Multi-motor control system and control method for brushless motors

Abstract

The present invention relates to a multi-motor control system and control method for brushless motors. The multi-motor control system comprises motors, a motor driving unit, and a linkage control unit. The linkage control unit parses operation information for each motor on the basis of a user instruction, and traverses and accesses all the motors on the basis of the operation information. In the access process, whether the running of a motor needs to be stopped, whether the motor has failed, whether the motor needs to act, and whether the motor is a synchronously acting motor are determined on the basis of the operation information, and then a corresponding control instruction and corresponding mark information are generated on the basis of determination results. According to the present invention, cooperative running of multiple motors is controlled by means of the linkage control unit, so that linkage control over multiple brushless motors is achieved, the running consistency of the motors is guaranteed, and then it is ensured that the action is smooth, stable and accurate when a user controls components in products such as an electric sofa, a massage chair, an electric bed, a medical bed, and a height-adjustable table to move.

Description

Multi-motor control system and control method for brushless motor Technical Field

[0001] The present invention relates to a multi-motor control system and a control method for a brushless motor, and is applicable to the technical field of motors. Background Art

[0002] In products such as electric sofas, massage chairs, electric beds, medical beds, and lift tables, motors are typically used to drive the mechanical structure of the product to adjust the backrest, seat, bed board, massage components, and other parts of the product. Currently, the drive motors in these products are mostly brushed motors. However, brushed motors generate high noise, power supply, and electromagnetic interference during operation, have poor reliability, and a short service life. To address these issues, patent publication number CN114744927A provides a stepless power supply circuit and control method that uses a brushless motor instead of a brushed motor. The brushless motor's characteristics of no brush loss and no brush friction noise address the problems of high noise and short service life. The power supply circuit also improves the motor's mechanical commutation to electronic commutation, improving the control accuracy of the brushless motor. The motor is also protected against undervoltage, overcurrent, overtemperature, overload, and stall, ensuring the reliability of the brushless motor.

[0003] However, in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables, there are usually multiple motor groups, and the driving of various components of the product usually requires the coordinated operation of multiple motors in the corresponding motor group. As mentioned above, the above-mentioned products in the prior art mostly use brushed motors. Currently, the control of multiple brushed motors is usually achieved by adjusting the voltage of each brushed motor separately or performing PWM modulation on the power supply. The consistency between multiple motors cannot be guaranteed, which easily leads to problems such as movement jamming, poor stability, and inaccurate movement position when controlling the movement of product components. Although the above-mentioned patent provides a method for controlling brushless motors, which solves the problems of noise, life, and operational reliability of single motors, the method can only control a single brushless motor. Therefore, there is currently a lack of a control system and method that can perform linkage control on multiple brushless motors. Summary of the Invention

[0004] In order to solve the above-mentioned defects in the prior art, the present invention proposes a multi-motor control system and a control method for a brushless motor.

[0005] In one aspect, the present invention provides a multi-motor control system for a brushless motor, comprising: at least two motors; motor drive units for driving the motors and reading the operating status of the motors, the number of motor drive units being the same as the number of motors and being connected to the motors in a one-to-one correspondence; a linkage control unit for receiving and calculating user input and information fed back by the motor drive units and pushing information and control instructions to the user and the motor drive units, the linkage control unit being connected to the motor drive units, and comprising a first power supply module, a first controller, a communication module connected between the first controller and the motor drive units, and a user operation module connected to the first controller and for transmitting user instructions to the first controller. Specifically, the user operation module allows a user to issue user operation instructions through keys, knobs, touch, voice, etc., and the user operation module forwards the instructions to the first controller, which parses the user operation instructions and decomposes the operation information for each motor. At the same time, the first controller communicates with the motor drive units in real time through the communication module, traverses all motors through each motor drive unit, and generates control instructions corresponding to each motor based on the operation information, and then sends the control instructions to the corresponding motor drive unit, which controls the corresponding motor to perform an action based on the control instructions, thereby achieving linkage control of multiple motors. In addition, the linkage control unit analyzes user commands and uniformly allocates multiple motors to control the coordinated operation of each motor, ensuring consistency between multiple motors and ensuring that users can control the movement of various parts of the product smoothly, steadily and accurately.

