Multi-motor direct sliding potentiometer control method and device, electronic equipment and storage medium

Abstract

The application discloses a control method and device for a multi-motor direct sliding potentiometer to move in a specific waveform, electronic equipment and a storage medium. The method comprises the following steps: collecting the actual running speed and the current position of a master motor, and the actual positions of each slave motor; driving the master motor to run at a constant speed based on a PID speed loop algorithm according to the actual running speed and the target running speed of the master motor, and switching the movement direction to realize continuous reciprocating movement when the master motor runs to a preset upper limit of stroke or a preset lower limit of stroke; calculating the target positions of each slave motor according to the current position of the master motor and preset position difference values between each slave motor and the master motor; wherein adjusting the preset position difference values can produce a corresponding regular combined waveform movement effect; and driving the slave motors to run based on a PID position loop algorithm according to the actual positions and the target positions of each slave motor, so that the actual positions of the slave motors can follow the target position changes in real time, and accurate collaborative control of the multi-motor direct sliding potentiometer is realized.

Description

Technical Field

[0001] This invention relates to the field of motor control and potentiometer driving technology, and in particular to a control method, device, electronic device and storage medium for a multi-motor linear sliding potentiometer to move with a specific waveform. Background Technology

[0002] Sliding potentiometers (also known as faders) are widely used input devices in fields such as audio, lighting, and industrial control. Parameter adjustment is achieved by manually sliding the potentiometer to change the resistance value. With the development of automation technology, motor-driven electric sliding potentiometers are becoming increasingly common, enabling automatic parameter memorization, recall, and remote control.

[0003] In existing technologies, the control of multi-motor linear potentiometers mostly adopts an independent control method, where each fader receives control commands and executes the movement independently. This method has the following drawbacks:

[0004] (1) The synchronization of multiple pushers is poor, making it difficult to achieve precise parallel or arithmetic motion effects; (2) It is impossible to form a unified motion waveform, and each pusher moves independently, lacking overall coordination; (3) When multiple pushers need to be linked according to a specific rule, the motion trajectory of each pusher needs to be calculated separately, which is computationally intensive and control is complex; (4) When each pusher uses speed loop control independently, it is easy to accumulate errors, which leads to an increase in position deviation after long-term operation.

[0005] Therefore, there is an urgent need for a control method that can achieve precise coordinated control of multiple motors with direct sliding potentiometers and flexibly generate specific waveform motion effects. Summary of the Invention

[0006] This invention provides a method, device, electronic device, and storage medium for controlling a multi-motor linear sliding potentiometer to move with a specific waveform, so as to achieve precise coordinated control of the multi-motor linear sliding potentiometer and flexibly generate specific waveform motion effects.

[0007] According to one aspect of the present invention, a control method for multi-motor linear sliding potentiometers to move with a specific waveform is provided, wherein any one of the multi-motor linear sliding potentiometers is designated as the master motor, and the remaining motor linear sliding potentiometers are designated as slave motors; the method includes:

[0008] Collect the actual operating speed and current position of the main motor, as well as the actual positions of each slave motor;

[0009] Based on the actual and target operating speeds of the main motor, the main motor is driven to run at a constant speed using a PID speed loop algorithm. When the main motor reaches the preset upper or lower limit of the stroke, the direction of motion is switched to achieve continuous reciprocating motion.

[0010] Based on the current position of the master motor and the preset position difference between each slave motor and the master motor, the target position of each slave motor is calculated; wherein, adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect;

[0011] Based on the actual position and the target position of each slave motor, the slave motor is driven to run using a PID position loop algorithm, so that the actual position of the slave motor follows the change of the target position in real time.

[0012] Optionally, driving the main motor to operate at a constant speed based on the actual operating speed and target operating speed of the main motor includes:

[0013] Calculate the speed error between the actual operating speed and the target operating speed of the main motor;

[0014] The speed error is calculated using a PID speed loop algorithm, and the first control signal is output to drive the main motor to run at a constant speed.

[0015] Optionally, based on the actual position and the target position of each slave motor, driving the slave motors to run using a PID position loop algorithm, so that the actual position of the slave motors follows the target position change in real time, includes:

[0016] Calculate the position error between the actual position and the target position of each slave motor;

[0017] The position error is calculated by the PID position loop algorithm and a second control signal is output to drive the slave motor to run, so that the actual position of the slave motor follows the target position change in real time.

[0018] Optionally, the combined waveform motion effect includes a parallel running effect; adjusting the preset position difference to produce a corresponding pattern of combined waveform motion effect includes:

[0019] If the preset position difference between each slave motor and the master motor is set to 0, then all motor sliding potentiometers will move synchronously and reciprocally at the same speed and position.

