Drive control system and method

Abstract

This application provides a drive control system and method. The drive control system includes a controller and a switching unit. The controller includes a control output terminal and at least one drive signal port. The switching unit includes a control terminal, at least one input terminal, and multiple output terminals. The control output terminal is connected to the control terminal, the drive signal ports are respectively connected to the input terminals, and the multiple output terminals are respectively connected to different drive motors of an external drive system. The controller sends a control signal to the control terminal through the control output terminal. The switching unit, according to the control signal, conducts at least one signal channel between the corresponding input terminal and the output terminal, so that the drive signal port outputs a drive signal through the signal channel to at least one target drive motor to drive the target drive motor to run. This application controls the conduction of different signal channels of the switching unit by sending a control signal from the controller, so as to achieve flexible matching between the drive signal port and the drive motor, which helps to save drive signal port resources.

Description

Technical Field

[0001] This application relates to the field of motor drive control technology, and in particular to a drive control system and method. Background Technology

[0002] In existing servo control systems, the number of pulse ports on a Programmable Logic Controller (PLC) corresponds one-to-one with the number of actual drive motors, and the pulse signal of a single pulse port can only be connected to its corresponding drive motor and cannot be arbitrarily changed. However, in automated equipment, the drive system typically has multiple drive motors, but these motors do not need to operate simultaneously, and some may not operate for extended periods. If each drive motor is equipped with an independent drive signal port, not only is it easy for the corresponding drive signal port to become idle due to the motor's long-term inactivity, resulting in wasted resources, but this connection and control method requires a large number of pulse ports, while the number of pulse ports on a PLC is limited. In this case, a PLC with more pulse ports needs to be used, leading to higher costs. Summary of the Invention

[0003] The main objective of this application is to provide a drive control system and method that can use one drive signal port for multiple drive motors. By sending control signals through the controller, different signal channels of the switching unit can be activated, thereby achieving flexible matching between the drive signal port and the drive motor. This helps to save drive signal port resources and reduce hardware costs.

[0004] To achieve the above objectives, this application provides a drive control system, including a controller and a switching unit. The controller includes a control output terminal and at least one drive signal port. The switching unit includes a control terminal, at least one input terminal, and multiple output terminals. The control output terminal is connected to the control terminal. The at least one drive signal port is respectively connected to at least one input terminal. The multiple output terminals are respectively connected to different drive motors of an external drive system. The controller sends a control signal to the control terminal through the control output terminal. The switching unit turns on at least one signal channel between the corresponding input terminal and the output terminal according to the control signal, so that the drive signal port outputs a drive signal to at least one target drive motor in the corresponding drive motor through the at least one signal channel to drive the target drive motor to run.

[0005] Optionally, the number of output terminals of the switching unit is greater than or equal to the number of input terminals of the switching unit.

[0006] To achieve the above objectives, this application also provides a drive control method applied to the drive control system described above, comprising: Receive valid operation requests for the target drive motor; the sources of valid operation requests include the internal preset program logic of external devices or controllers, and the internal preset program automatically generates valid operation requests based on preset conditions; The drive signal port is determined to be an idle port based on whether it outputs a drive signal to the drive motor. When an idle port is detected, an idle port is matched for the target drive motor according to a valid operation request. The controller sends a control signal to the control terminal of the switching unit through the control output terminal to control the signal channel between the target drive motor and the corresponding matched idle port to be connected. Based on the matching result of the idle port, obtain the drive type and drive mode of the target drive motor, and control the idle port to send drive signals to the target drive motor through the signal channel to drive the target drive motor to run.

[0007] Optionally, when an idle port is detected, an idle port is matched for the target drive motor according to a valid operation request, including: Determine if the number of valid running requests is greater than the number of idle ports; If the number of valid running requests is greater than the number of idle ports, the preset synchronization parameters and preset speed of each target drive motor are obtained to confirm whether there is a synchronized motor group among the target drive motors. The preset synchronization parameters are used to indicate the synchronization relationship between the target drive motors. The synchronized motor group includes at least two target drive motors with synchronization relationship and the same preset speed. If the target drive motor contains the same motor group, the same motor group is preferentially assigned to the same idle port, and a control signal is sent to the switching unit through the control output terminal to control the signal channel between the input terminal connected to the idle port and the output terminal of the target drive motor connected to the same motor group.

