Dual-motor synchronization method for double magnets and dual-motor control system

Abstract

The invention provides a dual-motor synchronization method for double magnets and a dual-motor control system, and the dual-motor synchronization method is applied to a magnetic field therapeutic apparatus, and comprises the steps: obtaining the rotating speeds of two motors in the magnetic field therapeutic apparatus; the two motors are in one-to-one correspondence with two magnetic poles in the magnetic field therapeutic apparatus; determining a rotating speed deviation value of the two motors; if the rotating speed deviation value of the two motors is out of the first preset range, the rotating speed of the slave motor is adjusted until the rotating speed deviation value of the two motors is within the first preset range; continuously carrying out phase deviation value detection on the two motors; and every time the phase deviation value of the two motors is out of a second preset range, adjusting the phase of the slave motor until the phase deviation value of the two motors is within the second preset range. In the embodiment of the invention, the rotating speed of the driven machine and the phase of the driven machine can be adjusted, so that the rotation synchronization of the two motors is realized, and the treatment intensity of the magnetic field therapeutic apparatus can be enhanced by symmetrically placing the magnets.

Description

Technical Field

[0001] This application relates to the field of magnetic field therapy technology, specifically to a dual-motor synchronization method and dual-motor control system for dual magnets. Background Technology

[0002] Magnetic field therapy devices originate from the combination of traditional Chinese medicine's magnetic therapy theory and modern biomagnetism. Early devices utilized static magnetic fields from permanent magnets. Technological evolution has led to the development of electronic devices that generate dynamic magnetic fields such as alternating and pulsed fields. These magnetic fields, with specific intensities and frequencies, act on human tissues to promote blood circulation, relieve pain, and accelerate tissue repair. The core development lies in the precise controllability of the magnetic field and improvements in targeted technology.

[0003] A magnetic field therapy device with rotating permanent magnets has been introduced to the market. This device solves the problems of contact and heat generation, and uses N52 magnets as magnetic poles. However, the magnetic field strength of these poles cannot reach the preset strength required for effective treatment. Therefore, increasing the field strength at the lesion site is a key issue.

[0004] Symmetrical placement of magnets can significantly increase the magnetic field strength over long distances, but this requires opposite magnetic pole polarities. Since rotating a stationary magnet is necessary to change the direction of the magnetic poles during magnetic field generation, there is an urgent need for a method and technology that synchronizes the rotation of the two magnetic poles to achieve the goal of enhancing the therapeutic intensity of a magnetic field therapy device through symmetrical magnet placement. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention discloses a dual-motor synchronization method and a dual-motor control system for dual magnets. This improves upon the existing technology where rotating a stationary magnet is required to change the direction of the magnetic poles during magnetic field generation, thus necessitating a method and technology for synchronizing the rotation of two magnetic poles to enhance the therapeutic intensity of a magnetic field therapy device through symmetrical placement of magnets.

[0006] To achieve the above objectives, this application provides a dual-motor synchronization method for dual magnets, which is applied to a magnetic field therapy device and includes the following steps:

[0007] The rotational speeds of the two motors within the magnetic field therapy device are obtained; the two motors include a master motor and a slave motor.

[0008] Determine the speed deviation value of the two motors; if the speed deviation value of the two motors is outside the first preset range, adjust the speed of the slave motor until the speed deviation value of the two motors is within the first preset range;

[0009] The phase deviation value of the two motors is continuously detected; whenever the phase deviation value of the two motors is outside the second preset range, the phase of the slave motor is adjusted until the phase deviation value of the two motors is within the second preset range.

[0010] In one possible embodiment, the step of obtaining the rotational speeds of two motors within the magnetic field therapy device; the two motors include a master motor and a slave motor, comprising:

[0011] The rotational speeds of the two motors are sampled using two Hall sensors corresponding to the two motors.

[0012] In one possible embodiment, determining the speed deviation value of the two motors includes:

[0013] The rotational speeds of the two motors are low-pass filtered based on a preset formula set to obtain the speed difference and relative speed difference between the two motors; the speed difference is used for state identification of the two motors; the relative speed difference is used for controlling the state of the two motors.

