Dual-motor redundant driving method and driving system

Abstract

The application aims at solving the technical problem that the prior art has application limitation and is not conducive to application to general dual-motor redundant driving occasions, and provides a dual-motor redundant driving method and a driving system; the method comprises the following steps: simultaneously issuing instruction information to a master driving system and a slave driving system by an upper computer, and receiving feedback information and state information of the master driving system and the slave driving system in real time, and simultaneously exchanging state information and received instruction information between the master driving system and the slave driving system; when the feedback information received by the upper computer contains fault information, triggering fault isolation and switching decision, and the master driving system and the slave driving system switch to corresponding redundant working modes according to the fault information. In the scheme, if communication interruption occurs between any one of the master driving system and the slave driving system and the upper computer, the continuous operation of the system can be guaranteed to the greatest extent, omnidirectional redundancy is realized, and the scheme has high portability and can be directly applied to dual-motor driving occasions with reliability requirements.

Description

Technical Field

[0001] This invention relates to a drive system, specifically to a dual-motor redundant drive method and drive system. Background Technology

[0002] The motor drive system is a combination of a driver and a motor body, employing a three-loop control method encompassing position, speed, and current. The current loop, the innermost loop, enables precise control of the motor current; the speed loop, the next innermost loop, controls speed stability; and the position loop, the outermost loop, achieves accurate positioning. However, when a component such as the driver or motor in a single motor drive system fails, the system's ongoing tasks will completely fail. To ensure task continuity, existing technologies have proposed dual-motor redundancy systems.

[0003] In a dual-motor redundancy system, under normal conditions, the primary system (primary controller, primary driver, and primary motor) bears the entire workload; the backup system (backup controller, backup driver, and backup motor) is in standby mode (hot backup) or completely powered off mode (cold backup), but continuously monitors the status of the primary system or awaits a wake-up command. Once the fault detection and switching unit of this dual-motor redundancy system detects a fault in the primary system through a sensor network or self-diagnostic mechanism, it immediately triggers fault isolation and switching logic to switch to the backup system to continue operating the task.

[0004] Current dual-motor redundancy systems primarily employ three architectures: cold backup, hot backup, and active redundancy. Cold backup mode has a long redundancy switching time and is typically used in situations where tasks can be interrupted. Hot backup mode significantly reduces switching time compared to cold backup, but the switching process is less smooth than active redundancy. Existing active redundancy modes involve simultaneous operation of the primary and backup systems, sharing the load. If either system fails, the other can immediately assume the entire load. For example, Chinese patent CN116394734A discloses a dual-motor redundancy drive device and vehicle drive wheel assembly, which relies on a differential to achieve coordinated operation and motor switching between the two motors. This is a structural device, unique to the vehicle drive field, and not suitable for general dual-motor redundancy drive applications. Another Chinese patent, CN106227099A, discloses a coordinated control system for a dual-winding permanent magnet synchronous motor. This scheme controls a dual-winding motor, analogous to a motor with two rigidly connected output shafts, emphasizing coordinated control but offering limited coverage of redundancy methods in case of failure. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problem that the active redundancy mode in the prior art has application limitations and is not conducive to application in general dual-motor redundant drive situations, and to provide a dual-motor redundant drive method and drive system.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows: A dual-motor redundant drive method, characterized by the following steps: S1. Connect the main drive system and the slave drive system to the host computer for communication; connect the main drive system and the slave drive system for communication. S2. The host computer simultaneously sends instruction information to the main drive system and the slave drive system to wake up the main drive system and the slave drive system to run in the initial working mode and perform collaborative control tasks. S3. The host computer maintains the issued instruction information and receives feedback and status information from the main drive system and the slave drive system in real time. At the same time, the main drive system and the slave drive system exchange their respective status information and the received instruction information. S4. When the feedback information received by the host computer contains fault information, a fault isolation and switching decision is triggered, and the main drive system and the slave drive system switch to the corresponding redundant working mode according to the fault information.