[0020] Optionally, the combined waveform motion effect includes an arithmetic progression effect; adjusting the preset position difference to produce a corresponding pattern of combined waveform motion effect includes:

[0021] If the preset position difference between each slave motor and the master motor is set as an arithmetic sequence, then all motor sliding potentiometers will form a stepped waveform reciprocating motion with equal intervals.

[0022] Optionally, the combined waveform motion effect includes a custom waveform effect; adjusting the preset position difference to produce a corresponding pattern of combined waveform motion effect includes:

[0023] By customizing the preset position difference between each slave motor and the master motor, all motor sliding potentiometers will generate a combined waveform motion effect that corresponds to the custom setting.

[0024] Optionally, the target operating speed of the main motor can be continuously adjusted within the range of 0.1 mm / s to 100 mm / s.

[0025] According to another aspect of the present invention, a control device for multi-motor linear sliding potentiometers to move with a specific waveform is provided, wherein any one of the multi-motor linear sliding potentiometers is designated as the master motor, and the remaining motor linear sliding potentiometers are designated as slave motors; the device includes:

[0026] The acquisition module is used to acquire the actual operating speed and current position of the main motor, as well as the actual positions of each slave motor.

[0027] The main motor drive module is used to drive the main motor to run at a constant speed based on the actual running speed and target running speed of the main motor, and to switch the direction of motion to achieve continuous reciprocating motion when the main motor runs to the preset upper or lower limit of the stroke.

[0028] The calculation module is used to calculate the target position of each slave motor based on the current position of the master motor and the preset position difference between each slave motor and the master motor; wherein, adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect;

[0029] The slave motor drive module is used to drive the slave motors based on the actual position and the target position of each slave motor, using a PID position loop algorithm, so that the actual position of the slave motors follows the change of the target position in real time.

[0030] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0031] At least one processor; and

[0032] A memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the control method for a multi-motor linear potentiometer to move with a specific waveform as described in any embodiment of the present invention.

[0034] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the control method for moving a multi-motor linear potentiometer with a specific waveform as described in any embodiment of the present invention.

[0035] The technical solution provided in this invention collects the actual operating speed and current position of the main motor, as well as the actual positions of each slave motor. Based on the actual operating speed and target operating speed of the main motor, a PID speed loop algorithm drives the main motor to run at a constant speed. When the main motor reaches a preset upper or lower travel limit, the direction of motion is switched to achieve continuous reciprocating motion. Based on the current position of the main motor and the preset position difference between each slave motor and the main motor, the target position of each slave motor is calculated. Adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effects. Based on the actual position and target position of each slave motor, a PID position loop algorithm drives the slave motors to run, so that the actual position of the slave motors follows the target position changes in real time. Compared with the prior art, the technical solution provided in this invention has the following beneficial effects:

[0036] 1. The main motor adopts constant speed control with a speed loop, ensuring smooth and vibration-free movement; the slave motor adopts position tracking control with a position tracking error of less than 0.1mm, resulting in good synchronization and high control precision.

[0037] 2. By adjusting the preset position difference between each slave motor and the master motor, various specific waveform motion effects such as parallel and arithmetic progressions can be achieved. The waveform generation is flexible and does not require complex trajectory calculations.

[0038] 3. The number of slave motors can be increased arbitrarily according to needs, the master-slave control architecture remains unchanged, the system complexity will not increase significantly, and the system has strong scalability.

[0039] 4. The main motor speed loop has no cumulative error, and the slave motor position loop is corrected in real time. Even after long-term operation, it can still maintain a precise positional relationship, and the operation is stable and reliable.

[0040] 5. It can be widely used in fields that require multi-channel linkage control, such as audio mixing consoles, lighting control consoles, industrial automation instruments, and medical equipment.

[0041] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart of a control method for a multi-motor linear potentiometer to move with a specific waveform, provided in an embodiment of the present invention;

[0044] Figure 2 A flowchart illustrating another control method for a multi-motor linear potentiometer to move with a specific waveform, provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the structure of a control device for a multi-motor linear potentiometer moving with a specific waveform, provided in an embodiment of the present invention.

