CN118826542A - A multi-motor synchronous rotation drive system and driving method thereof - Google Patents

Abstract

The present invention relates to the technical field of multi-motor synchronous drive, and discloses a multi-motor synchronous rotation drive system and a driving method thereof; the system and the driving method collect motor speed signals, motor position signals, control mode signals, reset signals and emergency stop signals through a signal acquisition module, and transmit the above signals to a controller module; the controller module calculates the motor standard speed, the motor standard motion position and the motor drive signal value according to the data transmitted by the signal acquisition module, and transmits the above calculated values to the motor drive module; the motor drive module controls the running state of the motor according to the numerical values of the control mode signal, the reset signal, the emergency stop signal, the motor standard speed, the motor standard motion position and the motor drive signal value; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor.

Description

A multi-motor synchronous rotation drive system and driving method thereof

Technical Field

The present invention relates to the technical field of multi-motor synchronous drive, and in particular to a multi-motor synchronous rotation drive system and a drive method thereof.

Background Art

A multi-motor synchronous drive system is a control system used to simultaneously control the speed and position of multiple electric motors so that they run synchronously. This drive system is usually used in applications that require multiple electric motors to work together, such as robots, automated production lines, and medical equipment. Multi-motor synchronous drive can ensure that the speed and position of each electric motor remain consistent, thereby improving the stability and accuracy of the system. At the same time, a multi-motor synchronous drive system can achieve a dual and multiple protection control mechanism to improve the safety of the system. When a problem occurs in a motor, other motors can continue to work to ensure the normal operation and safe operation of the system.

Since the control method of the traditional multi-motor synchronous drive system is relatively simple and the control strategy is not continuously optimized through algorithms, it is impossible to achieve fine control and adjustment. Therefore, in some high-demand application scenarios, it may not be able to meet the accuracy requirements, resulting in low motor working efficiency.

Summary of the invention

1. Technical issues to be solved

In view of the deficiencies in the prior art, the present invention provides a multi-motor synchronous rotation drive system and a driving method thereof, which are equipped with a signal acquisition module for collecting motor speed signals Djsd, motor position signals Djwz, control mode signals Kzms, reset signals Fwxh and emergency stop signals Jtxh, and transmitting the above signals to a controller module; the controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values to the motor drive module; the motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor; and by adjusting and optimizing the motor control strategy, fine control and regulation of the motor are achieved, the working efficiency of the motor is improved, and the above problems are solved.

(II) Technical solution

To achieve the above object, the present invention provides the following technical solutions: a multi-motor synchronous rotary drive system, comprising a signal acquisition module, a controller module, a motor drive module, a sensor module and a control strategy adjustment module;

The signal acquisition module is electrically connected to the controller module;

The controller module is electrically connected to the motor drive module;

The driving module is electrically connected to the sensor module;

The sensor feedback module is electrically connected to the control strategy adjustment module;

The signal acquisition module is used to collect the motor speed signal Djsd, the motor position signal Djwz, the control mode signal Kzms, the reset signal Fwxh and the emergency stop signal Jtxh, and transmit the above signals to the controller module;

The controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values to the motor drive module;

The motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh;

The sensor module continuously monitors the actual position, speed and load of the motor based on the motor’s operating status data, and feeds this information back to the control strategy adjustment module;

The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor.

Preferably, the signal acquisition module compiles the collected motor speed signal into a data set, which is

{Djsd _n-9 ,Djsd _n-8 ,Djsd _n-78 ,...,Djsd _n }.

Preferably, the signal acquisition module compiles the collected motor position signal into a data set, which is

{Djwz _n-9 ,Djwz _n-8 ,Djwz _n-7 ,...,Djwz _n }.

Preferably, the signal acquisition module compiles the acquired control mode signals into a data set, which is

{Kzms _n-9 ,Kzms _n-8 ,Kzms _n-7 ,...,Kzms _n }.

Preferably, the controller module calculates the motor standard speed Dbzs according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

In the formula, Dbzs represents the standard speed of the motor, Mcxh represents the pulse signal frequency, which refers to the pulse signal frequency transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per revolution, Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per revolution of the motor encoder, and 60 represents the conversion of speed units from revolutions per minute to milliseconds per second.

