A dual-motor cooperative control driver and control method based on vector control

Abstract

This invention belongs to the field of motor control technology and discloses a dual-motor cooperative control driver and control method based on vector control. Through a built-in parallel two-level cross-coupling synchronous control strategy, the speed loop and clamping force loop are set up in parallel. A cross-compensation algorithm is executed so that the control setpoint of each motor is simultaneously adjusted by its own and the other motor's speed and clamping force errors, achieving adaptive weight adjustment logic to achieve multi-variable cooperation. The driver integrates a force feedback interface, which can be directly connected to a force sensor to form a clamping force-torque composite closed-loop control mode, realizing high-quality closed-loop control from command to output, improving the system's intelligence and control accuracy. The modular hardware design, combined with CAN communication and analog signal acquisition, enhances configuration flexibility and system integration convenience. Precise feedback from the resolver decoding module and current sampling module, and the driving of the three-phase full-bridge drive module, ensure high efficiency from signal sensing to power output.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, specifically a dual-motor cooperative control driver and control method based on vector control. Background Technology

[0002] In the field of multi-motor precision coordinated drive, achieving dynamic and high-precision synchronous control of dual motors is a key common technology for improving the performance of high-end equipment. This demand is widespread across several important industries: in aerospace, such as helicopter rotor electric braking systems, dual motors are required to output millisecond-level response and highly consistent braking torque to avoid transmission shock; in high-end manufacturing, such as the dual-drive system of gantry milling machines and the joint drive of heavy robotic arms, motors need to achieve precise position and speed synchronization to ensure machining accuracy and motion stability; and in rail transportation, the dual actuators of train braking units also need to achieve precise force coordination.

[0003] However, existing dual-motor cooperative control schemes have systemic shortcomings and cannot meet the stringent requirements of high dynamics and high precision. Master-slave control mode suffers from slow dynamic response, weak disturbance rejection, and the risk of single-point failure; parallel control mode, lacking real-time interaction between control loops, cannot actively suppress synchronization errors caused by differences in motor parameters or external load disturbances; traditional cross-coupling methods based on single error compensation struggle to simultaneously achieve speed and torque synchronization, limiting control dimensions and dynamic performance. While vector control technology provides excellent dynamic torque control performance for single motors, its standard architecture does not include mechanisms for active inter-motor cooperation and multi-variable coordination.

[0004] Currently, most motor drive products on the market use fixed control strategies. When dealing with complex scenarios that require simultaneous attention to both speed and output force synchronization, these strategies suffer from inflexible configuration, low intelligence, and difficulty in integrating direct force sensors to achieve high-quality closed-loop control. Summary of the Invention

[0005] This invention provides a dual-motor cooperative control driver and control method based on vector control, which solves the problems of general motor driver products having inflexible configuration, low level of intelligence, and lack of active coordination and multi-variable coordination mechanism between motors when dealing with complex scenarios that require simultaneous attention to the dual synchronization goals of speed and output force.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A dual-motor cooperative control driver based on vector control includes a control module, a power supply module, an analog signal acquisition module, a CAN communication module, a resolver decoding module, a current sampling module, a three-phase full-bridge drive module, a first motor interface, a second motor interface, and a force feedback interface. The control module is connected to the resolver decoding module, the current sampling module, the analog quantity acquisition module, the CAN communication module, and the three-phase full-bridge drive module, respectively. It is used to receive force sensor signals and communication data, and to execute a vector control algorithm to generate a PWM control signal based on the feedback information from the resolver decoding module and the current sampling module, and output the signal to the three-phase full-bridge drive module. The three-phase full-bridge drive module generates a three-phase drive power supply according to the PWM control signal, and connects to the first motor interface and the second motor interface respectively. The resolver decoding module is connected to the first motor interface and the second motor interface respectively, and is used to receive the resolver signals of the first motor and the second motor, and output the motor rotor position and speed information to the control module after decoding. The current sampling module is used to collect the motor phase current and feed it back to the control module; The power module is connected to an external power source to supply power to each functional module; The analog signal acquisition module is used to acquire analog input signals; The CAN communication module is used to enable communication between the driver and external devices; The control module has a built-in parallel two-level cross-coupling synchronous control strategy. This strategy sets the speed loop and clamping force loop in parallel and uses a cross-compensation algorithm to make the control setpoint of each motor simultaneously adjusted by the speed and clamping force errors of both itself and the other motor.

