Distributed Multi-Axis Servo Control for Precise Motor Synchronization

The patent segments the control function by introducing a master controller that handles high-level coordination and multiple slave controllers that handle individual motor control. This segmentation allows the system to control more motors than a single drive unit could handle independently, as each slave controller manages a subset of motors while the master controller coordinates them all, effectively overcoming the output current limitation of individual drive units.

The patent merges the control functions by implementing a coordinated control system where the master controller and slave controllers work together as an integrated system. The slave controllers receive coordination commands from the master controller and execute them locally, combining the benefits of centralized coordination (for synchronization) and distributed execution (for precision), thereby reducing synchronization delays while maintaining control precision.

The patent segments the control system into modular master and slave controller units that can be independently configured and replaced. Each slave controller can be assigned to control specific motors, and the modular architecture allows easy expansion by adding or removing slave controllers without affecting the entire system, thereby improving both expandability and replaceability while maintaining manageable system complexity.

The patent segments the control calculations between the master controller (handling coordination and timing) and slave controllers (handling motor-specific control algorithms). This segmentation distributes the calculation burden across multiple units, allowing each controller to focus on specific tasks and thereby improving overall control precision while keeping individual controller structures simple and manageable.