Preferably, the controller module calculates the standard motion position Dbzw of the motor according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

In the formula, Dbzw represents the standard motion position of the motor, Mcjs represents the pulse signal count value, which is the pulse signal count value transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per rotation, and Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per rotation of the motor encoder.

Preferably, the controller module calculates the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

In the formula, Dqxh represents the motor drive signal value, e(t) represents the current motor position error, _Kp , _Ki and _Kd represent the proportional coefficient, integral coefficient and differential coefficient.

Preferably, the motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh, and the control method is as follows:

The motor drive module will first analyze the input signals such as the control mode signal, reset signal, and emergency stop signal to determine the current working mode and emergency control status;

The motor drive module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration;

During the process of controlling the motor operation, the motor drive module will monitor the motor's operating status in real time, including speed, position and current.

Preferably, the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor, and the control strategy design method is as follows:

The control strategy adjustment module adjusts the control parameters through the genetic optimization algorithm to achieve the best control effect. The optimization process is based on sensor monitoring data and system performance indicators to find the optimal control strategy parameter combination;

The control strategy adjustment module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the motor operating status.

Preferably, a driving method for a multi-motor synchronous rotary drive comprises the following specific steps:

S1, collect motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh through the signal acquisition module, and transmit the above signals to the controller module;

S2, the controller calculates the target speed and position of each motor and the motor drive signal according to the signal data transmitted by the signal acquisition module;

S3, the motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh;

S4, the sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds this information back to the control strategy adjustment module;

S5, the control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor. Through continuous calculation, control and adjustment, the system realizes the synchronous rotation motion of multiple motors.

Compared with the prior art, the present invention provides a multi-motor synchronous rotation drive system and a drive method thereof, which have the following beneficial effects:

The present invention collects a motor speed signal Djsd, a motor position signal Djwz, a control mode signal Kzms, a reset signal Fwxh and an emergency stop signal Jtxh through a signal acquisition module, and transmits the above signals to a controller module; the controller module calculates a motor standard speed Dbzs, a motor standard motion position Dbzw and a motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, and transmits the above calculated values to a motor drive module; the motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh; the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor; the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor; and by adjusting and optimizing the motor control strategy, fine control and regulation of the motor are achieved, thereby improving the working efficiency of the motor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the system flow of the present invention.

FIG. 2 is a schematic flow chart of the method of the present invention.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In view of the problem of low motor efficiency caused by inaccurate control in the current multi-motor synchronous drive process, a multi-motor synchronous rotary drive system is proposed. Please refer to Figure 1. The system includes a signal acquisition module, a controller module, a motor drive module, a sensor module and a control strategy adjustment module, wherein:

The signal acquisition module is used to collect the motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh, and compile the above data into the data set. The motor speed signal data set is

{Djsd _n-9 ,Djsd _n-8 ,Djsd _n-7 ,...,Djsd _n }, the motor position signal data set is

{Djwz _n-9 ,Djwz _n-8 ,Djwz _n-7 ,...,Djwz _n }, the control mode signal data set is

{Kzms _n-9 ,Kzms _n-8 ,Kzms _n-7 ,...,Kzms _n }, each data set contains ten sets of data;

The controller module calculates the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh according to the signal data transmitted by the signal acquisition module, where:

The formula for calculating the standard motor speed is as follows:

The standard speed of the motor can be used as a reference benchmark to evaluate the performance of the actual operation of the motor. By comparing the difference between the actual speed and the standard speed, problems in the operation of the motor can be discovered in time, and corresponding measures can be taken to adjust and correct them. In the formula, Dbzs represents the standard speed of the motor, Mcxh represents the pulse signal frequency, which refers to the pulse signal frequency transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw for each revolution, Bmqs represents the number of encoder lines, which refers to the number of pulses output by the encoder for each revolution of the motor encoder, and 60 represents the conversion of the speed unit from revolutions per minute to milliseconds per second. By calculating the standard speed of the motor, the operating state of the motor can be controlled more accurately. In practical applications, the stability and efficiency of the motor can be ensured by adjusting the control signal to make the motor run within the standard speed range.

