Multi-motor control method

Abstract

This invention provides a multi-motor control method. First, first processing information is determined based on the motion information of the active motor, and second processing information is determined based on the motion information of the passive motor. Then, first control parameters are determined based on the first and second processing information, and a first smooth transition curve is determined based on the first control parameters. Finally, first control information is determined based on the first smooth transition curve, and the passive motor is controlled to move according to the first control information until the passive motor and the active motor achieve synchronous movement. This control method, by generating a first smooth transition curve based on the motion information of the active and passive motors, and controlling the passive motor's movement based on the first control information determined by the first smooth transition curve, not only achieves high-precision coordinated movement of multiple motors on complex paths but also ensures that there is no impact during the coupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

Description

Technical Field

[0001] This invention relates to the field of electronic cam technology, and in particular to a method for controlling multiple motion sensors. Background Technology

[0002] With the rapid development of intelligent manufacturing and flexible production lines, multi-motor cooperative transmission systems have become a core requirement of modern industrial automation. However, existing multi-motor synchronization technologies mainly suffer from the following problems: 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 relationship between motors according to production needs, lacking true flexibility; ② Although existing magnetic drive transmission systems achieve non-contact driving, the synchronization accuracy between motors is generally insufficient, especially under complex path conditions, where the synchronization deviation usually exceeds ±2mm, failing to meet the requirements of precision manufacturing; ③ In existing fixed coupling methods, the motors experience significant motion impact during coupling synchronization. These problems have become bottlenecks restricting the further development of magnetic drive flexible transmission systems. Therefore, a new multi-motor synchronization design scheme is urgently needed to achieve dynamic coupling and decoupling between motors, improving the system's flexibility and adaptability. Summary of the Invention

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

[0004] This invention provides a multi-motor control method applied to a multi-motor dynamic coupling synchronous transmission system. The multi-motor dynamic coupling synchronous transmission system includes one active motor and at least one passive motor. The method includes: acquiring motion information of the active motor and determining first processing information based on the motion information of the active motor; acquiring motion information of the passive motor and determining second processing information based on the motion information of the passive motor; determining first control parameters based on the first processing information and the second processing information, and determining a first smooth transition curve based on the first control parameters; determining first control information based on the first smooth transition curve, and controlling the motion of the passive motor based on the first control information until the passive motor and the active motor achieve synchronous motion.

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

[0006] Optionally, 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, includes: determining a first target time and a first target angle based on the first current angle of the virtual master axis and a preset mapping relationship between the angle and time of the virtual master axis; wherein the first target angle is the angle of the virtual master axis at the first target time; determining a second target angle based on the first target time and the first target angle; wherein the second target angle is the angle of the virtual slave axis at the first target time; 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 time.

[0007] Optionally, 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, includes: 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 to 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 based on the ratio and a preset threshold, including: if the ratio is greater than the preset threshold and the active component moves at a constant speed, then a first smooth transition curve is generated to control the virtual slave axis to move at a constant acceleration or a constant acceleration-constant speed; or, if the ratio is less than the preset threshold and the active component moves at a constant speed, then a first smooth transition curve is generated to control the virtual slave axis to move at a constant deceleration or a constant deceleration-constant speed.

[0009] Optionally, the method further includes: acquiring motion information of the active component, determining third processing information based on the motion information of the active component; determining second control information based on the third processing information and a preset corresponding curve, and controlling the motion of the slave component based on the second control information so that the slave component and the active component maintain synchronous motion.

[0010] Optionally, the motion information of the actuator includes the second current position of the actuator, and the third processing information is determined based on the motion information of the actuator, including: mapping the second current position of the actuator to the second current angle of the virtual spindle in the electronic cam;

[0011] Based on the third processing information and the preset corresponding curve, the second control information is determined, and the motion 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 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; determining the theoretical position of the virtual slave axis based on the third target angle and target angular velocity; determining the theoretical position of the slave based on the theoretical position of the virtual slave axis, and controlling the motion of the slave based on the theoretical position of the slave.

