A method and apparatus for driving control of a motor topology, and a motor system

Abstract

The present application relates to the field of communication control, and particularly relates to a driving control method and device of motor topology structure and a motor system.The method comprises the following steps: sending an execution parameter to a motor and obtaining a real-time parameter; when obtaining the real-time parameter of one motor, if the real-time parameter of the motor is inconsistent with the execution parameter sent to the motor, the motor is determined as an abnormal motor; determining the emergency degree and adjustment parameter of the abnormal motor; determining the correlation value of the abnormal motor and other motors and sorting the other motors to obtain the correlation sorting of the abnormal motor; selecting the same number of execution parameters as the number of abnormal motors from the execution parameters not sent in the current polling cycle to perform a reduction operation; inserting the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle, reordering the execution parameters not sent in the current polling cycle, and sending the execution parameters to corresponding motors.The present application solves the problem of increasing total time length.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication control, in particular to a driving control method and device of motor topology structure and a motor system. BACKGROUND

[0002] In a multi-motor driving control system, a star topology connection structure is usually adopted. The star topology is that a main controller directly connects all the drivers, and a polling mode is adopted to successively issue instructions to the drivers and acquire real-time states of the motors corresponding to the drivers.

[0003] In the polling process, if it is found that the real-time state of a motor does not reach a state required by the originally issued instruction, the main controller will interrupt the polling cycle, and send an adjustment instruction to the motor to make the real-time state of the motor reach the state required by the originally issued instruction.

[0004] In this way, the polling cycle is interrupted every time the real-time state of a motor does not meet the requirements, and adjustment processing is performed, so that the total time length of completing the entire action is prolonged, and the problem of a longer total time length exists. SUMMARY

[0005] Therefore, it is necessary to provide a driving control method and device of motor topology structure and a motor system to solve the above problems.

[0006] The embodiment of the present application is implemented in the following manner. A driving control method of motor topology structure comprises the following steps.

[0007] S101, sending an execution parameter to a motor according to a sending order of the execution parameter in a polling cycle and acquiring a real-time parameter of the motor;

[0008] S102, determining an abnormal motor when it is found that the real-time parameter of the motor does not reach a state required by the execution parameter sent to the motor after acquiring the real-time parameter of the motor each time;

[0009] S103, determining an emergency degree and an adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor;

[0010] S104, determining an association value of the abnormal motor and other motors according to a connection relationship of the abnormal motor in a system joint, and sorting the other motors according to the association value to obtain an association sorting of the abnormal motor;

[0011] S105, selecting the same number of execution parameters as the number of abnormal motors from execution parameters not sent in the current polling cycle according to the association sorting of the abnormal motor, and performing a reduction operation on the selected execution parameters;

[0012] S106, inserting the adjustment parameter of the abnormal motor into the execution parameter not sent in the current polling cycle according to the emergency degree of the abnormal motor, reordering the execution parameter not sent in the current polling cycle according to the association order of the abnormal motor and sending the execution parameter to the corresponding motor.

[0013] In one embodiment, the application provides a driving control device of a motor topology structure, which comprises:

[0014] The sending execution parameter module is configured to send the execution parameter to the motor according to the sending order of the motor in the polling cycle and acquire the real-time parameter of the motor.

[0015] The determining abnormal motor module is configured to determine the motor as an abnormal motor if the real-time parameter of the motor is inconsistent with the execution parameter sent to the motor after acquiring the real-time parameter of the motor.

[0016] The determining abnormal data module is configured to determine the emergency degree and the adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor.

[0017] The determining association order module is configured to determine the association value of the abnormal motor and other motors according to the connection relationship of the abnormal motor in the system joint and sort other motors according to the association value to obtain the association order of the abnormal motor.

[0018] The reducing execution parameter module is configured to select the same number of execution parameters as the number of abnormal motors from the execution parameters not sent in the current polling cycle according to the association order of the abnormal motor and perform a reducing operation.

[0019] The adjusting execution parameter module is configured to insert the adjustment parameter of the abnormal motor into the execution parameter not sent in the current polling cycle according to the emergency degree of the abnormal motor, reorder the execution parameter not sent in the current polling cycle according to the association order of the abnormal motor and send the execution parameter to the corresponding motor.

[0020] In one embodiment, the application provides a motor system, which comprises a plurality of motors and a computer device.

[0021] The motor is connected to the computer device and is configured to move according to the execution parameter of the computer device and send the real-time parameter to the computer device.

[0022] The computer device is configured to execute the steps of the driving control method of the motor topology structure.