The formula for calculating the standard motion position of the motor is as follows:

By calculating the standard motion position of the motor, more accurate position control can be achieved. Using the standard position as a reference value can help adjust the control system to ensure that the motor reaches the required position accuracy in actual operation. In the formula, Dbzw represents the standard motion position of the motor, Mcjs represents the pulse signal count value, which is the pulse signal count value transmitted by the controller module according to the signal acquisition module, Ljdz represents the pitch, which is the distance pushed by the screw per revolution, and Bmqs represents the encoder line number, which refers to the number of pulses output by the encoder per revolution of the motor encoder. Calculating the standard motion position of the motor can help optimize the production process and improve production efficiency. According to the requirements of the standard position, adjusting and optimizing the motor motion trajectory can reduce production errors and improve the stability and production efficiency of the production line.

The calculation formula of the motor drive signal value is as follows:

By calculating the motor drive signal value, more accurate motor control can be achieved. According to the calculated signal value, the motor speed, output power and other parameters can be accurately adjusted to meet the requirements of the motor operation status in the production process. In the formula, Dqxh represents the motor drive signal value, e(t) represents the current motor position error, _Kp , _Ki and _Kd represent the proportional coefficient, integral coefficient and differential coefficient. Calculating the motor drive signal value can ensure that the motor operates in a reliable and stable working range. Reasonable drive signal value helps to reduce the vibration and impact of the motor during the start-stop process, thereby extending the life of the motor and equipment.

The motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal Jtxh, the motor standard speed Dbzs, the motor standard motion position Dbzw and the motor drive signal value Dqxh. The control method is as follows:

The motor drive module will first analyze the input signals such as the control mode signal, reset signal, and emergency stop signal to determine the current working mode and emergency control status;

The motor drive module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration;

During the process of controlling the motor operation, the motor driver module will monitor the motor's operating status in real time, including speed, position and current;

The control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor. The control strategy design method is as follows:

The control strategy adjustment module adjusts the control parameters through the genetic optimization algorithm to achieve the best control effect. The optimization process is based on sensor monitoring data and system performance indicators to find the optimal control strategy parameter combination;

The control strategy adjustment module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the motor operation status;

Through the above workflow, the system continuously performs calculation optimization, control and adjustment of relevant signals, and finally realizes the synchronous rotation motion of multiple motors, while realizing fine control and adjustment of the motors, thereby improving the working efficiency of the motors.

Please refer to FIG2 , a driving method of a multi-motor synchronous rotary drive, the specific steps are as follows:

S1, collect motor speed signal Djsd, motor position signal Djwz, control mode signal Kzms, reset signal Fwxh and emergency stop signal Jtxh through the signal acquisition module, and transmit the above signals to the controller module;

S2, the controller calculates the target speed and position of each motor and the motor drive signal according to the signal data transmitted by the signal acquisition module;

S3, the motor drive module controls the running state of the motor according to the numerical values of the control mode signal Kzms, the reset signal Fwxh, the emergency stop signal jtxh, the motor standard speed Dbzs, the motor standard motion position Obzw and the motor drive signal value Dqxh;

S4, the sensor module continuously monitors the actual position, speed and load of the motor according to the running status data of the motor, and feeds this information back to the control strategy adjustment module;

S5, the control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor. Through continuous calculation, control and adjustment, the system realizes the synchronous rotation motion of multiple motors.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. A multi-motor synchronous rotary drive system, characterized by: the system comprises a signal acquisition module, a controller module, a motor driving module, a sensor module and a control strategy adjustment module;

the signal acquisition module is electrically connected with the controller module;

The controller module is electrically connected with the motor driving module;

the driving module is electrically connected with the sensor module;

The sensor feedback module is electrically connected with the control strategy adjustment module;

the signal acquisition module is used for acquiring a motor speed signal Djsd, a motor position signal Djwz, a control mode signal Kzms, a reset signal Fwxh and an emergency stop signal Jtxh and transmitting the signals to the controller module;

the controller module calculates a motor standard speed Dbzs, a motor standard movement position Dbzw and a motor driving signal value Dqxh according to signal data transmitted by the signal acquisition module, and transmits the calculated numerical values to the motor driving module;

The motor driving module controls the running state of the motor according to the control mode signal Kzms, the reset signal Fwxh, the scram signal Jtxh, the motor standard speed Dbzs, the motor standard movement position Dbzw and the numerical value of the motor driving signal value Dqxh; the sensor module continuously monitors the actual position, the speed and the load condition of the motor according to the running state data of the motor and feeds the information back to the control strategy adjustment module;

And the control strategy adjustment module is used for adjusting the motor control strategy according to the data monitored by the sensor.