[0006] Furthermore, the linkage control unit also includes a wireless communication module connected to the first controller and configured to wirelessly communicate with a user's terminal device, and a display module connected to the first controller. Specifically, the wireless communication module can wirelessly communicate with a user's mobile phone, tablet computer, or other terminal device via technologies such as WiFi, Bluetooth, infrared, and UWB, facilitating remote control of products such as electric sofas and massage chairs. The display module can display the status of various product components, fault information, and other information via a display screen and indicator lights, facilitating prompts.

[0007] Furthermore, the motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and configured to condition communication signals between the communication module and the second controller, a drive module connected between the second controller and the motor, and a second power supply module connected to the second controller and the drive module and configured to supply power to both. The second controller receives control instructions from the linkage control unit and drives the motor via the drive module in accordance with the control instructions, thereby controlling the motor. The first conditioning module can modulate the communication signals between the linkage control unit and the second controller to ensure compatibility between the signals.

[0008] Furthermore, the motor drive unit also includes a second conditioning module connected between the second controller and the drive module and configured to condition the motor drive signal sent by the second controller. The second conditioning module modulates the motor drive signal to prevent circuit anomalies between the second controller and the motor, providing protection against undervoltage, overcurrent, and overload, thereby ensuring reliable motor operation.

[0009] In another aspect, the present invention provides a control method for a multi-motor control system of a brushless motor, comprising:

[0010] The S1 linkage control unit receives the user's input instructions and parses the operation information of each motor according to the instructions;

[0011] The S2 linkage control unit accesses the motor drive unit corresponding to any unmarked motor based on the operation information and generates an access record. It then determines whether the current motor is running through the motor drive unit. If so, it executes step S3; otherwise, it executes step S4. It should be noted that the unmarked motor here refers to the motor that is not marked as any of the states below, including fault, idle, and normal operation. Furthermore, whether each motor is marked is only effective when the linkage control unit sequentially accesses all motors based on the current operation information parsed by the current instruction. That is, when the linkage control unit receives a new user input instruction, parses the new operation information, and starts the next round of traversal access to all motors based on the new operation information, all motors are considered unmarked motors. For example, if the linkage control unit receives user instruction a and, in the process of traversing and accessing all motors according to the operation information parsed from user instruction a, marks a motor as faulty, then in the current round of traversal access, the motor is considered a marked motor and will not be accessed again. After completing the traversal access in that round, the linkage control unit receives user instruction b and, in the process of traversing and accessing all motors according to the operation information parsed from user instruction b, the motor is still considered an unmarked motor and can be accessed, but the fault information of the motor will be retained.

[0012] S3: The linkage control unit determines whether the current running state of the motor needs to be overwritten based on the operation information. If so, step S4 is executed; otherwise, the current running state is maintained and step S4 is executed;

[0013] S4: The linkage control unit determines whether the current motor is faulty through the current motor drive unit. If so, the motor is marked as faulty and the process proceeds to step S7; if not, the process proceeds to step S5;

[0014] S5 The linkage control unit determines whether the motor needs to be moved according to the operation information. If so, it executes step S6. Otherwise, it marks the motor as idle and executes step S7.

[0015] S6 The linkage control unit determines whether the current motor is a synchronous action motor based on the operation information. If so, it executes step S6.1; otherwise, it executes step S6.2;

[0016] S6.1 The linkage control unit searches for other motors that are synchronous with the current motor based on the operation information, generates synchronization control instructions corresponding to the current motor and the other motors, sends the synchronization control instructions to the motor drive units corresponding to the current motor and the other motors, and marks the synchronization operation of the current motor and the other motors as normal;

[0017] S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor based on the operation information, sends the single-machine control instruction to the motor drive unit corresponding to the current motor, and marks the motor as operating normally;

[0018] S7 The linkage control unit determines whether all motor drive units have been traversed based on the access record. If so, steps S1 to S7 are repeated; otherwise, steps S2 to S7 are repeated.

[0019] Furthermore, between step S1 and step S2, the following steps are also included:

[0020] S1.1 The linkage control unit determines whether the operation on each motor is valid based on the operation information. If so, it executes step S2; otherwise, it executes step S1.2;

[0021] S1.2 The linkage control unit determines whether there is historical operation information for each motor. If so, it executes step S2 based on the historical operation information; otherwise, it returns to step S1. It should be noted that a valid operation here refers to an operation that does not exceed the preset operating limit of each motor. For example, if a motor is used to control the tilt angle of the backrest of a massage chair, and the tilt angle range of the backrest is 90° to 180°, then the preset operating limit of the motor is: the shaft rotation angle does not exceed the range of ±X°. If the operation of the motor causes the shaft rotation angle to exceed the range of ±X°, the operation is considered invalid.

