CN-121984380-A - Combined-drive miniature stroke motor array control method and system

CN121984380ACN 121984380 ACN121984380 ACN 121984380ACN-121984380-A

Abstract

The application provides a combined-drive micro-stroke motor array control method and system, which relate to the technical field of motor control and are used for constructing a vector control model by acquiring a combined drive relation of a micro-stroke motor array, carrying out self-adaptive supervision learning of conditioning bed state adjustment by taking the combined drive relation as a reference, cooperating with external equipment to receive a real-time adjustment task of a conditioning bed, returning the real-time adjustment task, combining the vector control model to carry out follow-up decision and variable gain compensation under the combined drive of the motor array, determining a combined control strategy, and enabling an intelligent control center of the conditioning bed to respond to the combined control strategy to carry out cooperative control of the micro-stroke motor array and execute the state adjustment of the conditioning bed. The application solves the technical problem that the control precision and stability of the motor are limited due to the lack of an effective cooperative adjustment mechanism of the miniature stroke motor array, and achieves the technical effect of improving the control precision and stability of the miniature stroke motor array.

Inventors

LIN MEI
ZHANG LEI
ZHANG HAIFENG
YAN HAIJIAN

Assignees

南通觅睡方睡眠产业科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251226

Claims (8)

1. A method for controlling a combined drive micro-stroke motor array, the method comprising: Obtaining a combined driving relation of a micro stroke motor array, wherein the combined driving relation is a motor follow-up relation under cooperative control, and the structural control relation of each micro stroke motor and a conditioning bed comprises a position component relation and driving control logic; taking the combined driving relation as a reference, performing self-adaptive supervision learning of conditioning bed state adjustment, and constructing a vector control model, wherein follow-up regulation among miniature stroke motors is taken as a control main line, variable gain error compensation under motor rotation speed tracking is used for main line control compensation, and the main line control corrects preposed error compensation and real-time error compensation; the cooperative external equipment receives a real-time regulation task of the conditioning bed, wherein the external equipment is a sensor group and a control panel; Returning the real-time adjustment task, combining the vector control model, carrying out follow-up decision under the combined driving of the motor array, compensating with variable gain, and determining a combined control strategy; and the intelligent control center of the conditioning bed responds to the combined control strategy, performs cooperative control of the miniature stroke motor array, and executes state adjustment of the conditioning bed.
2. The method of claim 1, wherein the structural control relationship comprises a positional component relationship and drive control logic, comprising: determining the positional component relationship based on a control mapping of the micro-scale motor array and conditioning bed structures, wherein each conditioning bed structure is driven by at least one micro-scale motor; Based on the position component relation, carrying out serial-parallel control structure configuration of the miniature stroke motor array; And determining the driving control logic by taking the serial-parallel control structure as a reference.
3. The method of claim 2, wherein the vector control model comprises a main line decision unit and an error compensation unit, and the method comprises the steps of: performing sample driving training based on the combined driving relation, and supervising and training a main line decision unit; Taking a motor follow-up error based on the driving control logic as a pre-compensation target, supervising and training the pre-compensation branch, taking a dynamic tracking error of the motor rotating speed as a real-time compensation target, and supervising and training the variable gain compensation branch; The pre-compensation branch and the variable gain compensation branch are parallel to determine the error compensation unit; and connecting the error compensation unit with the main line decision unit in a rear mode to generate the vector control model.
4. The method of claim 1, wherein the step of performing a follow-up decision under combined driving of the motor array and the step of performing gain compensation to determine a combined control strategy comprises: identifying the real-time regulation task, and determining a decomposition control task based on the combined driving relationship, wherein the decomposition control task comprises multi-bit following control subtasks under positive serialization, and each subtask is marked with a conditioning bed control structure and a control requirement; aiming at the decomposition control task, carrying out follow-up decision under the combined driving of a motor array, and determining a main line control strategy; and performing pre-error correction on the main line control strategy, and outputting the combined control strategy.
5. The method of claim 4, wherein performing a pre-error correction on the main line control strategy, outputting the combined control strategy, and comprising: Determining a motor following error, wherein the motor following error is a fixed error amount, and is determined based on the following error between an upper regulating motor and a lower follow-up regulating motor; And compensating the main line control strategy based on the motor following error, and determining the combined control strategy.
6. The method of claim 1, wherein performing cooperative control of the micro-scale motor array comprises: Executing the combined control strategy and performing sensing monitoring; tracking the dynamic rotating speed deviation of the miniature stroke motor array, wherein the dynamic rotating speed deviation is a vector value deviating from a normal rotating speed; And carrying out real-time error correction on the dynamic rotating speed deviation based on the vector control model, determining a compensation strategy, and carrying out strategy real-time compensation under the driving of the miniature stroke motor array.
7. The method of claim 1, wherein the step of receiving the real-time conditioning task of the conditioning bed in conjunction with the external device comprises: Receiving subjective adjustment requirements of a user triggered by a control panel; based on the sensor group, receiving real-time sensing data and determining an objective adjustment requirement, wherein the objective adjustment requirement comprises an adjustment constraint condition, and the sensor group is assembled on a conditioning bed; And performing control collision on the subjective adjustment requirement and the objective adjustment requirement to generate the real-time adjustment task.
8. A combination-driven micro-scale motor array control system for performing a combination-driven micro-scale motor array control method of any one of claims 1-7, comprising: The combined driving relation acquisition module is used for acquiring a combined driving relation of the miniature stroke motor array, wherein the combined driving relation is a motor follow-up relation under cooperative control, and the structural control relation of each miniature stroke motor and the conditioning bed comprises a position component relation and driving control logic; The control model construction module is used for carrying out self-adaptive supervision learning of conditioning bed state adjustment based on the combined driving relation as a reference to construct a vector control model, wherein follow-up regulation among miniature stroke motors is used as a control main line, variable gain error compensation under motor rotation speed tracking is used for main line control compensation, and main line control correction front error compensation and real-time error compensation are carried out; The adjusting task receiving module is used for cooperating with external equipment to receive real-time adjusting tasks of the conditioning bed, wherein the external equipment is a sensor group and a control panel; the combined control strategy generation module is used for returning the real-time adjustment task, combining the vector control model, carrying out follow-up decision under the combined driving of the motor array, compensating with variable gain and determining a combined control strategy; And the state adjusting module is used for controlling the intelligent control center of the conditioning bed to respond to the combined control strategy, carrying out cooperative control on the miniature stroke motor array and executing the state adjustment of the conditioning bed.