[0008] Optionally, the synchronous movement parameters and preset speed of each target drive motor are obtained to confirm whether there is a synchronous motor group among the target drive motors, including: Obtain the preset synchronization parameters of the target drive motor; Determine whether there are at least two drive motors with a co-movement relationship among the target drive motors based on the preset co-movement parameters; If they exist, determine whether the preset speeds of at least two drive motors with a co-movement relationship are consistent; If the preset speeds are the same, then at least two drive motors with a synchronous relationship are considered a synchronous motor group.

[0009] Optionally, determining whether there is a valid operating request from the same generator set also includes: If there is no co-drive motor group in the target drive motor, then an idle port is allocated according to the preset priority of the target drive motor.

[0010] Optionally, the drive type and drive mode of the target drive motor are obtained according to a valid operation request, and the idle port is controlled to send a drive signal to the target drive motor through a signal channel to drive the target drive motor to run, including: If the target drive motor is a non-co-drive motor, the first drive parameters of the target drive motor are obtained based on the drive mode of the target drive motor; wherein, the first drive parameters include the first motor speed, the first direction of motion, the first target position, and the first current position; The target drive motor is driven to the first target position based on the first drive parameters, and the first current position is updated based on the first target position.

[0011] Optionally, the drive type and drive mode of the target drive motor are obtained according to a valid operation request, and the idle port is controlled to send a drive signal to the target drive motor through a signal channel to drive the target drive motor to run, including: If the target drive motor is a co-drive motor, the main drive motor of the target drive motor is determined according to the preset co-drive parameters of the target drive motor; wherein, the co-drive motor group includes a main drive motor and at least one co-drive motor subordinate to the main drive motor. The second driving parameters of the target driving motor are obtained based on the driving mode of the target driving motor, and the first driving parameters of the main driving motor of the target driving motor are obtained; wherein, the first driving parameters include the first motor speed, the first direction of motion, the first target position and the first current position, and the second driving parameters include the second motor speed, the second direction of motion, the second target position and the second current position; The target drive motor is driven based on the first drive parameters and the second motion direction, and the second current position is updated based on the difference between the first target position and the first current position.

[0012] Optionally, receiving a valid operation request for the target drive motor includes: Determine whether the target drive motor is in operation; If the target drive motor is in operation, the operation request for the target drive motor is an invalid operation request; otherwise, the operation request for the target drive motor is a valid operation request.

[0013] To achieve the above objectives, this application also provides a computer-readable storage medium storing at least one instruction that, when executed by a processor, implements the drive control method as described above.

[0014] In this application, the drive control system includes a controller and a switching unit. The control input terminal of the controller is connected to the control terminal of the switching unit. Each input terminal of the switching unit is correspondingly connected to a drive signal port of the controller. The output terminals of the switching unit are respectively connected to a drive motor of an external drive system. The controller sends a control signal to the control terminal through its control signal output terminal. The switching unit receives the control signal to conduct the signal channel between the corresponding input terminal and the output terminal, so that the drive signal port outputs a drive signal to the corresponding target drive motor to drive the target drive motor to run. This application connects one drive signal port to multiple drive motors through the switching unit. By sending a control signal from the controller to control the conduction of the signal channel between the corresponding input terminal and the output terminal of the switching unit, the switching of the signal channel is realized. Thus, a drive signal can be sent from the drive signal port connected to the input terminal to the drive motor connected to the output terminal. In this way, each drive signal port can be used for each drive motor, and the matching between the drive signal port and the drive motor can be performed as needed, which helps to save drive signal port resources and reduce hardware costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a wiring diagram for a pulse servo control system in the prior art.

[0017] Figure 2 This is a circuit schematic diagram of the drive control system in the embodiments of this application.

[0018] Figure 3 This is a circuit diagram of the first switching circuit of the switching unit of the drive control system in the embodiments of this application.

[0019] Figure 4 This is a circuit diagram of the switching control chip of the switching unit of the drive control system in the embodiments of this application.

[0020] Figure 5 This is a circuit diagram of the second switching circuit of the switching unit of the drive control system in the embodiments of this application.

[0021] Figure 6 This is a flowchart of the drive control method in the embodiments of this application.

[0022] Figure 7This is a flowchart of step S1 of the drive control method in the embodiments of this application.

[0023] Figure 8 This is a flowchart of step S2 of the drive control method in the embodiments of this application.

[0024] Figure 9 This is a flowchart of step S22 of the drive control method in the embodiments of this application.