[0023] The method for driving and controlling the motor topology structure provided by the embodiment of the application sends an execution parameter to a motor and obtains a real-time parameter of the motor according to the sending order of the execution parameter in a polling cycle; determines whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor every time the real-time parameter of the motor is obtained, and if not, determines the motor as an abnormal motor; determines the emergency degree and an adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor; determines the correlation value of the abnormal motor and other motors according to the connection relationship of the abnormal motor in a system joint, and sorts the other motors according to the correlation value to obtain the correlation sorting of the abnormal motor; selects the same number of execution parameters as the number of the abnormal motor from the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor, and performs a reduction operation; inserts the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, reorders the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor, and sends the execution parameters to the corresponding motor. In this way, when an abnormal motor occurs, the adjustment parameter of the abnormal motor is inserted into the execution parameters not sent in the current polling cycle, and the execution parameters not sent in the current polling cycle are reduced and reordered to ensure that the number of the execution parameters not sent does not change, and the length of the polling cycle does not change, so that the current polling cycle does not need to be interrupted, but the execution parameters not sent in the polling cycle are replaced, so that the total time of the entire action is not delayed, and the problem of the total time being too long is solved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A flowchart of a method for driving and controlling a motor topology structure in an embodiment;

[0025] Figure 2 A connection diagram between a motor and a motor;

[0026] Figure 3 A structure block diagram of a driving control device for a motor topology structure in an embodiment;

[0027] Figure 4 A structure block diagram of a motor system in an embodiment;

[0028] Figure 5 An internal structure block diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the application clearer, further detailed descriptions will be given to the application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0030] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various elements herein, but unless specifically stated otherwise, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0031] like Figure 1 As shown, in one embodiment, a drive control method for a motor topology is proposed, which may specifically include the following steps:

[0032] S101, Send execution parameters to the motor according to the sending order of execution parameters in the polling cycle and obtain the real-time parameters of the motor;

[0033] S102, for each motor whose real-time parameters are obtained, determine whether the real-time parameters of the motor are consistent with the execution parameters sent to the motor. If not, determine the motor as an abnormal motor.

[0034] S103, determine the urgency level and adjustment parameters of the abnormal motor based on the real-time parameters of the abnormal motor;

[0035] S104, Determine the association value between the abnormal motor and other motors based on the connection relationship of the abnormal motor in the system joint, and sort the other motors according to the association value to obtain the association ranking of the abnormal motor.

[0036] S105, based on the association sorting of abnormal motors, select execution parameters whose quantity is the same as the number of abnormal motors from the execution parameters not sent in the current polling cycle and perform a deletion operation;

[0037] S106, based on the urgency of the abnormal motor, insert the adjustment parameters of the abnormal motor into the execution parameters that have not been sent in the current polling cycle, reorder the execution parameters that have not been sent in the current polling cycle according to the association order of the abnormal motor, and send the execution parameters to the corresponding motor.

[0038] In this embodiment, the computer device sends execution parameters to each motor sequentially according to the motor number. The time required to send parameters to each motor is the polling cycle length. The number of bytes of execution parameters sent by the computer device to each motor is the same, meaning the communication time between the computer device and each motor is the same. Therefore, the polling cycle remains constant. The execution parameters are control instructions, typically including the target position, target speed, and control word. Differences in the target position and target speed do not affect the number of bytes in the execution parameters.

[0039] In the embodiment, the polling period refers to the polling period of the execution parameter, and also refers to the polling period of the motor, because each execution parameter is one-to-one corresponding to the motor. For example, the first execution parameter is sent to the motor 1, and the second execution parameter is sent to the motor 2.

[0040] In the embodiment, sending the execution parameter to the motor and obtaining the real-time parameter of the motor do not necessarily occur continuously, that is, after sending the execution parameter to the motor 1, the real-time parameter of the motor 1 is not generated and obtained. In the polling period, only the execution parameter is sent, and the computer device sends and receives data without interference. As long as the channel receiving data has no data transmission, the real-time parameter of the motor can be directly received.

[0041] In the embodiment, the execution parameter has the information of the target position, when the motor receives the execution parameter, it will rotate to the target position, and then generate the real-time parameter of the current position and send it to the computer device. If the motor is normal, the target position in the execution parameter and the current position in the real-time parameter will be consistent, at this time, it can be judged that the real-time parameter of the motor is consistent with the execution parameter sent to the motor. Of course, an error range can be set here, for example, the real-time parameter within plus or minus 5% of the execution parameter can be considered consistent. If the motor does not rotate to the target position due to communication interruption, aging, etc., the current position in the real-time parameter will not be consistent with the target position in the execution parameter, at this time, it can be judged that the real-time parameter of the motor is inconsistent with the execution parameter sent to the motor, and the motor can be determined as an abnormal motor. Similarly, if an error range is set, it will be considered inconsistent only when it exceeds the error range.

[0042] In the embodiment, the abnormal motor needs to be determined again at the beginning of each polling period. There can be multiple abnormal motors determined in one polling period.

[0043] In the embodiment, the emergency degree of the abnormal motor represents the urgency of the motor to be processed, and the higher the emergency degree, the earlier it needs to be sent.

[0044] In the embodiment, as shown in Figure 2 For example, a robot arm, the motor is usually at the joint, and the motor is directly fixed to the structural member, which can be considered as connected between the motors through the structural member. In this way, the robot arm can be considered as a system, and the connection relationship of the joints of the system is the connection relationship between the motors.

[0045] In the embodiment, in S105 and S106, if the adjustment parameters of the abnormal motor need to be inserted into the current polling cycle, the whole polling cycle is delayed if the number of the execution parameters not sent in the polling cycle does not change, which is the same as interrupting the polling cycle, so the execution parameters not sent in S105 need to be pruned.