[0022] Furthermore, in step S4, the linkage control unit determines whether the current motor is faulty through the current motor drive unit, specifically including:

[0023] S4.1 The linkage control unit determines whether the current motor is faulty through the current motor drive unit. If so, it marks the motor as faulty and executes step S7; otherwise, it executes step S4.2;

[0024] S4.2 The linkage control unit determines whether the current motor is marked as faulty through the current motor drive unit. If so, the mark is canceled and step S5 is executed. Otherwise, step S5 is executed. This step can refresh the fault status of the motor, so that the fault alarm can be canceled in time when the motor is normal.

[0025] Furthermore, in step S6.1, the linkage control unit searches for other motors that are synchronous motors with the current motor based on the operation information, and determines whether the other motors are faulty. If so, the other motors are marked as faulty and step S7 is executed. Otherwise, the current step is continued.

[0026] Furthermore, in step S6 , the method for determining whether the motors are synchronous motion motors is as follows: if the operation information of any two motors among the at least two motors is the same, then the two motors are both synchronous motion motors and are synchronous motion motors with each other.

[0027] Due to the application of the above technical solution, the present invention has the following advantages over the prior art:

[0028] The multi-motor control system and control method of the brushless motor of the present invention receives and analyzes user instructions through a linkage control unit, and uniformly allocates multiple motors through a motor drive unit to control the coordinated operation of multiple motors. It not only realizes the linkage control of multiple brushless motors, but also ensures the consistency of each motor during coordinated operation, thereby ensuring that users can control the movement of components in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables smoothly, steadily and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Hereinafter, some specific embodiments of the present invention will be described in detail in an illustrative and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0030] FIG1 is a schematic structural diagram of an embodiment of the present invention;

[0031] FIG2 is a schematic structural diagram of a linkage control unit in the embodiment shown in FIG1 ;

[0032] FIG3 is a schematic structural diagram of a motor drive unit in the embodiment shown in FIG1 ;

[0033] FIG4 is a circuit structure diagram of the first conditioning module in the embodiment shown in FIG1 ;

[0034] FIG5 is a logic flow chart of the control method in the embodiment shown in FIG1 ; Implementation Method

[0035] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0037] On the one hand, referring to Figures 1-4, this embodiment provides a multi-motor control system of a brushless motor, including: at least two motors 1, a motor drive unit for driving the motor 1 and reading the operating status of the motor 1, and a linkage control unit for receiving and calculating user input and motor drive unit feedback information and pushing information and control instructions to the user and the motor drive unit. The number of motor drive units is the same as the number of motors 1 and is connected to the motors 1 one-to-one.

[0038] The linkage control unit is connected to the motor drive unit and includes a first power supply module, a first controller, a communication module connected between the first controller and the motor drive unit, and a user operation module connected to the first controller and used to transmit user instructions to the first controller. Specifically, the user operation module allows the user to issue user operation instructions through buttons, knobs, touch, voice, etc., and the user operation module forwards the instructions to the first controller, which parses the user operation instructions and decomposes the operation information for each motor 1. At the same time, the first controller communicates with the motor drive unit in real time through the communication module, traverses all motors 1 through each motor drive unit, and generates control instructions corresponding to each motor 1 based on the operation information. The control instructions are then sent to the corresponding motor drive unit, which controls the corresponding motor 1 to operate according to the control instructions, thereby realizing the linkage control of multiple motors 1. In addition, the linkage control unit parses the user instructions and uniformly allocates multiple motors 1, controlling the coordinated operation of each motor 1, ensuring consistency between the multiple motors 1, and thus ensuring smooth, stable and precise movement when the user controls the movement of various components of the product.

[0039] The motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and used to condition the communication signals between the communication module and the second controller, a drive module connected between the second controller and motor 1, a second power supply module connected to the second controller and the drive module and used to power both, and a second conditioning module connected between the second controller and the drive module and used to condition the motor drive signal sent by the second controller. The second controller receives the control instructions sent by the linkage control unit and drives the motor 1 through the drive module according to the control instructions to achieve control of the motor 1. The second conditioning module modulates the motor drive signal to avoid circuit abnormalities between the second controller and motor 1, provides undervoltage, overcurrent, overload and other protections for motor 1, and ensures the reliability of motor 1 operation.