[0007] Preferably, in the parallel two-level cross-coupling synchronous control strategy, the current loop is the inner loop, the speed loop and the clamping force loop are parallel as the outer loop, and a speed synchronization compensation loop and a clamping force synchronization compensation loop are added. The outputs of the two are weighted and summed together and act on the given input terminal of the current loop.

[0008] Preferably, the control module also incorporates adaptive weight adjustment logic to dynamically adjust the weight coefficients and coupling coefficients in the cross-compensation algorithm according to the running stage.

[0009] Preferably, the feedback signal of the clamping force ring is obtained through one of the following methods: It was estimated based on the q-axis current of the motor and a pre-defined transmission mechanism model; It is directly measured by a force sensor connected to the force feedback interface.

[0010] Preferably, the control module uses the measured clamping force as the main synchronous closed loop and the motor torque as the inner auxiliary closed loop, forming a clamping force-torque composite closed loop control mode.

[0011] Preferably, the control module integrates fault diagnosis and fault tolerance logic, and automatically switches to the force feedback synchronization mode based on motor torque estimation when the force sensor fails.

[0012] Preferably, the control module supports online configuration of motor parameters, protection thresholds, and control loop parameters to adapt to motor loads with different performance parameters.

[0013] Preferably, the control module supports switching between a single-motor independent working mode and a dual-motor synchronous working mode via software configuration.

[0014] A dual-motor synchronous control method based on the aforementioned driver includes the following steps: System initialization and mode configuration, including power-on self-test, working mode determination and control parameter loading; The program parses execution instructions and determines security conditions, identifying the target's operational status based on external instructions and security logic. Adaptive weight adjustment is performed based on real-time operating status, and speed error and clamping force error are calculated; A parallel two-stage cross-coupling synchronous control strategy is adopted to cross-couple and synthesize the speed compensation and clamping force compensation to generate the total torque compensation. The total torque compensation is superimposed on the torque setpoint of the vector control loop to generate an SVPWM signal to drive the motor. It monitors the motor's operating status in real time, performs fault diagnosis and error handling, and terminates the process and provides feedback on the status based on the operating results or external instructions.

[0015] Preferably, a parallel two-level cross-coupling synchronous control strategy is adopted, which cross-couples and synthesizes the speed compensation amount and the clamping force compensation amount to generate the total torque compensation amount. It also includes dynamically adjusting the weight coefficient and coupling coefficient of the cross-coupling according to the real-time operating status to perform adaptive synchronous control.

[0016] Compared with existing technologies, this invention has the following advantages: This invention provides a dual-motor cooperative control driver based on vector control. Through a built-in parallel two-level cross-coupling synchronous control strategy, the speed loop and clamping force loop are set up in parallel. A cross-compensation algorithm is executed so that the control setpoint of each motor is simultaneously adjusted by its own and the other motor's speed and clamping force errors, achieving adaptive weight adjustment logic to achieve multi-variable cooperation. This driver integrates a force feedback interface, which can be directly connected to a force sensor to form a clamping force-torque composite closed-loop control mode, realizing high-quality closed-loop control from command to output, improving the system's intelligence and control accuracy. Its modular hardware design, combined with CAN communication and analog signal acquisition, enhances configuration flexibility and system integration convenience. Through precise feedback from the resolver decoding module and current sampling module, and the drive of the three-phase full-bridge drive module, high efficiency and reliability from signal sensing to power output are ensured, fundamentally improving the motion stability, machining accuracy, and operational reliability of high-end equipment under complex working conditions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the hardware connection of the dual-motor cooperative control driver according to an embodiment of the present invention.

[0019] Figure 2 This is a block diagram of a parallel two-level cross-coupled synchronous control based on vector control, according to an embodiment of the present invention.

[0020] Figure 3 This is a flowchart of the cross-compensation control process according to an embodiment of the present invention.

[0021] Figure 4 This is a flowchart illustrating the driver operation process according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components.