[0046] The driving control method of the motor topology structure provided by the embodiment determines whether the real-time parameters of the motor are consistent with the execution parameters sent to the motor, if not, the motor is determined as an abnormal motor; determines the emergency degree and the adjustment parameters of the abnormal motor according to the real-time parameters of the abnormal motor; determines the correlation value of the abnormal motor and other motors according to the connection relationship of the abnormal motor in the system joint and sorts other motors according to the correlation value to obtain the correlation sorting of the abnormal motor; selects the same number of execution parameters as the number of the abnormal motor from the execution parameters not sent in the current polling cycle for pruning operation according to the correlation sorting of the abnormal motor; inserts the adjustment parameters of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, reorders the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor and sends the execution parameters to the corresponding motor. In this way, when the abnormal motor appears, the adjustment parameters of the abnormal motor are inserted into the execution parameters not sent in the current polling cycle, and the execution parameters not sent in the current polling cycle are pruned and reordered to ensure that the number of the execution parameters not sent does not change, and the length of the polling cycle does not change, so the current polling cycle does not need to be interrupted, but the execution parameters not sent in the polling cycle are replaced, so the total time of the whole action is not delayed, and the problem of the total time being too long is solved.

[0047] In one embodiment, the method comprises:

[0048] determining the execution parameters of each motor in the current polling cycle according to the target action;

[0049] sending the execution parameters of each motor in the current polling cycle to the corresponding motor through the motor topology structure according to the sending order of the execution parameters in the polling cycle;

[0050] obtaining the real-time parameters of each motor after the execution parameters are implemented.

[0051] In the embodiment, for example, the robot arm is required to pick up a cup, the action is the target action, the computer device sets the target position and target speed required to rotate in each polling cycle according to the target action, and generates all execution parameters.

[0052] In the embodiment, the motor topology structure herein refers to a star topology structure, that is, each motor is in communication connection with the computer device.

[0053] In an embodiment, the determining of the emergency degree and the adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor comprises:

[0054] obtaining the execution angle from the execution parameter of the abnormal motor ;

[0055] obtaining the real-time angle from the real-time parameter of the abnormal motor ;

[0056] obtaining the deviation degree of the abnormal motor ;

[0057] obtaining the importance rate p of the abnormal motor ;

[0058] judging whether the deviation degree is greater than a preset value, if yes, setting the emergency degree of the abnormal motor as 1, if no, obtaining the emergency degree of the abnormal motor ;

[0059] obtaining the adjustment parameter of the abnormal motor ;

[0060] wherein k1 is a first preset coefficient, a is the sending order of the execution parameter of the abnormal motor in the polling cycle, A is the maximum value of the sending order of the polling cycle, k2 is a second preset coefficient, b is the position order of the abnormal motor in the system joint, B is the maximum value of the position order of the system joint, and K is a preset value, is the deviation degree of the abnormal motor.

[0061] In the embodiment, the execution parameter herein is the target position, and the execution angle is the target position minus the current position. If the motor is not an abnormal motor, the execution angle is the new target position minus the previous target position. The real-time angle is the same.

[0062] In the embodiment, the deviation degree is determined only by the rotation angle.

[0063] In the embodiment, the sum of k1 and k2 is 1, and for the convenience of calculation, they can both be set as 0.5.

[0064] In the embodiment, the maximum value of the sending order of the polling cycle is the number of the motors. For example, there are 10 motors, and one polling cycle has 10 execution parameters to be sent, which correspond to the 10 motors respectively. At this time, A is equal to 10. If the execution parameter of the abnormal motor is the first to be sent in the polling cycle, then a is equal to 1.

[0065] In the embodiment, the maximum value of the position order of the system joint is the number of the motors. For example, there are 10 motors, and B is equal to 10. Taking a robot arm as an example, generally, the closer to the shoulder, the smaller the position order of the system joint, and the farther from the shoulder, the larger the position order of the system joint, such as the motor at the fingertips.

[0066] In the embodiment, the sending order of the polling cycle and the position order of the system joint are not necessarily the same. The sending order of the polling cycle execution parameter is related to the specification of the motor corresponding to the execution parameter. Taking a robot arm as an example, the rotation angle of the motor at the shoulder is generally larger than that of the motor at the fingertips in each target motion, so the instruction is usually sent to the motor at the shoulder first, and the sending order of the execution parameter corresponding to the motor at the shoulder in the polling cycle is earlier than that of the motor at the fingertips.

[0067] In the embodiment, the position order of the system joint is fixed, which is determined by the hardware structure, and the sending order of the polling cycle can be changed, which is determined by the target motion. The larger the value in the position order of the system joint, the higher the importance, and the smaller the value in the sending order of the polling cycle, the higher the importance.

[0068] In the embodiment, the preset value can be set to 20%.

[0069] In the embodiment, the range of the emergency degree is between 0 and 1. Therefore, when the deviation degree is greater than the preset value, the emergency degree is directly set to the maximum value, i.e. 1. When the deviation degree is not greater than the preset value, the emergency degree is determined by the deviation degree and the importance rate at this time.