[0040] Specifically, the second controller, drive module, second power supply module, and second conditioning module in the motor drive unit can all achieve their functions through existing technologies. The circuit structure of the first conditioning module is shown in Figure 4. The COMM terminal is connected to the communication module, and the COMM_SIGNAL terminal is connected to the communication signal input port of the second controller. The signal emitted by the linkage control unit is input from the COMM terminal, passes through the filtering and limiting circuit composed of R1, D1, and C1, enters the communication level conversion circuit, is converted into a level signal compatible with the second controller, and is input into the second controller through the COMM_SIGNAL terminal. The communication signal between the linkage control unit and the second controller is modulated by the first conditioning module to ensure signal compatibility between the two.

[0041] In a more preferred embodiment, the linkage control unit further includes a wireless communication module connected to the first controller and configured to wirelessly communicate with a user terminal device, and a display module connected to the first controller. Specifically, the wireless communication module can wirelessly communicate with a user's mobile phone, tablet computer, or other terminal device via technologies such as WiFi, Bluetooth, infrared, and UWB, facilitating remote control of products such as electric sofas and massage chairs. The display module can display the status of various product components, fault information, and other information via a display screen and indicator lights, facilitating prompts.

[0042] On the other hand, referring to FIG. 5 , this embodiment further provides a control method for a multi-motor control system of a brushless motor, including:

[0043] S1 linkage control unit receives the instruction input by the user and parses the operation information of each motor 1 according to the instruction.

[0044] Specifically, between step S1 and step S2, the following steps are also included:

[0045] S1.1 The linkage control unit determines whether the operation on each motor 1 is valid based on the operation information. If so, it executes step S2; otherwise, it executes step S1.2;

[0046] S1.2 The linkage control unit determines whether there is historical operation information for each motor 1. If so, it executes step S2 based on the historical operation information; otherwise, it returns to step S1. It should be noted that a valid operation here refers to an operation that does not exceed the preset operating limit value of each motor 1. For example, if a motor 1 is used to control the tilt angle of the backrest of a massage chair, and the tilt angle range of the backrest is 90° to 180°, then the preset operating limit value of the motor 1 is: the shaft rotation angle does not exceed the range of ±X°. If the operation of the motor 1 causes the shaft rotation angle to exceed the range of ±X°, the operation is considered invalid.

[0047] S2 linkage control unit accesses the motor drive unit corresponding to any unmarked motor 1 according to the operation information and generates an access record, and then determines whether the current motor 1 is running through the motor drive unit, if so, executes step S3, otherwise executes step S4;

[0048] It should be noted that the term "unmarked motor 1" herein refers to a motor 1 that is not marked as being in any of the following states, including fault, idle, and normal operation. Furthermore, whether each motor 1 is marked or not is only effective when the linkage control unit sequentially accesses all motors 1 based on the current operation information parsed by the current instruction. That is, when the linkage control unit receives a new user input instruction, parses the new operation information, and begins the next round of traversal access of all motors 1 based on the new operation information, all motors 1 are considered unmarked motors 1. For example, if the linkage control unit receives user instruction a and, while traversing all motors 1 based on the operation information parsed by user instruction a, marks a motor 1 as faulty, then in the current round of traversal access, that motor 1 is considered a marked motor 1 and will not be accessed again. After completing the traversal access, if the linkage control unit receives user instruction b and, while traversing all motors 1 based on the operation information parsed by user instruction b, that motor 1 is still considered an unmarked motor and can be accessed, but the fault information of that motor 1 will be retained.

[0049] S3: The linkage control unit determines whether the current running state of the motor 1 needs to be overwritten according to the operation information. If so, step S4 is executed; otherwise, the current running state is maintained and step S4 is executed.

