Synchronous control method and system based on motor operation data in smart planting

Abstract

The present application relates to the technical field of agricultural intelligence, and more particularly to a synchronous control method and system based on motor operation data in intelligent planting, which comprises collecting operation data of master-slave driving units comprehensively to provide detailed basis for subsequent synchronous control analysis and ensure that control strategies are formulated based on real and valid information; through detailed comparison and statistical analysis, timely and accurate discovery of the synchronization deviation trend of slave driving units provides a reliable judgment premise for subsequent targeted intervention; by picking out the target that needs intervention from the units that have deviated, resource waste is avoided and the efficiency of synchronous control is improved; by dynamically generating compensation instructions according to real-time deviation, the target unit motion change can be quickly responded to, ensuring the timeliness and accuracy of compensation and effectively correcting the deviation; by reasonably superimposing the compensation instructions on the current motor driving signal and adjusting the motor output, the target unit load end motion returns to the instruction trajectory.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural technology, and in particular to a synchronous control method and system based on motor operation data in smart planting. Background Technology

[0002] In smart agriculture facility planting scenarios, multi-layer three-dimensional cultivation racks or mobile cultivation beds need to be driven by motor systems to achieve lifting, translation or rotation movements in order to automate light regulation, ventilation management, irrigation and covering and harvesting operations.

[0003] However, in vegetable cultivation scenarios where high operational stability is required, existing drive solutions have significant limitations. The accuracy of mechanical hard-connection synchronization relies entirely on the consistency of the processing and assembly of transmission components. Minor differences caused by manufacturing errors, wear and tear, and uneven loads accumulate and are transmitted along the transmission chain, and cannot be dynamically sensed and corrected during operation. While electrical servo synchronization solutions possess high theoretical synchronization accuracy, their rigid transmission links ensure that torque surges and gear meshing pulsations during motor start-up, acceleration, and deceleration are transmitted to the cultivation rack load end with almost no attenuation. Furthermore, full servo synchronization systems require complex cross-coupling control algorithms and tedious parameter tuning, resulting in high hardware costs and high sensitivity to load fluctuations, making large-scale deployment difficult in cost-constrained agricultural planting scenarios. Therefore, this invention proposes a synchronization control method and system based on motor operation data for smart planting. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the background art, and to propose a synchronous control method and system based on motor operation data in smart planting.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of this invention provides a synchronous control method based on motor operation data in smart planting, comprising: S1. Obtain the operating data of the designated main drive unit and at least one slave drive unit, wherein the operating data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain. S2. Compare the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend from the command motion trajectory. S3. If a synchronous deviation trend is determined, obtain the load end vibration characterization data of each slave drive unit with a synchronous deviation trend on the output side of the shock absorber, and select the target slave drive unit that needs intervention from the corresponding slave drive units based on the load end vibration characterization data. S4. For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, generate a compensation command for adjusting the motor drive signal of the target slave drive unit. S5. The compensation command is superimposed on the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit so that the load end of the target slave drive unit moves in accordance with the command motion trajectory, and the drive signals of the main drive unit and those not selected as target slave drive units remain unchanged.

[0006] Furthermore, the main drive unit and each slave drive unit include a drive structure consisting of a motor, a gearbox, a coupling, a shock absorber, and an output shaft connected in sequence; wherein, the shock absorber is connected in series between the output end of the gearbox and the input end of the load, the motor transmits torque to the input end of the shock absorber through the gearbox and the coupling, and the output end of the shock absorber is connected to the transmission mechanism of the cultivation rack through the output shaft.

[0007] Furthermore, the shock absorber in S1 is a torsion type shock absorber, which is a mechanical component with torsional elasticity and damping characteristics; the load-side motion feedback data is collected in real time by a motion detection element installed between the output end of the shock absorber and the output shaft, wherein the motion detection element includes an encoder or a Hall sensor.

[0008] Further, S2 includes: The motor driver of each drive unit continuously receives load-side motion feedback data sent by the motion detection element installed on the output side of its shock absorber according to a preset sampling period. The load-side motion feedback data includes a real-time position value sequence or a real-time speed value sequence that reflects the actual motion state of the output shaft. The motor driver constructs a feedback motion trajectory curve characterizing the actual motion process from the load end of the drive unit based on the received real-time position value sequence or real-time speed value sequence. The motor driver obtains the command motion trajectory data of the main drive unit from the main controller. The command motion trajectory data includes the desired position value sequence or desired velocity value sequence at the same time step as the preset sampling period. The main drive unit is driven by its motor driver to operate the motor in an open-loop manner according to the motion trajectory issued by the main controller. The motion feedback data of the load end of the main drive unit is only used for status monitoring and overload protection, and does not participate in the closed-loop compensation and adjustment of the motor drive signal of the main drive unit.

[0009] Furthermore, S2 also includes: In the same time coordinate system, the motor driver compares the feedback motion trajectory curve with the command motion trajectory curve composed of the desired position value sequence or the desired velocity value sequence point by point, calculates the instantaneous deviation between the actual motion state and the desired motion state at each sampling time point, and generates deviation time series data that changes with time. The motor driver accumulates and statistically analyzes the instantaneous deviation of the deviation timing data within a preset sliding time window. When the accumulated statistical result exceeds the preset synchronization deviation threshold, it determines that the slave drive unit has a synchronization deviation trend and reports the determination result to the main controller.

[0010] Further, S3 includes: After receiving the judgment results reported by each slave drive unit, the main controller sends a vibration feature extraction command to the motor driver corresponding to the slave drive unit that shows a synchronous deviation trend. The motor driver that receives the vibration feature extraction command extracts the instantaneous motion fluctuation components with a frequency higher than the preset cutoff frequency from the real-time velocity value sequence or real-time position value sequence corresponding to the motion feedback data at the load end of the driven unit through a high-pass filtering method. The motor driver calculates the average amplitude or frequency of instantaneous motion fluctuation components within a preset analysis period, and uses the calculation results as load-end vibration characterization data to characterize the intensity of vibration at the load end of the drive unit. The motor driver reports the generated load-side vibration characterization data to the main controller, so that the main controller can perform subsequent target selection operations from the drive unit.