[0070] In one embodiment, the association value of the abnormal motor and other motors is determined according to the connection relationship of the abnormal motor and the system joint, and the other motors are sorted according to the association value to obtain the association order of the abnormal motor, comprising:

[0071] For each abnormal motor, the abnormal motor is set as a first level node according to the connection relationship of the abnormal motor and the system joint;

[0072] For other motors B except the abnormal motor, the number i of the motors between the motor B and the abnormal motor is determined according to the connection relationship of the abnormal motor and the system joint, the motor B is set as the i-th level node, and the association value of the motor B and the abnormal motor is equal to i. level node;

[0073] determining the correlation value of the abnormal motor and other motors B according to the difference between the node level number of motor B and the node level number of the abnormal motor;

[0074] sorting the motors B according to the correlation value of the abnormal motor and other motors B from small to large to obtain a first sorting;

[0075] for the motors B with the same correlation value, sorting the motors B according to the connection distance from the abnormal motor from near to far to obtain a second sorting;

[0076] combining the first sorting and the second sorting to obtain the correlation sorting of the abnormal motor.

[0077] In the embodiment, for example, motor 1 is connected to motor 2, and motor 2 is connected to motor 3. The number i of the motors between motor 1 and motor 3 is 1, i.e. motor 2. Assuming that motor 1 is an abnormal motor, motor 2 is a second level node, and motor 3 is a third level node. The correlation value of motor 1 and motor 2 is 1, and the correlation value of motor 1 and motor 3 is 2. Since motor 2 is not an abnormal motor, the correlation value of motor 2 and motor 3 does not need to be determined.

[0078] In the embodiment, since one motor is connected to multiple motors, for example, the motors of the wrist part of a robot arm are connected to the motors of five fingers, the correlation values may be the same. At this time, the motors can be sorted according to the length of the structure between the two motors, i.e. the connection distance between the motors. If the connection distance is the same, the sorting of the two motors can be random.

[0079] In one embodiment, the selecting the same number of execution parameters as the number of abnormal motors from the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor includes:

[0080] increasing the number of execution parameters not sent in the current polling cycle to ensure that the number of execution parameters not sent in the current polling cycle is greater than or equal to the number of abnormal motors;

[0081] for each execution parameter not sent in the current polling cycle, determining whether the execution parameter not sent is a null parameter. If yes, the execution parameter not sent is determined as a first parameter;

[0082] determining whether the number of first parameters is greater than or equal to the number of abnormal motors. If yes, a first parameter with a number equal to the number of abnormal motors is randomly selected from the first parameters for deletion. If no, the first parameters are deleted and the number of the deleted first parameters is determined as a first number; obtaining the first number;

[0083] Sort the motors corresponding to the unsent execution parameters from large to small according to the associated order of the abnormal motors, to obtain a third order;

[0084] According to the third order, select the unsent execution parameters corresponding to the motors with the first number of motors to delete;

[0085] Wherein, M is the number of abnormal motors, and m1 is the number of first parameters.

[0086] In this embodiment, if the number of unsent execution parameters in the current polling cycle is less than the number of abnormal motors, then when the adjustment parameters of the abnormal motors are inserted into the unsent execution parameters in the current polling cycle, the current polling cycle will become longer, so it is necessary to ensure that the number of unsent execution parameters in the current polling cycle is greater than or equal to the number of abnormal motors.

[0087] In this embodiment, the length of a polling cycle is related to the number of motors, and all motors need to be accessed once in each polling cycle, so that the length of each polling cycle is the same. However, the execution parameter is determined by the target action, and there is a case where the motor does not need to move in a certain polling cycle. At this time, the execution parameter corresponding to the motor is an empty parameter, and the empty parameter can mean that the target position in the execution parameter has not been sent to change.

[0088] In this embodiment, when deleting, the empty parameter is preferentially selected for deletion. If the number of empty parameters is less than the number of abnormal motors, other execution parameters need to be deleted. When selecting other execution parameters for deletion, the execution parameter with a large associated value is preferentially selected for deletion, because the larger the associated value, the more motors the execution parameter corresponding to the abnormal motor is separated from, and the smaller the influence between them.

[0089] In this embodiment, for the case where the deleted execution parameter is not an empty parameter, it will not essentially affect the completion of the target action, because although the motor corresponding to the deleted execution parameter in the current polling cycle does not perform the action, the target position in the next polling cycle has been determined. The current polling cycle can be regarded as an overstep of the next polling cycle, for example, rotating to the position of 10 first, and then rotating to the position of 20. Even if the step of rotating to the position of 10 disappears, the step of rotating to the position of 20 will still be triggered. If the step of rotating to the position of 10 disappears in the next polling cycle, the corresponding motor will become an abnormal motor, which will be corrected by the step of the next polling cycle, and so on. Finally, the adjustment parameters of the abnormal motors are all replaced by empty parameters.

