Multi-motor compensation control method and device and motor system

Abstract

The invention relates to the field of motor control, in particular to a multi-motor compensation control method and device and a motor system. The method comprises the steps of determining a forward correlation motor and a reverse correlation motor of an abnormal motor if the abnormal motor exists every other preset time; respectively determining weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor; determining correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor according to the deviation degree and the correction proportion of the abnormal motor so as to form a plurality of processing schemes; if the correction ratio is greater than 0, reducing the correction ratio to continuously form a plurality of processing schemes until the correction ratio is less than or equal to 0; each processing scheme is scored; and determining a final scheme according to the processing scheme with the highest score, and sending the correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor of the final scheme to the corresponding motors so as to compensate the abnormal motor. The problem that the adjustment scheme is single is solved.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a compensation control method, device and motor system for multiple motors. Background Technology

[0002] A multi-motor system is a collaborative system formed by mechanically connecting or electrically controlling multiple motors. Its core principle is to use various control strategies to coordinate the operation of these motors, thereby improving work efficiency, control precision, and system reliability. Common examples of multi-motor systems include robot control systems.

[0003] The way a multi-motor system executes a target action is to determine the sub-actions that each motor needs to perform at each moment, and then generate execution parameters to control each motor to perform the action. However, motors may experience mechanical wear and tear during use, which can lead to situations where a motor fails to perform the action. Currently, the common approach to addressing this issue is to perform the action on the motor that failed to perform the action, thus bringing it to the correct position.

[0004] This approach, which only adjusts the motors that are not performing properly due to issues such as wear and tear, is clearly inadequate and suffers from a lack of simplistic adjustment methods. Summary of the Invention

[0005] Therefore, it is necessary to provide a multi-motor compensation control method, device, and motor system to address the above-mentioned problems.

[0006] This invention is implemented as follows: a multi-motor compensation control method, the multi-motor compensation control method comprising: S101, at a preset time interval, determine whether there is an abnormal motor. If so, determine the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. S102, determine the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors respectively; S103, determine the correction values ​​for abnormal motors, forward-associated motors, and reverse-associated motors based on the degree of deviation and correction ratio of abnormal motors to form multiple processing schemes; S104, determine whether the correction percentage is less than or equal to 0; if not, reduce the correction percentage according to the first preset percentage. S105, repeat S103-S104 until the correction percentage is less than or equal to 0; S106, score each processing scheme based on the weighting coefficients of abnormal motors, forward-associated motors, and reverse-associated motors; S107, determine the final solution based on the processing solution with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final solution to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0007] In one embodiment, the present invention provides a multi-motor compensation control device, the multi-motor compensation control device comprising: The motor determination module is used to determine whether there is an abnormal motor at a preset time interval. If so, it determines the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. The coefficient determination module is used to determine the weight coefficients for abnormal motors, forward-associated motors, and reverse-associated motors, respectively. The scheme generation module is used to determine the correction values ​​of abnormal motors, forward-associated motors, and reverse-associated motors based on the deviation degree and correction ratio of abnormal motors in order to form multiple processing schemes. The ratio adjustment module is used to determine whether the correction ratio is less than or equal to 0. If not, the correction ratio is reduced according to the first preset ratio. The solution scoring module is used to score each processing solution based on the weighting coefficients of abnormal motors, forward-connected motors, and reverse-connected motors. The scheme determination module is used to determine the final scheme based on the processing scheme with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final scheme to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0008] In one embodiment, the present invention provides a motor system comprising a plurality of motors and a computer device; The motor is connected to the computer device and is used to move according to the execution parameters of the computer device and send real-time parameters to the computer device. The computer device is used to execute the steps of the above-described multi-motor compensation control method.