[0011] Furthermore, S3 also includes: The main controller or the motor driver of each slave drive unit compares the vibration characterization data of the load end of each slave drive unit that shows a synchronous deviation trend with the preset vibration screening threshold. Slave drive units whose load-side vibration characterization data exceeds the vibration screening threshold are identified as target slave drive units.

[0012] Further, S4 includes: After receiving the target drive unit identifier from the motor driver of the target drive unit, the target drive unit continuously acquires the real-time sampled value of the motion feedback data of the load end corresponding to the target drive unit. The motor driver calculates the difference between the real-time sampled value and the expected motion state value at the same moment in the motion trajectory of the command issued by the main controller, and obtains real-time deviation data including at least one of position deviation and speed deviation. Based on real-time deviation data, the motor driver calculates and generates a compensation increment signal to correct the motor drive current or drive voltage according to a preset proportional adjustment relationship, and outputs the compensation increment signal as a compensation command to the power output stage of the motor driver.

[0013] Furthermore, in S5, the compensation command is superimposed onto the current motor drive signal of the target slave drive unit, including: The motor driver of the target drive unit instantaneously superimposes the compensation increment signal corresponding to the compensation command generated in its power output stage with the current basic drive signal generated by the motor driver according to the command motion trajectory in the analog or digital domain to synthesize the corrected composite drive signal. The motor driver outputs the corrected composite drive signal to the motor of the target drive unit to dynamically fine-tune the output torque of the motor, so that the actual motion trajectory of the target from the load end of the shock absorber output side of the drive unit converges to the commanded motion trajectory.

[0014] A second aspect of the present invention provides a synchronous control system based on motor operation data for smart planting, comprising: Operation data acquisition module: acquires the operation data of the designated main drive unit and at least one slave drive unit, wherein the operation data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain; Synchronization Deviation Judgment Module: Compares the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend that deviates from the command motion trajectory. Target unit screening module: If a synchronization deviation trend is determined, the load end vibration characterization data of each slave drive unit with a synchronization deviation trend on the output side of the shock absorber is obtained, and the target slave drive unit that needs intervention is screened from the corresponding slave drive units based on the load end vibration characterization data. Compensation command generation module: For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, a compensation command is generated to adjust the motor drive signal of the target slave drive unit. Signal adjustment execution module: superimposes the compensation command onto the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit, so that the load end of the target slave drive unit moves in accordance with the command movement trajectory, and keeps the drive signals of the main drive unit and those not selected as target slave drive units unchanged.

[0015] Compared with existing technologies, the beneficial effects of the present invention in providing a synchronous control method and system based on motor operation data in smart planting are as follows: 1) By acquiring the operating data of the master and slave drive units, the basic basis for the synchronous control of the master and slave units is provided; the motion trajectory data of the master drive unit command is the target benchmark for synchronous control, and the motion feedback data of the load end of the drive unit can truly reflect its actual motion state, so as to clearly understand the operation of each unit and provide necessary information for subsequent judgment and analysis, ensuring that the entire synchronous control process is based on accurate and comprehensive data. 2) By comparing the data of the master and slave units, it is possible to accurately determine whether the slave drive unit has a synchronous deviation trend; construct the feedback motion trajectory curve and the command motion trajectory curve, and generate deviation time sequence data by comparing the deviation point by point. Then, the data is accumulated and statistically judged, which can timely and accurately detect the deviation between the slave drive unit and the command of the master drive unit during the motion process, avoid serious asynchronous problems caused by the accumulation of small deviations, and provide an accurate basis for subsequent targeted intervention measures. 3) By accurately screening the target driven units that need intervention from the driven units that show a trend of synchronization deviation, extracting the vibration characterization data of the load end, and comparing it with the preset threshold, it is possible to identify the units that are causing synchronization deviation due to severe vibration. This is conducive to concentrating resources on the units that really need intervention, avoiding the need to adjust all units that show slight deviation, improving control efficiency, and reducing unnecessary waste of resources. 4) By targeting the drive unit, generating compensation commands based on real-time deviations, continuously acquiring real-time sampled values ​​and calculating deviation data, and adjusting the relationship according to a preset ratio to generate compensation increment signals, it can dynamically generate appropriate compensation commands based on the real-time deviation between the actual movement of the target drive unit and the command, ensuring the timeliness and accuracy of compensation, and effectively correcting the movement deviation of the target drive unit. 5) By superimposing the compensation command onto the current motor drive signal, the motor output is adjusted so that the load end moves to follow the command trajectory, while keeping other drive signals unchanged. This can solve the synchronization problem of the target slave drive unit, avoid affecting other normally operating units due to the adjustment of the target slave drive unit, and achieve precise and stable synchronous control. Attached Figure Description

[0016] Figure 1 This is a flowchart of the synchronous control method based on motor operation data in smart planting proposed in this invention.

[0017] Figure 2 This is a block diagram of the synchronous control system based on motor operation data in smart planting proposed in this invention. Detailed Implementation

[0018] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 This invention provides a synchronous control method based on motor operation data in smart planting, comprising: S1. Obtain the operating data of the designated main drive unit and at least one slave drive unit, wherein the operating data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain. S2. Compare the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend from the command motion trajectory. S3. If a synchronous deviation trend is determined, obtain the load end vibration characterization data of each slave drive unit with a synchronous deviation trend on the output side of the shock absorber, and select the target slave drive unit that needs intervention from the corresponding slave drive units based on the load end vibration characterization data. S4. For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, generate a compensation command for adjusting the motor drive signal of the target slave drive unit. S5. The compensation command is superimposed on the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit so that the load end of the target slave drive unit moves in accordance with the command movement trajectory, and the drive signals of the main drive unit and those not selected as target slave drive units remain unchanged. It should be noted that when multiple slave drive units are selected as target slave drive units at the same time, the motor drivers of each target slave drive unit independently execute steps S4 and S5 to generate and superimpose their respective compensation instructions, so as to realize independent synchronous following of each drive unit based on the actual motion feedback of its own load side.