[0026] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, the present invention provides a dual-motor cooperative control driver based on vector control, including a control module, a power supply module, an analog signal acquisition module, a CAN communication module, a resolver decoding module, a current sampling module, a three-phase full-bridge drive module, a first motor interface, a second motor interface, and a force feedback interface; The control module is connected to the resolver decoding module, current sampling module, analog quantity acquisition module, CAN communication module and three-phase full-bridge drive module respectively. It is used to receive force sensor signals and communication data, and generate PWM control signals based on the feedback information from the resolver decoding module and the current sampling module, and output them to the three-phase full-bridge drive module. The three-phase full-bridge drive module generates a three-phase drive power supply based on the PWM control signal, which is connected to the first motor interface and the second motor interface respectively. The resolver decoding module is connected to the first motor interface and the second motor interface respectively. It is used to receive the resolver signals of the first motor and the second motor, and output the motor rotor position and speed information to the control module after decoding. The current sampling module is used to collect the phase current of the motor and feed it back to the control module; The power module is connected to an external power source to supply power to the various functional modules; The analog signal acquisition module is used to acquire analog input signals; The CAN communication module is used to enable communication between the driver and external devices; The control module has a built-in parallel two-level cross-coupling synchronous control strategy. This strategy sets the speed loop and clamping force loop in parallel and uses a cross-compensation algorithm to make the control setpoint of each motor simultaneously adjusted by the speed and clamping force errors of both itself and the other motor.

[0028] By employing a built-in parallel two-level cross-coupling synchronous control strategy, the speed loop and clamping force loop are set up in parallel. A cross-compensation algorithm is executed so that the control setpoint of each motor is simultaneously adjusted by its own and the other motor's speed and clamping force errors. This achieves adaptive weight adjustment logic to realize multi-variable synergy. The driver integrates a force feedback interface, allowing direct connection to a force sensor to form a clamping force-torque composite closed-loop control mode. This achieves high-quality closed-loop control from command to output, improving the system's intelligence and control accuracy. Its modular hardware design, combined with CAN communication and analog signal acquisition, enhances configuration flexibility and system integration convenience. Precise feedback from the resolver decoding module and current sampling module, along with the drive from the three-phase full-bridge drive module, ensures high efficiency and reliability from signal sensing to power output, fundamentally improving the motion stability, machining accuracy, and operational reliability of high-end equipment under complex working conditions.

[0029] The control module, as the core processing unit, is connected to the resolver decoding module, current sampling module, analog signal acquisition module, CAN communication module, and three-phase full-bridge drive module, respectively. It is used to receive force sensor and communication data, and based on the feedback information from the resolver decoding module and the current sampling module, it executes the vector control algorithm to generate PWM control signals, which are output to the first motor drive module and the second motor drive module, respectively, to realize the coordinated control of the two motors. By employing a vector control algorithm, fast and precise decoupling control of motor torque and synchronous control of dual motors are achieved, significantly improving the system response speed. The three-phase full-bridge drive module connects to the control module and generates a three-phase drive power supply based on the PWM control signal, connecting to the first motor interface and the second motor interface respectively. The resolver decoding module connects to the first motor interface and the second motor interface respectively, and is used to receive resolver signals from the first motor and the second motor, decode them, and output the motor rotor position and speed information to the control module. The current sampling module is used to collect the motor phase current and feed it back to the control module to form a current closed-loop control. The power supply module connects to an external DC48V power supply and is used to power the various functional modules inside the driver. The analog signal acquisition module is used to collect the system's analog input signals. The CAN communication module is used to realize CAN communication between the driver and external devices.

[0030] Parallel two-stage cross-coupled synchronous control based on vector control, such as Figure 2 As shown: Implementation of the parallel two-level cross-coupling synchronization control strategy: The synchronous control strategy of this invention presents a clear parallel cross structure. For two motors in the same device, their respective speed loops and clamping force feedback loops are set in parallel, outputting their respective compensation values. These compensation values ​​do not act independently, but are mixed through a cross-coupled network: the final torque of each motor is determined by the weighted sum of its own loop compensation value and the other motor's loop compensation value using a coupling coefficient. This structure physically realizes real-time state exchange and collaborative decision-making between the control loops of the two motors. Figure 3 The flowchart of the cross-compensation control system, along with the control algorithm and specific software implementation, are as follows: For two motors (denoted as motor A and motor B) of the same braking device, in each cycle: 1. Calculate the difference in clamping force between motor A and motor B respectively. , ) and speed difference ( , ); 2. The clamping force error and speed error are respectively processed by the clamping force PI regulator and the speed PI regulator to obtain the clamping force compensation amount. , ) and speed compensation amount ( , These compensation quantities are all physical meanings of corrections to the torque given (or q-axis current given); 3. Cross-coupling synthesis, total motor compensation ( , The formula is obtained through cross-coupling calculations and is as follows: Clamping force ring error calculation formula:

[0031]

[0032]

[0033]

[0034] Formula for calculating velocity loop error:

[0035]

[0036]

[0037]

[0038] Formula for calculating total compensation:

[0039]

[0040] in , These are the weighting coefficients. In order to control the overall intensity of self-compensation, To control the overall strength of cross compensation, and ; ~ Let be the coupling coefficient of motor A. ~ Let be the coupling coefficient of motor B. , The distribution ratio of speed error to clamping force error in self-compensation; , The ratio of the influence of the speed error and clamping force error in cross compensation.

[0041] 4. Total compensation amount , The torque (or q-axis current) of the vector control loops of motors A and B are respectively superimposed on them to achieve synchronous control.

[0042] 5. Adaptive weight adjustment logic: dynamically adjusts weights according to different stages of the braking process. , , , , , During the high-speed phase, increase , It focuses on self-speed synchronization; in the low-speed, high-pressure phase, it increases... , It focuses on the synergy of cross clamping forces; during the transition phase, the weights are smoothed out with the rotational speed and clamping force.

[0043] The innovative parallel two-level cross-coupling synchronous control strategy and clamping force-torque composite closed-loop control strategy place the speed control loop and the clamping force compensation loop at the same level for parallel processing. This ensures the consistency of torque output and speed output of the two motors at the algorithm level, enabling real-time interaction and active coordination of motor control. This fundamentally overcomes the inherent defects of master-slave mode response lag and parallel mode open-loop synchronization, and achieves rapid dynamic suppression of load disturbances and parameter differences, significantly improving the response speed and steady-state accuracy of synchronous control.

[0044] Synchronous control loop structure: The parallel architecture of the clamping force feedback loop and the speed loop adopted in this invention differs from the traditional cascaded structure in which the clamping force loop is the outer loop of the speed loop. This parallel architecture has the following core advantages: 1. Dynamic response advantage: Clamping force and speed error signals can be processed in parallel, avoiding phase accumulation lag in cascaded structures, making the system's synchronous compensation response to disturbances (such as sudden friction changes and uneven loads) more rapid; 2. Advantages of the control objective: The primary control objective of this invention is to achieve dynamic consistency of the output states (clamping force and speed) of the two motors, rather than strictly tracking a preset absolute value. The parallel structure places the clamping force difference and speed difference on an equal footing for independent adjustment and cross-coupling, which more directly serves the core objective of 'synchronization'. 3. Configuration flexibility advantage: Engineers can independently adjust the gain and cross-coupling coefficient of the clamping force compensation channel and the speed compensation channel, thereby flexibly optimizing the synchronization strategy for different stages of the braking process (such as the high-speed deceleration stage and the low-speed pressurization stage).

[0045] Therefore, this parallel structure is the key carrier for achieving high dynamic and high precision performance of the two-stage cross-coupling synchronous control strategy of the present invention.

[0046] Two specific implementation methods for clamping force feedback signals: The clamping force feedback signal in this invention can be obtained through two complementary technical approaches: 1. Clamping force feedback based on model estimation (sensorless solution) Without a clamping force sensor, the system dynamically calculates and outputs an estimated clamping force by real-time monitoring of the motor torque (proportional to the q-axis current) and combining it with a preset transmission mechanism model. This model includes parameters such as the reduction ratio of the reduction mechanism, the lead of the ball screw, and the transmission efficiency. This method has a cost advantage and is suitable for scenarios with strict limitations on size and weight. The clamping force estimation formula is as follows:

[0047] in This serves as the feedback input for the clamping force error compensation loop. The torque constant of the motor. Let be the q-axis current of the motor. The total transmission ratio of the reduction mechanism. For the ball screw lead, This represents the overall efficiency of the transmission system.

[0048] 2. Direct measurement feedback based on clamping force sensor (sensor solution) To achieve higher control accuracy and robustness, a high-precision clamping force sensor (such as a strain gauge or piezoelectric sensor) can be installed at the output end of the brake actuator. This sensor directly measures the actual normal clamping force acting on the brake disc and feeds the signal back to the controller in real time. This mode eliminates the influence of uncertainties such as transmission model error, mechanical wear, and temperature drift, thus forming a true "clamping force-torque" composite closed-loop control.