[0009] This invention provides a multi-motor compensation control method that, at preset time intervals, determines whether an abnormal motor exists. If so, it identifies the forward and reverse associated motors of the abnormal motor based on the relationships between motors. It then determines the weight coefficients for each of the abnormal motor, forward associated motor, and reverse associated motor. Based on the deviation degree and correction ratio of the abnormal motor, it determines the correction values ​​for each of the abnormal motor, forward associated motor, and reverse associated motor to form multiple processing schemes. It then checks whether the correction ratio is less than or equal to 0; if not, it reduces the correction ratio according to a first preset ratio. These two steps are repeated until the correction ratio is less than or equal to 0. Each processing scheme is scored based on its weight coefficients. The final scheme is determined by selecting the processing scheme with the highest score, and the correction values ​​for the abnormal motor, forward associated motor, and reverse associated motor of the final scheme are sent to the corresponding motors to compensate for the abnormal motor. This approach generates multiple processing schemes based on the correction ratio. These schemes include those that adjust the abnormal motor individually, as well as those that adjust both the forward and reverse associated motors of the abnormal motor. The highest-scoring scheme is selected as the final scheme, thus solving the problem of a single adjustment scheme. Attached Figure Description

[0010] Figure 1 This is a flowchart of a multi-motor compensation control method in one embodiment; Figure 2 This is a structural block diagram of a multi-motor compensation control device in one embodiment; Figure 3 This is a structural block diagram of the motor system in one embodiment; Figure 4 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0012] 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.

[0013] like Figure 1As shown, in one embodiment, a multi-motor compensation control method is proposed, which may specifically include the following steps: S101, at a preset time interval, determine whether there is an abnormal motor. If so, determine the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. S102, determine the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors respectively; S103, determine the correction values ​​for abnormal motors, forward-associated motors, and reverse-associated motors based on the degree of deviation and correction ratio of abnormal motors to form multiple processing schemes; S104, determine whether the correction percentage is less than or equal to 0; if not, reduce the correction percentage according to the first preset percentage. S105, repeat S103-S104 until the correction percentage is less than or equal to 0; S106, score each processing scheme based on the weighting coefficients of abnormal motors, forward-associated motors, and reverse-associated motors; S107, determine the final solution based on the processing solution with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final solution to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0014] In this embodiment, the control commands for the motor are generally sent in a polling manner, i.e., there is a polling cycle. Therefore, the preset time can be set to the time required for one polling cycle.

[0015] In this embodiment, the motor is identified as an abnormal motor because its actual parameters do not meet the execution parameters, resulting in a certain deviation. This deviation indicates the degree of deviation of the abnormal motor. Assuming only the abnormal motor is adjusted, the correction percentage for the abnormal motor is 100%. During the adjustment process, the maximum adjustment value of the abnormal motor can be determined. If the maximum adjustment value of the abnormal motor is reduced by a certain percentage, and this reduction percentage is applied to the forward or reverse associated motors, a new processing scheme is formed. The remaining percentage of the abnormal motor after this reduction is the correction percentage.

[0016] In this embodiment, multiple processing schemes are formed in S103 because the correction ratio is only for abnormal motors. For example, if the correction ratio of abnormal motors is 40%, then the maximum adjustment value of 60% of abnormal motors needs to be completed by forward-associated motors and reverse-associated motors. There are also multiple ways to determine the ratio of forward-associated motors and reverse-associated motors, thus forming multiple processing schemes.

[0017] In this embodiment, in S104-S105, the number of times S103 is executed depends on the first preset ratio. Since the initial value of the correction ratio is 1, the smaller the first preset ratio is, the more times S103 will be executed repeatedly.

[0018] This invention provides a multi-motor compensation control method that, at preset time intervals, determines whether an abnormal motor exists. If so, it identifies the forward and reverse associated motors of the abnormal motor based on the relationships between motors. It then determines the weight coefficients for each of the abnormal motor, forward associated motor, and reverse associated motor. Based on the deviation degree and correction ratio of the abnormal motor, it determines the correction values ​​for each of the abnormal motor, forward associated motor, and reverse associated motor to form multiple processing schemes. It then checks whether the correction ratio is less than or equal to 0; if not, it reduces the correction ratio according to a first preset ratio. These two steps are repeated until the correction ratio is less than or equal to 0. Each processing scheme is scored based on its weight coefficients. The final scheme is determined by selecting the processing scheme with the highest score, and the correction values ​​for the abnormal motor, forward associated motor, and reverse associated motor of the final scheme are sent to the corresponding motors to compensate for the abnormal motor. This approach generates multiple processing schemes based on the correction ratio. These schemes include those that adjust the abnormal motor individually, as well as those that adjust both the forward and reverse associated motors of the abnormal motor. The highest-scoring scheme is selected as the final scheme, thus solving the problem of a single adjustment scheme.

