the third current angle of the virtual master axis, the fourth target angle of the virtual slave axis and the second target moment.

[0062] Among them, the second control parameters include but are not limited to the fourth target angle and the second target time of the virtual slave axis, and a second smooth transition curve is generated according to the second control parameters. Here, the second smooth transition curve controls the virtual slave axis to move according to uniform acceleration, uniform acceleration-uniform speed, uniform deceleration-uniform speed, uniform acceleration-uniform deceleration-uniform speed, etc.

[0063] In addition, the third control information is determined based on the second smooth transition curve, such as determining the theoretical position of the slave based on the fourth target angle of the virtual slave axis, determining the movement duration of the slave based on the second target moment, and using the theoretical position and movement duration of the slave as the third control information. When the movement of the slave is controlled according to the third control information, the slave can be transitioned from synchronous movement with the master to independent movement, that is, the slave exits the synchronous movement with the master.

[0064] (2) If the motion information of the slave is obtained, then in the exit synchronization phase, the motion information of the slave includes the second current position and the second current speed of the slave. The fourth processing information is determined based on the obtained motion information of the slave: the second current position of the slave is mapped to the second current angle of the virtual slave axis in the electronic cam, and the second current speed of the slave is mapped to the second current angular velocity of the virtual slave axis.

[0065] At this time, the fourth processing information includes the second current angle and second current angular velocity of the virtual slave axis. The second control parameter is determined based on the fourth processing information, and the second smooth transition curve is determined based on the second control parameter. Specifically, the third target moment and the fifth target angle are determined based on the second current angle of the virtual slave axis and the preset mapping relationship between the angle and time of the virtual slave axis; wherein the fifth target angle is the angle of the virtual slave axis at the third target moment; the second smooth transition curve is determined based on the second current angle of the virtual slave axis, the fifth target angle of the virtual slave axis and the third target moment.

[0066] Each of the above steps can refer to the aforementioned embodiments. Therefore, in the phase of exiting synchronization, by obtaining the motion information of the active sub-unit or the motion information of the passive sub-unit, and determining a second smooth transition curve based on the motion information of the active sub-unit or the motion information of the passive sub-unit, and determining third control information based on the second smooth transition curve, the motion of the passive sub-unit is controlled according to the third control information, so that the passive sub-unit switches from a synchronous state with the active sub-unit to an independent operation state, thereby achieving the exit of the active sub-unit and the passive sub-unit from the synchronous state. In addition, in the phase of exiting synchronization, the motion of the passive sub-unit is controlled by the third control information determined by the second smooth transition curve, which not only achieves high-precision coordinated motion of multiple movers under complex paths, but also ensures that there is no impact during the decoupling process of multiple movers, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

[0067] In summary, the multi-motor control method provided by the embodiment of the present invention not only introduces an electronic cam and can calculate the smooth transition curve in real time, but also realizes the smooth switching of coupling / decoupling states of multiple movers under any motion state compared with the existing use of predefined static cam curves. The transition impact is reduced by more than 90%, and the synchronous switching time is shortened to less than 100ms, while maintaining a synchronization accuracy of ±0.05mm.

[0068] Furthermore, embodiments of the present invention provide a multi-motor dynamic coupling synchronous transmission system, comprising: a controller and multiple movers; wherein the controller is configured to determine a master mover and a slave mover among the multiple movers, and synchronously control the multiple movers using the aforementioned method embodiment. The specific multi-motor dynamic coupling synchronous transmission system can be referred to the aforementioned embodiments, and the embodiments of the present invention will not be described in detail here.

[0069] The multi-motor dynamic coupling synchronous transmission system provided in the embodiment of the present invention has the same technical features as the multi-motor control method provided in the above embodiment, and therefore can also solve the same technical problems and achieve the same technical effects.

[0070] This embodiment further provides a machine-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned multi-motor control method.

[0071] The computer program product of the multi-motor control method and the multi-motor dynamic coupling synchronous transmission system provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0072] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0073] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0074] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion 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 instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0075] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0076] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A multi-motor control method, applied to a multi-motor dynamic coupling synchronous transmission system, wherein the multi-motor dynamic coupling synchronous transmission system comprises a master and at least one slave, characterized in that: The method comprises: Acquiring motion information of the active element, and determining first processing information according to the motion information of the active element; Acquiring motion information of the driven element, and determining second processing information according to the motion information of the driven element; determining a first control parameter according to the first processing information and the second processing information, and determining a first smooth transition curve according to the first control parameter; First control information is determined according to the first smooth transition curve, and the movement of the driven member is controlled according to the first control information until the driven member and the driving member achieve synchronous movement.

2. The method according to claim 1, characterized in that The motion information of the active element includes a first current position of the active element, and determining the first processing information according to the motion information of the active element includes: mapping the first current position of the active element to a first current angle of a virtual main shaft in the electronic cam; The motion information of the follower includes the first current position and the first current speed of the follower. The second processing information is determined based on the motion information of the follower, including: mapping the first current position of the follower to the first current angle of the virtual slave axis in the electronic cam, and mapping the first current speed of the follower to the first current angular velocity of the virtual slave axis.