[0049] The driver not only supports speed synchronization, but also features an optional clamping force-torque composite closed-loop control mode. By setting up a high-precision force sensor, the actual measured clamping force is used as the main synchronization closed loop, and the motor torque is used as the inner auxiliary closed loop. This allows the synchronization control to be directly result-oriented, rather than driven by intermediate variables (motor torque), eliminating the influence of all model errors and uncertainties in the mechanical transmission chain. Synchronization accuracy reaches the physical limit, greatly improving precision and robustness. Simultaneously, its software supports online configuration of motor and control parameters and flexible switching of operating modes (single-motor / dual-motor synchronization). It also features adaptive weight adjustment logic, which can dynamically optimize the control strategy according to operating conditions (such as high-speed / low-speed stages), enabling the same hardware platform to intelligently and conveniently adapt to different application scenarios and performance requirements. like Figure 4 As shown, this embodiment of the invention also provides a dual-motor synchronous control method for a driver, comprising the following steps: System initialization and mode configuration, including power-on self-test, working mode determination and control parameter loading; The program parses execution instructions and determines security conditions, identifying the target's operational status based on external instructions and security logic. Adaptive weight adjustment is performed based on real-time operating status, and speed error and clamping force error are calculated; A parallel two-stage cross-coupling synchronous control strategy is adopted to cross-couple and synthesize the speed compensation and clamping force compensation to generate the total torque compensation. The total torque compensation is superimposed on the torque setpoint of the vector control loop to generate an SVPWM signal to drive the motor. It monitors the motor's operating status in real time, performs fault diagnosis and error handling, and terminates the process and provides feedback on the status based on the operating results or external instructions.

[0050] The detailed steps include: Step S1: System initialization, mode configuration, and status acquisition. The driver performs a power-on self-test, and the control module checks the working status of each hardware module (power supply, communication, sensor interface, etc.), determines the working mode and clamping force feedback mode based on external commands and internal configuration, and loads the preset relevant parameters; Step S2: Safety Condition Adjudication and Command Parsing. The controller comprehensively determines whether the operating conditions are met based on its built-in safety logic, and executes the target torque, target speed, and operating mode issued by the external bus.

[0051] Step S3: Adaptive weight adjustment and error calculation. Based on the real-time operating status (current speed, output clamping force, operating stage indicator), execute the adaptive weight adjustment logic; Step S4: Synthesis of cross-coupling compensation and total torque setpoint. Real-time calculation is performed based on vector control algorithm, parallel two-stage cross-coupling synchronous control strategy, and clamping force-torque composite control mode. Step S5: Vector Control and SVPWM Signal Generation. Based on the updated torque setpoint, under the vector control framework, current loop decoupling control is performed to generate two independent SVPWM signals. These signals are then amplified by the three-phase full-bridge drive module to drive the two PMSM motors.

[0052] Step S6: Real-time monitoring, fault diagnosis, and fault-tolerant handling. Throughout the entire driving process, the driver monitors the motor's operating status (current, speed, temperature, force feedback, bus voltage, etc.). When a preset fault threshold is detected, it immediately triggers a process stop command or switches to the corresponding fault protection and handling logic.

[0053] Step S7: Process Suspension and Status Feedback. The process suspension phase begins when the target state is reached or a stop command is received.