[0020] In this embodiment of the invention, the main drive unit and each slave drive unit include a drive structure consisting of a motor, a gearbox, a coupling, a shock absorber, and an output shaft connected in sequence; wherein, the shock absorber is connected in series between the output end of the gearbox and the load input end, the motor transmits torque to the input end of the shock absorber through the gearbox and the coupling, and the output end of the shock absorber is connected to the transmission mechanism of the cultivation rack through the output shaft; Understandably, the shock absorber in S1 is a torsion type shock absorber, which is a mechanical component with torsional elasticity and damping characteristics; the load-side motion feedback data is collected in real time by motion detection elements installed between the output end of the shock absorber and the output shaft, including encoders or Hall sensors.

[0021] In this embodiment of the invention, the detailed implementation steps of S2, which compares the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit exhibits a synchronous deviation trend from the command motion trajectory, include: S21. The motor driver of each drive unit continuously receives load-side motion feedback data sent by the motion detection element installed on the output side of its shock absorber according to a preset sampling period. The load-side motion feedback data includes a real-time position value sequence or a real-time speed value sequence that reflects the actual motion state of the output shaft. During the operation of the smart planting equipment, each drive unit's motor driver is equipped with a data acquisition interface component. This data acquisition interface component continuously sends data request signals to the motion detection element installed between the output end of the shock absorber and the output shaft of the drive unit, using a pre-set fixed time interval as the sampling period. After receiving the data request signal, the motion detection element immediately performs analog-to-digital conversion on the mechanical position or rotation speed of the output shaft it senses at the current moment, generates a real-time position value or real-time speed value in digital form, and transmits the real-time position value or real-time speed value back to the motor driver through a signal cable. Each time the motor driver completes a data reception, it stores the real-time position value or real-time speed value along with its corresponding timestamp tag into its internal cyclic data buffer. As the device continues to operate, the cyclic data buffer will sequentially store a series of real-time position values ​​or real-time speed values ​​arranged in chronological order of sampling time, thereby forming a sequence of real-time position values ​​or real-time speed values ​​that can continuously reflect the actual motion evolution from the load end of the drive unit's shock absorber output side. Each element of the real-time position value sequence or real-time speed value sequence corresponds to a specific sampling moment, completely recording the actual motion history of the output shaft from the start of motion to the current moment.

[0022] S22. The motor driver constructs a feedback motion trajectory curve characterizing the actual motion process from the load end of the drive unit based on the received real-time position value sequence or real-time speed value sequence, including: After obtaining the real-time position value sequence or real-time speed value sequence, the motor driver will call its internal motion trajectory reconstruction component. The motion trajectory reconstruction component first reads each value point in the real-time position value sequence or real-time speed value sequence from the data buffer in chronological order, and forms a two-dimensional coordinate pair with each value point and its corresponding timestamp label, where the horizontal axis represents the time process and the vertical axis represents the actual position value or actual speed value at that moment. The motion trajectory reconstruction component will depict a series of distribution points in the internal storage space of the driver, which are two-dimensional coordinate pairs consisting of numerical points in the real-time position value sequence or real-time velocity value sequence and their timestamps. In order to form a continuous motion expression, the motion trajectory reconstruction component will use linear interpolation or curve fitting to generate smooth transition line segments between two adjacent distribution points depicted by two-dimensional coordinate pairs. Specifically, the motion trajectory reconstruction component calculates the time interval and numerical change between two adjacent distribution points depicted by two-dimensional coordinate pairs, and inserts several intermediate calculation points with equal step sizes within this time interval, so that a continuous polyline or smooth curve is formed between adjacent distribution points. Ultimately, all the connected line segments form a complete feedback motion trajectory curve. This feedback motion trajectory curve uses time as the independent variable and the actual position or speed of the load end as the dependent variable. It intuitively represents the actual motion changes that occur from the start of motion, acceleration, constant speed to deceleration and stop at the load end of the drive unit. It serves as the basis for subsequent synchronization state comparison.

[0023] S23. The motor driver obtains the instruction motion trajectory data of the main drive unit from the main controller. The instruction motion trajectory data includes the desired position value sequence or desired velocity value sequence under the same time step as the preset sampling period. Specifically, each drive unit's motor driver and the main controller establish a real-time data communication link via a fieldbus. Before the main controller issues motion commands to all drive units, the main controller has already pre-planned an ideal motion trajectory for the main drive unit based on the target movement distance of the cultivation rack, the set running speed, and the acceleration and deceleration time requirements. In the planning process, the entire motion process is discretized according to a time step that is completely consistent with the sampling period of each driver, generating a set of expected position values ​​or expected speed values ​​corresponding to each future sampling moment, and arranging them in chronological order into a sequence of expected position values ​​or expected speed values. The main controller encapsulates the desired position value sequence or desired velocity value sequence into a command motion trajectory data packet, and periodically sends it to the motor drivers of all slave drive units on the bus before the start of each motion control cycle or during the motion via broadcast or point-to-point communication. After receiving the command motion trajectory data packet, the motor driver of each slave drive unit performs integrity verification and parsing, and stores the extracted desired position value sequence or desired velocity value sequence along with its corresponding time step information into the local command buffer. Ultimately, each drive unit's motor driver holds a set of command motion trajectory data that is completely synchronized with the theoretical motion of the main drive unit and aligned with the time scale, providing a unified reference benchmark for subsequent point-to-point comparison with the motion trajectory fed back from its actual load end.