[0090] In one embodiment, the increasing the number of the execution parameters not sent in the current polling cycle to ensure that the number of the execution parameters not sent in the current polling cycle is greater than or equal to the number of the abnormal motors comprises:

[0091] S601, determining whether the number of the execution parameters not sent in the current polling cycle is greater than or equal to the number of the abnormal motors, if not, obtaining a second number by

[0092] S602, obtaining the execution parameters C with the second number according to the sending order of the execution parameters in the next polling cycle;

[0093] S603, determining whether the motor corresponding to the execution parameter in the execution parameters C is the abnormal motor, if not, removing the execution parameters C from the next polling cycle and incorporating into the current polling cycle, if yes, removing the execution parameters corresponding to the abnormal motor from the execution parameters C, removing the remaining execution parameters C from the next polling cycle and incorporating into the current polling cycle;

[0094] S604, repeating S601-S603 until the number of the execution parameters not sent in the current polling cycle is greater than or equal to the number of the abnormal motors;

[0095] Wherein, M is the number of the abnormal motors, and m2 is the number of the execution parameters not sent in the current polling cycle.

[0096] In the embodiment, obtaining the execution parameters C from the next polling cycle, removing the execution parameters C from the next polling cycle and incorporating into the current polling cycle will cause the next polling cycle to be shortened, but correspondingly, the current polling cycle will be lengthened, and from the perspective of the time length of the two polling cycles, the time length of the two polling cycles does not change.

[0097] In the embodiment, the motor corresponding to the execution parameters C obtained from the next polling cycle cannot include the abnormal motor obtained in the current polling cycle.

[0098] In one embodiment, the inserting the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor comprises:

[0099] sequencing the insertable positions in the execution parameters not sent in the current polling cycle to obtain a position sequence;

[0100] determining the position value of each position in the position sequence by

[0101] ​​According to the emergency degree of the abnormal motor from large to small, one abnormal motor is selected, and the adjustment parameter of the abnormal motor is matched to a position value closest to the emergency degree of the abnormal motor.

[0102] wherein x1 is the minimum value of the emergency degree of the abnormal motor, x2 is the maximum value of the emergency degree of the abnormal motor, j is the serial number of the position in the position sequence, and n is the total number of the positions in the position sequence.

[0103] In the embodiment, if there are execution parameter 1 and execution parameter 2, the insertable positions are the positions before execution parameter 1, between execution parameter 1 and execution parameter 2, and after execution parameter 2.

[0104] In the embodiment, since the value range of the emergency degree is between 0 and 1, x1 is 0 and x2 is 1.

[0105] In the embodiment, if there are three positions, the obtained positions are 1, 0.5 and 0 respectively. If the emergency degree of the abnormal motor is 0.6, the adjustment parameter of the abnormal motor is automatically matched to the position corresponding to the position value of 0.5, i.e. the second position. If the emergency degree of the next abnormal motor is 0.5, the adjustment parameter of the abnormal motor needs to be matched to the position corresponding to the position value of 0.5, i.e. the second position, and the adjustment parameter of the abnormal motor originally matched to the second position is pushed to the third position, i.e. the position of 0.

[0106] In one embodiment, the reordering of the execution parameters not sent in the current polling cycle according to the association sequence of the abnormal motor and sending the execution parameters to the corresponding motor comprises:

[0107] The position of the adjustment parameter of the abnormal motor is determined as the first position;

[0108] The execution parameters not sent after the first position are reordered according to the association sequence of the abnormal motor from small to large, and the last position corresponding to the sequence in the association sequence of the abnormal motor is determined;

[0109] The execution parameters not sent before the first position are reordered according to the association sequence of the abnormal motor from large to small, starting from the sequence of the last position corresponding to the sequence in the association sequence of the abnormal motor;

[0110] The execution parameters are sent to the corresponding motor according to the reordered current polling cycle.

[0111] In this embodiment, for example, there are a total of 5 positions. The adjustment parameters of the abnormal motor are located in the third position. Then, the motors in the fourth and fifth positions are reordered from small to large according to the association sort of the abnormal motor. The motors in the first and second positions are reordered from large to small according to the association sort of the abnormal motor. This allows the motors with smaller association values ​​with the abnormal motor to perform actions more synchronously.

[0112] In this embodiment, adjusting parameters is essentially the same as executing parameters.

[0113] like Figure 3 As shown, in one embodiment, a drive control device for a motor topology is provided, which may specifically include:

[0114] The module for sending execution parameters is used to send execution parameters to the motor according to the sending order of the motor in the polling cycle and to obtain the real-time parameters of the motor.

[0115] The abnormal motor identification module is used to determine whether the real-time parameters of each motor are consistent with the execution parameters sent to the motor. If not, the motor is identified as an abnormal motor.

[0116] The abnormal data identification module is used to determine the urgency of the abnormal motor and adjust the parameters based on the real-time parameters of the abnormal motor.

[0117] The association sorting module is used to determine the association value between the abnormal motor and other motors based on the connection relationship of the abnormal motor in the system joints, and sort the other motors according to the association value to obtain the association sort of the abnormal motor.

[0118] The module for removing execution parameters is used to select execution parameters that are the same number as the number of abnormal motors from the execution parameters that have not been sent in the current polling cycle, based on the association sort of the abnormal motors, and perform a removal operation on them.