[0025] Figure 10 This is a flowchart of step S3 of the drive control method in the embodiments of this application.

[0026] Figure 11 This is a flowchart of a drive control method under one drive mode in an embodiment of this application.

[0027] Figure 12 This is a flowchart of a drive control method under another drive mode in an embodiment of this application.

[0028] Figure 13 This is a flowchart of a drive control method under another drive mode in the embodiments of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" 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, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. The terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order, and therefore should not be construed as limiting this application. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The term "comprising" and any variations thereof are intended to cover non-exclusive inclusion.

[0031] Please see Figure 1 , Figure 1This is a wiring diagram for a prior art pulse servo control system. The pulse servo control system includes a Programmable Logic Controller (PLC), a driver, and a servo motor. The PLC is connected to the servo motor via the driver. The PLC includes a pulse signal terminal Y0, a direction signal terminal Y4, a servo switch terminal Y12, an alarm signal X40, a home signal X30, and limit signals X10 and X20. The pulse signal terminal Y0 is connected to the driver's pulse input terminal (pulse+), the direction signal terminal Y4 is connected to the driver's direction signal input terminal (direction signal+), and the servo switch terminal Y12 is connected to the driver's servo start terminal (servo ON). The driver's encoder interface is connected to the servo motor, and the driver's motor output terminals U, V, W, and GND are respectively connected to the servo motor's U, V, W, and GND terminals.

[0032] In this pulse servo control system, the number of pulse ports corresponds one-to-one with the number of servo motors. The pulse ports are dedicated to specific drivers and servo motors and cannot be changed arbitrarily. When the servo motor is not running or does not require pulse signals, the pulse ports remain connected to the driver and servo motor and are in an idle state.

[0033] In view of this, this application provides a drive control system that, by connecting the pulse port to the switching unit and switching the signal channel within the switching unit through control signals, can achieve flexible matching between the drive signal port and the drive motor, which helps to save pulse port resources and thus reduce hardware costs.

[0034] Please see Figure 2 The drive control system 1 includes a controller 10 and a switching unit 20. The controller 10 includes a control output terminal and at least one drive signal port. The switching unit 20 includes a control terminal, at least one input terminal and multiple output terminals. The control output terminal is connected to the control terminal. The at least one drive signal port is respectively connected to at least one input terminal. The multiple output terminals are respectively connected to different drive motors 2 of the external drive system.

[0035] The controller 10 sends a control signal to the control terminal through the control output terminal. The switching unit 20 turns on at least one signal channel between the corresponding input terminal and the output terminal according to the control signal, so that at least one drive signal port outputs a drive signal to the target drive motor to control at least one of the target drive motors in the corresponding drive motor 2 to drive the target drive motor to run.

[0036] Specifically, controller 10 includes, but is not limited to, a programmable logic controller (PLC).

[0037] Specifically, the drive motor 2 includes a drive circuit and a motor, and the motor is connected to the switching unit 20 through the drive circuit.

[0038] The motor includes, but is not limited to, a servo motor, and the type of drive signal includes, but is not limited to, a pulse signal.

[0039] Specifically, the number of output terminals of the switching unit 20 is greater than or equal to the number of input terminals of the switching unit 20. Therefore, the number of drive motors 2 connected to the switching unit 20 is greater than or equal to the number of drive signal ports of the controller 10. By sending control signals to the switching unit through the control terminal of the controller 10, the signal channel between the corresponding input terminal and the output terminal is opened, thereby establishing a connection between the drive signal port connected to the input terminal and the drive motor 2 connected to the output terminal. This enables flexible matching between the drive signal port and the drive motor 2, saving drive signal port resources.

[0040] In a specific example, such as Figure 2 As shown, the signal input terminals of controller 10 include positive limit signal terminals X10-X17, negative limit signal terminals X20-X27, origin signal terminals X30-X37, pulse signal terminals Y0-Y3, and direction signal terminals Y4-Y11. Controller 10 also includes motor start terminals Y12-Y19 and switch switching signal terminals SW. The positive limit signal terminals X10-X17, negative limit signal terminals X20-X27, and origin signal terminals X30-X37 are used to connect to relevant sensors on the mechanical mechanism. The direction signal terminals Y4-Y11 and motor start terminals Y12-Y19 are used to connect to the driver of the drive motor 2. The pulse signal terminals Y0-Y3 are the drive signal ports, and the switch switching signal terminals SW are the control terminals. The switching unit 20 includes four input terminals respectively connected to the pulse signal terminals Y0-Y3, and eight output terminals, each of which is connected to a drive motor 2. The switching unit 20 can control the internal matrix circuit to be turned on by the control signal so that the pulse signal of any pulse signal terminal of pulse signal terminal Y0-Y3 can be input to any drive motor 2.