[0024] It should be noted that the main drive unit is driven by its motor driver to operate the motor in an open loop according to the motion trajectory issued by the main controller. The motion feedback data of the load end of the main drive unit itself is only used for status monitoring and overload protection, and does not participate in the closed-loop compensation and adjustment of the motor drive signal of the main drive unit.

[0025] S24. In the same time coordinate system, the motor driver compares the feedback motion trajectory curve with the command motion trajectory curve composed of the desired position value sequence or the desired velocity value sequence point by point, calculates the instantaneous deviation between the actual motion state and the desired motion state at each sampling time point, and generates deviation time series data that changes with time. Specifically, when the motor driver of the drive unit performs trajectory comparison, it first establishes a unified time coordinate system, which is based on the planned time axis used by the main controller when issuing the instruction motion trajectory. The motor driver simultaneously maps the previously constructed feedback motion trajectory curve and the instruction motion trajectory curve composed of the desired position value sequence or desired speed value sequence read from the instruction buffer to this unified time coordinate system. Secondly, the motor driver initiates a comparison loop synchronized with the sampling cycle. In each iteration of this loop, the motor driver locates the current sampling time point and reads the expected position or speed value corresponding to that time point from the command motion trajectory curve, while simultaneously reading the actual position or speed value corresponding to that time point from the feedback motion trajectory curve. The motor driver calculates the absolute value of the difference between the expected position or speed value and the actual position or speed value at that time point. This absolute value of the difference is the instantaneous deviation at that sampling moment. It can be understood that if the comparison involves position values, the instantaneous deviation is the position deviation, indicating the degree to which the actual position of the load is behind or ahead of the command position; if the comparison involves speed values, the instantaneous deviation is the speed deviation, indicating the degree to which the actual operating speed of the load is faster or slower than the command speed. The motor driver records each calculated instantaneous deviation along with its corresponding timestamp sequentially, forming a deviation data stream arranged in chronological order. This deviation data stream is the deviation time-series data that changes over time.

[0026] S25. The motor driver accumulates and statistically analyzes the instantaneous deviation of the deviation timing data within a preset sliding time window. When the accumulated statistical result exceeds the preset synchronization deviation threshold, it is determined that the slave drive unit has a synchronization deviation trend, and the determination result is reported to the main controller. Specifically, after generating the deviation time series data, the motor driver uses a sliding time window mechanism to perform continuous statistical analysis. The motor driver defines a window with a fixed time span, such as a period covering several recent consecutive sampling periods. This window slides forward continuously over time, and each time it slides for one sampling period, the instantaneous deviation contained in the window is also updated synchronously. After each window slide, the motor driver performs cumulative statistical processing on all instantaneous deviations currently contained in the window. This cumulative statistical processing can be either summing the absolute values ​​of each instantaneous deviation within the window, or calculating the sum of squares or root mean square value of the instantaneous deviations within the window. The cumulative statistical results reflect the total energy or overall deviation degree between the actual movement and the commanded movement from the load end of the drive unit over a continuous period of time. The motor drive compares the cumulative statistical results with the internally preset synchronization deviation threshold. The synchronization deviation threshold is a judgment boundary constant set according to the maximum cumulative deviation allowed for the smooth operation of the cultivation rack. Its value is determined by taking into account the inherent clearance of the transmission system, the elastic deformation of the shock absorber, and the upper limit of the tolerance of the platform sway amplitude for vegetable cultivation. When the cumulative statistical results exceed the synchronization deviation threshold, it indicates that the overall deviation of the slave drive unit in the past sliding time window is not negligible and constitutes a potential risk of operational instability. Based on this, the motor driver determines that the slave drive unit has a synchronization deviation trend. Subsequently, the motor driver immediately generates a judgment result message containing the unit's identification and the timestamp of the deviation trend occurrence, and reports it to the main controller via the fieldbus.

[0027] In this embodiment of the invention, if step S3 determines that a synchronization deviation trend has occurred, then the vibration characterization data of the load end of each slave drive unit exhibiting a synchronization deviation trend on the output side of the shock absorber is obtained, and the target slave drive unit to be intervened is selected from the corresponding slave drive units based on the load end vibration characterization data. The specific implementation method is as follows: S31. After receiving the judgment results reported by each slave drive unit, the main controller sends a vibration feature extraction command to the motor driver corresponding to the slave drive unit that shows a synchronization deviation trend as follows: As the core coordination unit of the entire synchronous control system, the main controller continuously listens for messages from the fieldbus in its communication processing tasks. When the main controller receives a judgment result message reported by a motor driver of a slave drive unit, it parses the judgment result message and confirms that the judgment result message type is a deviation trend judgment result. The main controller extracts the slave drive unit identification in the judgment result message and records the identification in its internally maintained deviation unit monitoring list. The decision logic component of the main controller will trigger a processing flow for the specific slave drive unit, wherein the process will unicast a dedicated vibration feature extraction instruction to the motor driver corresponding to the slave drive unit. The vibration feature extraction instruction is a set of data frames with specific function codes, the contents of which include an instruction type identifier and a command field instructing the motor driver to immediately start analyzing the vibration features of the load end. After sending the vibration feature extraction command, the main controller marks the corresponding slave drive unit status as performing vibration feature extraction and waits for it to return vibration characterization data. This ensures that only slave drive units that are initially determined to have a synchronous deviation trend will proceed to the next step of more detailed vibration analysis, thus avoiding unnecessary consumption of computing resources.