[0012] Optionally, the method further includes: acquiring motion information of the active component or motion information of the passive component; determining fourth processing information based on the acquired motion information of the active component or motion information of the passive component; determining second control parameters based on the fourth processing information; determining a second smooth transition curve based on the second control parameters; determining third control information based on the second smooth transition curve; and controlling the motion of the passive component based on the third control information until the passive component transitions from synchronous motion with the active component to independent motion.

[0013] Optionally, the motion information of the actuator includes the third current position and current velocity of the actuator, and the fourth processing information is determined based on the motion information of the actuator, including: mapping the third current position of the actuator to the third current angle of the virtual spindle in the electronic cam, and mapping the current velocity of the actuator to the current angular velocity of the virtual spindle;

[0014] 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, including: determining the second target time and the fourth target angle 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 time; and determining 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 time.

[0015] Optionally, the motion information of the follower includes the second current position and the second current velocity of the follower. The fourth processing information is determined based on the acquired motion information of the follower, including: mapping the second current position of the follower to the second current angle of the virtual follower shaft in the electronic cam, and mapping the second current velocity of the follower to the second current angular velocity of the virtual follower shaft.

[0016] 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, including: determining the third target time and the fifth target angle 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 time; and determining 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 time.

[0017] The embodiments of the present invention bring the following beneficial effects:

[0018] This invention provides a multi-motor control method. First, motion information of the active motor is acquired, and first processing information is determined based on this information. Then, motion information of the passive motor is acquired, and second processing information is determined based on this information. Next, first control parameters are determined based on the first and second processing information, and a first smooth transition curve is determined based on these parameters. Finally, first control information is determined based on the first smooth transition curve, and the passive motor is controlled to move according to this information until the passive motor and the active motor achieve synchronous motion. This control method, by generating a first smooth transition curve based on the motion information of the active and passive motors, and controlling the passive motor's motion based on the first control information determined by the first smooth transition curve, not only achieves high-precision coordinated motion of multiple motors on complex paths but also ensures that there is no impact during the coupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a multi-motor dynamic coupling synchronous transmission system provided in an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of a multi-motor control method provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To facilitate understanding of this embodiment, the embodiments of the present invention will be described in detail below.

[0026] This invention provides a multi-motor control method applied to a multi-motor dynamic coupling synchronous transmission system. For example... Figure 1 As shown, the multi-moving-electrode dynamic coupling synchronous transmission system includes a stator, multiple moving parts, and a controller. The stator contains coils, and each moving part contains a magnet corresponding to a coil. The moving parts move along the extended direction of the stator under the magnetic drive of the stator. The specific number of moving parts can be set according to actual conditions.

[0027] Furthermore, existing multi-movement dynamic coupling synchronization transmission systems generally adopt a centralized control architecture, where all movements rely on a single control center. This not only poses a single point of failure risk but also limits system scalability. In contrast, this invention employs a distributed virtual cam architecture. The controller includes a dynamic coupling management module, a central control center module, and a virtual cam engine corresponding to each movement (i.e., a sub-control center for each movement). The virtual spindle serves as the synchronization reference, maintained by the central control center module and broadcast to all virtual cam engines.

[0028] In practical applications, the dynamic coupling management module is responsible for coordinating the coupling relationships between multiple movers. It establishes or de-establishes cam follower relationships based on production needs. When multiple movers need to move synchronously, the dynamic coupling management module sends a coupling request to the relevant virtual cam engine, specifying the mover (i.e., the primary mover) of the corresponding virtual master axis and the mover (i.e., the secondary mover) of the corresponding virtual slave axis. Since each mover possesses a complete virtual cam engine, not only does this eliminate the dependence of all movers on a single control center, enhancing the system's scalability and supporting the dynamic addition or removal of movers without reconfiguring the main control center module, but it also enables each mover to have autonomous computational capabilities, allowing it to independently execute complex motion curves, significantly reducing the computational burden on the main control center module (e.g., by approximately 75%).