[0019] In one embodiment, determining whether an abnormal motor exists includes: The execution parameters for each motor are determined based on the target action and sent to the corresponding motor. For each motor, obtain the first parameter of the motor before the execution parameters are completed and the second parameter after the execution parameters are completed; The third parameter is obtained based on the difference between the second parameter and the first parameter; Determine if the third parameter is equal to the execution parameter; if not, record the motor as an abnormal motor.

[0020] In this embodiment, the execution parameters include information about the angle the motor needs to rotate to reach the target position. After receiving the execution parameters, the motor rotates accordingly, generates real-time parameters for the current position, and sends them back. If the motor is functioning correctly, the third parameter will equal the execution parameters. Of course, an error range can be set here; for example, the third parameter can be considered consistent if it is within ±2% of the execution parameters.

[0021] In one embodiment, determining the forward and reverse associated motors of the abnormal motor based on the relationship between motors includes: The direction of motor operation is determined by the structural components on which the motor operates; A tree diagram of the motors is obtained based on the relationships between them; Determine the level of the malfunctioning motor in the tree diagram; Determine if there is a motor in the same direction as the abnormal motor in the same layer as the abnormal motor. If so, select a motor in the same direction as the abnormal motor in the same layer as the positive associated motor. If not, determine if there is a motor in the layer above the abnormal motor in the same direction as the abnormal motor. If there is a motor in the next level above the level of the abnormal motor that runs in the same direction as the abnormal motor, then a motor in the next level above the level of the abnormal motor that runs in the same direction as the abnormal motor will be selected as the positive associated motor. Determine if there is a motor in the layer where the abnormal motor is located that has the opposite running direction to the abnormal motor. If so, select a motor in the layer where the abnormal motor is located that has the opposite running direction to the abnormal motor as the reverse associated motor. If not, determine if there is a motor in the layer above the abnormal motor that has the opposite running direction to the abnormal motor. If there is a motor in the layer above the abnormal motor whose running direction is opposite to that of the abnormal motor, then a motor in the layer above the abnormal motor whose running direction is opposite to that of the abnormal motor will be selected as the reverse associated motor.

[0022] In this embodiment, the motors are connected to each other through fixed structural components, so the relationship between the motors is clear. Taking a robotic arm as an example, the first level of the motor tree diagram is the shoulder motor, the second level is the elbow motor, the third level is the wrist motor, and the fourth level is the finger motor.

[0023] In this embodiment, for the positively associated motor of the abnormal motor, the level must be greater than or equal to the level of the abnormal motor. This ensures that changes in the positively associated motor will affect the abnormal motor. Furthermore, the level difference between the abnormal motor and the positively associated motor must be less than or equal to 1. Only one positively associated motor is allowed, and those at the same level are prioritized. Taking a robotic arm as an example, if the abnormal motor is a finger motor, the positively associated motor is first determined from motors at the same level, i.e., motors of other fingers. If motors of three other fingers meet the requirements, theoretically any one of them can be used as a positively associated motor, rather than setting all three finger motors as positively associated motors. This is because, in the case of grasping a cup, if one finger motor doesn't rotate sufficiently, resulting in insufficient gripping force, only the torque of that finger motor needs to be increased to enhance the gripping force. If the abnormal motor is a wrist motor, there are no other motors at the same level, and therefore no positively associated motors. In this case, it needs to be searched from the next higher level. The same applies to negatively associated motors.

[0024] In this embodiment, a faulty motor may have neither a forward-associated motor nor a reverse-associated motor. If a motor is identified as a forward-associated motor of the faulty motor, then it cannot be identified as a reverse-associated motor of the faulty motor. For example, some motors can rotate 360 ​​degrees, so they can be either forward-associated or reverse-associated motors.

[0025] In this embodiment, taking the selection of a motor in the layer where the abnormal motor is located as a positive associated motor as an example, if there are multiple motors in the same direction as the abnormal motor, then each motor in the same direction can be used as a positive associated motor to repeatedly execute S103-S105.