[0014] In one possible embodiment, adjusting the speed of the slave motor until the speed deviation between the two motors falls within the first preset range if the speed deviation between the two motors is outside the first preset range includes:

[0015] If the speed deviation between the two motors is outside the first preset range, the frequency error or angular velocity error of the two motors is obtained.

[0016] PI control is performed based on the frequency error or the angular velocity error;

[0017] Based on the PI control results of the frequency error or the angular velocity error, a speed command is output or mapped to a PWM baseline.

[0018] In one possible embodiment, the preset formula set includes:

[0019]

[0020] f = w / (2π);

[0021] RPM = 60f;

[0022] w f [n]=αw raw [n]+(1-α)w f [n-1];

[0023] Where Wrap is the angle difference wrapping function used to handle angle spans, the angle range of Wrap is [-180°, 180°], θ[n] is the angle value at the nth sampling time, θ[n-1] is the angle value at the (n-1)th sampling time, Δt is the sampling time interval, W[n] is the instantaneous angular velocity at the nth time; f is the frequency; w is the angular velocity; RPM is the rotational speed per minute; w f [n] represents the raw (unfiltered) angular velocity at time n; w f [n-1] represents the filtered angular velocity at the previous moment; α is the filtering coefficient.

[0024] In one possible embodiment, the continuous detection of phase deviation values ​​between the two motors includes:

[0025] The real-time angle values ​​of the two motors are continuously acquired, and the phase deviation value of the two motors is determined based on the real-time angle values ​​of the two motors.

[0026] In one possible embodiment, adjusting the phase of the motor until the phase deviation of the two motors falls within the second preset range whenever the phase deviation value of the two motors is outside the second preset range includes:

[0027] Whenever the phase deviation between the two motors falls outside the second preset range, the following operation is performed:

[0028] If the rotation angle of the slave motor leads the rotation angle of the master motor, a negative PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation value of the two motors is within the second preset range.

[0029] If the rotation angle of the slave motor lags behind the rotation angle of the master motor, a positive PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation value of the two motors is within the second preset range.

[0030] In one possible embodiment, after determining the speed deviation value of the two motors; and if the speed deviation value of the two motors is outside a first preset range, adjusting the speed of the slave motor until the speed deviation value of the two motors is within the first preset range, the method further includes:

[0031] Continuous integral limiting protection is applied to the two motors;

[0032] If the speed error and phase error between the two motors are large, or if the sensor connected to the two motors experiences a data acquisition anomaly, the two motors will shut down for protection.

[0033] This application also discloses a dual-motor control system for dual magnets, which is used in a magnetic field therapy device;

[0034] The dual-motor control system includes two motors, and the two motors are controlled by the dual-motor synchronization method described in any of the above descriptions.

[0035] The two motors include a master motor and a slave motor, and the two motors are used to control two magnetic poles respectively; the two motors and the two magnetic poles can rotate synchronously.

[0036] In one possible embodiment, a Hall sensor is connected to one end of each magnetic pole;

[0037] The Hall sensor is used to sample the rotational speed of the two motors and to measure the rotational phase of the two magnetic poles.

[0038] The technical solution provided in this application has the following technical effects:

[0039] In the embodiments of this application, the speed deviation value and phase deviation value of the two motors can be detected sequentially. When the speed deviation value of the two motors is greater than a first preset range, the speed of the driven motor is adjusted. When the phase deviation value of the two motors is greater than a second preset range, the phase of the driven motor is adjusted, thereby achieving rotational synchronization of the two motors. This allows the therapeutic intensity of the magnetic field therapy device to be enhanced by symmetrically placing magnets.

[0040] In the embodiments of this application, two motors can be symmetrically placed inside the magnetic field therapy device. Magnets symmetrically placed inside the magnetic field therapy device can significantly increase the magnetic field strength over long distances, thus enhancing the therapeutic intensity of the magnetic field therapy device. Attached Figure Description

[0041] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating a dual-motor synchronization method for dual magnets provided in an embodiment of this application. Figure 1 ;

[0043] Figure 2 This is a flowchart illustrating a dual-motor synchronization method for dual magnets provided in an embodiment of this application. Figure 2 ;

[0044] Figure 3 This is a flowchart illustrating a dual-motor synchronization method for dual magnets provided in an embodiment of this application. Figure 3 ;