[0028] S32. The motor driver that receives the vibration feature extraction instruction extracts the instantaneous motion fluctuation component with a frequency higher than the preset cutoff frequency from the real-time velocity value sequence or real-time position value sequence corresponding to the motion feedback data at the load end of the driven unit through a high-pass filtering method. The preset cutoff frequency is a frequency boundary value used to distinguish between macroscopic effective motion and microscopic disturbance vibration. In the cultivation rack driving scenario, the speed change frequency corresponding to normal command motion such as start, constant speed operation and stop is usually in the lower frequency band, belonging to low frequency components; while irregular speed jitter caused by gear meshing impact, motor torque ripple or external collision is manifested as high frequency components. The cutoff frequency is set as an empirical value between the highest frequency of normal motion and the lowest frequency of disturbance vibration. The high-pass filter allows signal components above the cutoff frequency to pass through with no attenuation or small attenuation, and significantly attenuates signal components below the cutoff frequency, thereby separating the high-frequency vibration fluctuation components from the original motion signal. After receiving the vibration feature extraction command from the main controller, the motor driver of the drive unit immediately activates the internal signal filtering and processing component. This component retrieves the real-time velocity value sequence or real-time position value sequence corresponding to the load end motion feedback data recorded in the most recent continuous time period from the data buffer as the raw input signal. The raw input signal contains low-frequency slowly changing velocity signal components or position signal components that reflect the normal macroscopic movement of the cultivation rack, as well as high-frequency fluctuating velocity signal components or position signal components caused by mechanical impact, uneven transmission meshing, or motor torque pulsation. The signal filtering processing component performs a high-pass filtering operation, the purpose of which is to allow only velocity or position signal components with frequencies higher than a preset cutoff frequency to pass through, while suppressing or filtering out macroscopic motion velocity or position signal components with frequencies lower than the cutoff frequency. The specific method of implementing high-pass filtering is to perform time-domain differential operations on the original input signal sequence or to perform iterative calculations using digital filter differential equations, so that the output signal sequence after high-pass filtering mainly reflects the rapid changes between two adjacent values ​​in the original input signal sequence. Each value in the output signal sequence is the instantaneous motion fluctuation component at the corresponding sampling time. The instantaneous motion fluctuation component represents the high-frequency vibration details superimposed on the stable macroscopic motion, and the larger the value, the more intense the instantaneous vibration at that moment.

[0029] S33. The motor driver calculates the average amplitude or frequency of the instantaneous motion fluctuation component within a preset analysis period, and uses the calculation result as load-end vibration characterization data to represent the intensity of vibration at the load end of the drive unit. The analysis period is the length of the time window set internally by the motor driver for vibration characteristic statistics. The selection of this period length needs to balance the stability and timeliness of vibration characteristic evaluation. If the analysis period is too short, the statistical results may be inaccurate due to the influence of occasional single impact spikes and cannot represent the true continuous vibration state. If the analysis period is too long, it may be slow to respond to changes in the current vibration state due to the inclusion of too much historical information. After extracting the instantaneous motion fluctuation components, the motor driver performs statistical analysis on these components within a preset analysis period. The motor driver processes each instantaneous motion fluctuation component value within this analysis period. When calculating the average fluctuation amplitude, the motor driver takes the absolute value of each instantaneous motion fluctuation component, sums all absolute values ​​within the analysis period, and finally divides by the total number of sampling points within that period. The resulting arithmetic mean is the average vibration amplitude within that period, and its magnitude directly corresponds to the average vibration intensity. When calculating the fluctuation frequency, the motor driver counts the number of times the instantaneous motion fluctuation components cross zero or experience local maxima within the analysis period, and converts this to the number of occurrences per unit time. This frequency reflects the frequency of vibration. The motor driver uses the calculated average fluctuation amplitude or fluctuation frequency as a comprehensive numerical indicator, which is the load-side vibration characterization data. This load-side vibration characterization data quantitatively describes the level of vibration intensity experienced by the shock absorber output side of the drive unit before and after the deviation trend appears, and is encapsulated by the motor driver into a response message and transmitted back to the main controller.

[0030] S34. The motor driver reports the generated load-end vibration characterization data to the main controller so that the main controller can perform subsequent target selection operations from the drive unit. S35. The main controller or the motor drivers of each slave drive unit compare the load-side vibration characterization data of each slave drive unit exhibiting a synchronization deviation trend with a preset vibration screening threshold. The vibration screening threshold is a threshold value used to distinguish between negligible slight deviations and severe deviations requiring active intervention. The vibration screening threshold is set based on the upper limit of residual vibration allowed during normal operation of the cultivation rack. Due to the presence of shock absorbers in the transmission chain, most of the high-frequency vibrations generated on the motor side are absorbed. Only when there is a significant mechanical failure, sudden load change, or severe asynchronous dragging will the residual vibration on the output side of the shock absorber increase significantly. Therefore, the vibration screening threshold is set to screen out abnormal vibration events that the shock absorbers cannot effectively suppress. If the load-side vibration characterization data does not exceed the vibration screening threshold, it indicates that the current synchronization deviation trend is mainly caused by self-recoverable minor elastic deformation or stable speed following error, which can be corrected by subsequent normal following. If it exceeds the vibration screening threshold, it indicates that there is a substantial disturbance or impact that requires immediate application of compensating torque to counteract it. S36. Identify the drive units whose load-end vibration characterization data exceeds the vibration screening threshold as target drive units; For the target slave drive unit screening operation, the main execution entity is either the main controller or the motor driver of each slave drive unit itself. In the centralized processing mode of the main controller, after collecting the load-side vibration characterization data returned by all slave drive units showing a synchronization deviation trend, the main controller establishes a comparison process within its decision logic component. This comparison process compares each received load-side vibration characterization data with a vibration screening threshold pre-stored in memory. If the load-side vibration characterization data of a slave drive unit is less than or equal to the vibration screening threshold, the main controller determines that the synchronization deviation trend of that unit is mainly caused by a slight and slow cumulative error at the load end or the normal elastic hysteresis of the shock absorber, and its internal vibration level is still within the allowable range, so no additional motor compensation is required for the time being. If the vibration characterization data at the load end of a slave drive unit exceeds the vibration screening threshold, the main controller determines that the synchronization deviation trend of the unit is accompanied by obvious mechanical shock or severe load disturbance. Even after the damper has buffered and attenuated the vibration, the residual vibration transmitted to the load end still exceeds the normal tolerance, constituting a substantial deviation that must be addressed. The main controller moves the identity of the slave drive unit that meets this condition from the deviation unit monitoring list to the target unit intervention list, thereby formally identifying it as the target slave drive unit. In distributed processing mode, after the motor driver of each slave drive unit completes the vibration characterization data calculation locally, it compares it with the vibration screening threshold stored locally. If it exceeds the limit, it actively sends an intervention request containing its own identity to the main controller, and the main controller identifies the target slave drive unit accordingly.

