Motor control architecture of automated cranes

A motor control architecture of automated cranes, comprising:

• a travel disposed across a main rail, comprising a master driver and a slave driver of respectively controlling a master motor and a slave motor for enabling the travel to move on the main rail along an X-axis direction, wherein axles of the master motor and the slave motor respectively comprises a main encoder, and an auxiliary encoder is arranged with respect to the main rail;
• a trolley disposed on a trolley rail that is arranged upon the travel, comprising a trolley driver of controlling a trolley motor for enabling the trolley to move on the trolley rail along a Y-axis direction;
• a hoist arranged at one side of the trolley, comprising a hoist driver of driving a hoist motor for enabling a rope on a hoist mechanism connected to the hoist motor to rise and fall along a Z-axis direction and continuously calculating a rope length information of the rope;
• a human machine interface (HMI), configured to receive an external operation to input a target position;
• and
• a controller connected to the master driver, the slave driver, the trolley driver, the hoist driver, and the HMI, configured to perform a path planning process to generate a position command based on the target position, and computing an anti-sway position command based on the rope length information in accompanying with the position command;
• wherein the master driver and the slave driver are configured to respectively perform a full closed-loop computation based on the anti-sway position command, a position feedback of one of the two main encoders, and an auxiliary position feedback of the auxiliary encoder;
• wherein the master driver is configured to control the master motor to rotate based on a speed command and a torque command generated by the full closed-loop computation, and the slave driver is configured to follow the speed command and the torque command of the master driver to control the slave motor to rotate;
• or, the master driver and the slave driver are configured to respectively regard a position error value of the position feedback of one of the two main encoders and the auxiliary position feedback of the auxiliary encoder to be a source of a PID control process to compensate the torque command to generate a compensated torque command, and respectively control the master motor and the slave motor to operate based on the compensated torque command.