[0046] Figure 4 This is a schematic diagram of an electronic device for controlling the movement of a multi-motor linear potentiometer with a specific waveform, as provided in an embodiment of the present invention. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0049] Figure 1is a flowchart of a control method for a multi-motor linear slide potentiometer to move in a specific waveform provided by an embodiment of the present invention. This embodiment is applicable to devices requiring multi-channel synchronization or specific waveform linkage control, such as audio mixers, lighting consoles, and industrial automation instruments. The method may be executed by a control apparatus for a multi-motor linear slide potentiometer to move in a specific waveform, the apparatus may be implemented in the form of hardware and / or software, and the apparatus may be configured in any electronic device with a communication function. Designate any one motor-driven linear slide potentiometer among the multi-motor linear slide potentiometers as a master motor, and the remaining motor-driven linear slide potentiometers as slave motors; refer to Figure 1 , the method includes:

[0050] S110. Collect the actual operating speed and current position of the master motor, and the actual position of each slave motor.

[0051] Specifically, for the collection of the actual operating speed of the master motor, consecutive position sampling values may be obtained at a fixed sampling period through a position detection unit supporting the master motor, and the real-time operating speed of the master motor may be calculated from the ratio of the position variation in two adjacent sampling periods to the sampling period; alternatively, a speed measurement sensor integrated at the driving end of the master motor may directly output a speed feedback signal. The collected actual speed data will be input to a PID speed loop controller to perform error calculation with a preset target speed, which provides a basis for the generation of a PWM control signal and ensures the control precision of constant-speed operation of the master motor.

[0052] The collection of the current position of the master motor is completed by a correspondingly configured position detection module, where the position detection module may adopt a sensor device suitable for travel detection of the linear slide potentiometer, such as a linear conductive plastic potentiometer, a photoelectric linear encoder, and a magnetic grid displacement sensor, and can output an analog or digital position signal corresponding to the sliding position of the fader in real time. The collected current position value of the master motor is used on one hand for travel endpoint determination of the reciprocating motion of the master motor, and triggers a direction reversal logic when it is detected that the position value reaches a preset upper or lower travel limit; on the other hand, the current position value is broadcast in real time to all slave motor control units via a system communication bus, and serves as a base reference value for calculating the target position of the slave motors.

[0053] The actual position of each slave motor is also collected in real time through a respective independently configured position detection module, and the position detection channel of each slave motor is independent of each other without mutual interference. The collected actual position value of the slave motor is input to a PID position loop controller of the corresponding slave motor, and is compared with a target position value calculated based on the master motor position and a preset position difference, so as to generate a position error signal to drive the slave motor to perform a position following action, ensuring that the fader of each slave motor can accurately follow the motion rule of the master motor and maintain a preset position difference relationship.

[0054] During the acquisition of position and velocity data, the system can perform digital filtering on the raw sampled data, such as moving average filtering and amplitude limiting filtering, to filter out sampling noise caused by factors such as electromagnetic interference and mechanical vibration, thereby improving the stability and accuracy of the feedback data and ensuring the smooth operation and control precision of the entire master-slave collaborative control system.

[0055] S120. Based on the actual running speed and target running speed of the main motor, drive the main motor to run at a constant speed using a PID speed loop algorithm, and switch the direction of motion when the main motor reaches the preset upper or lower limit of the stroke to achieve continuous reciprocating motion.

[0056] The target operating speed can be continuously adjusted within the range of 0.1 mm / s to 100 mm / s.

[0057] Specifically, constant speed operation is achieved based on a PID speed loop closed-loop algorithm: the system pre-sets the target operating speed of the main motor as the control benchmark, and simultaneously inputs the real-time acquired actual operating speed of the main motor as a feedback quantity into the control loop; the difference between the target operating speed and the actual operating speed is calculated to obtain the speed deviation value at the current moment. This speed deviation value is input into the PID controller, and after being processed by three arithmetic stages (proportional, integral, and derivative), the total control output is synthesized: the proportional stage responds to the current instantaneous speed deviation, outputting a control quantity proportional to the deviation amplitude to quickly correct the speed deviation; the integral stage accumulates the speed deviation over historical periods, gradually eliminating the system's steady-state error and ensuring that the average speed is completely consistent with the target speed during long-term operation; the derivative stage performs advance adjustment based on the rate of change of the speed deviation, suppressing speed overshoot during commutation and load fluctuations, and reducing mechanical vibration. The control quantity output by the PID controller is converted into a PWM drive signal with a corresponding duty cycle and sent to the power drive module of the main motor. By adjusting the conduction time of the motor windings, the output speed is precisely controlled, so that the actual running speed of the main motor is always stable near the target value, unaffected by power fluctuations, changes in mechanical resistance, etc., ensuring smooth and uniform motion.