[0045] Figure 4 This is a flowchart illustrating a dual-motor synchronization method for dual magnets provided in an embodiment of this application. Figure 4 ;

[0046] Figure 5 This is a flowchart illustrating a dual-motor synchronization method for dual magnets provided in an embodiment of this application. Figure 5 ;

[0047] Figure 6 This is a schematic diagram of a dual-motor control system provided in an embodiment of this application;

[0048] Figure 7 This is an exploded view of a dual-motor control system provided in an embodiment of this application;

[0049] The labels in the diagram are explained as follows:

[0050] 1-Motor; 2-Magnetic pole; 3-Hall sensor; 4-Gateway; 5-Motor control line. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] It should be noted that the term "an embodiment" or "embodiment" in the specification of the embodiments of this application refers to a specific feature, structure, or characteristic that can be included in at least one implementation of this application. It should be understood that in the specification, claims, and accompanying drawings of the embodiments of this application, the terms "upper," "lower," "top," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] Please see Figures 1 to 5 This application discloses a dual-motor synchronization method for dual magnets, which is applied to a magnetic field therapy device and includes the following steps:

[0054] S1: Obtain the rotational speed of the two motors inside the magnetic field therapy device; the two motors include a master motor and a slave motor.

[0055] In one possible embodiment, the rotational speeds of the two motors within the magnetic field therapy device can be obtained using a detection device. These two motors may include a master motor and a slave motor, each corresponding one-to-one with a magnetic pole within the magnetic field. The two magnetic poles can be symmetrically arranged within the magnetic field therapy device. The master motor and slave motor can be used to control the two magnetic poles within the magnetic field therapy device, respectively. The master motor and slave motor can be connected to the two magnetic poles within the magnetic field therapy device, thereby achieving control of the two magnetic poles within the magnetic field therapy device.

[0056] S2: Determine the speed deviation between the two motors; if the speed deviation between the two motors is outside the first preset range, adjust the speed of the motors until the speed deviation between the two motors is within the first preset range.

[0057] Optionally, the speed deviation between the two motors can be determined by the rotational speed of the two motors in the magnetic field therapy device. When the two motors are connected to the two magnetic poles respectively, the speed deviation between the two motors is the speed deviation between the two magnetic poles.

[0058] If the speed difference between the two motors is outside the first preset range, the speed of the slave motor is increased or decreased until the speed difference between the two motors is within the first preset range. The first preset range is the speed difference range that can be regarded as the synchronization range of the master motor and the slave motor.

[0059] S3: Continuously detect the phase deviation value of the two motors; whenever the phase deviation value of the two motors is outside the second preset range, adjust the phase of the motors until the phase deviation value of the two motors is within the second preset range.

[0060] Optionally, the real-time phase values ​​of the two motors can be continuously acquired, and the phase deviation value between the two motors can be determined based on the real-time phase values.

[0061] Whenever the phase deviation between the two motors is outside the second preset range, the speed of the slave motor can be briefly increased or decreased to adjust the phase of the slave motor until the phase deviation between the two motors is within the second preset range. The second preset range is the phase difference range that can be regarded as the phase synchronization range between the master motor and the slave motor.

[0062] In this application, both S2 and S3 can be long-term continuous actions. During the rotation of the motor, the S2 and S3 operations can be executed intermittently and repeatedly to achieve long-term stable operation of the motor.

[0063] In the embodiments of this application, the speed deviation value and phase deviation value of the two motors can be detected sequentially. When the speed deviation value of the two motors is greater than a first preset range, the speed of the driven motor is adjusted. When the phase deviation value of the two motors is greater than a second preset range, the phase of the driven motor is adjusted, thereby achieving rotational synchronization of the two motors. This allows the therapeutic intensity of the magnetic field therapy device to be enhanced by symmetrically placing magnets.

[0064] In one possible embodiment, when performing S1: obtaining the rotational speeds of the two motors within the magnetic field therapy device; the two motors include a master motor and a slave motor, the following steps may be included:

[0065] S101: The rotational speed of the two motors is sampled by two Hall sensors corresponding to the two motors respectively.