[0029] Furthermore, the aforementioned multi-motor dynamic coupling synchronous transmission system achieves multi-level, mesh-like dynamic coupling relationships, breaking through the existing master-slave single-chain structure. This allows the system to support more complex collaborative modes, such as a single active motor establishing coupling relationships of varying strengths with multiple passive motors simultaneously, or rapidly switching passive motors at different stages, providing unprecedented flexibility for complex processes. Simultaneously, by dynamically adjusting the motor cooperation relationships and optimizing material flow paths, waiting time is reduced, resulting in a 30% increase in system utilization.

[0030] Furthermore, when a slave component malfunctions, the system can reconstruct the collaborative relationship within milliseconds, minimizing the impact. It can also be extended to three-dimensional spatial coupling control, introducing the concept of a spatial cam to achieve coordinated movement of multiple actuators in three-dimensional space, providing technical support for scenarios such as spatial assembly and automated warehousing. In some scenarios, a decentralized point-to-point communication mode can replace the virtual spindle broadcast mechanism, with each actuator directly establishing a temporary communication link with its relevant slave components, reducing dependence on central communication facilities and enriching the system's application scenarios.

[0031] Example 1

[0032] Based on the aforementioned multi-motor dynamic coupling synchronous transmission system, this invention provides a multi-motor control method. For ease of explanation, this example uses a multi-motor dynamic coupling synchronous transmission system comprising one active motor and one passive motor. Figure 1 As shown, mover 1 is the active mover, and mover 2 is the passive mover.

[0033] like Figure 2 As shown, the method includes the following steps:

[0034] Step S202: Obtain the motion information of the active component and determine the first processing information based on the motion information of the active component.

[0035] The motion information of the active actuator includes its first current position. In practical applications, each actuator is also equipped with a position detector to detect its real-time position and / or real-time velocity and / or real-time acceleration. Therefore, the first current position of the actuator (i.e., the position of the actuator during motion information detection) can be obtained through the position detector corresponding to the actuator. It should be noted that in some scenarios, the motion information of the actuator may include not only the first current position but also the first current velocity and the first current acceleration, etc., which can be set according to the actual situation.

[0036] After obtaining the first current position of the actuator, the first processing information is determined based on the motion information of the actuator; specifically, the first current position of the actuator is mapped to the first current angle of the virtual spindle in the electronic cam.

[0037] In practical applications, electronic cams are software systems that use constructed cam curves to simulate mechanical cams, achieving the same nonlinear motion between the camshaft and master axis as in mechanical cam systems. Electronic cams, also known as virtual cam architectures, generally include multiple components such as a virtual cam engine, a virtual master axis, a virtual slave axis, and a control system software platform. Through the collaborative work of the virtual cam engine, virtual master axis, and virtual slave axis, the motion control function of the entire system is realized, completing complex multi-axis coordinated motion control tasks. Here, the virtual master axis can be understood as a virtual reference axis, typically representing the motion of the driving axis. It can be an abstraction of an actual physical axis or a completely virtual axis. In this embodiment of the invention, a virtual master axis is used to represent the motion of the driving axis; similarly, a virtual slave axis is used to represent the motion of the slave axis.

[0038] Therefore, once the first current position of the actuator is obtained, the angle corresponding to the virtual spindle in the electronic cam can be determined based on the first current position of the actuator. For ease of explanation, the angle of the virtual spindle corresponding to the first current position of the actuator is referred to as the first current angle. That is, the first current position of the actuator is mapped to the first current angle of the virtual spindle in the electronic cam, so that the virtual cam engine can use the virtual spindle as the drive source, determine the motion parameters of the virtual slave axis based on the motion state of the virtual spindle and the cam curve, and control the corresponding slave according to the motion parameters of the virtual slave axis, thereby realizing the control of multiple actuators.

[0039] It should be noted that the first processing information includes, but is not limited to, the first current angle of the virtual principal axis. In some scenarios, it may also include the first current angular velocity of the virtual principal axis corresponding to the first current velocity of the active element, the first current angular acceleration of the virtual principal axis corresponding to the first current acceleration of the active element, etc. The specific settings can be made according to the actual situation.