Description

Combined-drive miniature stroke motor array control method and system Technical Field The application relates to the technical field of motor control, in particular to a method and a system for controlling a miniature stroke motor array driven by a combination. Background The conditioning bed is intelligent equipment integrating comfort and medical auxiliary functions and is widely applied to the fields of medical rehabilitation and health management. One of the core technologies is to realize the accurate control of a plurality of adjustable parts of the bed body by using a miniature stroke motor. As conditioning bed functionality increases, so does the need for conditioning. At present, the control method of the miniature travel motor in the conditioning bed mostly adopts single-point control or distributed control, namely, each motor is independently regulated, or the work of multiple motors is coordinated through a simple distributed algorithm. However, these control methods lack a coordination mechanism among multiple motors, and in the conditioning bed adjustment process, the coordination among the motors is not accurate enough, which easily results in asynchronous actions or insufficient adjustment accuracy. Under the condition of adjusting instruction change or running error accumulation, proper adjustment is difficult to make in time, and the stability of control is poor. Disclosure of Invention The application provides a combined-drive micro-stroke motor array control method and system, which solve the technical problem that the control precision and stability of a motor are limited due to the fact that a micro-stroke motor array lacks an effective cooperative adjustment mechanism, and achieve the technical effect of improving the control precision and stability of the micro-stroke motor array. In view of the above problems, on the one hand, the application provides a combined-drive micro-stroke motor array control method, which comprises the steps of obtaining a combined drive relation of a micro-stroke motor array, wherein the combined drive relation is a motor follow-up relation under cooperative control, each micro-stroke motor and a conditioning bed structure control relation, the structure control relation comprises a position component relation and drive control logic, performing self-adaptive supervision learning of conditioning bed state adjustment based on the combined drive relation, constructing a vector control model, performing main line control compensation by taking follow-up regulation among micro-stroke motors as a control main line and variable gain error compensation under motor rotation speed tracking, performing main line control correction and front error compensation, and cooperatively connecting an external device, receiving a real-time adjustment task of a conditioning bed, wherein the external device is a sensor group and a control panel, returning the real-time adjustment task, combining the vector control model, performing follow-up decision and variable gain compensation under combined drive of the motor array, determining a combined control strategy, and performing cooperative control of the conditioning bed state of the micro-stroke motor by using an intelligent control center of the conditioning bed. The application also provides a combined-drive micro-stroke motor array control system, which comprises a combined-drive relation acquisition module, a control model construction module, an adjustment task receiving module, a combined control strategy generation module and a combined control strategy generation module, wherein the combined-drive relation acquisition module is used for acquiring a combined-drive relation of a micro-stroke motor array, the combined-drive relation is a motor follow-up relation under cooperative control, the structural control relation comprises a position component relation and drive control logic, the control model construction module is used for carrying out self-adaptive supervision learning of conditioning bed state adjustment based on the combined-drive relation, a vector control model is constructed, follow-up regulation among micro-stroke motors is used as a control main line, variable gain error compensation under motor rotation speed tracking is used for main line control compensation, main line control is used for correcting front error compensation and real-time error compensation, the adjustment task receiving a real-time adjustment task of a conditioning bed, the combined control strategy generation module is used for returning the real-time adjustment task of the conditioning bed, the combined control strategy generation module is used for carrying out self-adaptive supervision learning of conditioning bed state adjustment based on the combined control vector, the combined control strategy generation module is used for carrying out combined control of the combined control strategy of the conditioning bed, and the combined co