[0007] Furthermore, step S2 specifically includes: The host computer simultaneously sends position commands, speed commands, or enable commands to the main drive system and the slave drive system, sets the main drive system to work in position or speed mode, sets the slave drive system to work in current mode, and the main drive system sends current commands to the slave drive system in real time to distribute current based on dual-motor backlash elimination and coordination factors.

[0008] Furthermore, the frequency of sending the current command in step S2 is higher than the current loop frequency in each drive system.

[0009] Furthermore, step S3 specifically includes: The host computer maintains the information of issuing position commands, speed commands and enable commands, and receives speed feedback information, position feedback information, fault status information and communication status information between the main drive system and the slave drive system in real time. Simultaneously, the main drive system transmits the current command, its fault status information, the communication status information between the main drive system and the host computer, and the position command, speed command, and enable command information sent by the host computer to the main drive system to the slave drive system in real time; the slave drive system transmits its fault status information, the communication status information between the slave drive system and the host computer, and the position command, speed command, and enable command information sent by the host computer to the slave drive system to the main drive system in real time.

[0010] Furthermore, step S4 specifically includes: S4.1 When the feedback information received by the host computer contains fault information, it determines whether the communication status between the main drive system and the slave drive system is normal. If yes, the host computer does not participate in the decision-making, the main drive system executes step S4.2, and the slave drive system executes step S4.3; if no, the following steps are executed: a.1. Determine whether the communication status between the main drive system and the host computer is normal. If yes, the main drive system operates in single-machine speed / position mode and the drive system stops. If no, proceed to step a.2. a.2 Determine whether the communication status between the drive system and the host computer is normal. If not, both the main drive system and the slave drive system shall be shut down. If yes, proceed to step a.3. a.3. Determine if the slave drive system is in normal condition. If yes, the slave drive system operates in single-machine speed / position mode, and the master drive system stops. If no, both the master drive system and the slave drive system stop. S4.2 Determine if the slave drive system is in a normal state, and then further determine if the master drive system is in a normal state: If the secondary drive system is in a normal state but the primary drive system is in an abnormal state, the primary drive system will shut down. If both the slave drive system and the master drive system are in normal condition, determine whether the communication status between the master drive system and the host computer, and the communication status between the slave drive system and the host computer are both in normal condition. If both are in abnormal condition, the master drive system stops. If either is in normal condition, the master drive system operates in dual-machine speed / position mode. If the drive system or the main drive system is in an abnormal state, the main drive system will shut down. If the slave drive system is in an abnormal state and the master drive system is in a normal state, check whether the communication status between the master drive system and the host computer and the slave drive system and the host computer are both in a normal state. If both are in an abnormal state, the master drive system stops; if either is in a normal state, the master drive system operates in single-machine speed / position mode. S4.3 Determine if the main drive system is in a normal state, and then further determine if the slave drive system is in a normal state: If the main drive system is in a normal state and the slave drive system is in an abnormal state, then the slave drive system will shut down. If the main drive system and the slave drive system are in normal condition, determine whether the communication status between the main drive system and the host computer and the communication status between the slave drive system and the host computer are both in normal condition. If both are in abnormal condition, the slave drive system stops. If either is in normal condition, the slave drive system operates in dual-machine speed / position mode. If the main drive system is in an abnormal state or the slave drive system is in an abnormal state, the slave drive system will stop. If the main drive system is in an abnormal state and the slave drive system is in a normal state, determine whether the communication status between the main drive system and the host computer, and the communication status between the slave drive system and the host computer are both in a normal state. If both are in an abnormal state, the slave drive system stops; if either is in a normal state, the slave drive system operates in single-machine speed / position mode.

[0011] A dual-motor redundant drive system for implementing the dual-motor redundant drive method as described in any of the preceding claims, comprising a host computer, a master drive system, and a slave drive system; its distinctive feature is that: The main drive system includes a driver A and a motor A connected to the driver A. The driver A communicates with the host computer via a communication bus 1. The drive system includes a driver B and a motor B connected to the driver B. The driver B communicates with the host computer via a communication bus 2. The driver A and the driver B exchange information via communication bus 3; The output terminals of motor A and motor B are connected to the target load via an end turntable.