[0041] Please refer to the following: Figure 3 , Figure 4 and Figure 5In some embodiments, the switching unit 20 includes a first conversion circuit 21, a switching control chip 22, and a second conversion circuit 23. The first conversion circuit 21 connects to the controller 10 and the switching control chip 22. The input terminal IN1 of the first conversion circuit 21 is connected to the control output terminal of the controller 10. The output terminals X0-X7 of the switching control chip 22 are connected to the input terminal IN2 of the second conversion circuit 23, and the output terminal OUT2 of the second conversion circuit 23 is connected to the drive motor 2. The input terminal IN1 of the first conversion circuit 21 receives the control signal from the controller 10 and outputs a first control input signal to the switching control chip 22 through the output terminal OUT1. The input terminals Y0-Y3 and Y30-Y37 of the switching control chip 22 are used to control the corresponding output terminals of the drive motor 2 to conduct based on the first control input signal, so as to output a drive conversion signal through the output terminal. The second conversion circuit 23 receives and converts the drive conversion signal into a drive signal and outputs the drive signal to the corresponding target drive motor.

[0042] Specifically, the first conversion circuit 21 includes a first control switch Q1. The control terminal of the first control switch Q1 is connected to the drive output port of the controller 10 through a first resistor R1. The emitter of the first control switch Q1 is grounded. The collector of the first control switch Q1 is connected to the power input VDD through a second resistor R2 and is connected to the switching control chip 22 through the output terminal.

[0043] In a specific example, the first conversion circuit 21 is connected to the switching control chip 22 via parallel input. Inputs Y30 and Y31 of the switching control chip 22 are used to address the drive signal port output by the controller 10, while inputs Y32, Y33, and Y34 are used to address the target drive motor from which the drive signal is input. This enables the drive signal to be output from the drive signal port to the target drive motor. By converting the drive signal port to be activated and the address of the target drive motor into binary and inputting them to the switching control chip 22 via the first conversion circuit 21, the signal channel between the drive signal port and the target drive motor can be established.

[0044] Understandably, since the power supply voltage of controller 10 is 24V and the voltage of switching control chip 22 is 12V, by setting up the first conversion circuit 21, since VDD=12V, the first conversion circuit 21 realizes the logic level conversion from 24V input to 12V output through the saturation conduction (collector pulled low to near 0V when the input is high level) and cutoff (collector pulled up to 12V when the input is low level) of NPN transistor. This voltage conversion can help ensure the circuit safety of switching control chip 22.

[0045] Specifically, the second conversion circuit 23 includes a second control switch Q2. The control terminal of the first control switch Q1 is connected to the output terminal of the switching control chip 22. The collector of the second control switch Q2 is connected to the power input VDD. The emitter of the second control switch Q2 is grounded through a third resistor and connected to the drive motor 2.

[0046] Understandably, the second conversion circuit 23 can enhance the load-carrying capacity of the switching control chip 22 and amplify the drive signal so that the signal of one drive signal port can drive multiple drivers to achieve the function of simultaneous operation. That is, multiple target drive motors can be driven by the drive signal of one drive signal port, and the target drive motors can be started and stopped at the same time.

[0047] In some embodiments, the switching unit 20 may also directly adopt a relay matrix circuit.

[0048] In a specific instance, such as Figure 2 As shown in the figure, the Y0 pulse is connected to the corresponding drive motors 1 to 8 through relay switches K01-K08, the Y1 pulse is connected to the corresponding drive motors 1 to 8 through relay switches K11-K18, the Y2 pulse is connected to the corresponding drive motors 1 to 8 through relay switches K21-K28, and the Y3 pulse is connected to the corresponding drive motors 1 to 8 through relay switches K31-K38. The controller 10 can send a control signal to the relay matrix circuit through the switch switching signal, thereby controlling the relay switch between any drive signal port and any drive motor 2 to close, so that the pulse signal of the drive signal port is input to the drive motor 2.