[0119] The parameter adjustment module is used to insert the adjustment parameters of abnormal motors into the unsent execution parameters of the current polling cycle according to the urgency of the abnormal motors, and to reorder the unsent execution parameters of the current polling cycle according to the association order of the abnormal motors and send the execution parameters to the corresponding motors.

[0120] In this embodiment, the various modules of the drive control device for the motor topology are modularized from the method of the present invention. For a detailed explanation of each module, please refer to the corresponding content in the method section of the present invention. The embodiments of the present invention will not be repeated here.

[0121] like Figure 4 As shown, in one embodiment, a motor system is provided, which may specifically include: a plurality of motors and a computer device;

[0122] The motor is connected with the computer device, and is used for moving according to the execution parameter of the computer device and sending the real-time parameter to the computer device.

[0123] The computer device is used for executing the steps of the driving control method of the motor topology structure.

[0124] In the embodiment, the motors are connected through a structural member, as shown in the figure. Figure 2 The connection between the motor and the computer device is a communication connection, and is generally through a cable. If the motor is provided with a communication module, the motor can be connected with the computer device in a wireless manner.

[0125] The motor system provided by the embodiment of the application sends the execution parameter to the motor according to the sending sequence of the execution parameter in the polling cycle and acquires the real-time parameter of the motor; after acquiring the real-time parameter of one motor, it is judged whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor, and if not, the motor is determined as an abnormal motor; the emergency degree and the adjustment parameter of the abnormal motor are determined according to the real-time parameter of the abnormal motor; the correlation value of the abnormal motor and other motors is determined according to the connection relationship of the abnormal motor in the system joint, and the correlation sorting of the abnormal motor is obtained by sorting other motors according to the correlation value; the same number of execution parameters as the number of the abnormal motor is selected from the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor, and a deletion operation is performed; the adjustment parameter of the abnormal motor is inserted into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, the execution parameters not sent in the current polling cycle are reordered according to the correlation sorting of the abnormal motor, and the execution parameter is sent to the corresponding motor. In this way, when the abnormal motor appears, the adjustment parameter of the abnormal motor is inserted into the execution parameters not sent in the current polling cycle, and the execution parameters not sent in the current polling cycle are deleted and reordered to ensure that the number of the execution parameters not sent does not change, and the length of the polling cycle is unchanged, so that the current polling cycle does not need to be interrupted, but the execution parameters not sent in the polling cycle are replaced, so that the total time of the whole action is not delayed, and the problem that the total time is too long is solved.

[0126] Figure 5 The internal structure diagram of the computer device in one embodiment is shown. As shown in the figure, Figure 5As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement a drive control method for a motor topology provided in this embodiment of the invention. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the drive control method for a motor topology provided in this embodiment of the invention. The display screen of the computer device can be a liquid crystal display (LCD) or an electronic ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse, etc.

[0127] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0128] In one embodiment, the drive control device for a motor topology provided by this invention can be implemented as a computer program, and the computer program can be implemented in the form of, for example... Figure 5 The computer device shown is running the program. The computer device's memory can store the various program modules that make up the drive control device of this motor topology, for example... Figure 3 The module shown includes a parameter sending module, an abnormal motor identification module, an abnormal data identification module, an association sorting module, an execution parameter deletion module, and an execution parameter adjustment module. The computer program comprised of these modules causes the processor to execute the steps in a drive control method for a motor topology according to various embodiments of the present invention described in this specification.

[0129] For example, Figure 5 The computer device shown can be used as follows Figure 3 The drive control device for a motor topology shown executes step S101 via the parameter sending module; step S102 via the abnormal motor determination module; step S103 via the abnormal data determination module; step S104 via the association sorting module; step S105 via the parameter deletion module; and step S106 via the parameter adjustment module.

[0130] In one embodiment, a computer device is provided, which comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the following steps when executing the computer program:

[0131] S101, sending an execution parameter to a motor according to a sending order of the execution parameter in a polling cycle and obtaining a real-time parameter of the motor;

[0132] S102, determining whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor every time the real-time parameter of one motor is obtained, and if not, determining the motor as an abnormal motor;

[0133] S103, determining an emergency degree and an adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor;

[0134] S104, determining a correlation value of the abnormal motor and other motors according to a connection relationship of the abnormal motor at a joint of a system and sorting the other motors according to the correlation value to obtain a correlation sorting of the abnormal motor;

[0135] S105, selecting the same number of execution parameters as the number of the abnormal motor from the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor to perform a pruning operation;

[0136] S106, inserting the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, reordering the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor, and sending the execution parameters to the corresponding motor.

[0137] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to make the processor execute the following steps:

[0138] S101, sending an execution parameter to a motor according to a sending order of the execution parameter in a polling cycle and obtaining a real-time parameter of the motor;

[0139] S102, determining whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor every time the real-time parameter of one motor is obtained, and if not, determining the motor as an abnormal motor;

[0140] S103, determining an emergency degree and an adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor;

[0141] S104, determining a correlation value of the abnormal motor and other motors according to a connection relationship of the abnormal motor at a joint of a system and sorting the other motors according to the correlation value to obtain a correlation sorting of the abnormal motor;

[0142] S105, selecting a same number of execution parameters as the number of abnormal motors from the execution parameters not sent in the current polling cycle according to the associated ranking of the abnormal motors, and performing a pruning operation on the selected execution parameters;

[0143] S106, inserting the adjustment parameters of the abnormal motors into the execution parameters not sent in the current polling cycle according to the urgency of the abnormal motors, reordering the execution parameters not sent in the current polling cycle according to the associated ranking of the abnormal motors, and sending the execution parameters to the corresponding motors.