[0012] Furthermore, the communication bus 1, communication bus 2 and communication bus 3 adopt CAN bus, RS422 bus, RS485 bus or RS232 bus.

[0013] Furthermore, the host computer employs PC-based interactive software, a handheld device with an interactive interface designed using C++ language, a control board, or a control box.

[0014] Furthermore, the communication bus 3 adopts a dual-redundant bus structure.

[0015] A dual-motor redundant drive system is provided for implementing the dual-motor redundant drive method described in any of the preceding claims; its distinctive feature is that: Includes a host computer, driver A, driver B, and a dual-winding motor; One set of stator windings of the dual-winding motor is connected to driver A, and driver A communicates with the host computer via communication bus 1; driver A and the dual-winding motor form the main drive system; The other set of stator windings of the dual-winding motor is connected to driver B, and driver B communicates with the host computer through communication bus 2; driver B and dual-winding motor form a slave drive system; The driver A and the driver B exchange information via communication bus 3, and the output terminal of the dual-winding motor is connected to the target load.

[0016] Compared with the prior art, the present invention has the following advantages: (1) The present invention provides a dual-motor redundant drive method by connecting the main drive system and the slave drive system to the host computer for communication, and connecting the main drive system to the slave drive system for communication, thereby realizing information exchange between the host computer and the main and slave drive systems, as well as information exchange between the main and slave drive systems. This allows the main and slave drive systems to work together normally at all times. When the communication between either the main or slave drive system and the host computer is interrupted, the continuous operation of the system can be guaranteed to the greatest extent, achieving full redundancy. When a fault occurs at a fault point, the fault point can be automatically isolated. When the fault point is eliminated, the fault point can be automatically reconnected to the system to restore operation. Moreover, this solution has high portability and can be directly applied to dual-motor drive applications with high reliability requirements. (2) The dual-motor redundant drive system provided by the present invention uses communication bus 1, communication bus 2 and communication bus 3 to realize information exchange between the host computer and the master and slave drive systems, as well as information exchange between the master and slave drive systems. When the dual machines work together and the communication bus 3 is in normal condition, the system can achieve redundancy switching without relying on the host computer, without interrupting the current task of the system and achieving millisecond-level redundancy switching, which greatly reduces the design complexity of the host computer. In the case where the host computer is designed by the overall unit, it is more friendly to the overall unit. At the same time, if the communication bus 3 adopts a dual-redundant bus structure, it can achieve extremely high reliability and even eliminate the process design in the host computer. Attached Figure Description

[0017] Figure 1 This is a flowchart of an embodiment of a dual-motor redundant drive method according to the present invention; Figure 2 This is a schematic diagram of an embodiment of a dual-motor redundant drive system according to the present invention; Figure 3 This is a flowchart illustrating the redundant logic of the host computer in an embodiment of the present invention. Figure 4 This is a flowchart illustrating the redundant logic of the main drive system in an embodiment of the present invention. Figure 5 This is a flowchart of the redundant logic of the drive system in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Example 1 One function of a dual-motor redundant drive system is to reduce the load on a single drive system, which can replace a high-power drive system. Another more important function is to provide redundancy in case of single-system failure. When a single drive system fails (driver or motor failure), the other drive system can fully take over the operation, ensuring the continuation of the task and improving reliability compared to a single-motor drive system. Common drive system failures include bus overvoltage, bus undervoltage, phase current overcurrent, short circuit, motor phase loss, and angle sensor failure.