[0026] In this embodiment, when determining a motor whose running direction is the same as that of the malfunctioning motor, the running plane of each motor is determined in the process of determining the running direction of the motor based on the structural components on which the motor acts. Only motors whose running planes are parallel can be determined to have the same running direction. The same principle applies to determining motors whose running direction is opposite to that of the malfunctioning motor.

[0027] In one embodiment, determining the motor's running direction based on the structural components on which the motor operates includes: For each motor, the operating plane of the motor is determined based on the running trajectory of the structural component it acts upon; Determine the relative position A of the structural component acted upon by the motor with the operating plane of the motor before the corresponding motor completes the execution parameters; Determine the relative position B of the structural component acted upon by the motor and the operating plane of the motor after the corresponding motor has completed the execution parameters; The direction of motor operation is determined based on relative positions A and B.

[0028] In this embodiment, the direction of motor operation refers to the direction of movement of the structural component acting on the motor, not the direction of motor movement itself. Determining the motor's direction of operation does not require precise location; approximate directions such as up, down, left, and right are sufficient. Assuming the motor's operating plane is horizontal, there are only two directions: left and right. Therefore, in determining the motor's direction of operation based on relative positions A and B, the direction can be directly determined by changes in these relative positions, such as the displacement of the midpoint of the structural component.

[0029] In one embodiment, determining the weighting coefficients for the abnormal motor, the forward-associated motor, and the reverse-associated motor respectively includes: For each abnormal motor, determine whether the abnormal motor has both forward-associated and reverse-associated motors. If not, set the weight coefficient of the abnormal motor to 1 and set the weight coefficients of the forward-associated and reverse-associated motors to 0. If not, determine whether the abnormal motor has only forward-associated or reverse-associated motors. If the abnormal motor only has forward-linked or reverse-linked motors, then it is determined that the abnormal motor only has forward-linked motors. If so, the weight coefficient of the forward-linked motors is set to... Set the weight coefficient of the reverse-associated motor to 0, and set the weight coefficient of the abnormal motor to... If not, set the weight coefficient of the forward-linked motor to 0, and set the weight coefficient of the reverse-linked motor to... Set the weighting coefficient of the abnormal motor to ; If the abnormal motor does not only have forward-linked or reverse-linked motors, then the weighting coefficient of the forward-linked motor is set to... Set the weighting coefficient of the reverse-associated motor to Set the weighting coefficient of the abnormal motor to ; Where n0 is the level of the abnormal motor in the motor tree diagram, n1 is the level of the forward motor in the motor tree diagram, n2 is the level of the reverse motor in the motor tree diagram, a1 is the first preset ratio, a2 is the second preset ratio, a1 is less than a2, k1 is the first level factor, k2 is the second level factor, and k3 is the multi-motor factor.

[0030] In this embodiment, the sum of the weight coefficients of the abnormal motor, the forward-associated motor, and the reverse-associated motor is 1. There are three cases: First, if there are no forward-associated or reverse-associated motors, then the weights of the forward-associated and reverse-associated motors are set to 0; second, if only either a forward-associated motor or a reverse-associated motor exists, then the weight coefficient of the non-existent associated motor is 0. If the forward-associated motor and the abnormal motor belong to the same level, then... Then the weighting coefficient is If it does not belong to the category, the weight coefficient is a1; for reverse-associated motors, the corresponding weight coefficient is a1. And a2; the third type is where both forward and reverse associated motors exist, and the sum of the weight coefficients of the forward and reverse associated motors is k3.

[0031] In this embodiment, the first preset ratio can be set to 0.6, the second preset ratio can be set to 0.7, the first level factor can be set to 0.1, the second level factor can be set to 0.2, and the multi-motor factor can be set to 0.8.