[0040] Step S204: Obtain the motion information of the slave and determine the second processing information based on the motion information of the slave.

[0041] Similarly, for a follower, the motion information of the follower can be detected by the corresponding position detector. The motion information of the follower includes the first current position and the first current velocity of the follower, that is, the position and velocity of the follower at the moment of motion information detection. In some scenarios, in addition to the first current position and the first current velocity, the motion information of the follower also includes the first current acceleration of the follower at the moment of motion information detection. The specific information can be adaptively adjusted according to the actual situation.

[0042] After obtaining the motion information of the follower, 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 follower axis in the electronic cam, and the first current velocity of the follower is mapped to the first current angular velocity of the virtual follower axis, so as to realize the control of the corresponding follower through the virtual follower axis, and thus realize the control of multiple followers.

[0043] 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 slave. The specific settings can be made according to the actual situation.

[0044] Step S206: Determine the first control parameter based on the first processing information and the second processing information, and determine the first smooth transition curve based on the first control parameter.

[0045] Specifically, the first smooth transition curve is determined in the following two ways:

[0046] (1) First determination method: Determine the first target time and the first target angle based on the first current angle of the virtual master axis and the preset mapping relationship between the angle and time of the virtual master axis; wherein, the first target angle is the angle of the virtual master axis at the first target time; determine the second target angle based on the first target time and the first target angle; wherein, the second target angle is the angle of the virtual slave axis at the first target time; determine the 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; determine the first smooth transition curve based on the first current angle of the virtual slave axis, the first angle difference and the first target time.

[0047] Specifically, after determining the first current angle of the virtual master axis and the first current angle of the virtual slave axis, the angle of the virtual master axis at a future specified time 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, and the driving element generally moves regularly or according to a certain plan, the angle information at any time within 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 time in the future and the first target angle of the virtual master axis corresponding to the first target time can be determined based on the preset mapping relationship between the angle and time of the virtual master axis.

[0048] Furthermore, the synchronous motion of the active and passive components means that the distance between them remains constant. Therefore, after determining the first target angle of the virtual primary axis at the first target time, the second target angle of the virtual secondary axis at the first target time can be determined based on the first target time and the first target angle. Additionally, the corresponding first angle difference is calculated based on the first current angle of the virtual secondary axis and the second target angle at the first target time. A first smooth transition curve is then determined based on the first current angle of the virtual secondary axis, the first angle difference, and the first target time. This first smooth transition curve is a smooth angular velocity change curve, such as controlling the virtual secondary axis to accelerate uniformly, accelerate to uniform speed, decelerate to uniform speed, accelerate to uniform speed, decelerate to uniform speed, etc.

[0049] (2) 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 the first smooth transition curve based on the ratio and the preset threshold.

[0050] Specifically, if the ratio is greater than a preset threshold and the active component moves at a constant speed, a first smooth transition curve is generated to control the virtual slave axis to move at a constant acceleration or a constant acceleration-constant speed motion; or, if the ratio is less than a preset threshold and the active component moves at a constant speed, a first smooth transition curve is generated to control the virtual slave axis to move at a constant deceleration or a constant deceleration-constant speed motion.

[0051] The preset threshold is preferably 1. When the ratio is greater than 1, it indicates that the distance between the active and passive 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 make the passive accelerate relative to the active. Therefore, when the active moves at a constant speed, the first smooth transition curve generated at this time must satisfy the virtual passive axis to perform uniform acceleration or uniform acceleration-uniform speed movement, so as to realize the synchronous movement of the passive and active.

[0052] Similarly, when the ratio is less than 1, it means that the distance between the active and passive is too small, that is, the current angle difference is too small. At this time, it is necessary to use the first smooth transition curve to make the passive decelerate relative to the active. Therefore, when the active moves at a constant speed, the first smooth transition curve generated at this time must satisfy the virtual passive axis to perform uniform deceleration or uniform deceleration-uniform speed movement in order to achieve synchronous movement of the passive and active.