[0058] Continuous reciprocating motion is achieved through stroke endpoint detection and automatic reversing logic: the system pre-configures upper and lower stroke thresholds for the main motor pusher, which can be flexibly set according to requirements, corresponding to any range within 0-100% of the total pusher stroke. During the operation of the main motor, the system continuously compares the real-time collected current position value of the main motor pusher with the two preset stroke endpoint thresholds; when the pusher position is detected to reach the upper stroke threshold, the system immediately generates a direction reversal command, switches the output polarity of the motor drive port, and causes the pusher to switch from the original direction of motion to the reverse direction; when the pusher subsequently moves to the lower stroke threshold, the system triggers the reversing logic again, driving the pusher to switch the direction of motion again. This cycle repeats, allowing the main motor to drive the pusher to continuously perform constant-speed reciprocating motion within the set stroke range. No complex position trajectory planning is required; only a speed loop combined with endpoint reversing can output regular and stable baseline motion, reducing the computational load of the main control unit and improving the smoothness of the motion reversing process.

[0059] S130. Calculate the target position of each slave motor based on the current position of the main motor and the preset position difference between each slave motor and the main motor; wherein, adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect.

[0060] The preset position difference can be set in advance according to requirements.

[0061] Specifically, each slave motor is preset with an independent position difference parameter. This position difference represents the preset position offset between the corresponding slave motor pusher and the master motor pusher. The offset value can be set to positive, negative, or zero according to actual needs, corresponding to the slave motor pusher being offset towards the upper end of its stroke, the lower end of its stroke, or being completely aligned with the master motor pusher, respectively. During the control process, the system superimposes the real-time acquired current position value of the master motor with the preset position difference of the corresponding slave motor to obtain the target position value of the slave motor at the current moment. The calculation relationship can be expressed as: the target position value of the i-th slave motor is equal to the sum of the current position value of the master motor and the preset position difference of the i-th slave motor. Since the target positions of all slave motors are synchronously calculated based on the real-time position of the same master motor, the motion reference of each slave motor is completely unified, fundamentally avoiding the problems of asynchronous movement and phase deviation accumulation of multiple pushers in independent control mode.

[0062] By adjusting the preset position differences of each slave motor, the relative position arrangement of multiple faders can be changed, thus creating a corresponding pattern of combined waveform motion during the reciprocating motion of all faders. When the preset position differences of all slave motors are set to zero, the target position of each slave motor is completely consistent with the current position of the master motor. All faders will maintain a level position and reciprocate synchronously, forming a parallel and consistent combined waveform effect, suitable for applications requiring synchronous adjustment of multiple channel parameters. When the preset position differences of each slave motor are set according to an arithmetic sequence rule, i.e., the position difference of the i-th slave motor is equal to the product of the slave motor number and the arithmetic coefficient, each fader will be arranged at fixed intervals along the stroke direction, presenting an equally spaced stepped shape. When the master motor drives all slave motors to reciprocate, this stepped shape will be synchronously translated, forming a stepped combined waveform reciprocating motion effect. The step spacing can be flexibly changed by adjusting the arithmetic coefficient, suitable for scenarios requiring gradient parameter adjustment. In addition, different position differences can be set for different slave motors according to actual application needs, or the position differences of some or all slave motors can be dynamically adjusted during the movement to generate any custom-shaped combination waveform motion effect, such as sinusoidal distribution waveform, gradient waveform, peak highlight waveform, etc. This method does not require planning the motion trajectory for each fader separately. The waveform switching can be completed by simply modifying the difference parameters. The control logic is simple, the expansion flexibility is strong, and it can adapt to the personalized linkage needs of various fields such as audio tuning, lighting control, and industrial instruments.

[0063] S140. Based on the actual position and target position of each slave motor, drive the slave motor to run using the PID position loop algorithm, so that the actual position of the slave motor follows the target position change in real time.

[0064] Specifically, within each fixed control cycle, the system performs position deviation calculations for each slave motor: acquiring the actual position of the slave motor obtained by the position detection module, and simultaneously retrieving the target position calculated based on the difference between the current position of the master motor and the preset position. The difference between the target position and the actual position is then calculated to obtain the position deviation of the slave motor within the current control cycle. Since the target positions of all slave motors are synchronously calculated based on the real-time position of the same master motor, and the position sampling and control calculations of each channel maintain a unified cycle, the position adjustment actions of all slave motors are time-synchronized, avoiding phase shifts caused by differences in multi-channel calculation delays in independent control mode.