[0031] In this embodiment of the invention, the specific implementation of step S4, which generates a compensation command for adjusting the motor drive signal of the target slave drive unit based on the real-time deviation between the load-side motion feedback data of the target slave drive unit and the commanded motion trajectory of the master drive unit, includes: S41. The step of continuously acquiring the real-time sampled value of the motion feedback data of the load end corresponding to the target drive unit after receiving the filtered target drive unit identifier from the motor driver of the target drive unit is as follows: After the screening process is completed, the target unit intervention list inside the main controller records the unique identification number of all slave drive units identified as needing intervention. This unique identification number is the target slave drive unit identifier. This identifier is the address code or device alias assigned by the main controller to each slave drive unit connected to the bus during the initialization phase. It is used to uniquely point to a specific slave drive unit in subsequent communication and command issuance. Before entering the compensation command generation phase, the main controller will traverse the target unit intervention list and send subsequent commands to the motor driver corresponding to each target slave drive unit identifier in the target unit intervention list to start the targeted compensation operation. When a motor driver in a drive unit receives a target drive unit identification confirmation command from the main controller, and the identifier contained in the command matches its own identity identifier, the motor driver confirms that it has been selected as the target drive unit. Simultaneously, the motor driver switches its operating mode from normal monitoring to synchronous compensation ready state. In synchronous compensation ready state, the motor driver's data acquisition interface component initiates a high-priority real-time sampling value acquisition process. At the arrival of each sampling cycle, this process immediately sends a high-priority read request to the motion detection element installed on the output side of the shock absorber to obtain the current real-time position or velocity value, and directly sends this value to the input end of the compensation calculation pipeline. This process is continuously executed in a loop, ensuring that the motor driver can obtain the latest and fastest real-time sampling values ​​of the load-side motion feedback data at all times, providing an accurate data foundation for subsequent real-time deviation calculations.

[0032] S42. The motor driver calculates the difference between the real-time sampled value and the expected motion state value at the same moment in the motion trajectory of the instruction issued by the main controller, and obtains real-time deviation data including at least one of position deviation and speed deviation. Specifically, when the motor driver of the target drive unit performs real-time deviation calculation, it reads the expected motion state value that completely corresponds to the current sampling time from the local instruction buffer. This expected motion state value is the expected position value or expected speed value corresponding to a specific moment in the instruction motion trajectory data that has been discretized by the time step and pre-issued by the main controller. The motor driver aligns the real-time sampled value of the load-side motion feedback data that has just been acquired with the expected motion state value to the same calculation unit. If the current execution is a position synchronization control mode, the motor driver subtracts the real-time position value from the expected position value to obtain the signed real-time position deviation data. If the current execution is a speed synchronization control mode, the motor driver subtracts the real-time speed value from the expected speed value to obtain the signed real-time speed deviation data. In the composite control mode, the motor driver may calculate the position deviation and speed deviation at the same time and output both as real-time deviation data. The positive or negative sign of the real-time deviation data indicates whether the actual motion lags behind or leads the instruction motion, and its absolute value represents the degree of lag or lead.

[0033] S43. Based on real-time deviation data, the motor driver calculates and generates a compensation increment signal to correct the motor drive current or drive voltage according to a preset proportional adjustment relationship, and outputs this compensation increment signal as a compensation command to the power output stage of the motor driver. The proportional adjustment relationship is a linear correspondence rule defined internally by the motor driver, establishing a direct mapping between the motion deviation and the required compensation torque. The proportional adjustment relationship is a preset proportional constant, the magnitude of which determines the intensity of the response to the same deviation. The larger the proportional constant, the stronger the compensation increment signal generated for a given deviation, and the faster the load-side motion converges to the command trajectory. The smaller the proportional constant, the smoother the compensation effect, the more stable the system, but the slower the correction process. The proportional adjustment relationship is a fixed operating parameter determined comprehensively based on the overall inertia of the cultivation rack drive system, the motor torque constant, and the desired dynamic response characteristics. Understandably, after obtaining real-time deviation data, the target calls the internal compensation calculation component from the motor driver of the drive unit. This compensation calculation component has a built-in preset proportional adjustment relationship, which defines a compensation coefficient. The compensation calculation component multiplies the value of the real-time deviation data by this compensation coefficient, and the product is the corresponding current increment or voltage increment value. This current increment or voltage increment value represents the amount of additional driving force required to correct the current motion deviation. For example, when the real-time position deviation data indicates that the actual position of the load end is behind the commanded position, the calculated compensation increment signal will be positive, indicating that the drive current or voltage of the motor needs to be increased to accelerate and catch up; conversely, if the actual position is ahead, the compensation increment signal will be negative, indicating that the drive current or voltage needs to be reduced to slow down and wait. The calculation process is executed once in each sampling period, thereby generating a compensation increment signal sequence that dynamically changes over time. The motor driver encapsulates the compensation increment signal into an analog voltage signal or a digital pulse width modulation duty cycle command with a specific target amplitude, and outputs it from its control core to the downstream power output stage circuit in the form of a compensation command.