[0144] It should be understood that although each step in the flowchart of each embodiment of the present application is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in each embodiment can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0145] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a non-volatile computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments of each method. Among them, any reference to memory, storage, database or other medium used in each embodiment provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0146] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as there is no conflict, any combination of the technical features should be considered within the scope of the present disclosure.

[0147] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A method of driving control of a motor topology, characterized by, The driving control method of the motor topology structure comprises: S101, sending an execution parameter to a motor according to a sending order of the execution parameter in a polling cycle and obtaining a real-time parameter of the motor; S102, determining whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor every time the real-time parameter of the motor is obtained, and if not, determining the motor as an abnormal motor; S103, determining an emergency degree and an adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor; S104, determining a correlation value of the abnormal motor and other motors according to a connection relationship of the abnormal motor in a system joint and sorting the other motors according to the correlation value to obtain a correlation sorting of the abnormal motor; S105, selecting the same number of execution parameters as the number of the abnormal motor from the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor to perform a reduction operation; S106, inserting the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, reordering the execution parameters not sent in the current polling cycle according to the correlation sorting of the abnormal motor, and sending the execution parameters to the corresponding motor; The method comprises: Obtaining execution angle from execution parameters of abnormal electric machine ; Obtaining real-time angle from real-time parameters of abnormal motor ; obtained from an extent of deviation of the abnormal electric machine; obtained from obtaining an importance rate p of the abnormal motor; determining whether the deviation degree is greater than a preset value, if yes, setting the emergency degree of the abnormal motor as 1, if no, determining whether the emergency degree of the abnormal motor is greater than 0, if yes, setting the emergency degree of the abnormal motor as 1, if no, setting the emergency degree of the abnormal motor as 0 obtaining the emergency degree obtained from obtaining adjustment parameters for the abnormal electric machine; Wherein, k1 is a first preset coefficient, a is a sending order of the execution parameter corresponding to the abnormal motor in a polling period, A is a maximum value of the sending order of the polling period, k2 is a second preset coefficient, b is a position order of the abnormal motor at a system joint, B is a maximum value of the position order of the system joint, K is a preset value, is a deviation degree of the abnormal motor.

2. The drive control method of the motor topology according to claim 1, characterized in that, The method comprises: determining an execution parameter of each motor in the current polling cycle according to a target action; sending the execution parameter of each motor in the current polling cycle to the corresponding motor through the motor topology structure according to the sending order of the execution parameter in the polling cycle; obtaining a real-time parameter of each motor after the execution parameter is implemented.

3. The drive control method of the motor topology according to claim 1, characterized in that, The method comprises: For each abnormal motor, the abnormal motor is set as a first-level node according to the connection relationship of the abnormal motor in the system joint; For other motors B except the abnormal motor, according to the connection relationship of the abnormal motor in the system joint, the number i of motors between the motor B and the abnormal motor is determined, the motor B is set as the first level node; determining a correlation value of the abnormal motor and other motors B according to the difference between the node level of the motor B and the node level of the abnormal motor; sorting the motor B according to the correlation value of the abnormal motor and the other motor B from small to large to obtain a first sorting; for the motor B with the same correlation value, sorting the motor B according to the connection distance from near to far to obtain a second sorting; combining the first sorting and the second sorting to obtain the correlation sorting of the abnormal motor.

4. The drive control method of the motor topology according to claim 1, characterized by, The method comprises: increasing the number of the execution parameters not sent in the current polling cycle to ensure that the number of the execution parameters not sent in the current polling cycle is greater than or equal to the number of the abnormal motor; for each execution parameter not sent in the current polling cycle, determining whether the execution parameter not sent is a null parameter, and if so, determining the execution parameter not sent as a first parameter; determining whether the number of the first parameters is greater than or equal to the number of the abnormal motors, if yes, randomly selecting and deleting a number of the first parameters equal to the number of the abnormal motors from the first parameters, if no, deleting the first parameters and obtaining a first number from the second parameters determining whether the number of the first parameters is greater than or equal to the number of the abnormal motors, if yes, randomly selecting and deleting a number of the first parameters equal to the number of the abnormal According to the abnormal motor associated with the order, the motors corresponding to the untransmitted execution parameters are sorted from large to small to obtain a third order; According to the third order, the untransmitted execution parameters corresponding to the motors of the first number are selected for deletion; Wherein, M is the number of abnormal motors, m1 is the number of first parameters.