[0050] S4: The linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit. If so, the motor 1 is marked as faulty and the step S7 is executed; if not, the step S5 is executed;

[0051] Specifically, in step S4, the linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit, specifically including:

[0052] S4.1 The linkage control unit determines whether the current motor 1 is faulty through the current motor drive unit. If so, it marks the motor 1 as faulty and executes step S7; otherwise, it executes step S4.2;

[0053] S4.2 The linkage control unit determines whether the current motor 1 is marked as faulty through the current motor drive unit. If so, the mark is canceled and step S5 is executed; otherwise, step S5 is executed. The above steps can refresh the fault status of the motor, so that the fault alarm can be canceled in time when the motor is normal.

[0054] S5: The linkage control unit determines whether the motor 1 needs to move according to the operation information. If so, step S6 is executed; otherwise, the motor 1 is marked as idle and step S7 is executed.

[0055] S6 linkage control unit determines whether the current motor 1 is a synchronous action motor based on the operation information, and if so, executes step S6.1, otherwise executes step S6.2; specifically, in step S6, the method for determining whether the synchronous action motor is a synchronous action motor is as follows: if the operation information of any two motors 1 among at least two motors 1 is the same, then the two motors 1 are both synchronous action motors and are synchronous action motors with each other;

[0056] S6.1 The linkage control unit searches for other motors 1 that are synchronous motors with the current motor 1 according to the operation information, and determines whether the other motor 1 has a fault. If so, the other motor 1 is marked as faulty and step S7 is executed; if not, a synchronization control instruction corresponding to the current motor 1 and the other motor 1 is generated and the synchronization control instruction is sent to the motor drive units corresponding to the current motor 1 and the other motor 1, and the current motor 1 and the other motor 1 are marked as running normally in synchronization; further, after the linkage control unit marks that the current motor 1 and the other motor 1 are running normally in synchronization, the current motor 1 and the other motor 1 are divided into a group of synchronous motors. The motor drive unit corresponding to the group of synchronous motors monitors and collects the operating status of the group of synchronous motors in real time. When a difference occurs between the actual operating status of any motor 1 and the operating status corresponding to the synchronous control instruction (such as a decrease in the speed of any motor), the average value of the actual operating status of the group of synchronous motors is calculated, and the actual operating status of each motor 1 in the group of synchronous motors is controlled to adjust toward the average value. After adjusting to the average value, the operating status of the group of synchronous motors is synchronously controlled to adjust toward the operating status corresponding to the above-mentioned synchronous control instruction, thereby improving the consistency and coordination of the operation of the group of synchronous motors, thereby ensuring smooth and stable movements of the user when controlling the movement of product components. It should be noted that in this step, the other marked motors 1 are regarded as marked motors, and are no longer accessed in the current round of traversal access, so as to improve the response speed of the motor synchronous operation.

[0057] S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor 1 according to the operation information, and sends the single-machine control instruction to the motor drive unit corresponding to the current motor 1, and at the same time marks that the single-machine operation of motor 1 is normal.

[0058] S7 The linkage control unit determines whether all motor drive units have been traversed based on the access record. If so, steps S1 to S7 are repeated; otherwise, steps S2 to S7 are repeated.

[0059] Specifically, the linkage control unit and the motor drive unit can use TRIGGER, PWM, PFM, UART, SPI, IIC, CAN, single bus and other communication protocols to send synchronous control instructions or stand-alone control instructions. The specific method of generating the control instructions is as follows: the linkage control unit is used as the host, and the motor 1 corresponding to the motor drive unit connected to the linkage control unit is used as the slave. The linkage control unit simulates the motor operation information based on the operation information and the specific communication protocol, and sends the information as a control instruction to the motor drive unit. For example, when the TRIGGER protocol is used, the linkage control unit can generate a trigger signal by simulating each time the motor rotates a fixed angle. The trigger signal can be a high level with a fixed width, a low level with a fixed width, or a flip level. When the motor drive unit receives the trigger signal, it will control the corresponding motor 1 to rotate the corresponding angle to achieve the driving of the motor.

[0060] Due to the application of the above technical solution, the present invention has the following advantages over the prior art:

[0061] The multi-motor control system and control method of the brushless motor of the present invention receives and analyzes user instructions through a linkage control unit, and uniformly allocates multiple motors through a motor drive unit to control the coordinated operation of multiple motors. It not only realizes the linkage control of multiple brushless motors, but also ensures the consistency of each motor during coordinated operation, thereby ensuring that users can control the movement of components in products such as electric sofas, massage chairs, electric beds, medical beds, and lifting tables smoothly, steadily and accurately.