[0053] Therefore, based on the motion information of the active and passive motors, a first smooth transition curve is flexibly generated using a deterministic method. The motion of the passive motor is then controlled based on the first control information determined by the first smooth transition curve. This not only achieves high-precision coordinated motion of multiple motors on complex paths but also ensures that there is no impact during coupling / decoupling of the multiple motors, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system. It should be noted that the specific values ​​of the preset threshold and the preset synchronization interval angle can be adaptively set according to actual conditions, and this embodiment of the invention does not impose any limitations on this.

[0054] Step S208: Determine the first control information based on the first smooth transition curve, and control the motion of the slave according to the first control information until the slave and the driving element achieve synchronous motion.

[0055] Once the first smooth transition curve is determined, the first control information can be determined based on the first smooth transition curve. When the first smooth transition curve is generated using the first determination method, the first control information includes, but is not limited to, the slave position difference corresponding to the first angle difference and the first target time, as well as the motion time required for the slave to complete the slave position difference, etc. Thus, when the slave is controlled to move according to the first control information, the synchronous motion of the slave and the driving force can be achieved.

[0056] Furthermore, when the first smooth transition curve is generated using the second determination method, 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 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 realized.

[0057] The multi-motor control method provided in this invention first determines first processing information based on the motion information of the active motor and second processing information based on the motion information of the passive motor. Then, it determines first control parameters based on the first and second processing information and a first smooth transition curve based on the first control parameters. Finally, it determines first control information based on the first smooth transition curve and controls the movement of the passive motor according to the first control information until the passive motor and the active motor achieve synchronous movement. This control method, by generating a first smooth transition curve based on the motion information of the active and passive motors and controlling the movement of the passive motor based on the first control information determined by the first smooth transition curve, not only achieves high-precision coordinated movement of multiple motors on complex paths but also ensures that there is no impact during the coupling process, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronous transmission system.

[0058] In practical applications, when controlling the slave according to the first smooth transition curve, since the slave and the driving element eventually achieve synchronized motion, the above control process can also be called the synchronization stage, that is, the stage in which the slave and the driving element gradually achieve synchronized motion from asynchronous motion. In the synchronization stage, the control methods for multiple moving parts are mainly divided into the following two cases:

[0059] (A1) First, obtain the motion information of the active component and the motion information of the passive component; wherein, the motion information of the active component includes the first current position of the active component, and the motion information of the passive component includes the first current position and the first current velocity of the passive component; then, determine the first processing information based on the motion information of the active component, that is, map the first current position of the active component to the first current angle of the virtual master axis in the electronic cam; determine the second processing information based on the motion information of the passive component, that is, map the first current position of the passive component to the first current angle of the virtual slave axis in the electronic cam, and map the first current velocity of the passive component to the first current angular velocity of the virtual slave axis.

[0060] Next, 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. Specifically, a first target time and a first target angle of the virtual master axis at the first target time are determined based on the first current angle of the virtual master axis and the preset mapping relationship between the angle and time of the virtual master axis. A second target angle of the virtual slave axis at the first target time is determined based on the first target time 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. The 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 time. Finally, first control information is determined based on the first smooth transition curve, and the slave motion is controlled based on the first control information until the slave and master motions are synchronized.

[0061] (A2) First, obtain the motion information of the active component and the motion information of the passive component; wherein, the motion information of the active component includes the first current position of the active component, and the motion information of the passive component includes the first current position and the first current velocity of the passive component; then, determine the first processing information based on the motion information of the active component, that is, map the first current position of the active component to the first current angle of the virtual master axis in the electronic cam; determine the second processing information based on the motion information of the passive component, that is, map the first current position of the passive component to the first current angle of the virtual slave axis in the electronic cam, and map the first current velocity of the passive component to the first current angular velocity of the virtual slave axis.