[0049] It is understood that the implementation of the switching unit 20 in this application embodiment is not limited. In actual use, it can be configured as needed. For example, when the number of drive signal ports and drive motors 2 that the switching unit 20 needs to connect to is small, a relay matrix circuit can be used. When the number of drive signal ports and drive motors 2 that need to be connected is small, a switch switching chip can be used. When there is no control signal input, the relay switch of the relay matrix circuit remains in the normally open state.

[0050] Please participate Figure 6 This application also provides a drive control method applied to the drive control system 1 described above, the drive control method comprising: S1 receives a valid operation request for the target drive motor.

[0051] The sources of valid operation requests include external devices or the internal preset program logic of the controller 10. The internal preset program automatically generates valid operation requests based on preset conditions.

[0052] It should be understood that the controller 10 obtains the request from the drive motor 2 through its signal receiving end or communication protocol end. This operation request is not sent directly through the target drive motor, but is transmitted to the controller 10 through external devices such as host computer, sensors, human-machine interface, etc., or it can be an operation request automatically generated by the internal preset program logic.

[0053] Please see Figure 7 In some embodiments, receiving a valid operation request for the target drive motor includes: S11, determine whether the target drive motor is in operation.

[0054] S12, if the target drive motor is in operation, the operation request of the target drive motor is an invalid operation request; otherwise, the operation request of the target drive motor is a valid operation request.

[0055] S2, determine whether the drive signal port is an idle port based on whether the drive signal port outputs a drive signal to the drive motor 2. When an idle port is detected, match an idle port for the target drive motor according to a valid operation request, and send a control signal to the control terminal of the switching unit 20 through the control output terminal of the controller 10 to control the conduction between the target drive motor and the corresponding matched idle port.

[0056] It is understandable that by sending a switching signal through the switching signal switching terminal of the controller 10, the signal channel between the input and output terminals of the switching unit 20 can be opened, so that the drive signal of the idle port can be output to the corresponding target drive motor through the signal channel.

[0057] Please see Figure 8 In some embodiments, when an idle port is detected, an idle port is matched for the target drive motor according to a valid operation request, including: S21, determine whether the number of valid running requests is greater than the number of idle ports.

[0058] It is understandable that determining whether the number of valid running requests is greater than the number of idle ports is performed only if there are clearly idle ports. If there are no idle ports, the process waits until a drive signal port returns to an idle state before continuing to step S21.

[0059] S22, if the number of valid running requests is greater than the number of idle ports, then obtain the preset synchronization parameters and preset speed of each target drive motor to confirm whether there is a synchronization motor group in each target drive motor.

[0060] Among them, the preset synchronization parameters are used to indicate the synchronization relationship between the target drive motors. The synchronization motor group includes at least two target drive motors with synchronization relationship and the same preset speed.

[0061] Specifically, the co-drive motor unit includes a main drive motor and at least one co-drive motor subordinate to the main drive motor.

[0062] It is important to understand that the co-movement relationship means that two or more drive motors 2 can start or stop simultaneously. In practical applications, the co-movement relationship between different drive motors 2 can be set as needed. Each main drive motor can have one or more co-movement drive motors subordinate to this main drive motor.

[0063] Please see Figure 9 In some embodiments, obtaining the co-movement relationship parameters and preset speed of each target drive motor to confirm whether there are co-moving motors among the target drive motors includes: S221, obtain the preset synchronization parameters of the target drive motor.

[0064] S222, determine whether there are at least two drive motors 2 with a co-movement relationship among the target drive motors according to the preset co-movement parameters.

[0065] It is understood that having a co-movement relationship means that two or more drive motors 2 can be turned off or started at the same time. If there are no at least two drive motors 2 among the target drive motors in the valid operation request that can be started and turned off at the same time, then there is no co-movement relationship between the target drive motors.

[0066] S223, if it exists, then determine whether the preset speeds of at least two drive motors 2 with a co-movement relationship are consistent.

[0067] S224, if the speeds are the same, then at least two target drive motors with a co-movement relationship are a co-movement motor group.

[0068] It is understandable that each drive signal port can be connected to all drive motors 2. The drive signal ports can not only control any individual drive motor 2, but also drive any combination of drive motors 2. Engineers can set preset synchronization parameters, i.e., synchronization tags, to identify synchronized motor groups. The start-up time, stop-up time, and speed settings of synchronized motor groups must be identical; otherwise, even if a synchronization tag is set, it does not belong to a synchronized motor group. In the tag settings for synchronized motor groups, the main drive motor does not need to be set; only the synchronization tag for the synchronized drive motors needs to be set, and the speed setting must be consistent with the main drive motor setting.