[0066] Optionally, the magnetic field therapy device can be equipped with two Hall sensors, which correspond to two motors and thus two magnetic poles. One end of each magnetic pole can be connected to the corresponding Hall sensor, and the other end of each magnetic pole can be connected to the corresponding motor. In the implementation of the method in this application, the rotational speed of the two magnetic poles can be sampled using the two Hall sensors, thereby achieving the rotational speed sampling of the two motors.

[0067] In this application, the Hall sensor can be selected from the AS5600 magnetic angle converter.

[0068] In one possible embodiment, determining the speed deviation value between the two motors in S2 may specifically include the following steps:

[0069] S201: Based on a preset formula set, the speeds of the two motors are low-pass filtered to obtain the speed difference and relative speed difference between the two motors; the speed difference is used to identify the state of the two motors; the relative speed difference is used to control the state of the two motors.

[0070] Optionally, the speeds of the two motors can be low-pass filtered based on a preset formula set to obtain stable speed data of the two motors, thereby calculating the speed difference and relative speed difference between the two motors.

[0071] Among them, the speed difference is used to identify the speed status of the two motors during the rotation process, and the relative speed difference is used to realize the subsequent motor status identification.

[0072] In one possible embodiment, when performing step S2, if the speed deviation between the two motors is outside a first preset range, adjusting the speed of the motors until the speed deviation between the two motors is within the first preset range, the following steps may be specifically included:

[0073] S202: If the speed deviation between the two motors is outside the first preset range, obtain the frequency error or angular velocity error of the two motors; perform PI control based on the frequency error or angular velocity error; output a speed command or map it to a PWM baseline based on the PI control result of the frequency error or angular velocity error.

[0074] Optionally, if the speed deviation between the two motors is outside the first preset range, it indicates that the speeds of the two motors are not synchronized. In this case, PI control of the slave motor can be performed based on the frequency error or angular velocity error, thereby enabling the slave motor to track the speed of the master motor.

[0075] Optionally, after the PI control ends, a speed command for the slave motor or a PWM baseline can be output based on the PI control result of frequency error or angular velocity error to ensure that the slave motor moves at a constant speed with the master motor.

[0076] In one possible embodiment, the preset formula set includes:

[0077]

[0078] f = w / (2π); (2)

[0079] RPM = 60f; (3)

[0080] w f [n]=αw raw [n]+(1-α)w f [n-1]; (4)

[0081] Where Wrap is the angle difference wrapping function used to handle angle spans, with the angle range of Wrap being [-180°, 180°], θ[n] being the angle value at the nth sampling time, θ[n-1] being the angle value at the (n-1)th sampling time, Δt being the sampling time interval, W[n] being the instantaneous angular velocity at the nth time; f being the frequency; w being the angular velocity; RPM being the rotational speed per minute; w f [n] represents the raw (unfiltered) angular velocity at time n; w f [n-1] represents the filtered angular velocity at the previous moment; α is the filtering coefficient.

[0082] Among them, the difference method can be based on formulas (1) to (3), which mainly utilizes the instantaneous angular velocity to process the motor angle at the sampling time to obtain the rotational speed. The angle data of the two motors can be low-pass filtered based on formula (4) to obtain the stable rotational speed of the two motors, thereby enabling the calculation of the speed difference and relative speed difference.

[0083] The phase error wrap angle range is [-180°, 180°], which can avoid angle jumps that may occur within ±180° during the calculation process.

[0084] In one possible embodiment, the continuous detection of phase deviation values ​​between the two motors in S3 may include the following steps:

[0085] S301: Continuously acquire the real-time angle values ​​of the two motors, and determine the phase deviation value of the two motors based on the real-time angle values ​​of the two motors.

[0086] Optionally, the real-time angle values ​​of the two motors can be continuously acquired, and the phase deviation value of the two motors can be obtained by subtracting the real-time angle values ​​of the two motors.

[0087] In one possible embodiment, when performing step S3, whenever the phase deviation value of the two motors is outside the second preset range, adjusting the phase of the motors until the phase deviation value of the two motors is within the second preset range, the following steps may be included:

[0088] S302: Whenever the phase deviation between the two motors is outside the second preset range, perform the following operation:

[0089] If the rotation angle of the slave motor leads the rotation angle of the master motor, a negative PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation value of the two motors is within the second preset range.