[0062] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-motor control system for a brushless motor, characterized in that: include: At least two motors; A motor drive unit, used to drive the motor and read the running status of the motor, the number of the motor drive units being the same as the number of the motors and being connected to the motors in a one-to-one correspondence; A linkage control unit is used to receive and calculate user input and information fed back by the motor drive unit and to push information and control instructions to the user and the motor drive unit. The linkage control unit is connected to the motor drive unit. The linkage control unit includes a first power supply module, a first controller, a communication module connected between the first controller and the motor drive unit, and a user operation module connected to the first controller and used to transmit user instructions to the first controller.

2. The multi-motor control system of the brushless motor according to claim 1, characterized in that: The linkage control unit also includes a wireless communication module connected to the first controller and used for wireless communication with a user terminal device, and a display module connected to the first controller.

3. The multi-motor control system of the brushless motor according to claim 1, characterized in that: The motor drive unit includes a second controller, a first conditioning module connected between the communication module and the second controller and used for conditioning the communication signal between the communication module and the second controller, a driving module connected between the second controller and the motor, and a second power supply module respectively connected to the second controller and the driving module and used for powering both.

4. The multi-motor control system of the brushless motor according to claim 3, characterized in that: The motor driving unit further includes a second conditioning module connected between the second controller and the driving module and used for conditioning the motor driving signal sent by the second controller.

5. A control method for a multi-motor control system of a brushless motor according to any one of claims 1 to 4, characterized in that: include: S1: the linkage control unit receives a command input by a user and parses the operation information of each motor according to the command; S2: the linkage control unit accesses the motor drive unit corresponding to any unmarked motor according to the operation information and generates an access record, and then determines whether the current motor is running through the motor drive unit, if so, executes step S3, otherwise executes step S4; S3: the linkage control unit determines whether the current running state of the motor needs to be overwritten according to the operation information, and if so, executes step S4; otherwise, maintains the current running state and executes step S4; S4: the linkage control unit determines whether the current motor is faulty through the current motor drive unit, and if so, marks the motor as faulty and executes step S7; if not, executes step S5; S5: the linkage control unit determines whether the motor needs to move according to the operation information, and if so, executes step S6; otherwise, marks the motor as idle and executes step S7; S6 The linkage control unit determines whether the current motor is a synchronous action motor according to the operation information, and if so, executes step S6.1, otherwise, executes step S6.2; S6.1 The linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, generates synchronous control instructions corresponding to the current motor and the other motors, and sends the synchronous control instructions to the motor drive units corresponding to the current motor and the other motors, and marks that the synchronous operation of the current motor and the other motors is normal; S6.2 The linkage control unit generates a single-machine control instruction corresponding to the current motor according to the operation information, and sends the single-machine control instruction to the motor drive unit corresponding to the current motor, and marks that the single-machine operation of the motor is normal; S7: The linkage control unit determines whether to traverse all motor drive units according to the access record. If not, steps S2 to S7 are repeated.

6. The control method according to claim 5, characterized in that: The steps between step S1 and step S2 also include: S1.1 The linkage control unit determines whether the operation on each motor is a valid operation according to the operation information, and if so, executes step S2, otherwise executes step S1.2; S1.2 The linkage control unit determines whether there is historical operation information for each motor. If so, step S2 is executed according to the historical operation information, otherwise, it returns to step S1.

7. The control method according to claim 5, characterized in that: In step S4, the linkage control unit determines whether the current motor is faulty through the current motor drive unit, specifically including: S4.1 The linkage control unit determines whether the current motor is faulty through the current motor drive unit. If so, the motor is marked as faulty and step S7 is executed; otherwise, step S4.2 is executed; S4.2 The linkage control unit determines whether the current motor is marked as a fault through the current motor drive unit. If so, the mark is cancelled and step S5 is executed; otherwise, step S5 is executed.

8. The control method according to claim 5, characterized in that: In step S6.1, the linkage control unit searches for other motors that are synchronous motors with the current motor according to the operation information, and determines whether the other motors are faulty. If so, the other motors are marked as faulty and step S7 is executed. If not, the current step is continued.

9. The control method according to claim 5, characterized in that: In step S6, the method for determining whether the synchronous action motor is a synchronous action motor is as follows: if the operation information of any two of the at least two motors is the same, then the two motors are both synchronous action motors and are mutually synchronous action motors.

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