[0032] In one embodiment, determining the correction values ​​for the abnormal motor, the forward-correlated motor, and the reverse-correlated motor based on the deviation degree and correction ratio of the abnormal motor to form multiple processing schemes includes: S601, by Obtain the degree of deviation of the abnormal motor. ; S602, by Obtain the correction value for the abnormal motor; S603, forms a master scheme from the correction values ​​of the abnormal motor; S604, For each main scheme, set the allocation ratio of that main scheme to 1; S605, determine whether the allocation percentage of the main scheme is 0; if not, by The correction value for the positively correlated motor is obtained from... The correction value for the reverse-correlated motor is obtained from... Update the allocation percentage for this main scheme; S606, the correction values ​​of the abnormal motor, the forward-associated motor and the reverse-associated motor are formed into a sub-scheme of the main scheme; S607, repeat S605-S606 until the allocation ratio of the main scheme is 0; S608, each sub-scheme is recorded as a separate processing scheme; in, This is the first parameter of the abnormal motor before it completes the execution of the parameters. This is the second parameter of the abnormal motor after completing the execution parameters. Here are the execution parameters for the abnormal motor: K is the correction ratio, P is the allocation ratio, m1 is the stroke ratio of the forward-connected motor to the abnormal motor, m2 is the stroke ratio of the reverse-connected motor to the abnormal motor, and b is the second preset ratio.

[0033] In this embodiment, the smaller the second preset ratio, the more times S605 is executed, and the more sub-solutions are generated.

[0034] In this embodiment, the second preset ratio can be set to 10%, so that a main scheme has 10 sub-schemes, that is, executing S103 once will form 10 processing schemes.

[0035] In this embodiment, m1 can be obtained by the ratio of the shaft length of the structural component acted upon by the forward-connected motor to the shaft length of the structural component acted upon by the abnormal motor, and m2 can be obtained by the ratio of the shaft length of the structural component acted upon by the reverse-connected motor to the shaft length of the structural component acted upon by the abnormal motor. The shaft length of a structural component can be obtained by the distance between the two motors at both ends of the structural component.

[0036] In this embodiment, the reverse-associated motor runs in the opposite direction to the faulty motor. Therefore, even if the correction value of the reverse-associated motor is positive, it still achieves the purpose of offsetting the deviation value of the faulty motor. For example, the motors representing the thumb and index finger in the robot arm run in opposite directions. When the motor representing the index finger is faulty, the motor representing the thumb is the reverse-associated motor. When the actual parameters of the faulty motor do not meet the execution parameters, such as insufficient gripping force in the action of grasping a cup, the reverse-associated motor can compensate by rotating the reverse-associated motor by rotating it more to bring the index finger and thumb closer together, thereby offsetting the deviation value of the faulty motor.

[0037] In one embodiment, reducing the correction ratio according to the first preset ratio includes: Depend on Update and correct the percentage; Where c is the first preset ratio and K is the correction ratio.

[0038] In this embodiment, the first preset ratio can be set to 10%, so that S103 will be executed 10 times, resulting in 10 main schemes.

[0039] In one embodiment, scoring each processing scheme based on the weighting coefficients of the abnormal motor, the forward-correlated motor, and the reverse-correlated motor includes: Depend on Receive a score for each processing solution; Among them, f x f y and f zThese are the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors, respectively. x D y and D z These are the correction values ​​for abnormal motors, forward-coupled motors, and reverse-coupled motors, respectively.

[0040] In this embodiment, for each processing scheme, f x f y and f z It is fixed, and the score is determined by whether it falls under D. x D y and D z superior.

[0041] In this embodiment, if the weight coefficients of the forward and reverse associated motors are 0, then the score is highest when the correction ratio is 1. If the weight coefficients of the forward and / or reverse associated motors are not 0, then the weight coefficients of the abnormal motors will be lower. As the correction ratio decreases, the correction value of the forward and / or reverse associated motors will increase, and the score will increase. Therefore, the processing solution is to prioritize changing the forward and / or reverse associated motors.

[0042] like Figure 2 As shown, in one embodiment, a multi-motor compensation control device is provided, which may specifically include: The motor determination module is used to determine whether there is an abnormal motor at a preset time interval. If so, it determines the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. The coefficient determination module is used to determine the weight coefficients for abnormal motors, forward-associated motors, and reverse-associated motors, respectively. The scheme generation module is used to determine the correction values ​​of abnormal motors, forward-associated motors, and reverse-associated motors based on the deviation degree and correction ratio of abnormal motors in order to form multiple processing schemes. The ratio adjustment module is used to determine whether the correction ratio is less than or equal to 0. If not, the correction ratio is reduced according to the first preset ratio. The solution scoring module is used to score each processing solution based on the weighting coefficients of abnormal motors, forward-connected motors, and reverse-connected motors. The scheme determination module is used to determine the final scheme based on the processing scheme with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final scheme to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0043] In this embodiment, the modules of the multi-motor compensation control device 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.