[0020] This embodiment provides a dual-motor redundant drive method and drive system. One such method is a dual-motor redundant drive method, such as... Figure 1 As shown, it includes the following steps: S1. Connect the main drive system and the slave drive system to the host computer for communication; connect the main drive system and the slave drive system for communication. S2. The host computer simultaneously sends position commands, speed commands, or enable commands to the main drive system and the slave drive system, sets the main drive system to work in position or speed mode, sets the slave drive system to work in current mode, and the main drive system sends current commands to the slave drive system in real time to distribute current based on dual-motor backlash elimination and coordination factors; wherein the sending frequency of the current commands is higher than the current loop frequency in each drive system; S3. The host computer continuously sends position commands, speed commands, and enable commands, and receives speed feedback information, position feedback information, fault status information, and communication status information between the main drive system and the slave drive system in real time. Simultaneously, a high communication baud rate is designed. The main drive system transmits the current command information, fault status information, communication status information with the host computer, and position commands, speed commands, and enable commands from the host computer to the slave drive system in real time. The slave drive system transmits fault status information, communication status information with the host computer, and position commands, speed commands, and enable commands from the host computer to the main drive system in real time. S4. When the feedback information received by the host computer, the main drive system, or the slave drive system contains fault information, a fault isolation and switching decision is triggered based on the fault information, and the main drive system and the slave drive system are controlled to switch to the corresponding redundant working mode.

[0021] To implement the above driving method, this embodiment provides a dual-motor redundant drive system, such as... Figure 2As shown, the dual-motor redundant drive system includes a host computer, a main drive system, and a slave drive system. The host computer uses PC-based interactive software. The main drive system includes driver A and motor A connected to driver A. Driver A communicates with the host computer via communication bus 1. The slave drive system includes driver B and motor B connected to driver B. Driver B communicates with the host computer via communication bus 2. Driver A and driver B exchange information via communication bus 3. Communication buses 1, 2, and 3 use a CAN bus. The output terminals of motors A and B are connected to the target load via end turntables.

[0022] The host computer simultaneously sends position commands, speed commands, or enable commands to driver A and driver B through communication bus 1 and communication bus 2, and receives feedback information from driver A and driver B. In addition to the fault status information, speed feedback information, and position feedback information of driver A and driver B, the feedback information also needs to feed back the communication status information between them, that is, the on / off status of communication bus 3, to the host computer so that when communication bus 3 is disconnected, the host computer can make a timely decision on whether a single drive system should continue to execute the system task.

[0023] When both the main drive system and the slave drive system are operating normally, to ensure their coordinated operation, the main drive system is set to operate in position or speed mode, and the slave drive system is set to operate in current mode. Driver A sends current commands to driver B in real time to allocate current based on dual-motor backlash elimination and coordination factors. To ensure system performance, the frequency of sending current commands cannot be lower than the current loop frequency of each driver. Simultaneously, a high communication baud rate is designed so that driver A transmits position commands, speed commands, enable commands, and current commands from the host computer, as well as fault status information of driver A, communication bus 1, and communication bus 3, to driver B in real time. Driver B transmits position commands, speed commands, and enable commands from the host computer, as well as fault status information of driver B, communication bus 2, and communication bus 3, to driver A in real time. Since the content transmitted between driver A and driver B is quite similar, the number of bytes is compressed in the specific design to make the data transmission time less than 80% of the current loop control cycle.

[0024] like Figure 2 The fault points in the system include communication bus 1, communication bus 2, communication bus 3, the main drive system, and the slave drive system. When any of these fault points fail, they will change the operating mode of the entire dual-motor redundant drive system. When the host computer keeps issuing enable commands, from an external perspective, the system has the following four redundant operating modes: Mode 1: The main drive system operates in dual-speed / position mode, and the slave drive system operates in dual-torque mode; Mode 2: The drive system operates in stand-alone speed / position mode, and the main drive system stops; Mode 3: The main drive system operates in stand-alone speed / position mode, and the slave drive system stops; Mode 4: Both the master drive system and the slave drive system are shut down.

[0025] The correspondence between redundant operating modes and the status of each fault point is shown in Table 1: Table 1. Correspondence between Redundant Operating Modes and Fault Point States (Where × corresponds to fault; √ corresponds to normal; - corresponds to any) As shown in the table above, the same redundant working mode can correspond to multiple fault point states. When the communication bus 3 is in normal state, the master drive system and the slave drive system can exchange the host computer's instruction information. Therefore, as long as one of the communication buses 1 and 2 is in normal state, it can be ensured that the host computer's instructions can be issued normally. Mode ④ in the table indicates that the current redundant system stops working and the task is terminated. It can be seen that except for the extreme fault situation where the system must be shut down, the system can operate redundantly in most single or double point fault situations.