[0062] Next, 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. 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 the preset synchronization interval angle is calculated. The first smooth transition curve is generated based on the ratio and the preset threshold. Finally, first control information is determined based on the first smooth transition curve, and the slave motion is controlled based on the first control information until the slave and master motion are synchronized.

[0063] Therefore, in the synchronization stage, a first smooth transition curve is generated based on the motion information of the active and passive motors, and the motion of the passive motor is controlled based on the first control information determined by the first smooth transition curve. This not only achieves high-precision coordinated motion of multiple motors under complex paths, but also ensures that there is no impact during the coupling / decoupling process of multiple motors, thereby improving the flexibility and adaptability of the multi-motor dynamic coupling synchronization transmission system. It should be noted that the specific processes of each step in (A1) and (A2) above can be referred to the foregoing embodiments, and the embodiments of the present invention will not be described in detail here.

[0064] Example 2

[0065] After the slave and the driving element achieve synchronized motion, a synchronization maintenance phase is set after the synchronization phase to ensure the synchronization effect. For the synchronization maintenance phase, the multi-driving element control method provided in this embodiment of the invention further includes: acquiring the motion information of the driving element, determining third processing information based on the motion information of the driving element; determining second control information based on the third processing information and a preset corresponding curve, and controlling the motion of the slave element based on the second control information so that the slave and the driving element maintain synchronized motion.

[0066] During the synchronization maintenance phase, the motion information of the active component includes its second current position. Based on this motion information, third processing information is determined, including mapping the second current position of the active component to the second current angle of the virtual master axis in the electronic cam. Furthermore, based on the third processing information and a preset corresponding curve, second control information is determined, and the motion of the slave component is controlled according to this second control information. Specifically, this involves determining the third target angle and target angular velocity of the virtual slave axis 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; determining the theoretical position of the virtual slave axis based on the third target angle and target angular velocity; determining the theoretical position of the slave component based on the theoretical position of the virtual slave axis; and controlling the motion of the slave component based on its theoretical position.

[0067] In practical applications, the electronic cam table also stores preset corresponding curves, which define the motion state (angle, angular velocity, angular acceleration, etc.) of the virtual slave axis at each angular position of the virtual master axis. This can be understood as a virtual "cam profile". During the synchronization maintenance phase, the second current position of the driving element is acquired in real time or periodically, and the second current angle of the virtual master axis is obtained based on the second current position of the driving element. At this time, based on the second current angle of the virtual master axis and the preset corresponding curve, the third target angle and target angular velocity of the virtual slave axis can be determined. Then, based on the third target angle and target angular velocity of the virtual slave axis, the theoretical position of the virtual slave axis can be determined, and the second control information, i.e., the theoretical position of the corresponding follower, is determined based on the theoretical position of the follower. Thus, the movement of the follower is controlled based on the theoretical position of the follower, so that the follower and the driving element maintain synchronous movement.

[0068] Furthermore, during the motion control of the slave, the real-time position of the slave is acquired and mapped to the real-time angle of the virtual slave axis. 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.). The corresponding slave is adjusted according to the adjustment of the virtual slave axis. After the adjustment is completed, it is determined whether the angle difference exceeds the preset allowable range. If it does, 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 driving force.

[0069] Example 3

[0070] After maintaining synchronization, there is also a phase of exiting synchronization, where the active and passive units switch from synchronized motion to asynchronous motion (i.e., independent motion). For the phase of exiting synchronization, the multi-active unit control method provided in this embodiment further includes: acquiring motion information of the active unit or the passive unit; determining fourth processing information based on the acquired motion information of the active or passive unit; determining second control parameters based on the fourth processing information; determining a second smooth transition curve based on the second control parameters; determining third control information based on the second smooth transition curve; and controlling the motion of the passive unit based on the third control information until the passive unit transitions from synchronized motion with the active unit to independent motion.