[0090] If the rotation angle of the slave motor lags behind that of the master motor, a positive PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation between the two motors is within the second preset range.

[0091] Optionally, whenever the phase deviation between the two motors is outside the second preset range, it indicates that the two motors are out of phase.

[0092] If the rotation angle of the slave motor leads the rotation angle of the master motor, a negative PWM pulse is applied based on the PWM duty cycle of the slave motor. This means that a brief pull-back operation is performed on the slave motor during its rotation, thereby achieving phase synchronization between the two motors.

[0093] If the rotation angle of the slave motor lags behind that of the master motor, a positive PWM pulse is applied based on the PWM duty cycle of the slave motor. This means that the slave motor is briefly pulled forward during its rotation, thereby achieving phase synchronization between the two motors.

[0094] In one possible embodiment, after performing S2: determining the speed deviation value of the two motors; if the speed deviation value of the two motors is outside a first preset range, adjusting the speed of the slave motor until the speed deviation value of the two motors is within the first preset range, the method further includes:

[0095] S401: Continuously provides integral limiting protection for both motors.

[0096] Optionally, integral limiting protection can be continuously applied to both motors. Integral limiting protection can limit the integral amount within a certain range, thereby preventing motors from being suddenly over-excited and thus protecting them.

[0097] S402: If the speed error and phase error between the two motors are large, or if the data acquisition of the sensors connected to the two motors is abnormal, the two motors will shut down for protection.

[0098] Optionally, if the speed and phase errors between the two motors are large, or if the sensors connected to the two motors experience abnormal data acquisition, the two motors can be shut down for protection, thereby preventing unexpected fluctuations in the motors due to oscillations, sudden surges, or other reasons.

[0099] Optionally, S401 and S402 can be executed after S2 and before S3, or after S3. S401 and S402 can be executed independently, that is, only S401 can be executed, only S402 can be executed, S401 can be executed first and then S402, or S402 can be executed first and then S401.

[0100] On the other hand, such as Figure 6 and Figure 7 As shown, this application also discloses a dual-motor control system for dual magnets, which is used in a magnetic field therapy device and can be installed inside the magnetic field therapy device.

[0101] In one possible embodiment, the dual-motor control system includes two motors 1, and the two motors 1 are controlled using any of the dual-motor 1 synchronization methods described above.

[0102] Optionally, the two motors 1 may include a master motor 1 and a slave motor 1, and the two motors 1 are used to control the two magnetic poles 2 respectively. The two motors 1 can be connected to the two magnetic poles 2 respectively so that the two motors 1 and the two magnetic poles 2 can rotate synchronously. The master motor 1 and the slave motor 1 can be connected to the junction box 4 respectively through the motor control line 5.

[0103] In one possible embodiment, a Hall sensor 3 is connected to one end of each magnetic pole 2.

[0104] Optionally, the Hall sensor 3 is used to sample the rotational speeds of the two motors 1 and the rotational phase of the two magnetic poles 2. A controller can be installed within the magnetic field therapy device. The controller can connect to the Hall sensor 3 via I2C and receive the detection information transmitted by the Hall sensor 3.

[0105] Optionally, Hall sensor 3 can be an AS5600 magnetic angle transducer. Since the address of the AS5600 magnetic angle transducer cannot be modified, the system uses two I2C interfaces to read the rotation angle data of the master and slave motors 1. Optionally, the magnetic pole 2 can be directly aligned with the center of Hall sensor 3, maintaining a distance of 1 to 5 millimeters between them.

[0106] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0107] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

Claims

1. A method for synchronizing two motors with two magnets, characterized in that, It is applied to a magnetic field therapy device and includes the following steps: The rotational speeds of the two motors within the magnetic field therapy device are obtained; the two motors include a master motor and a slave motor; the two motors correspond one-to-one with the two magnetic poles within the magnetic field therapy device; Determine the speed deviation value of the two motors; if the speed deviation value of the two motors is outside the first preset range, adjust the speed of the slave motor until the speed deviation value of the two motors is within the first preset range; The phase deviation value of the two motors is continuously detected; whenever the phase deviation value of the two motors is outside the second preset range, the phase of the slave motor is adjusted until the phase deviation value of the two motors is within the second preset range.