[0044] like Figure 3 As shown, in one embodiment, a motor system is provided, which may specifically include: Several motors and computer equipment; The motor is connected to the computer device and is used to move according to the execution parameters of the computer device and send real-time parameters to the computer device. The computer device is used to execute the steps of the above-described multi-motor compensation control method.

[0045] In this embodiment, the motors are connected to each other via structural components. The connection between the motors and the computer equipment is a communication connection, typically via cables. If the motors are equipped with a communication module, they can connect to the computer equipment wirelessly.

[0046] This invention provides a motor system that, at preset time intervals, determines whether an abnormal motor exists. If so, it identifies the forward and reverse associated motors of the abnormal motor based on the relationships between motors. It then determines the weight coefficients for each of the abnormal motor, forward associated motor, and reverse associated motor. Based on the deviation degree and correction ratio of the abnormal motor, it determines the correction values ​​for each of the three motors to form multiple processing schemes. It checks whether the correction ratio is less than or equal to 0; if not, it reduces the correction ratio according to a first preset ratio. These two steps are repeated until the correction ratio is less than or equal to 0. Each processing scheme is scored based on its weight coefficients. The final scheme is determined by selecting the scheme with the highest score, and the correction values ​​for the abnormal motor, forward associated motor, and reverse associated motor are sent to the corresponding motors to compensate for the abnormal motor. This approach generates multiple processing schemes based on the correction ratio. These schemes include those that adjust the abnormal motor individually, as well as those that adjust both the forward and reverse associated motors of the abnormal motor. The highest-scoring scheme is selected as the final scheme, thus solving the problem of a single adjustment scheme.

[0047] Figure 4 An internal structural diagram of a computer device in one embodiment is shown. Figure 4As 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 multi-motor compensation control method 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 multi-motor compensation control method 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.

[0048] Those skilled in the art will understand that Figure 4 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.

[0049] In one embodiment, the multi-motor compensation control device provided by this invention can be implemented as a computer program, which can be implemented in the form of, for example... Figure 4 The computer device shown is running the program. The computer device's memory can store the various program modules that make up this multi-motor compensation control device, for example... Figure 2 The diagram shows a motor determination module, a coefficient determination module, a scheme formation module, a proportional adjustment module, a scheme scoring module, and a scheme determination module. The computer program comprised of these modules causes the processor to execute the steps of a multi-motor compensation control method according to various embodiments of the present invention described in this specification.

[0050] For example, Figure 4 The computer device shown can be used as follows Figure 2 The motor determination module in the multi-motor compensation control device shown executes step S101; the computer device executes step S102 through the coefficient determination module; the computer device executes step S103 through the scheme formation module; the computer device executes step S104 through the proportional adjustment module; the computer device executes step S106 through the scheme scoring module; and the computer device executes step S107 through the scheme determination module.

[0051] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps: S101, at a preset time interval, determine whether there is an abnormal motor. If so, determine the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. S102, determine the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors respectively; S103, determine the correction values ​​for abnormal motors, forward-associated motors, and reverse-associated motors based on the degree of deviation and correction ratio of abnormal motors to form multiple processing schemes; S104, determine whether the correction percentage is less than or equal to 0; if not, reduce the correction percentage according to the first preset percentage. S105, repeat S103-S104 until the correction percentage is less than or equal to 0; S106, score each processing scheme based on the weighting coefficients of abnormal motors, forward-associated motors, and reverse-associated motors; S107, determine the final solution based on the processing solution with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final solution to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0052] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps: S101, at a preset time interval, determine whether there is an abnormal motor. If so, determine the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. S102, determine the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors respectively; S103, determine the correction values ​​for abnormal motors, forward-associated motors, and reverse-associated motors based on the degree of deviation and correction ratio of abnormal motors to form multiple processing schemes; S104, determine whether the correction percentage is less than or equal to 0; if not, reduce the correction percentage according to the first preset percentage. S105, repeat S103-S104 until the correction percentage is less than or equal to 0; S106, score each processing scheme based on the weighting coefficients of abnormal motors, forward-associated motors, and reverse-associated motors; S107, determine the final solution based on the processing solution with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final solution to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