[0026] To represent the redundant logic in Table 1, the process needs to be designed in the host computer, the main drive system, and the slave drive system, as detailed below.

[0027] The redundant logic flow of the host computer is as follows Figure 3 As shown, when the host computer receives feedback from driver A and / or driver B indicating that communication bus 3 is in a normal state, the host computer does not participate in the decision-making process; each driver makes its own decision. However, when the host computer receives feedback from driver A and / or driver B indicating that communication bus 3 is in an abnormal state, the host computer first determines whether communication bus 1 is in a normal state. Ⅰ. When communication bus 1 is in normal state, determine whether the main drive system is in normal state. If the main drive system is in normal state, the main drive system works in single-machine speed / position mode and the drive system stops. If the main drive system is in abnormal state, then determine whether communication bus 2 is in normal state and proceed to step Ⅱ. II. When communication bus 1 is in an abnormal state / the main drive system is in an abnormal state, determine whether communication bus 2 is in a normal state. If communication bus 2 is in an abnormal state, both the main drive system and the slave drive system will stop. If communication bus 2 is in a normal state, determine whether the slave drive system is in a normal state. If the slave drive system is in a normal state, the slave drive system will work in single-machine speed / position mode, and the main drive system will stop. If the slave drive system is in an abnormal state, both the main drive system and the slave drive system will stop.

[0028] The redundant logic flow of the main drive system is as follows Figure 4 As shown, when the host computer receives feedback from driver A and / or driver B indicating that communication bus 3 is in an abnormal state, the host computer makes a decision based on the aforementioned redundant logic and executes enable or stop based on the decision result; however, when it receives feedback from driver A and / or driver B indicating that communication bus 3 is in a normal state, the host computer no longer participates in the decision-making process, and each driver makes its own decision, further determining whether the main drive system is in a normal state regardless of whether the drive system is in a normal state. Ⅰ. When the drive system is in normal condition, determine whether the main drive system is in normal condition. If the main drive system is in abnormal condition, the main drive system stops. If the main drive system is in normal condition, determine whether both communication bus 1 and communication bus 2 are in normal condition. If both communication bus 1 and communication bus 2 are in abnormal condition, the main drive system stops. If either communication bus 1 or communication bus 2 is in normal condition, the main drive system operates in dual-machine speed / position mode. II. When the slave drive system is in an abnormal state, determine whether the master drive system is in a normal state. If the master drive system is in an abnormal state, the master drive system stops. If the master drive system is in a normal state, determine whether both communication bus 1 and communication bus 2 are in a normal state. If both communication bus 1 and communication bus 2 are in an abnormal state, the master drive system stops. If either communication bus 1 or communication bus 2 is in a normal state, the master drive system operates in single-machine speed / position mode.

[0029] From the redundant logic flow of the drive system, such as Figure 5 As shown, when the host computer receives feedback from driver A and / or driver B indicating that communication bus 3 is in an abnormal state, the host computer makes a decision based on the aforementioned redundant logic and executes enable or stop based on the decision result; however, when it receives feedback from driver A and / or driver B indicating that communication bus 3 is in a normal state, the host computer no longer participates in the decision-making process, and each driver makes its own decision, further determining whether the slave driver system is in a normal state regardless of whether the main drive system is in a normal state. Ⅰ. When the main drive system is in normal condition, determine whether the slave drive system is in normal condition. If the slave drive system is in abnormal condition, the slave drive system stops. If the slave drive system is in normal condition, determine whether both communication bus 1 and communication bus 2 are in normal condition. If both communication bus 1 and communication bus 2 are in abnormal condition, the slave drive system stops. If either communication bus 1 or communication bus 2 is in normal condition, the slave drive system operates in dual-machine speed / position mode. II. When the main drive system is in an abnormal state, determine whether the slave drive system is in a normal state. If the slave drive system is in an abnormal state, the slave drive system will stop. If the slave drive system is in a normal state, determine whether both communication bus 1 and communication bus 2 are in a normal state. If both communication bus 1 and communication bus 2 are in an abnormal state, the slave drive system will stop. If either communication bus 1 or communication bus 2 is in a normal state, the slave drive system will operate in single-machine speed / position mode.