[0065] The obtained position deviation is input to the corresponding PID position loop controller of the slave motor. After being processed by three arithmetic stages—proportional, integral, and derivative—it is synthesized into the final motor control output. Specifically, the proportional stage outputs a control quantity proportional to the magnitude of the current position deviation, directly responding to the current position offset. The larger the deviation, the stronger the drive adjustment, enabling rapid correction of the position deviation and ensuring a fast response speed for position following. The integral stage continuously accumulates position deviations over historical periods, gradually correcting steady-state position deviations caused by factors such as mechanical friction resistance, motor drive dead zones, and transmission backlash. This ensures that the actual position of the slave motor perfectly coincides with the target position after long-term operation, eliminating static following errors. The derivative stage performs advance adjustment based on the rate of change of the position deviation. When the deviation is in a rapid change phase, it weakens the control output strength in advance, suppressing overshoot during position adjustment, avoiding mechanical jitter and position oscillation caused by overshoot of the pusher movement, and improving the smoothness and stability of the following process.

[0066] The control quantity output by the PID position loop controller is converted into a PWM drive signal with a corresponding duty cycle and sent to the power drive module of the corresponding slave motor. This module controls the motor's output torque by adjusting the power supply duty cycle of the motor windings and controls the motor's rotation direction based on the polarity of the position deviation, driving the pusher to move in the direction that reduces the position deviation. In the continuous control cycle, the system continuously updates the target position, acquires the actual position, calculates the position deviation, and adjusts the drive output, forming a stable closed-loop negative feedback control. This ensures that the actual position of the slave motor always closely follows the dynamic changes in the target position, keeping the position following error within a minimal range.

[0067] This independent position-loop following architecture boasts excellent anti-interference and adaptability: load fluctuations and mechanical characteristic differences in a single slave motor will not be transmitted to other control channels, thus not affecting the overall system's operational stability. Simultaneously, PID parameters can be individually tuned for the mechanical characteristics of different slave motors, adapting to resistance and transmission differences between individual pusher motors and ensuring consistent following accuracy across all channels. Furthermore, since the target position of the slave motor is entirely derived from the real-time position of the master motor, when the master motor performs a stroke-end reversing action, the target positions of all slave motors will synchronously exhibit a reversing trend. Each slave motor can respond synchronously to reversing adjustments, achieving a high degree of coordination in multi-pusher reversing actions and avoiding the problem of inconsistent reversing timing across multiple channels in independent control mode.

[0068] Compared with the prior art, the technical solution provided by the embodiments of the present invention has the following beneficial effects:

[0069] 1. The main motor adopts constant speed control with a speed loop, ensuring smooth and vibration-free movement; the slave motor adopts position tracking control with a position tracking error of less than 0.1mm, resulting in good synchronization and high control precision.

[0070] 2. By adjusting the preset position difference between each slave motor and the master motor, motion effects of various specific waveforms such as parallel and equal-difference waveforms can be achieved. The waveform generation is flexible without requiring complex trajectory calculation.

[0071] 3. The number of slave motors can be arbitrarily increased as required, the master-slave control architecture remains unchanged, the system complexity will not increase significantly, and the system has strong scalability.

[0072] 4. The speed loop of the master motor has no cumulative error, the position loop of each slave motor performs real-time correction, and an accurate positional relationship can still be maintained after long-time operation, ensuring stable and reliable operation.

[0073] 5. It can be widely applied in fields requiring multi-channel linkage control, such as audio mixers, lighting consoles, industrial automation instruments, and medical equipment.

[0074] Figure 2 is a flowchart of another control method for the multi-motor direct-slide potentiometer to move in a specific waveform provided by the embodiment of the present invention, and the embodiment of the present invention further refines the foregoing embodiment on the basis of the above-mentioned embodiments. Refer to Figure 2 , the method includes:

[0075] S210. Collect the actual operating speed and current position of the master motor, as well as the actual position of each slave motor.

[0076] This step is the same as step S110 in the above-mentioned embodiment, and will not be repeated here.

[0077] S220. Calculate the speed error between the actual operating speed and the target operating speed of the master motor; perform operation on the speed error through a PID speed loop algorithm to output a first control signal, drive the master motor to operate at a constant speed, and when the master motor runs to the preset upper travel limit or lower travel limit, switch the movement direction to realize continuous reciprocating motion.

[0078] Specifically, the system presets the target operating speed of the master motor as the control set value. In each fixed control sampling period, the system obtains the actual operating speed of the master motor through the detection unit matched with the master motor, performs difference operation on the target operating speed and the actual operating speed to obtain the speed error value of the current period. The positive or negative sign of the speed error value corresponds to the direction of the rotational speed deviation: when the speed error is a positive value, it indicates that the actual operating speed of the master motor is lower than the target speed, and the drive output needs to be increased for acceleration; when the speed error is a negative value, it indicates that the actual operating speed of the master motor is higher than the target speed, and the drive output needs to be reduced for deceleration; the absolute value of the speed error corresponds to the magnitude of the rotational speed deviation, and the greater the deviation, the stronger the required adjustment force.