[0071] Specifically, during the synchronization exit phase, the motion information of the active component can be obtained, and a second smooth transition curve can be determined based on this information. Alternatively, the motion information of the passive component can be obtained, and a second smooth transition curve can be determined based on this information. The following provides a detailed explanation of both scenarios:

[0072] (1) If the motion information of the active element is obtained, then in the exit synchronization stage, the motion information of the active element includes the third current position and current velocity of the active element. At this time, the fourth processing information is determined according to 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 spindle in the electronic cam, and the current velocity of the active element is mapped to the current angular velocity of the virtual spindle.

[0073] At this point, the fourth processing information includes the third current angle and current angular velocity of the virtual master axis. The second control parameters are determined based on the fourth processing information, and the second smooth transition curve is determined based on the second control parameters. Specifically, the second target time 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 time; and 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 time.

[0074] 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 based on the second control parameters. The second smooth transition curve controls the virtual slave axis to move in the following ways: uniform acceleration, uniform acceleration-uniform speed, uniform deceleration-uniform speed, uniform acceleration-uniform deceleration-uniform speed, etc.

[0075] Furthermore, the third control information is determined based on the second smooth transition curve. For example, the theoretical position of the follower is determined based on the fourth target angle of the virtual follower axis, and the motion duration of the follower is determined based on the second target time. The theoretical position and motion duration of the follower are used as the third control information. When the follower is controlled to move according to the third control information, the follower can transition from synchronous motion with the master to independent motion, that is, the follower exits the synchronous motion with the master.

[0076] (2) If the motion information of the follower is obtained, then in the exit synchronization stage, the motion information of the follower includes the second current position and the second current velocity of the follower. Based on the obtained motion information of the follower, the fourth processing information is determined as follows: the second current position of the follower is mapped to the second current angle of the virtual follower axis in the electronic cam, and the second current velocity of the follower is mapped to the second current angular velocity of the virtual follower axis.

[0077] At this time, the fourth processing information includes the second current angle and the 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 time 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 time; 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 time.

[0078] The above steps can be referenced from the aforementioned embodiments. Therefore, in the synchronization exit phase, by acquiring the motion information of the active or passive element, and determining a second smooth transition curve based on the motion information of the active or passive element, and determining third control information based on the second smooth transition curve, the movement of the passive element is controlled according to the third control information, so that the passive element switches from a state synchronized with the active element to an independent operating state, realizing the exit of the active and passive elements from the synchronized state. Furthermore, in the synchronization exit phase, controlling the movement of the passive element through the third control information determined by the second smooth transition curve not only achieves high-precision coordinated movement of multiple elements under complex paths, but also ensures no impact during the decoupling process of multiple elements, thereby improving the flexibility and adaptability of the multi-element dynamic coupling synchronization transmission system.

[0079] In summary, the multi-mover control method provided by the embodiments of the present invention not only introduces an electronic cam, which can calculate a smooth transition curve in real time, but also achieves smooth switching of coupling / decoupling states of multiple movers in any motion state compared with the existing method using a predefined static cam curve. This reduces transition shock by more than 90%, shortens the synchronization switching time to less than 100ms, and maintains a synchronization accuracy of ±0.05mm.

[0080] Furthermore, this embodiment of the invention also provides a multi-motor dynamic coupling synchronization transmission system, including: a controller and a plurality of motors; wherein, the controller is used to determine the active and passive motors among the plurality of motors, and to perform synchronous control on the plurality of motors using the method embodiment described above. Specific multi-motor dynamic coupling synchronization transmission systems can be found in the foregoing embodiments, and will not be described in detail here.

[0081] The multi-motor dynamic coupling synchronous transmission system provided in this embodiment of the invention has the same technical features as the multi-motor control method provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0082] This embodiment also provides a machine-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by the processor, the machine-executable instructions cause the processor to implement the above-described multi-motor control method.

[0083] 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 methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0084] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0085] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0086] If the aforementioned 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 this invention, essentially, or the part 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 several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0087] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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.

