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CN-121984381-A - Compensation control method and device for multiple motors and motor system

CN121984381ACN 121984381 ACN121984381 ACN 121984381ACN-121984381-A

Abstract

The present invention relates to the field of motor control, and in particular, to a method and apparatus for compensation control of multiple motors, and a motor system. The method comprises the steps of determining a forward correlation motor and a reverse correlation motor of an abnormal motor if the abnormal motor exists at every preset time, determining weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor respectively, determining correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor according to deviation degree and correction duty ratio of the abnormal motor to form a plurality of processing schemes, reducing the correction duty ratio to continuously form the plurality of processing schemes until the correction duty ratio is smaller than or equal to 0 if the correction duty ratio is larger than 0, scoring each processing scheme, determining a final scheme according to the processing scheme with the highest score, and sending the correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor of the final scheme to the corresponding motor to compensate the abnormal motor. The invention solves the problem of single adjustment scheme.

Inventors

  • LI LINGLIN
  • ZHU ZHENCHI

Assignees

  • 深圳市威磁智能科技有限公司

Dates

Publication Date
20260505
Application Date
20260127

Claims (10)

  1. 1. A compensation control method for a plurality of motors, characterized in that the compensation control method for a plurality of motors comprises: s101, judging whether an abnormal motor exists or not every other preset time, if so, determining a forward associated motor and a reverse associated motor of the abnormal motor according to the relation between the motors; s102, respectively determining weight coefficients of an abnormal motor, a forward associated motor and a reverse associated motor; s103, determining correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor according to the deviation degree and the correction duty ratio of the abnormal motor to form a plurality of processing schemes; S104, judging whether the correction duty ratio is smaller than or equal to 0, if not, reducing the correction duty ratio according to a first preset proportion; S105, repeating S103-S104 until the correction duty ratio is less than or equal to 0; s106, scoring each treatment scheme according to the weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor; S107, determining a final scheme according to the processing scheme with the highest score, and transmitting correction values of an abnormal motor, a forward associated motor and a reverse associated motor of the final scheme to the corresponding motors to compensate the abnormal motor; wherein the initial value of the correction duty is 1.
  2. 2. The method of claim 1, wherein the determining whether an abnormal motor exists comprises: determining the execution parameters of each motor according to the target action and sending the execution parameters to the corresponding motor; for each motor, acquiring a first parameter of the motor before the execution parameters are completed and a second parameter of the motor after the execution parameters are completed; Obtaining a third parameter according to the difference between the second parameter and the first parameter; Judging whether the third parameter is equal to the execution parameter, if not, marking the motor as an abnormal motor.
  3. 3. The method of claim 1, wherein determining the forward-associated motor and the reverse-associated motor of the abnormal motor according to the relationship between the motors comprises: determining the running direction of the motor according to the structural member acted by the motor; obtaining a tree diagram of the motors according to the relation between the motors; Determining the level of an abnormal motor in a tree diagram; Judging whether a motor with the same running direction as the running direction of the abnormal motor exists in the hierarchy where the abnormal motor exists, if so, selecting one motor with the same running direction as the running direction of the abnormal motor from the hierarchy where the abnormal motor exists as a forward correlation motor, and if not, judging whether a motor with the same running direction as the running direction of the abnormal motor exists in the previous hierarchy of the hierarchy where the abnormal motor exists; If the motor with the same running direction as the running direction of the abnormal motor exists in the upper layer of the layer where the abnormal motor is located, selecting the motor with one running direction and the same running direction as the running direction of the abnormal motor as a forward associated motor in the upper layer of the layer where the abnormal motor is located; Judging whether a motor with a reverse running direction and a reverse running direction of the abnormal motor exists in a level where the abnormal motor exists, if so, selecting one motor with the reverse running direction and the reverse running direction of the abnormal motor from the level where the abnormal motor exists as a reverse correlation motor, and if not, judging whether a motor with the reverse running direction and the reverse running direction of the abnormal motor exists in the previous level of the level where the abnormal motor exists; If the motor with the running direction opposite to the running direction of the abnormal motor exists in the upper layer of the layer where the abnormal motor exists, selecting the motor with the running direction opposite to the running direction of the abnormal motor from the upper layer of the layer where the abnormal motor exists as the reverse correlation motor.
  4. 4. The method of claim 1, wherein determining the direction of operation of the motor based on the structure to which the motor is applied comprises: for each motor, determining the running plane of the motor according to the running track of a structural member acted by the motor; Determining the relative position A of a structural member acted by the motor and an operation plane of the motor before the corresponding motor finishes executing parameters; Determining the relative position B of a structural member acted by the motor and an operation plane of the motor after the corresponding motor finishes executing parameters; and determining the running direction of the motor according to the relative position A and the relative position B.