[0079] The obtained speed error value is input into the PID speed loop controller, and after being processed by the proportional operation, integral operation and derivative operation links respectively, it is superimposed and synthesized into the total control quantity, and then converted into the corresponding first control signal and output to the power drive module of the main motor. The proportional calculation stage amplifies the speed error at the current moment and outputs an adjustment amount proportional to the error amplitude. This allows for rapid response to current speed deviations and quickly increases the driving force when speed drops due to sudden load changes or resistance variations. It is the core component for ensuring rapid speed response. The integral calculation stage accumulates the speed error over continuous historical periods and continuously corrects small speed deviations under steady-state conditions. This gradually eliminates steady-state speed errors caused by factors such as mechanical friction, motor dead zones, and drive voltage drops, ensuring that the average operating speed of the main motor is completely consistent with the target speed during long-term operation, achieving true constant speed operation. The differential calculation stage calculates based on the rate of change of the speed error, predicts the trend of speed deviation changes, and adjusts the control output strength in advance when rapid speed fluctuations occur. This effectively suppresses overshoot during speed regulation, especially at the moment of fader reversal or sudden load increases or decreases. It weakens speed oscillations, improves the smoothness of main motor operation, and avoids fader jerking and stuttering.

[0080] The first control signal generated by the PID speed loop algorithm is a PWM pulse signal with an adjustable duty cycle. This signal is input to the power drive circuit of the main motor, and by adjusting the conduction time of the motor windings and the power supply, the output torque of the motor is changed, thereby adjusting the running speed of the main motor to ensure that the actual running speed always approaches the target running speed. In the continuous control cycle, the system repeatedly performs speed acquisition, error calculation, PID calculation, and drive adjustment, forming a stable negative feedback control closed loop. This ensures that the actual running speed of the main motor remains stable within a very small error range near the target value, unaffected by external interference factors, achieving high-precision constant speed operation and providing a uniform and stable speed reference for multi-fader coordinated waveform motion.

[0081] S230. Calculate the target position of each slave motor based on the current position of the main motor and the preset position difference between each slave motor and the main motor; wherein, by adjusting the preset position difference, a corresponding pattern of combined waveform motion effect can be generated.

[0082] This step is the same as S130 in the above embodiment, and will not be described again here.

[0083] Optionally, adjusting the preset position difference can produce corresponding patterned combined waveform motion effects, including:

[0084] If the preset position difference between each slave motor and the master motor is set to 0, then all motor sliding potentiometers will move synchronously and reciprocally at the same speed and position.

[0085] Alternatively, if the preset position difference between each slave motor and the master motor is set to an arithmetic sequence, then all motor sliding potentiometers will form a stepped waveform reciprocating motion with equal intervals.

[0086] Alternatively, the preset position difference between each slave motor and the master motor can be customized, and all motor sliding potentiometers will generate a combination waveform motion effect that corresponds to the customized setting.

[0087] S240. Calculate the position error between the actual position and the target position of each slave motor; after processing the position error through the PID position loop algorithm, output the second control signal to drive the slave motor to run, so that the actual position of the slave motor follows the change of the target position in real time.

[0088] Specifically, within each fixed control cycle, the system independently performs position error calculations for each slave motor. The error calculations of each channel are independent and do not interfere with each other. The system first acquires the actual position of the corresponding slave motor, which is collected in real time by the position detection unit. At the same time, it retrieves the target position calculated based on the difference between the current position of the master motor and the preset position of the slave motor. The difference between the target position and the actual position is calculated to obtain the position error of the slave motor within the current control cycle. The positive or negative attribute of the position error corresponds to the direction of the position deviation: when the error value is positive, it indicates that the actual position of the slave motor pusher is behind the target position, and the pusher needs to be driven to move in the corresponding direction of the stroke to reduce the deviation; when the error value is negative, it indicates that the actual position of the slave motor pusher is ahead of the target position, and the pusher needs to be driven to move back in the opposite direction to correct the deviation. The absolute value of the position error reflects the degree of deviation. The larger the absolute value, the farther the pusher position deviates from the target, and the stronger the adjustment drive force required. Since the target positions of all slave motors are generated synchronously based on the real-time position of the same master motor, and the position sampling and error calculation of each channel maintain a unified control rhythm, the position adjustment actions of each slave motor have natural time synchronization, which can avoid the phase offset problem caused by independent calculation of multiple channels.