3. The method according to claim 2, characterized in that The determining of a first control parameter according to the first processing information and the second processing information, and determining a first smooth transition curve according to the first control parameter, includes: Determining a first target time and a first target angle according to a first current angle of the virtual main axis and a preset mapping relationship between the angle of the virtual main axis and time; wherein the first target angle is the angle of the virtual main axis at the first target time; Determine a second target angle according to the first target moment and the first target angle; wherein the second target angle is the angle of the virtual slave axis at the first target moment; determining a first angle difference between the first current angle of the virtual slave axis and the second target angle according to the first current angle of the virtual slave axis and the second target angle; The first smooth transition curve is determined according to the first current angle of the virtual slave axis, the first angle difference, and the first target time.

4. The method according to claim 2, characterized in that The determining of a first control parameter according to the first processing information and the second processing information, and determining a first smooth transition curve according to the first control parameter, includes: determining a current angle difference between the first current angle of the virtual master axis and the first current angle of the virtual slave axis according to the first current angle of the virtual master axis and the first current angle of the virtual slave axis, and calculating a ratio of the current angle difference to a preset synchronization interval angle; The first smooth transition curve is generated according to the ratio and a preset threshold.

5. The method according to claim 4, characterized in that Generating the first smooth transition curve according to the ratio and a preset threshold comprises: If the ratio is greater than the preset threshold, and the active sub-axis moves at a uniform speed, a first smooth transition curve for controlling the uniform acceleration motion or uniform acceleration-uniform speed motion of the virtual slave axis is generated; or If the ratio is smaller than the preset threshold value and the active sub-axis moves at a uniform speed, a first smooth transition curve is generated to control the uniform deceleration motion or uniform deceleration-uniform speed motion of the virtual slave axis.

6. The method according to claim 1, wherein The method further comprises: Acquiring motion information of the active element, and determining third processing information according to the motion information of the active element; Second control information is determined according to the third processing information and a preset corresponding curve, and the movement of the driven member is controlled according to the second control information so that the driven member and the driving member maintain synchronous movement.

7. The method according to claim 6, characterized in that The motion information of the active element includes a second current position of the active element, and determining the third processing information according to the motion information of the active element includes: mapping the second current position of the active element to a second current angle of a virtual main shaft in the electronic cam; Determining second control information according to the third processing information and a preset corresponding curve, and controlling the movement of the driven element according to the second control information, includes: Determining a third target angle and a target angular velocity of the virtual slave axis according to the second current angle of the virtual master axis and the preset corresponding curve; wherein the third target angle and the target angular velocity are motion parameters of the virtual slave axis corresponding to the second current angle of the virtual master axis in the preset corresponding curve; determining a theoretical position of the virtual slave axis according to the third target angle and the target angular velocity; The theoretical position of the driven element is determined according to the theoretical position of the virtual driven shaft, and the movement of the driven element is controlled based on the theoretical position of the driven element.

8. The method according to claim 1, characterized in that The method further comprises: Acquiring motion information of the active element or the passive element, and determining fourth processing information according to the acquired motion information of the active element or the passive element; determining a second control parameter according to the fourth processing information, and determining a second smooth transition curve according to the second control parameter; Third control information is determined according to the second smooth transition curve, and the movement of the driven member is controlled according to the third control information until the driven member transitions from synchronous movement with the driving member to independent movement.

9. The method according to claim 8, characterized in that The motion information of the active element includes a third current position and a current speed of the active element, and determining the fourth processing information according to the motion information of the active element includes: mapping the third current position of the active element to a third current angle of a virtual main shaft in the electronic cam, and mapping the current speed of the active element to a current angular speed of the virtual main shaft; Determining the second control parameter according to the fourth processed information, and determining the second smooth transition curve according to the second control parameter, includes: determining a second target time and a fourth target angle according to a third current angle of the virtual master axis and a preset mapping relationship between the angle of the virtual master axis and time; wherein the fourth target angle is the angle of the virtual slave axis at the second target time; The second smooth transition curve is determined according to the third current angle of the virtual master axis, the fourth target angle of the virtual slave axis, and the second target time.

10. The method according to claim 8, characterized in that The motion information of the follower includes a second current position and a second current speed of the follower, and determining the fourth processing information according to the acquired motion information of the follower includes: mapping the second current position of the follower to a second current angle of a virtual slave axis in the electronic cam, and mapping the second current speed of the follower to a second current angular velocity of the virtual slave axis; The determining of the second control parameter according to the fourth processed information and the determining of the second smooth transition curve according to the second control parameter includes: determining a third target time and a fifth target angle according to the second current angle of the virtual slave axis and a preset mapping relationship between the angle of the virtual slave axis and time; wherein the fifth target angle is the angle of the virtual slave axis at the third target time; The second smooth transition curve is determined according to the second current angle of the virtual slave axis, the fifth target angle of the virtual slave axis, and the third target time.

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