  5. 5. The compensation control method of a plurality of motors according to claim 1, wherein the determining weight coefficients of the abnormal motor, the forward-associated motor, and the reverse-associated motor, respectively, comprises: For each abnormal motor, judging whether the abnormal motor has a forward correlation motor and a reverse correlation motor at the same time, if not, setting the weight coefficient of the abnormal motor as 1, setting the weight coefficient of the forward correlation motor and the reverse correlation motor as 0, and if not, judging whether the abnormal motor has only the forward correlation motor or the reverse correlation motor; if the abnormal motor only has the forward correlation motor or the reverse correlation motor, judging that the abnormal motor only has the forward correlation motor, if yes, setting the weight coefficient of the forward correlation motor as Setting the weight coefficient of the reverse-associated motor to 0, and setting the weight coefficient of the abnormal motor to If not, the weight coefficient of the forward associated motor is set to 0, and the weight coefficient of the reverse associated motor is set to The weight coefficient of the abnormal motor is set as ; If the abnormal motor is not the forward associated motor or the reverse associated motor, the weight coefficient of the forward associated motor is set as Setting the weight coefficient of the reverse-associated motor as The weight coefficient of the abnormal motor is set as ; Wherein n 0 is the level where the tree diagram of the abnormal motor is located, n 1 is the level where the tree diagram of the forward motor is located, n 2 is the level where the tree diagram of the reverse motor is located, a 1 is a first preset ratio, a 2 is a second preset ratio, a 1 is smaller than a 2 ,k 1 and is a first level factor, k 2 is a second level factor, and k 3 is a multiple motor factor.
  6. 6. The compensation control method of a plurality of motors according to claim 1, wherein the determining correction values of the abnormal motor, the forward-associated motor, and the reverse-associated motor according to the degree of deviation and the correction duty ratio of the abnormal motor to form a plurality of processing schemes includes: S601, by Obtaining the deviation degree of the abnormal motor ; S602, by Obtaining a correction value of the abnormal motor; s603, forming a main scheme by the corrected value of the abnormal motor; S604, for each main scheme, setting the allocation duty ratio of the main scheme to be 1; s605, judging whether the allocation duty ratio of the main scheme is 0, if not, the method comprises Obtaining a correction value of the forward associated motor, which is formed by Obtaining a correction value of the reverse-associated motor by Updating the allocation duty cycle of the scheme; s606, forming correction values of the abnormal motor, the forward associated motor and the reverse associated motor into a sub-scheme of the main scheme; s607, repeating S605-S606 until the allocation duty ratio of the main scheme is 0; S608, each sub-scheme is marked as a separate processing scheme; Wherein, the For a first parameter of the abnormal motor before the execution of the parameter is completed, For a second parameter of the abnormal motor after the execution of the parameter is completed, For the execution parameters of the abnormal motor, K is a correction duty ratio, P is an allocation duty ratio, m 1 is the stroke ratio of the forward correlation motor to the abnormal motor, m 2 is the stroke ratio of the reverse correlation motor to the abnormal motor, and b is a second preset ratio.
  7. 7. The compensation control method of a plurality of motors according to claim 1, wherein the reducing the correction duty ratio according to the first preset ratio includes: From the following components Updating the correction duty ratio; wherein c is a first preset proportion, and K is a correction duty ratio.
  8. 8. The method of claim 1, wherein scoring each treatment plan based on the weight coefficients of the abnormal motor, the forward-associated motor, and the reverse-associated motor comprises: From the following components Obtaining a score for each treatment regimen; Wherein f x 、f y and f z are weight coefficients of the abnormal motor, the forward-related motor and the reverse-related motor, and D x 、D y and D z are correction values of the abnormal motor, the forward-related motor and the reverse-related motor, respectively.
  9. 9. A multi-motor compensation control device, characterized in that the multi-motor compensation control device comprises: The motor determining module is used for judging whether an abnormal motor exists or not every other preset time, and if so, determining a forward associated motor and a reverse associated motor of the abnormal motor according to the relation between the motors; The coefficient determining module is used for respectively determining weight coefficients of the abnormal motor, the forward associated motor and the reverse associated motor; The scheme forming module is used for determining correction values of the abnormal motor, the forward associated motor and the reverse associated motor according to the deviation degree and the correction duty ratio of the abnormal motor so as to form a plurality of processing schemes; the proportion adjustment module is used for judging whether the correction duty ratio is smaller than or equal to 0, if not, the correction duty ratio is reduced according to the first preset proportion; The scheme scoring module is used for scoring each processing scheme according to the weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor; the scheme determining module is used for determining a final scheme according to the processing scheme with the highest score, and transmitting corrected values of the abnormal motor, the forward associated motor and the reverse associated motor of the final scheme to the corresponding motors so as to compensate the abnormal motor; wherein the initial value of the correction duty is 1.
  10. 10. A motor system, characterized in that the motor system comprises a plurality of motors and computer equipment; The motor is connected with the computer equipment and is used for moving according to the execution parameters of the computer equipment and sending real-time parameters to the computer equipment; The computer device is configured to perform the steps of the multi-motor compensation control method of any one of claims 1 to 8.