[0089] The calculated position error is input to the corresponding PID position loop controller of the slave motor. After processing through proportional, integral, and derivative operations, the results are superimposed to form the total control output, which is then converted into a second control signal and output to the power drive unit of the slave motor. The proportional operation amplifies the current position error with a proportional gain, outputting an adjustment proportional to the error amplitude. This directly responds to the instantaneous position deviation; the larger the deviation, the stronger the adjustment. It is the core component for achieving rapid position correction and ensuring fast position tracking response, adapting to scenarios where the target position dynamically changes during continuous master motor movement. The integral operation accumulates the position error over historical continuous control cycles, continuously correcting small position deviations in steady state. This gradually eliminates steady-state position errors caused by factors such as mechanical friction, transmission backlash, and motor drive dead zones, ensuring that the actual position of the slave motor perfectly coincides with the target position after long-term operation. This prevents the continuous accumulation of position deviations and stably maintains the preset position difference relationship between the master and slave motors. The differential calculation stage performs calculations based on the rate of change of position error, senses the trend of deviation change, and outputs corresponding adjustment amounts, enabling proactive control: when the position error decreases rapidly, the control output intensity is weakened in advance to suppress overshoot during position adjustment and avoid position oscillation caused by overshoot of the pusher movement; in scenarios where the main motor reverses or the target position changes abruptly, the adjustment force can be buffered to improve the smoothness of the following process and reduce mechanical vibration and impact.

[0090] The second control signal generated by the PID position loop algorithm is a PWM pulse signal with adjustable duty cycle and output polarity. The duty cycle parameter corresponds to the driving power and output torque of the motor, determining the adjustment rate of the pusher movement; the output polarity parameter corresponds to the rotation direction of the motor, determining the direction of the pusher movement. After this second control signal is input to the power drive circuit of the corresponding slave motor, it can drive the slave motor to move the pusher in the direction of reducing position error. In the continuous control cycle, the system continuously repeats the closed-loop process of position acquisition, error calculation, PID calculation and drive adjustment, so that the actual position of the slave motor always closely follows the dynamic change of the target position, controlling the position following error within a very small range, and finally achieving a specific waveform motion effect of precise coordination of multiple pushers.

[0091] Compared with the prior art, the technical solution provided by the embodiments of the present invention has the following beneficial effects:

[0092] 1. The main motor adopts constant speed control with a speed loop, ensuring smooth and vibration-free movement; the slave motor adopts position tracking control with a position tracking error of less than 0.1mm, resulting in good synchronization and high control precision.

[0093] 2. By adjusting the preset position difference between each slave motor and the master motor, various specific waveform motion effects such as parallel and arithmetic progressions can be achieved. The waveform generation is flexible and does not require complex trajectory calculations.

[0094] 3. The number of slave motors can be increased arbitrarily according to needs, the master-slave control architecture remains unchanged, the system complexity will not increase significantly, and the system has strong scalability.

[0095] 4. The main motor speed loop has no cumulative error, and the slave motor position loop is corrected in real time. Even after long-term operation, it can still maintain a precise positional relationship, and the operation is stable and reliable.

[0096] 5. It can be widely used in fields that require multi-channel linkage control, such as audio mixing consoles, lighting control consoles, industrial automation instruments, and medical equipment.

[0097] Figure 3 This is a schematic diagram of a control device for a multi-motor linear sliding potentiometer moving with a specific waveform, provided in an embodiment of the present invention. Any one of the multi-motor linear sliding potentiometers is designated as the master motor, and the remaining motors are designated as slave motors. (See also...) Figure 3 The device includes: a data acquisition module 310, a main motor drive module 320, a calculation module 330, and a slave motor drive module 340.

[0098] The acquisition module 310 is used to acquire the actual running speed and current position of the main motor, as well as the actual position of each slave motor.

[0099] The main motor drive module 320 is used to drive the main motor to run at a constant speed based on the actual running speed and target running speed of the main motor, and to switch the direction of motion to achieve continuous reciprocating motion when the main motor runs to the preset upper or lower limit of the stroke.

[0100] The calculation module 330 is used to calculate the target position of each slave motor based on the current position of the master motor and the preset position difference between each slave motor and the master motor; wherein, adjusting the preset position difference can produce a combined waveform motion effect with a corresponding pattern.

[0101] The slave motor drive module 340 is used to drive the slave motors based on the actual position and target position of each slave motor, using a PID position loop algorithm, so that the actual position of the slave motors follows the target position changes in real time.

[0102] The control device for a multi-motor linear sliding potentiometer to move with a specific waveform provided in the embodiments of the present invention can execute the control method for a multi-motor linear sliding potentiometer to move with a specific waveform provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0103] Figure 4This is a schematic diagram of an electronic device for controlling the movement of a multi-motor direct-slide potentiometer with a specific waveform, as provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0104] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, the ROM 12, and the RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0105] Multiple components in electronic device 10 are connected to input / output I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of monitors, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0106] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a control method for a multi-motor sliding potentiometer to move with a specific waveform.