[0053] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0054] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A multi-motor compensation control method, characterized in that, The multi-motor compensation control method includes: S101, at a preset time interval, determine whether there is an abnormal motor. If so, determine the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. S102, determine the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors respectively; S103, determine the correction values ​​for abnormal motors, forward-associated motors, and reverse-associated motors based on the degree of deviation and correction ratio of abnormal motors to form multiple processing schemes; S104, determine whether the correction percentage is less than or equal to 0; if not, reduce the correction percentage according to the first preset percentage. S105, repeat S103-S104 until the correction percentage is less than or equal to 0; S106, score each processing scheme based on the weighting coefficients of abnormal motors, forward-associated motors, and reverse-associated motors; S107, determine the final solution based on the processing solution with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final solution to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

2. The multi-motor compensation control method according to claim 1, characterized in that, The determination of whether there is an abnormal motor includes: The execution parameters for each motor are determined based on the target action and sent to the corresponding motor. For each motor, obtain the first parameter of the motor before the execution parameters are completed and the second parameter after the execution parameters are completed; The third parameter is obtained based on the difference between the second parameter and the first parameter; Determine if the third parameter is equal to the execution parameter; if not, record the motor as an abnormal motor.

3. The multi-motor compensation control method according to claim 1, characterized in that, The step of determining the forward and reverse associated motors of the abnormal motor based on the relationship between motors includes: The direction of motor operation is determined by the structural components on which the motor operates; A tree diagram of the motors is obtained based on the relationships between them; Determine the level of the malfunctioning motor in the tree diagram; Determine if there is a motor in the same direction as the abnormal motor in the same layer as the abnormal motor. If so, select a motor in the same direction as the abnormal motor in the same layer as the positive associated motor. If not, determine if there is a motor in the layer above the abnormal motor in the same direction as the abnormal motor. If there is a motor in the next level above the level of the abnormal motor that runs in the same direction as the abnormal motor, then a motor in the next level above the level of the abnormal motor that runs in the same direction as the abnormal motor will be selected as the positive associated motor. Determine if there is a motor in the layer where the abnormal motor is located that has the opposite running direction to the abnormal motor. If so, select a motor in the layer where the abnormal motor is located that has the opposite running direction to the abnormal motor as the reverse associated motor. If not, determine if there is a motor in the layer above the abnormal motor that has the opposite running direction to the abnormal motor. If there is a motor in the layer above the abnormal motor whose running direction is opposite to that of the abnormal motor, then a motor in the layer above the abnormal motor whose running direction is opposite to that of the abnormal motor will be selected as the reverse associated motor.

4. The multi-motor compensation control method according to claim 1, characterized in that, The method of determining the motor's running direction based on the structural components on which the motor operates includes: For each motor, the operating plane of the motor is determined based on the running trajectory of the structural component it acts upon; Determine the relative position A of the structural component acted upon by the motor with the operating plane of the motor before the corresponding motor completes the execution parameters; Determine the relative position B of the structural component acted upon by the motor and the operating plane of the motor after the corresponding motor has completed the execution parameters; The direction of motor operation is determined based on relative positions A and B.

5. The multi-motor compensation control method according to claim 1, characterized in that, The determination of the weighting coefficients for abnormal motors, forward-correlated motors, and reverse-correlated motors includes: For each abnormal motor, determine whether the abnormal motor has both forward-associated and reverse-associated motors. If not, set the weight coefficient of the abnormal motor to 1 and set the weight coefficients of the forward-associated and reverse-associated motors to 0. If not, determine whether the abnormal motor has only forward-associated or reverse-associated motors. If the abnormal motor only has forward-linked or reverse-linked motors, then it is determined that the abnormal motor only has forward-linked motors. If so, the weight coefficient of the forward-linked motors is set to... Set the weight coefficient of the reverse-associated motor to 0, and set the weight coefficient of the abnormal motor to... If not, set the weight coefficient of the forward-linked motor to 0, and set the weight coefficient of the reverse-linked motor to... Set the weighting coefficient of the abnormal motor to ; If the abnormal motor does not only have forward-linked or reverse-linked motors, then the weighting coefficient of the forward-linked motor is set to... Set the weighting coefficient of the reverse-associated motor to Set the weighting coefficient of the abnormal motor to ; Where n0 is the level of the abnormal motor in the motor tree diagram, n1 is the level of the forward motor in the motor tree diagram, n2 is the level of the reverse motor in the motor tree diagram, a1 is the first preset ratio, a2 is the second preset ratio, a1 is less than a2, k1 is the first level factor, k2 is the second level factor, and k3 is the multi-motor factor.