[0069] S23, if there is a co-moving motor group in the target drive motor, the co-moving motor group is preferentially assigned to the same idle port, and a control signal is sent to the switching unit 20 through the control output terminal 11 to control the signal channel between the input terminal connected to the idle port and the output terminal of the target drive motor connected to the co-moving motor group to be connected.

[0070] In a specific example, when the main drive motor is assigned to the corresponding drive signal port, the corresponding synchronous drive motor is also assigned to the same drive signal port.

[0071] It should be understood that in the embodiments of this application, the synchronous motor unit has the highest priority channel selection right, therefore, the drive signal port is preferentially allocated to the synchronous motor unit.

[0072] In some embodiments, matching an idle port for the target drive motor based on a valid operation request further includes: S24. If there is no co-drive motor group in the target drive motor, then an idle port is allocated according to the preset priority of the target drive motor.

[0073] Understandably, in actual implementation, the priority of each drive motor 2 can be set as needed.

[0074] Specifically, after matching an idle port to the target drive motor based on a valid operation request and connecting the target drive motor to the corresponding idle port, the method further includes: Configure execution rights for non-co-moving drive motors, configure co-moving rights for co-moving drive motors, and clear the operation requests of target drive motors that have been configured with execution rights or co-moving rights.

[0075] It should be understood that non-co-moving drive motors include main drive motors that have a co-moving relationship and drive motors that do not have a co-moving relationship.

[0076] It is important to understand that the execution right means that the target drive motor can perform actions according to the instructions of the controller 10, while the co-drive right means that the secondary drive motor does not directly receive the instructions of the controller 10 to perform actions, but depends on the operation of the main drive motor and performs the same operation as the main drive motor, and its drive parameters are also related to the main drive motor.

[0077] It is understood that if the number of idle ports is greater than the number of valid running requests, the controller 10 can allocate an idle port to each target drive motor according to the priority, or it can allocate signal ports according to the co-movement relationship according to the aforementioned steps. This application embodiment will not be described in detail here.

[0078] S3, based on the matching result of the idle port, obtain the drive type and drive mode of the target drive motor, and control the idle port to send a drive signal to the target drive motor through the signal channel to drive the target drive motor to run.

[0079] The drive types include synchronous drive motors and non-synchronous drive motors.

[0080] It is important to understand that if there is only one target drive motor that matches the idle port, then the drive motor is a non-synchronous drive motor. If there are multiple target drive motors that match the idle port, then the target drive motors with the synchronous tag are determined according to the preset synchronous parameters, and the ones with the synchronous tag are synchronous drive motors; otherwise, they are non-synchronous drive motors.

[0081] Please see Figure 10 In some embodiments, according to the drive type and drive mode, the idle port is controlled to send a drive signal to the target drive motor through a signal channel to drive the target drive motor to run, including: S31, if the target drive motor is a non-co-drive motor, obtain the first drive parameters of the target drive motor based on the drive mode of the target drive motor.

[0082] The first driving parameters include the first motor speed, the first direction of movement, the first target position, and the first current position. The driving mode can be various conventional driving modes, such as manual mode, automatic jog operation mode, automatic positioning operation mode, homing mode, etc.

[0083] S32, drive the target drive motor to the first target position based on the drive parameters, and update the first current position based on the first target position.

[0084] It is important to understand that the signal channel has a real-time position register. Before the target drive motor starts, the data of the first current position register of the target drive motor before starting is input into the real-time position register. During operation, the real-time position register will update the current position data in real time. After operation, the first current position of the target drive motor can be updated by importing the data of the real-time position register into the first current position register of the target drive motor.

[0085] For a specific example, please refer to Figure 11 If the drive mode is manual or automatic Jog operation mode, when the signal channel is on, the target drive motor is driven to run according to the first motion direction and the first motor speed, so as to drive the target drive motor to run continuously until the signal channel is disconnected. When the signal channel is disconnected, the operation of the target drive motor ends, and the first current position is updated according to the first motion direction and the issued drive signal.

[0086] In another specific example, please refer to Figure 12 If the driving mode is automatic positioning operation mode, the first movement direction and the first running distance are determined according to the first current position and the first target position. The target drive motor is driven to run to the first target position based on the first motor speed, and the first current position is updated according to the first target position.