[0054] This invention constructs a highly reliable fault-tolerant operation mechanism to ensure the basic functions and safety of the system under abnormal operating conditions. It incorporates intelligent design concepts and has comprehensive fault diagnosis and handling capabilities. When the high-precision force sensor fails, the system can automatically and seamlessly switch to the estimation synchronization mode based on the motor torque model. While ensuring basic synchronization functions, it performs degradation alarms, realizing a smooth transition from high-precision mode to high-reliability mode, and enhancing the survivability and task reliability of the driver in complex and harsh working environments. This invention integrates advanced collaborative control algorithms, flexible configuration interfaces, and reliable fault-tolerant architecture into a single driver product. The solution is not limited to specific airborne braking systems, but provides a universal core solution to address the common challenge of high-precision collaborative drive of dual motors. Therefore, this driver can be used directly or with adaptation in high-end CNC equipment, industrial robots, special equipment, and other fields of precision collaborative control, and has significant technological promotion value and broad market prospects.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or basic characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A dual-motor cooperative control driver based on vector control, characterized in that, It includes a control module, a power supply module, an analog signal acquisition module, a CAN communication module, a resolver decoding module, a current sampling module, a three-phase full-bridge drive module, a first motor interface, a second motor interface, and a force feedback interface; The control module is connected to the resolver decoding module, the current sampling module, the analog quantity acquisition module, the CAN communication module, and the three-phase full-bridge drive module, respectively. It is used to receive force sensor signals and communication data, and to execute a vector control algorithm to generate a PWM control signal based on the feedback information from the resolver decoding module and the current sampling module, and output the signal to the three-phase full-bridge drive module. The three-phase full-bridge drive module generates a three-phase drive power supply according to the PWM control signal, and connects to the first motor interface and the second motor interface respectively. The resolver decoding module is connected to the first motor interface and the second motor interface respectively, and is used to receive the resolver signals of the first motor and the second motor, and output the motor rotor position and speed information to the control module after decoding. The current sampling module is used to collect the motor phase current and feed it back to the control module; The power module is connected to an external power source to supply power to each functional module; The analog signal acquisition module is used to acquire analog input signals; The CAN communication module is used to enable communication between the driver and external devices; The control module has a built-in parallel two-level cross-coupling synchronous control strategy. This strategy sets the speed loop and clamping force loop in parallel and uses a cross-compensation algorithm to make the control setpoint of each motor simultaneously adjusted by the speed and clamping force errors of both itself and the other motor.

2. The dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, In the parallel two-level cross-coupling synchronous control strategy, the current loop is the inner loop, and the speed loop and clamping force loop are parallel as the outer loop. A speed synchronization compensation loop and a clamping force synchronization compensation loop are added. The outputs of the two loops are weighted and summed together to act on the given input terminal of the current loop.

3. The dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, The control module also has built-in adaptive weight adjustment logic, which dynamically adjusts the weight coefficients and coupling coefficients in the cross-compensation algorithm according to the running stage.

4. The dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, The feedback signal of the clamping force ring is obtained through one of the following methods: It was estimated based on the q-axis current of the motor and a pre-defined transmission mechanism model; It is directly measured by a force sensor connected to the force feedback interface.

5. A dual-motor cooperative control driver based on vector control according to claim 4, characterized in that, The control module uses the measured clamping force as the main synchronous closed loop and the motor torque as the inner auxiliary closed loop, forming a clamping force-torque composite closed loop control mode.

6. A dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, The control module integrates fault diagnosis and fault tolerance logic. When the force sensor fails, it automatically switches to the force feedback synchronization mode based on motor torque estimation.

7. A dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, The control module supports online configuration of motor parameters, protection thresholds, and control loop parameters, adapting to motor loads with different performance parameters.

8. A dual-motor cooperative control driver based on vector control according to claim 1, characterized in that, The control module supports switching between single-motor independent working mode and dual-motor synchronous working mode via software configuration.

9. A dual-motor synchronous control method based on the driver according to any one of claims 1 to 8, characterized in that, Includes the following steps: System initialization and mode configuration, including power-on self-test, working mode determination and control parameter loading; The program parses execution instructions and determines security conditions, identifying the target's operational status based on external instructions and security logic. Adaptive weight adjustment is performed based on real-time operating status, and speed error and clamping force error are calculated; A parallel two-stage cross-coupling synchronous control strategy is adopted to cross-couple and synthesize the speed compensation and clamping force compensation to generate the total torque compensation. The total torque compensation is superimposed on the torque setpoint of the vector control loop to generate an SVPWM signal to drive the motor. It monitors the motor's operating status in real time, performs fault diagnosis and error handling, and terminates the process and provides feedback on the status based on the operating results or external instructions.

10. The method according to claim 9, characterized in that, A parallel two-level cross-coupling synchronous control strategy is adopted, which cross-couples and synthesizes the speed compensation and clamping force compensation to generate the total torque compensation. In addition, the weighting coefficient and coupling coefficient of the cross-coupling are dynamically adjusted according to the real-time operating status to perform adaptive synchronous control.

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