[0107] In some embodiments, a control method for a multi-motor linear potentiometer to move with a specific waveform can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via read-only memory ROM 12 and / or communication unit 19. When the computer program is loaded into random access memory RAM 13 and executed by processor 11, one or more steps of the control method for a multi-motor linear potentiometer to move with a specific waveform described above can be performed. Alternatively, in other embodiments, processor 11 can be configured in any other suitable manner to perform a control method for a multi-motor linear potentiometer to move with a specific waveform.

[0108] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0110] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0111] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to a user; and a keyboard and pointing device through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with a user; for example, feedback provided to the user can be any form of sensory feedback; and input from the user can be received in any form.

[0112] The systems and technologies described herein can be implemented in computing systems that include backend components, middleware components, or frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0113] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a multi-motor direct-slide potentiometer to move with a specific waveform, characterized in that, The method involves designating any one of the multi-motor linear potentiometers as the master motor and the remaining motors as slave motors. Collect the actual operating speed and current position of the main motor, as well as the actual positions of each slave motor; Based on the actual and target operating speeds of the main motor, the main motor is driven to run at a constant speed using a PID speed loop algorithm. When the main motor reaches the preset upper or lower limit of the stroke, the direction of motion is switched to achieve continuous reciprocating motion. Based on the current position of the master motor and the preset position difference between each slave motor and the master motor, the target position of each slave motor is calculated; wherein, adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect; Based on the actual position and the target position of each slave motor, the slave motor is driven to run using a PID position loop algorithm, so that the actual position of the slave motor follows the change of the target position in real time.

2. The method according to claim 1, characterized in that, Based on the actual and target operating speeds of the main motor, driving the main motor to operate at a constant speed using a PID speed loop algorithm includes: Calculate the speed error between the actual operating speed and the target operating speed of the main motor; The speed error is calculated using a PID speed loop algorithm, and the first control signal is output to drive the main motor to run at a constant speed.

3. The method according to claim 1, characterized in that, Based on the actual position and the target position of each slave motor, the slave motors are driven to run using a PID position loop algorithm, so that the actual position of the slave motors follows the target position change in real time, including: Calculate the position error between the actual position and the target position of each slave motor; The position error is calculated by the PID position loop algorithm and a second control signal is output to drive the slave motor to run, so that the actual position of the slave motor follows the target position change in real time.

4. The method according to claim 1, characterized in that, The combined waveform motion effect includes a parallel running effect; adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect, including: If the preset position difference between each slave motor and the master motor is set to 0, then all motor sliding potentiometers will move synchronously and reciprocally at the same speed and position.

5. The method according to claim 1, characterized in that, The combined waveform motion effect includes an arithmetic progression effect; adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effects, including: If the preset position difference between each slave motor and the master motor is set as an arithmetic sequence, then all motor sliding potentiometers will form a stepped waveform reciprocating motion with equal intervals.

6. The method according to claim 1, characterized in that, The combined waveform motion effect includes a custom waveform effect; Adjusting the preset position difference can produce corresponding patterned combined waveform motion effects, including: By customizing the preset position difference between each slave motor and the master motor, all motor sliding potentiometers will generate a combined waveform motion effect that corresponds to the custom setting.

7. The method according to claim 1, characterized in that, The target operating speed of the main motor can be continuously adjusted within the range of 0.1 mm / s to 100 mm / s.

8. A control device for a multi-motor linear sliding potentiometer moving with a specific waveform, characterized in that, The device designates any one of the multi-motor sliding potentiometers as the master motor and the remaining motors as slave motors; the device includes: The acquisition module is used to acquire the actual operating speed and current position of the main motor, as well as the actual positions of each slave motor. The main motor drive module is used to drive the main motor to run at a constant speed based on the actual running speed and target running speed of the main motor, and to switch the direction of motion to achieve continuous reciprocating motion when the main motor runs to the preset upper or lower limit of the stroke. The calculation module is used to calculate the target position of each slave motor based on the current position of the master motor and the preset position difference between each slave motor and the master motor; wherein, adjusting the preset position difference can produce a corresponding pattern of combined waveform motion effect; The slave motor drive module is used to drive the slave motors based on the actual position and the target position of each slave motor, using a PID position loop algorithm, so that the actual position of the slave motors follows the change of the target position in real time.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the control method for the multi-motor linear potentiometer to move with a specific waveform as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the control method for moving a multi-motor linear potentiometer with a specific waveform as described in any one of claims 1-7.

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