[0087] In yet another specific example, please refer to Figure 13 If the drive mode is homing mode, then the homing parameters are obtained, including Jog speed, Jog direction, homing speed, homing direction, limit I / O point, and origin I / O point. After obtaining the homing parameters, the target drive motor is first driven to the limit I / O point at the Jog speed and Jog direction, then moved to the origin I / O point at the homing speed and homing direction, and the target drive motor is driven to stop, and the value of the first current position is cleared to zero.

[0088] It is important to understand that the Jog speed is greater than the homing speed, and the Jog direction can be the same as or opposite to the homing direction.

[0089] Please see Figure 10 In some embodiments, controlling the idle port to send a drive signal to the target drive motor through a signal channel to drive the target drive motor to operate, according to the drive type and drive mode, includes: S33, if the target drive motor is a co-drive motor, determine the main drive motor of the target drive motor according to the preset co-drive parameters of the target drive motor.

[0090] S34: Obtain the second driving parameters of the target drive motor based on the drive mode of the target drive motor, and obtain the first driving parameters of the main drive motor of the target drive motor. The second driving parameters include the second motor speed, the second direction of motion, the second target position, and the second current position.

[0091] S35, drive the target drive motor to run based on the first drive parameters and the second motion direction, and update the second current position based on the difference between the first target position and the first current position.

[0092] It is important to understand that, since the co-drive motor only has the right to move in tandem, the controller 10's program does not contain instructions for the co-drive motor to actually execute. The co-drive motor performs the same action together with its subordinate main drive motor, and starts and stops synchronously. The parameters in its signal channel reflect the status of the main drive motor, not the co-drive motor. Therefore, after completing the action, the co-drive motor needs to update the data in its second current position register based on the difference between its own second current position at startup and the motion of the main drive motor. Furthermore, when performing a zero-return operation, if there is no mechanical constraint relationship between the main drive motor and the co-drive motor (i.e., they do not need to drive the same mechanism or module simultaneously), the tandem relationship can be canceled, and the zero-return operation can be performed only on the main drive motor.

[0093] Specifically, the first current position of the synchronous drive motor = the second current position of the synchronous drive motor at startup + (the first current position of the main drive motor - the first current value of the drive motor at startup) or the first current position of the synchronous drive motor = the first current position of the synchronous drive motor at startup + the pulse increment of the main drive motor.

[0094] In summary, in this embodiment, the drive control system includes a controller 10 and a switching unit 20. The control input terminal of the controller 10 is connected to the control terminal of the switching unit 20. Each input terminal of the switching unit 20 is connected to a corresponding drive signal port of the controller 10. The controller 10 sends a control signal to the control terminal through its control signal output terminal. The switching unit 20 receives the control signal to connect the signal channel between the corresponding input terminal and the output terminal, so that the drive signal port outputs a drive signal to the corresponding target drive motor in the drive motor 2 to drive the target drive motor to run. In this embodiment, the switching unit 20 connects one drive signal port to multiple drive motors. The controller 10 sends a control signal to control the connection of the signal channel between the corresponding input terminal and the output terminal of the switching unit 20, thereby realizing the switching of the signal channel. Thus, the drive signal can be sent from the drive signal port connected to the input terminal to the drive motor 2 connected to the output terminal. In this way, each drive signal port can be used for each drive motor 2, and the drive signal port and drive motor 2 can be matched as needed, which helps to save drive signal port resources and reduce hardware costs.

[0095] This application also provides a computer-readable storage medium storing at least one instruction that, when executed by a processor, implements the drive control method as described above.

[0096] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions or combinations can be made to some of the technical features. Such modifications, substitutions or combinations do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A drive control system, characterized in that, Includes controller and switching unit, The controller includes a control output terminal and at least one drive signal port. The switching unit includes a control terminal, at least one input terminal and multiple output terminals. The control output terminal is connected to the control terminal. The at least one drive signal port is respectively connected to the at least one input terminal. The multiple output terminals are respectively connected to different drive motors of the external drive system. The controller sends a control signal to the control terminal through the control output terminal. The switching unit turns on at least one signal channel between the corresponding input terminal and the output terminal according to the control signal, so that the drive signal port outputs a drive signal to at least one target drive motor among the corresponding drive motors through the at least one signal channel to drive the target drive motor to run.