[0088] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. 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 foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-motor control method applied to a multi-motor dynamic coupling synchronous transmission system, the multi-motor dynamic coupling synchronous transmission system comprising one active motor and at least one passive motor, characterized in that, The method includes: Obtain the motion information of the active component, and determine the first processing information based on the motion information of the active component; Obtain the motion information of the follower, and determine the second processing information based on the motion information of the follower; 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; 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 driving element achieve synchronous movement.

2. The method according to claim 1, characterized in that, The motion information of the actuator includes the first current position of the actuator, and the step of determining the first processing information based on the motion information of the actuator includes: mapping the first current position of the actuator to the first current angle of the virtual spindle in the electronic cam; The motion information of the follower includes the first current position and the first current velocity of the follower. The step of determining the second processing information based on the motion information of the follower includes: mapping the first current position of the follower to the first current angle of the virtual follower axis in the electronic cam, and mapping the first current velocity of the follower to the first current angular velocity of the virtual follower axis.

3. The method according to claim 2, characterized in that, The step of 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, includes: Based on the first current angle of the virtual spindle and the preset mapping relationship between the angle and time of the virtual spindle, a first target time and a first target angle are determined; wherein, the first target angle is the angle of the virtual spindle at the first target time; A second target angle is determined based on the first target time and the first target angle; wherein, the second target angle is the angle of the virtual slave axis at the first target time; Based on the first current angle and the second target angle of the virtual slave axis, a first angle difference between the first current angle and the second target angle of the virtual slave axis is determined; The 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 time.

4. The method according to claim 2, characterized in that, The step of 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, includes: 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; The first smooth transition curve is generated based on the ratio and the preset threshold.

5. The method according to claim 4, characterized in that, The step of generating the first smooth transition curve based on the ratio and the preset threshold includes: If the ratio is greater than the preset threshold, and the active component moves at a constant speed, then a first smooth transition curve is generated to control the virtual slave axis's uniformly accelerated motion or uniformly accelerated-uniform motion; or, If the ratio is less than the preset threshold, and the active component moves at a constant speed, then a first smooth transition curve is generated to control the virtual slave axis to move at a constant deceleration or a constant deceleration-constant speed.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the motion information of the active component, and determine the third processing information based on the motion information of the active component; Based on 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 so that the slave and the driving element move synchronously.

7. The method according to claim 6, characterized in that, The motion information of the actuator includes the second current position of the actuator, and the step of determining the third processing information based on the motion information of the actuator includes: mapping the second current position of the actuator to the second current angle of the virtual spindle in the electronic cam; The step of 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, includes: 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 the 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 the target angular velocity; The theoretical position of the follower is determined based on the theoretical position of the virtual follower axis, and the movement of the follower is controlled based on the theoretical position of the follower.

8. The method according to claim 1, characterized in that, The method further includes: Obtain the motion information of the active component or the motion information of the driven component, and determine the fourth processing information based on the obtained motion information of the active component or the motion information of the driven component; 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; The third control information is determined based on the second smooth transition curve, and the movement of the slave is controlled according to the third control information until the slave transitions from synchronous movement with the driving element to independent movement.

9. The method according to claim 8, characterized in that, The motion information of the actuator includes the third current position and current velocity of the actuator. The step of determining the fourth processing information based on the motion information of the actuator includes: mapping the third current position of the actuator to the third current angle of the virtual spindle in the electronic cam, and mapping the current velocity of the actuator to the current angular velocity of the virtual spindle. The step of determining the second control parameter based on the fourth processing information and determining the second smooth transition curve based on the second control parameter includes: determining the second target time and the fourth target angle based on the third current angle of the virtual spindle and the preset mapping relationship between the angle and time of the virtual spindle; 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 based on 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 the second current position and the second current velocity of the follower. The step of determining the fourth processing information based on the obtained motion information of the follower includes: mapping the second current position of the follower to the second current angle of the virtual follower axis in the electronic cam, and mapping the second current velocity of the follower to the second current angular velocity of the virtual follower axis. The step of determining the second control parameter based on the fourth processing information and determining the second smooth transition curve based on the second control parameter includes: determining the third target time and the fifth target angle 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 time; 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 time.

Images