6. The multi-motor compensation control method according to claim 1, characterized in that, The correction values ​​for the abnormal motor, the forward-correlated motor, and the reverse-correlated motor are determined based on the deviation degree and correction ratio of the abnormal motor to form multiple processing schemes, including: S601, by Obtain the degree of deviation of the abnormal motor. ; S602, by Obtain the correction value for the abnormal motor; S603, forms a master scheme from the correction values ​​of the abnormal motor; S604, For each main scheme, set the allocation ratio of that main scheme to 1; S605, determine whether the allocation percentage of the main scheme is 0; if not, by The correction value for the positively correlated motor is obtained from... The correction value for the reverse-correlated motor is obtained from... Update the allocation percentage for this main scheme; S606, the correction values ​​of the abnormal motor, the forward-associated motor and the reverse-associated motor are formed into a sub-scheme of the main scheme; S607, repeat S605-S606 until the allocation ratio of the main scheme is 0; S608, each sub-scheme is recorded as a separate processing scheme; in, This is the first parameter of the abnormal motor before it completes the execution of the parameters. This is the second parameter of the abnormal motor after completing the execution parameters. Here are the execution parameters for the abnormal motor: K is the correction ratio, P is the allocation ratio, m1 is the stroke ratio of the forward-connected motor to the abnormal motor, m2 is the stroke ratio of the reverse-connected motor to the abnormal motor, and b is the second preset ratio.

7. The multi-motor compensation control method according to claim 1, characterized in that, The step of reducing the correction ratio according to the first preset ratio includes: Depend on Update and correct the percentage; Where c is the first preset ratio and K is the correction ratio.

8. The multi-motor compensation control method according to claim 1, characterized in that, The scoring of each processing scheme based on the weighting coefficients of abnormal motors, forward-correlated motors, and reverse-correlated motors includes: Depend on Receive a score for each processing solution; Among them, f x f y and f z These are the weighting coefficients for abnormal motors, forward-associated motors, and reverse-associated motors, respectively. x D y and D z These are the correction values ​​for abnormal motors, forward-coupled motors, and reverse-coupled motors, respectively.

9. A multi-motor compensation control device, characterized in that, The multi-motor compensation control device includes: The motor determination module is used to determine whether there is an abnormal motor at a preset time interval. If so, it determines the forward and reverse associated motors of the abnormal motor based on the relationship between the motors. The coefficient determination module is used to determine the weight coefficients for abnormal motors, forward-associated motors, and reverse-associated motors, respectively. The scheme generation module is used to determine the correction values ​​of abnormal motors, forward-associated motors, and reverse-associated motors based on the deviation degree and correction ratio of abnormal motors in order to form multiple processing schemes. The ratio adjustment module is used to determine whether the correction ratio is less than or equal to 0. If not, the correction ratio is reduced according to the first preset ratio. The solution scoring module is used to score each processing solution based on the weighting coefficients of abnormal motors, forward-connected motors, and reverse-connected motors. The scheme determination module is used to determine the final scheme based on the processing scheme with the highest score, and send the correction values ​​of the abnormal motor, forward associated motor and reverse associated motor of the final scheme to the corresponding motor to compensate for the abnormal motor. The initial value of the correction ratio is 1.

10. A motor system, characterized in that, The motor system includes several motors and computer equipment; The motor is connected to the computer device and is used to move according to the execution parameters of the computer device and send real-time parameters to the computer device. The computer device is used to perform the steps of the multi-motor compensation control method according to any one of claims 1 to 8.

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