Description

Compensation control method and device for multiple motors and motor system Technical Field The present invention relates to the field of motor control, and in particular, to a method and apparatus for compensation control of multiple motors, and a motor system. Background The multi-motor system is a cooperative work system formed by combining a plurality of motors through mechanical connection or electric control, and the core is that the motors are coordinated to run through various control strategies, so that the work efficiency, the control precision and the system reliability are improved, namely, the motors are mutually matched. Common multi-motor systems have robotic control systems, and the like. The multi-motor system performs a target action by determining the sub-actions each motor needs to perform at each moment and then generating execution parameters to control each motor to perform the action. However, the motor is not in place due to mechanical loss and other problems during the use process, and the mode that the motor is not in place is usually adopted at present to perform actions on the motor which is not in place so as to enable the motor to be in place. In this way, the problem that the motor which is not in place is out of operation has loss and the like is solved, and the problem that the adjustment scheme is single is obviously solved by only adjusting the motor which is not in place. Disclosure of Invention Based on this, it is necessary to provide a compensation control method, apparatus and motor system for multiple motors in order to solve the above-mentioned problems. The embodiment of the invention is realized in such a way that the compensation control method for the multiple motors comprises the following steps: s101, judging whether an abnormal motor exists or not every other preset time, if so, determining a forward associated motor and a reverse associated motor of the abnormal motor according to the relation between the motors; s102, respectively determining weight coefficients of an abnormal motor, a forward associated motor and a reverse associated motor; s103, determining correction values of the abnormal motor, the forward correlation motor and the reverse correlation motor according to the deviation degree and the correction duty ratio of the abnormal motor to form a plurality of processing schemes; S104, judging whether the correction duty ratio is smaller than or equal to 0, if not, reducing the correction duty ratio according to a first preset proportion; S105, repeating S103-S104 until the correction duty ratio is less than or equal to 0; s106, scoring each treatment scheme according to the weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor; S107, determining a final scheme according to the processing scheme with the highest score, and transmitting correction values of an abnormal motor, a forward associated motor and a reverse associated motor of the final scheme to the corresponding motors to compensate the abnormal motor; wherein the initial value of the correction duty is 1. In one embodiment, the present invention provides a multi-motor compensation control device including: The motor determining module is used for judging whether an abnormal motor exists or not every other preset time, and if so, determining a forward associated motor and a reverse associated motor of the abnormal motor according to the relation between the motors; The coefficient determining module is used for respectively determining weight coefficients of the abnormal motor, the forward associated motor and the reverse associated motor; The scheme forming module is used for determining correction values of the abnormal motor, the forward associated motor and the reverse associated motor according to the deviation degree and the correction duty ratio of the abnormal motor so as to form a plurality of processing schemes; the proportion adjustment module is used for judging whether the correction duty ratio is smaller than or equal to 0, if not, the correction duty ratio is reduced according to the first preset proportion; The scheme scoring module is used for scoring each processing scheme according to the weight coefficients of the abnormal motor, the forward correlation motor and the reverse correlation motor; the scheme determining module is used for determining a final scheme according to the processing scheme with the highest score, and transmitting corrected values of the abnormal motor, the forward associated motor and the reverse associated motor of the final scheme to the corresponding motors so as to compensate the abnormal motor; wherein the initial value of the correction duty is 1. In one embodiment, the present invention provides a motor system comprising a plurality of motors and a computer device; The motor is connected with the computer equipment and is used for moving according to the execution parameters of the comp