[0034] In this embodiment of the invention, the detailed implementation steps of S5, which superimposes the compensation command onto the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit, include: S51. The motor driver of the target drive unit instantaneously superimposes the compensation increment signal corresponding to the compensation command generated in its power output stage with the current basic drive signal generated by the motor driver according to the command motion trajectory in the analog or digital domain to synthesize the corrected composite drive signal. Specifically, the target motor driver of the drive unit performs signal superposition in its power output stage circuit. The power output stage receives two input signals: the first input signal is the current basic drive signal generated by the motor driver according to the movement trajectory of the command issued by the main controller. This signal is the basic current reference value or voltage reference value required to maintain the motor's movement according to the predetermined macroscopic command. The function of the basic drive signal is to make the motor rotate according to the preset speed curve and position target, and it is the main power source for driving the cultivation rack to complete the predetermined stroke. The basic drive signal determines the main operating current and voltage waveform of the motor under normal operating conditions. When in ideal synchronization state, that is, when the load side completely follows the command, normal operation can be maintained by the basic drive signal alone. The second input signal is the compensation increment signal corresponding to the compensation command generated by the compensation calculation component. The compensation increment signal is a small correction term added to the basic drive signal to dynamically counteract the following error caused by factors such as load difference and mechanical disturbance. In the analog domain implementation, both signals are analog voltage values. The power output stage includes an analog adder circuit that directly sums the base drive signal voltage and the compensation increment signal voltage. The output sum voltage is the corrected composite drive signal. In the digital domain implementation, both the base drive signal and the compensation increment signal are digital quantities. The motor driver's digital signal processor adds the two signals and writes the result into the comparison register of the pulse width modulation generator, thereby changing the duty cycle of the output pulse and indirectly modulating the drive voltage or current. Through instantaneous superposition, the compensation increment signal finely adjusts the base drive signal in real time within each control cycle, so that the final electrical power applied to the motor windings can simultaneously respond to macroscopic motion commands and microscopic synchronous correction requirements.

[0035] S52, The motor driver outputs the corrected composite drive signal to the motor of the target drive unit to dynamically fine-tune the output torque of the motor so that the actual motion trajectory of the target from the load end of the shock absorber output side of the drive unit converges to the commanded motion trajectory. Understandably, after the power output stage synthesizes the corrected composite drive signal, the motor driver amplifies the corrected composite drive signal through a power amplifier circuit for current or voltage amplification, and finally applies it to the stator winding terminals of the motor in the target drive unit. The electromagnetic conversion mechanism inside the motor generates a corresponding electromagnetic torque according to the applied corrected composite drive signal. Because the composite drive signal contains a compensation incremental component, the torque output by the motor will have a small incremental or decremental torque change on top of the base torque. This torque change is transmitted to the input end of the shock absorber through the gearbox and coupling, and then buffered by the elasticity of the shock absorber. Used for output shaft and cultivation rack load; increased torque will accelerate the load end, and decreased torque will decelerate the load end; during dynamic fine-tuning, the deviation between the actual motion trajectory of the load end and the commanded motion trajectory gradually decreases, specifically manifested as the real-time position sampling value gradually approaching the desired position value, or the real-time speed sampling value gradually stabilizing near the desired speed value; after several control cycles of adjustment, the actual motion trajectory of the target load end from the output side of the drive unit damper will completely converge to the path specified by the commanded motion trajectory issued by the main controller, thereby restoring the precise synchronous operation state with the main drive unit and other normal slave drive units.

[0036] Please see Figure 2 This invention provides a synchronous control system based on motor operation data for smart planting, comprising: Operation data acquisition module: acquires the operation data of the designated main drive unit and at least one slave drive unit, wherein the operation data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain; Synchronization Deviation Judgment Module: Compares the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend that deviates from the command motion trajectory. Target unit screening module: If a synchronization deviation trend is determined, the load end vibration characterization data of each slave drive unit with a synchronization deviation trend on the output side of the shock absorber is obtained, and the target slave drive unit that needs intervention is screened from the corresponding slave drive units based on the load end vibration characterization data. Compensation command generation module: For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, a compensation command is generated to adjust the motor drive signal of the target slave drive unit. Signal adjustment execution module: superimposes the compensation command onto the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit, so that the load end of the target slave drive unit moves in accordance with the command movement trajectory, and keeps the drive signals of the main drive unit and those not selected as target slave drive units unchanged.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0038] It should be noted that all formulas in this manual are calculated by removing dimensions and taking their numerical values. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0039] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A synchronous control method based on motor operation data in smart planting, characterized in that, include: S1. Obtain the operating data of the designated main drive unit and at least one slave drive unit, wherein the operating data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain. S2. Compare the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend from the command motion trajectory. S3. If a synchronous deviation trend is determined, obtain the load end vibration characterization data of each slave drive unit with a synchronous deviation trend on the output side of the shock absorber, and select the target slave drive unit that needs intervention from the corresponding slave drive units based on the load end vibration characterization data. S4. For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, generate a compensation command for adjusting the motor drive signal of the target slave drive unit. S5. Add the compensation command to the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit.

2. The synchronous control method based on motor operation data in smart planting according to claim 1, characterized in that, The main drive unit and each slave drive unit include a drive structure consisting of a motor, a gearbox, a coupling, a shock absorber, and an output shaft connected in sequence. The shock absorber is connected in series between the output end of the gearbox and the input end of the load. The motor transmits torque to the input end of the shock absorber through the gearbox and the coupling. The output end of the shock absorber is connected to the transmission mechanism of the cultivation rack through the output shaft.