2. The drive control system as described in claim 1, characterized in that, The number of output terminals of the switching unit is greater than or equal to the number of input terminals of the switching unit.

3. A drive control method, applied to the drive control system as described in any one of claims 1 to 2, characterized in that, include: Receive a valid operation request for the target drive motor; wherein the source of the valid operation request includes the internal preset program logic of an external device or controller, and the internal preset program automatically generates the valid operation request according to preset conditions; The drive signal port is determined to be an idle port based on whether it outputs a drive signal to the drive motor. When the idle port is detected, the idle port is matched for the target drive motor according to the valid operation request. The controller sends a control signal to the control terminal of the switching unit through the control output terminal to control the signal channel between the target drive motor and the corresponding matched idle port to be connected. The drive type and drive mode of the target drive motor are obtained based on the matching result of the idle port, and the idle port is controlled to send a drive signal to the target drive motor through the signal channel to drive the target drive motor to run.

4. The drive control method as described in claim 3, characterized in that, When the idle port is detected, matching an idle port for the target drive motor according to the valid operation request includes: Determine whether the number of valid running requests is greater than the number of idle ports; If the number of valid running requests is greater than the number of idle ports, then the preset synchronization parameters and preset speed of each target drive motor are obtained to confirm whether there is a synchronized motor group among the target drive motors; wherein, the preset synchronization parameters are used to indicate the synchronization relationship between the target drive motors, and the synchronized motor group includes at least two target drive motors that have a synchronization relationship and the same preset speed; If the target drive motor contains the same motor group, the same motor group is preferentially assigned to the same idle port, and a control signal is sent to the switching unit through the control output terminal to control the signal channel between the input terminal connected to the idle port and the output terminal of the target drive motor connected to the same motor group to be connected.

5. The drive control method as described in claim 4, characterized in that, The step of obtaining the synchronization relationship parameters and preset speed of each of the target drive motors to confirm whether there is a synchronized motor group among the target drive motors includes: Obtain the preset synchronization parameters of the target drive motor; Based on the preset synchronous motion parameters, determine whether there are at least two drive motors with synchronous motion relationships among the target drive motors; If so, determine whether the preset speeds of the at least two drive motors with a co-movement relationship are consistent; If the preset speeds are consistent, then the at least two drive motors with a co-movement relationship are a co-movement motor group.

6. The drive control method as described in claim 4 or 5, characterized in that, The method further includes: If there is no co-drive motor group among the target drive motors, the idle port is allocated according to the preset priority of the target drive motor.

7. The drive control method as described in claim 4, characterized in that, The step of obtaining the drive type and drive mode of the target drive motor according to the valid operation request, and controlling the idle port to send a drive signal to the target drive motor through the signal channel to drive the target drive motor to run according to the drive type and drive mode, includes: If the target drive motor is a non-co-drive motor, the first drive parameters of the target drive motor are obtained based on the drive mode of the target drive motor; wherein, the first drive parameters include a first motor speed, a first direction of motion, a first target position, and a first current position; The target drive motor is driven to the first target position based on the first drive parameters, and the first current position is updated based on the first target position.

8. The drive control method as described in claim 4 or 7, characterized in that, The step of obtaining the drive type and drive mode of the target drive motor according to the valid operation request, and controlling the idle port to send a drive signal to the target drive motor through the signal channel to drive the target drive motor to run according to the drive type and drive mode, includes: If the drive type of the target drive motor is a co-drive motor, the main drive motor of the target drive motor is determined according to the preset co-drive parameters of the target drive motor; wherein, the co-drive motor group includes a main drive motor and at least one co-drive motor subordinate to the main drive motor; The second driving parameters of the target driving motor are obtained based on the driving mode of the target driving motor, and the first driving parameters of the main driving motor of the target driving motor are obtained; wherein, the first driving parameters include a first motor speed, a first direction of motion, a first target position and a first current position, and the second driving parameters include a second motor speed, a second direction of motion, a second target position and a second current position; The target drive motor is driven to run based on the first drive parameters and the second motion direction, and the second current position is updated based on the difference between the first target position and the first current position.

9. The drive control method as described in claim 3, characterized in that, Receiving a valid operation request for the target drive motor includes: Determine whether the target drive motor is in operation; If the target drive motor is in operation, the operation request for the target drive motor is an invalid operation request; otherwise, the operation request for the target drive motor is a valid operation request.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, which, when executed by a processor, implements the drive control method as described in any one of claims 3 to 9.

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