[0030] Thanks to the high-frequency and high-speed communication between the master drive system and the slave drive system, they can obtain each other's status in real time. The redundant logic processes of the master and slave drive systems can be executed almost synchronously, ensuring the correctness of mode switching and smooth switching between various working modes.

[0031] This embodiment 2 provides a dual-motor redundant drive system, which differs from embodiment 1 in that it includes a host computer, driver A, driver B, and a dual-winding motor. The host computer uses a control board. One set of stator windings of the dual-winding motor is connected to driver A, and driver A communicates with the host computer via communication bus 1. Driver A and the dual-winding motor form a main drive system. The other set of stator windings of the dual-winding motor is connected to driver B, and driver B communicates with the host computer via communication bus 2. Driver B and the dual-winding motor form a slave drive system. Driver A and driver B exchange information via communication bus 3. The output terminal of the dual-winding motor is connected to... The target load is connected; communication buses 1, 2, and 3 use RS232 buses, and communication bus 3 adopts a dual-redundant bus structure; the host computer sends position commands, speed commands, or enable commands to driver A and driver B simultaneously through communication buses 1 and 2, and receives feedback information from driver A and driver B; in addition to the fault status information, speed feedback information, and position feedback information of driver A and driver B, the feedback information also needs to feed back the communication status information between them, that is, the on / off status of communication bus 3, to the host computer so that when communication bus 3 is disconnected, the host computer can make a timely decision on whether to continue the system task by a single drive system.

[0032] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the scope of the technical solution of the present invention should be included within the protection scope of the present invention. Furthermore, it should be noted that the accompanying drawings are merely illustrative and are not drawn to scale, and should not be construed as limiting the actual scope of protection claimed by the present invention.

Claims

1. A dual motor redundant drive method, characterized by, Includes the following steps: S1. Connect the main drive system and the slave drive system to the host computer for communication; connect the main drive system and the slave drive system for communication. S2. The host computer simultaneously sends instruction information to the main drive system and the slave drive system to wake up the main drive system and the slave drive system to run in the initial working mode and perform collaborative control tasks. S3. The host computer maintains the issued instruction information and receives feedback and status information from the main drive system and the slave drive system in real time. At the same time, the main drive system and the slave drive system exchange their respective status information and the received instruction information. S4. When the feedback information received by the host computer contains fault information, a fault isolation and switching decision is triggered, and the main drive system and the slave drive system switch to the corresponding redundant working mode according to the fault information. S4.1 When the feedback information received by the host computer contains fault information, it determines whether the communication status between the main drive system and the slave drive system is normal. If yes, the host computer does not participate in the decision-making, the main drive system executes step S4.2, and the slave drive system executes step S4.3; if no, the following steps are executed: a.

1. Determine whether the communication status between the main drive system and the host computer is normal. If yes, the main drive system operates in single-machine speed / position mode and the drive system stops. If no, proceed to step a.

2. a.2 Determine whether the communication status between the drive system and the host computer is normal. If not, both the main drive system and the slave drive system shall be shut down. If yes, proceed to step a.

3. a.