5. The method of driving control of the motor topology according to claim 4, characterized in that, The number of untransmitted execution parameters in the current polling cycle is increased to ensure that the number of untransmitted execution parameters in the current polling cycle is greater than or equal to the number of abnormal motors, comprising: S601, judging whether the number of execution parameters not sent in the current polling period is greater than or equal to the number of abnormal motors, if not, obtaining the second number by S601, judging whether the number of execution parameters not sent in the current polling period is greater than or equal to the number of abnormal motors, if not, obtaining the second number by S602, in the next polling cycle, according to the transmission order of the execution parameters, obtaining a number of execution parameters C; S603, judging whether the motor corresponding to the execution parameter in the execution parameter C is an abnormal motor, if not, the execution parameter C is removed from the next polling cycle and incorporated into the current polling cycle, if yes, the execution parameter corresponding to the motor of the execution parameter is removed from the execution parameter C, and the remaining execution parameter C is removed from the next polling cycle and incorporated into the current polling cycle; S604, repeat S601-S603 until the number of untransmitted execution parameters in the current polling cycle is greater than or equal to the number of abnormal motors; Wherein, M is the number of abnormal motors, m2 is the number of untransmitted execution parameters in the current polling cycle.

6. The method of driving control of the motor topology according to claim 1, characterized in that, The adjustment parameter of the abnormal motor is inserted into the untransmitted execution parameter of the current polling cycle according to the emergency degree of the abnormal motor, comprising: The position of the untransmitted execution parameter in the current polling cycle is sorted to obtain a position order; from determining a position value for each position in the position ordering; According to the emergency degree of the abnormal motor, an abnormal motor is selected from large to small in turn, and the adjustment parameter of the abnormal motor is matched to the position value closest to the emergency degree of the abnormal motor; Wherein, x1 is the minimum value allowed by the emergency degree of the abnormal motor, x2 is the maximum value allowed by the emergency degree of the abnormal motor, j is the serial number of the position in the position order, and n is the total number of positions in the position order.

7. The method of driving control of the motor topology according to claim 1, characterized in that, The untransmitted execution parameter of the current polling cycle is reordered according to the associated order of the abnormal motor and the execution parameter is sent to the corresponding motor, comprising: The position of the adjustment parameter of the abnormal motor is determined as the first position; According to the associated order of the abnormal motor, the untransmitted execution parameter after the first position is reordered from small to large, and the last position corresponding to the order in the associated order of the abnormal motor is determined; According to the associated order of the abnormal motor, the untransmitted execution parameter before the first position is reordered from large to small, starting from the order corresponding to the last position in the associated order of the abnormal motor; According to the reordered current polling cycle, the execution parameter is sent to the corresponding motor.

8. A drive control device for a motor topology, characterized by The driving control device of the motor topology structure comprises: The sending execution parameter module is used for sending execution parameters to the motor according to the transmission order of the execution parameters in the polling cycle and obtaining the real-time parameters of the motor; The determination of abnormal motor module is used for determining whether the real-time parameter of the motor is consistent with the execution parameter sent to the motor after obtaining the real-time parameter of the motor, if not, the motor is determined as an abnormal motor; The abnormal data determining module is configured to determine the emergency degree and the adjustment parameter of the abnormal motor according to the real-time parameter of the abnormal motor; The correlation ranking module is configured to determine the correlation value of the abnormal motor and other motors according to the connection relationship of the abnormal motor in the system joint, and to rank the other motors according to the correlation value to obtain the correlation ranking of the abnormal motor; The pruning execution parameter module is configured to select the same number of execution parameters as the number of the abnormal motor from the execution parameters not sent in the current polling cycle according to the correlation ranking of the abnormal motor, and to perform a pruning operation on the selected execution parameters; The adjustment execution parameter module is configured to insert the adjustment parameter of the abnormal motor into the execution parameters not sent in the current polling cycle according to the emergency degree of the abnormal motor, to reorder the execution parameters not sent in the current polling cycle according to the correlation ranking of the abnormal motor, and to send the execution parameters to the corresponding motor; The emergency degree and the adjustment parameter of the abnormal motor are determined according to the real-time parameter of the abnormal motor, including: Obtaining execution angle from execution parameters of abnormal electric machine ; Obtaining real-time angle from real-time parameters of abnormal motor ; obtained from an extent of deviation of the abnormal electric machine; obtained from obtaining an importance rate p of the abnormal motor; determining whether the deviation degree is greater than a preset value, if yes, setting the emergency degree of the abnormal motor as 1, if no, determining whether the emergency degree of the abnormal motor is greater than 0, if yes, setting the emergency degree of the abnormal motor as 1, if no, setting the emergency degree of the abnormal motor as 0 obtaining the emergency degree obtained from obtaining adjustment parameters for the abnormal electric machine; Wherein, k1 is a first preset coefficient, a is a sending order of the execution parameter corresponding to the abnormal motor in a polling period, A is a maximum value of the sending order of the polling period, k2 is a second preset coefficient, b is a position order of the abnormal motor at a system joint, B is a maximum value of the position order of the system joint, K is a preset value, is a deviation degree of the abnormal motor.

9. An electric motor system characterized by, The motor system includes a plurality of motors and a computer device; The motor is connected to the computer device, and is configured to move according to the execution parameter of the computer device and send the real-time parameter to the computer device; The computer device is configured to execute the steps of the driving control method of the motor topology structure according to any one of claims 1 to 7.

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