2. The dual-motor synchronization method according to claim 1, characterized in that, The process involves obtaining the rotational speeds of two motors within the magnetic field therapy device; the two motors include a master motor and a slave motor; each of the two motors corresponds one-to-one with a magnetic pole within the magnetic field therapy device, including: The rotational speeds of the two motors are sampled by two Hall sensors corresponding to the two motors; the two motors include a master motor and a slave motor; the two motors correspond one-to-one with the two magnetic poles in the magnetic field therapy device.

3. The dual-motor synchronization method according to claim 1, characterized in that, Determining the speed deviation value of the two motors includes: The rotational speeds of the two motors are low-pass filtered based on a preset formula set to obtain the speed difference and relative speed difference between the two motors; the speed difference is used for state identification of the two motors; the relative speed difference is used for controlling the state of the two motors.

4. The dual-motor synchronization method according to claim 3, characterized in that, If the speed deviation between the two motors is outside a first preset range, adjusting the speed of the slave motor until the speed deviation between the two motors is within the first preset range includes: If the speed deviation between the two motors is outside the first preset range, the frequency error or angular velocity error of the two motors is obtained. PI control is performed based on the frequency error or the angular velocity error; Based on the PI control results of the frequency error or the angular velocity error, a speed command is output or mapped to a PWM baseline.

5. The dual-motor synchronization method according to claim 3, characterized in that, The preset formula group includes: f = w / (2π); RPM = 60f; w f [n]=αw raw [n]+(1-α)w f [n-1]; Where Wrap is the angle difference wrapping function used to handle angle spans, the angle range of Wrap is [-180°, 180°], θ[n] is the angle value at the nth sampling time, θ[n-1] is the angle value at the (n-1)th sampling time, Δt is the sampling time interval, W[n] is the instantaneous angular velocity at the nth time; f is the frequency; w is the angular velocity; RPM is the rotational speed per minute; w f [n] represents the raw (unfiltered) angular velocity at time n; w f [n-1] represents the filtered angular velocity at the previous moment; α is the filtering coefficient.

6. The dual-motor synchronization method according to claim 1, characterized in that, The continuous detection of phase deviation values ​​between the two motors includes: The real-time angle values ​​of the two motors are continuously acquired, and the phase deviation value of the two motors is determined based on the real-time angle values ​​of the two motors.

7. The dual-motor synchronization method according to claim 1, characterized in that, The step of adjusting the phase of the slave motor until the phase deviation of the two motors falls within the second preset range whenever the phase deviation of the two motors is outside the second preset range includes: Whenever the phase deviation between the two motors falls outside the second preset range, the following operation is performed: If the rotation angle of the slave motor leads the rotation angle of the master motor, a negative PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation value of the two motors is within the second preset range. If the rotation angle of the slave motor lags behind the rotation angle of the master motor, a positive PWM pulse is applied based on the PWM duty cycle of the slave motor, and the original PWM duty cycle is returned after the PWM pulse ends, so that the phase deviation value of the two motors is within the second preset range.

8. The dual-motor synchronization method according to claim 1, characterized in that, After determining the speed deviation value of the two motors; if the speed deviation value of the two motors is outside a first preset range, adjusting the speed of the slave motor until the speed deviation value of the two motors is within the first preset range, the method further includes: Continuous integral limiting protection is applied to the two motors; If the speed error and phase error between the two motors are large, or if the sensor connected to the two motors experiences a data acquisition anomaly, the two motors will shut down for protection.

9. A dual-motor control system for dual magnets, characterized in that, It is applied to a magnetic field therapy device; the dual-motor control system includes two motors, and the two motors are controlled by the dual-motor synchronization method as described in any one of claims 1-8; The two motors include a master motor and a slave motor, and the two motors are used to control two magnetic poles respectively; the two motors and the two magnetic poles can rotate synchronously.

10. The dual-motor control system according to claim 9, characterized in that, A Hall sensor is connected to one end of each magnetic pole; The Hall sensor is used to sample the rotational speed of the two motors and to measure the rotational phase of the two magnetic poles.

Images