3. Determine if the slave drive system is in normal condition. If yes, the slave drive system operates in single-machine speed / position mode, and the master drive system stops. If no, both the master drive system and the slave drive system stop. S4.2 Determine if the slave drive system is in a normal state, and then further determine if the master drive system is in a normal state: If the secondary drive system is in a normal state but the primary drive system is in an abnormal state, the primary drive system will shut down. If both the slave drive system and the master drive system are in normal condition, determine whether the communication status between the master drive system and the host computer, and the communication status between the slave drive system and the host computer are both in normal condition. If both are in abnormal condition, then the master drive system will stop. If either of them is in a normal state, the main drive system operates in dual-machine speed / position mode; If the drive system or the main drive system is in an abnormal state, the main drive system will shut down. If the slave drive system is in an abnormal state and the master drive system is in a normal state, check whether the communication status between the master drive system and the host computer and the slave drive system and the host computer are both in a normal state. If both are in an abnormal state, the master drive system stops; if either is in a normal state, the master drive system operates in single-machine speed / position mode. S4.3 Determine if the main drive system is in a normal state, and then further determine if the slave drive system is in a normal state: If the main drive system is in a normal state and the slave drive system is in an abnormal state, then the slave drive system will shut down. If the main drive system and the slave drive system are in normal condition, determine whether the communication status between the main drive system and the host computer and the communication status between the slave drive system and the host computer are both in normal condition. If both are in abnormal condition, the slave drive system is stopped. If either of them is in a normal state, the drive system will operate in dual-machine speed / position mode; If the main drive system is in an abnormal state or the slave drive system is in an abnormal state, the slave drive system will stop. If the main drive system is in an abnormal state and the slave drive system is in a normal state, determine whether the communication status between the main drive system and the host computer and the communication status between the slave drive system and the host computer are both in a normal state. If both are in an abnormal state, the slave drive system is shut down. If either of them is in a normal state, the drive system operates in stand-alone speed / position mode.

2. The dual motor redundant drive method of claim 1, wherein, Step S2 is as follows: The host computer simultaneously sends position commands, speed commands, or enable commands to the main drive system and the slave drive system, sets the main drive system to work in position or speed mode, sets the slave drive system to work in current mode, and the main drive system sends current commands to the slave drive system in real time to distribute current based on dual-motor backlash elimination and coordination factors.

3. The dual-motor redundant drive method according to claim 2, characterized in that: The frequency of sending the current command in step S2 is higher than the frequency of the current loop in each drive system.

4. The dual-motor redundant drive method of claim 2, wherein, Step S3 is as follows: The host computer maintains the information of issuing position commands, speed commands and enable commands, and receives speed feedback information, position feedback information, fault status information and communication status information between the main drive system and the slave drive system in real time. Simultaneously, the main drive system transmits the current command, its fault status information, the communication status information between the main drive system and the host computer, as well as the position command, speed command and enable command information sent by the host computer to the main drive system to the slave drive system in real time. The drive system transmits its fault status information, communication status information between the drive system and the host computer, and position commands, speed commands and enable commands issued by the host computer to the drive system to the main drive system in real time.

5. A dual-motor redundant drive system for implementing the dual-motor redundant drive method according to any one of claims 1-4, comprising a host computer, a main drive system, and a slave drive system; characterized in that: The main drive system includes a driver A and a motor A connected to the driver A. The driver A communicates with the host computer via a communication bus 1. The drive system includes a driver B and a motor B connected to the driver B. The driver B communicates with the host computer via a communication bus 2. The driver A and the driver B exchange information via communication bus 3; The output terminals of motor A and motor B are connected to the target load via an end turntable.

6. A dual-motor redundant drive system according to claim 5, characterized in that: The communication bus 1, communication bus 2 and communication bus 3 adopt CAN bus, RS422 bus, RS485 bus or RS232 bus.

7. A dual-motor redundant drive system according to claim 5, characterized in that: The host computer uses PC-based interactive software, a handheld device with an interactive interface designed in C++, or a control board or control box.

8. A dual-motor redundant drive system according to claim 5, characterized in that: The communication bus 3 adopts a dual-redundant bus structure.

9. A dual-motor redundant drive system for implementing the dual-motor redundant drive method according to any one of claims 1-4; characterized in that: Includes a host computer, driver A, driver B, and a dual-winding motor; The stator winding of the dual-winding motor is connected to driver A, and driver A communicates with the host computer via communication bus 1. The driver A and the dual-winding motor form the main drive system; The other set of stator windings of the dual-winding motor is connected to driver B, and driver B communicates with the host computer through communication bus 2. The driver B and the dual-winding motor form a slave drive system; The driver A and the driver B exchange information via communication bus 3, and the output terminal of the dual-winding motor is connected to the target load.

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