3. The synchronous control method based on motor operation data in smart planting according to claim 1 or 2, characterized in that, The shock absorber in S1 is a torsion type shock absorber, which is a mechanical component with torsional elasticity and damping characteristics; the load-side motion feedback data is collected in real time by a motion detection element installed between the output end of the shock absorber and the output shaft, wherein the motion detection element includes an encoder or a Hall sensor.

4. The synchronous control method based on motor operation data in smart planting according to claim 1, characterized in that, S2 includes: The motor driver of each drive unit continuously receives load-side motion feedback data sent by the motion detection element installed on the output side of its shock absorber according to a preset sampling period. The load-side motion feedback data includes a real-time position value sequence or a real-time speed value sequence that reflects the actual motion state of the output shaft. The motor driver constructs a feedback motion trajectory curve characterizing the actual motion process from the load end of the drive unit based on the received real-time position value sequence or real-time speed value sequence. The motor driver obtains the command motion trajectory data of the main drive unit from the main controller. The command motion trajectory data includes the desired position value sequence or desired velocity value sequence at the same time step as the preset sampling period. The main drive unit is driven by its motor driver to operate the motor in an open-loop manner according to the motion trajectory issued by the main controller. The motion feedback data of the load end of the main drive unit is only used for status monitoring and overload protection, and does not participate in the closed-loop compensation and adjustment of the motor drive signal of the main drive unit.

5. The synchronous control method based on motor operation data in smart planting according to claim 4, characterized in that, S2 further includes: In the same time coordinate system, the motor driver compares the feedback motion trajectory curve with the command motion trajectory curve composed of the desired position value sequence or the desired velocity value sequence point by point, calculates the instantaneous deviation between the actual motion state and the desired motion state at each sampling time point, and generates deviation time series data that changes with time. The motor driver accumulates and statistically analyzes the instantaneous deviation of the deviation timing data within a preset sliding time window. When the accumulated statistical result exceeds the preset synchronization deviation threshold, it determines that the slave drive unit has a synchronization deviation trend and reports the determination result to the main controller.

6. The synchronous control method based on motor operation data in smart planting according to claim 5, characterized in that, S3 includes: After receiving the judgment results reported by each slave drive unit, the main controller sends a vibration feature extraction command to the motor driver corresponding to the slave drive unit that shows a synchronous deviation trend. The motor driver that receives the vibration feature extraction command extracts the instantaneous motion fluctuation components with a frequency higher than the preset cutoff frequency from the real-time velocity value sequence or real-time position value sequence corresponding to the motion feedback data at the load end of the driven unit through a high-pass filtering method. The motor driver calculates the average amplitude or frequency of instantaneous motion fluctuation components within a preset analysis period, and uses the calculation results as load-end vibration characterization data to characterize the intensity of vibration at the load end of the drive unit. The motor driver reports the generated load-side vibration characterization data to the main controller, so that the main controller can perform subsequent target selection operations from the drive unit.

7. The synchronous control method based on motor operation data in smart planting according to claim 6, characterized in that, S3 further includes: The main controller or the motor driver of each slave drive unit compares the vibration characterization data of the load end of each slave drive unit that shows a synchronous deviation trend with the preset vibration screening threshold. Slave drive units whose load-side vibration characterization data exceeds the vibration screening threshold are identified as target slave drive units.

8. The synchronous control method based on motor operation data in smart planting according to claim 1, characterized in that, S4 includes: After receiving the target drive unit identifier from the motor driver of the target drive unit, the target drive unit continuously acquires the real-time sampled value of the motion feedback data of the load end corresponding to the target drive unit. The motor driver calculates the difference between the real-time sampled value and the expected motion state value at the same moment in the motion trajectory of the command issued by the main controller, and obtains real-time deviation data including at least one of position deviation and speed deviation. Based on real-time deviation data, the motor driver calculates and generates a compensation increment signal to correct the motor drive current or drive voltage according to a preset proportional adjustment relationship, and outputs the compensation increment signal as a compensation command to the power output stage of the motor driver.

9. The synchronous control method based on motor operation data in smart planting according to claim 8, characterized in that, The S5 step of superimposing the compensation command onto the current motor drive signal of the target drive unit includes: The motor driver of the target drive unit instantaneously superimposes the compensation increment signal corresponding to the compensation command generated in its power output stage with the current basic drive signal generated by the motor driver according to the command motion trajectory in the analog or digital domain to synthesize the corrected composite drive signal. The motor driver outputs the corrected composite drive signal to the motor of the target drive unit to dynamically fine-tune the output torque of the motor, so that the actual motion trajectory of the target from the load end of the shock absorber output side of the drive unit converges to the commanded motion trajectory.

10. A synchronous control system based on motor operation data in smart planting, characterized in that, The system, which is applied to the synchronous control method based on motor operation data in smart planting as described in any one of claims 1-9, comprises: Operation data acquisition module: acquires the operation data of the designated main drive unit and at least one slave drive unit, wherein the operation data includes the command motion trajectory data of the main drive unit and the load end motion feedback data of each slave drive unit on the output side of the shock absorber in its transmission chain; Synchronization Deviation Judgment Module: Compares the command motion trajectory data of the main drive unit with the load-side motion feedback data of each slave drive unit to determine whether each slave drive unit shows a synchronous deviation trend that deviates from the command motion trajectory. Target unit screening module: If a synchronization deviation trend is determined, the load end vibration characterization data of each slave drive unit with a synchronization deviation trend on the output side of the shock absorber is obtained, and the target slave drive unit that needs intervention is screened from the corresponding slave drive units based on the load end vibration characterization data. Compensation command generation module: For the target slave drive unit, based on the real-time deviation between the load end motion feedback data of the target slave drive unit and the command motion trajectory of the main drive unit, a compensation command is generated to adjust the motor drive signal of the target slave drive unit. Signal adjustment execution module: superimposes the compensation command onto the current motor drive signal of the target slave drive unit to adjust the motor output of the target slave drive unit.

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