2. A multi-motor synchronous swing drive system according to claim 1, wherein: the signal acquisition module compiles the acquired motor speed signal into a dataset, which is { Djsd _n-9,Djsd_n-8,Djsd_n-7,...,Djsd_n }.

3. A multi-motor synchronous swing drive system according to claim 2, wherein: the signal acquisition module compiles the acquired motor position signals into a dataset, which is { Djwz _n-9,Djwz_n-8,Djwz_n-7,...,Djwz_n }.

4. A multi-motor synchronous swing drive system according to claim 3, wherein: the signal acquisition module compiles the acquired control mode signal into a dataset, which is { Kzms _n-9,Kzms_n-8,Kzms_n-7,...,Kzms_n }.

5. A multi-motor synchronous swing drive system according to claim 4, wherein: the controller module calculates the standard speed Dbzs of the motor according to the signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

In the formula, dbzs represents the standard speed of the motor, mcxh represents the pulse signal frequency, ljdz represents the screw pitch, the screw pitch is the pushing distance of each rotation of the screw, bmqs represents the number of lines of the encoder, the number of pulses output by the encoder per rotation of the line of the motor encoder, and 60 represents the conversion of the speed unit from rotation/minute to millisecond/second.

6. A multi-motor synchronous swing drive system according to claim 5, wherein: the controller module calculates a standard motion position Dbzw of the motor according to signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

in the formula, dbzw represents the standard motion position of the motor, mcjs represents the pulse signal count value, ljdz represents the pitch of the pulse signal count value transmitted by the controller module according to the signal acquisition module, bmqs represents the number of encoder lines, and represents the number of pulses output by the encoder per rotation of the motor encoder.

7. The multi-motor synchronous swing drive system according to claim 6, wherein: the controller module calculates a motor driving signal value Dqxh according to signal data transmitted by the signal acquisition module, and the calculation formula is as follows:

In the formula, dqxh denotes a motor drive signal value, e (t) denotes a current motor position error, and K _p、K_i and K _d denote a proportional coefficient, an integral coefficient, and a differential coefficient.

8. The multi-motor synchronous swing drive system according to claim 7, wherein: the motor driving module controls the running state of the motor according to the control mode signal Kzms, the reset signal Fwxh, the scram signal Jtxh, the motor standard speed Dbzs, the motor standard movement position Dbzw and the motor driving signal value Dqxh, and the control mode is as follows:

The motor driving module firstly analyzes input signals such as a control mode signal, a reset signal, an emergency stop signal and the like, and determines a current working mode and an emergency control state;

the motor driving module sends corresponding control signals to the motor through the motor driver to control the running state of the motor, including speed, position and acceleration;

in the process of controlling the motor to operate, the motor driving module can monitor the operating state of the motor in real time, including speed, position and current.

9. The multi-motor synchronous swing drive system according to claim 8, wherein: the control strategy adjustment module adjusts the motor control strategy according to the data monitored by the sensor, and the control strategy design method is as follows:

The control strategy adjustment module adjusts control parameters through a genetic optimization algorithm to achieve the optimal control effect, and the optimization process finds the optimal control strategy parameter combination based on sensor monitoring data and system performance indexes;

the control strategy adjusting module feeds back the adjusted control strategy to the controller module in real time to adjust and optimize the running state of the motor.

10. The driving method of the multi-motor synchronous rotary driving according to claim 1, comprising the following specific steps:

S1, a motor speed signal Djsd, a motor position signal Djwz, a control mode signal Kzms, a reset signal Fwxh and an emergency stop signal Jtxh are acquired through a signal acquisition module, and are transmitted to a controller module;

S2, the controller calculates the target speed and position of each motor and motor driving signals according to the received signal data transmitted by the signal acquisition module;

S3, the motor driving module controls the running state of the motor according to the control mode signal Kzms, the reset signal Fwxh, the scram signal Jtxh, the motor standard speed Dbzs, the motor standard movement position Dbzw and the motor driving signal value Dqxh;

S4, the sensor module continuously monitors the actual position, speed and load condition of the motor according to the running state data of the motor, and feeds the information back to the control strategy adjustment module;

And S5, a control strategy adjustment module adjusts the control strategy according to the data fed back by the sensor, and the system realizes synchronous rotary motion of a plurality of motors through continuous calculation, control and adjustment.