CN210536535U

CN210536535U - Remote separated motor driving and motor control system and motor driving and motor control system

Info

Publication number: CN210536535U
Application number: CN201821983984.XU
Authority: CN
Inventors: 钱进; 李睿钦; 龚劭秋; 黄舒平; 胡跃进; 易瑞良
Original assignee: Real-Time Chivalrous Intelligent Control Technology Co Ltd
Current assignee: Real-Time Chivalrous Intelligent Control Technology Co Ltd
Priority date: 2018-11-29
Filing date: 2018-11-29
Publication date: 2020-05-15
Anticipated expiration: 2028-11-29

Abstract

The utility model discloses a motor drive and motor control system and motor drive and motor control system of long-range separation, include: the motor main controller is used for calculating and generating a motor control signal, and at least executing any one or combination of several of current loop calculation, motor speed loop calculation and position loop calculation of the motor; the power drivers are connected with one motor and used for executing motor driving according to the motor control signals; the motor main controller, the power drivers and the power drivers are connected in series through a field bus to form a ring-shaped communication link. The utility model discloses can significantly reduce walk line quantity, improve the drive modularization ability.

Description

Remote separated motor driving and motor control system and motor driving and motor control system

Technical Field

The utility model relates to an automatic control technology field, in particular to motor drive and motor control system and a motor drive and motor control system of long-range separation.

Background

Motion control and motor control are core technologies in the field of industrial automation. A motion controller for realizing motion control and a servo driver for realizing motor control are two key control components on a device for automatically executing complex work, which are common in the field of automation at present. Generally, to control and drive a servo motor, a servo driver includes a servo (motor) control unit for calculating the motion of the motor and generating a control signal, and a power driving unit for converting the control signal into a corresponding current to drive the motor.

The hardware of the servo control unit and the power driving unit of the servo driver on the market at present are generally integrated, or the two are closely attached to the pin header to transmit signals. As shown in FIG. 1, a servo control unit can perform the calculation and control of the actions of 2-4 motors, and a power driving unit also performs power driving on 2-4 motors. As shown in fig. 2, one servo control unit performs operation calculation and control of only 1 motor, and the power drive unit performs power drive of only 1 motor. Generally speaking, 9 cables are needed for controlling and driving 1 motor, namely 3 power lines (UVW), 2 band-type brake control lines, 2 encoder power lines and 2 encoder data lines.

For advanced automation equipment, a large number of motors are generally required to drive mechanical mechanisms to act so as to realize functions, such as a large-scale integrated production line, a 6-axis robot, a six-rotor unmanned aerial vehicle, an advanced service robot, an exoskeleton armor and the like. These advanced automation devices work in military, industrial, commercial, and domestic applications, and many of them require a small size and a compact structure. They require as few modules as possible and short lengths. However, these cables are always required for controlling the servo motor, and only the band-type brake cable may or may not be present according to the application. Taking 6-axis robots as an example, 54 wires need to be led out from a base in the current general scheme, and the problems of large number of connecting wires, difficulty in wiring, high cost of cables and connectors, reduced connection reliability, parallel wiring of signal wires and power wires, easiness in interference and the like exist.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at overcomes prior art's defect, provides but motor drive and motor control system of long-range separation, and the line quantity of walking that has significantly reduced has reduced the mechanical design mechatronic degree of difficulty.

To achieve the above object, the present invention provides a motor driving and motor control system with remote separation, including:

the motor main controller is used for calculating and generating a motor control signal, and at least executing any one or combination of several of current loop calculation, motor speed loop calculation and position loop calculation of the motor;

the power drivers are connected with one motor and used for executing motor driving according to the motor control signals;

the motor main controller, the power drivers and the power drivers are connected in series through a field bus to form a ring-shaped communication link.

Preferably, the motor main controller and a motion controller form a driving and controlling integrated device, the motion controller is used for executing motion control, and the motor main controller generates the motor control signal according to a motion control signal sent by the motion controller.

Preferably, the motor main controller and the motion controller are integrated on the same chip.

Preferably, each of the power drivers is disposed on each of the motors, respectively.

Preferably, each power driver includes a communication interface for signal transmission with an adjacent power driver or a motor main controller, a PWM waveform generator, a motor power driving module, and a feedback data acquisition module, where the PWM waveform generator generates and outputs a PWM signal to the motor power driving module according to a motor control signal sent by the motor main controller, and the feedback data acquisition module receives feedback data from the motor.

Preferably, the feedback data includes a current value, a position value and a speed value of the motor.

Preferably, the motor control signal includes a PWM value, and each of the power drivers further includes a temporary storage module for temporarily storing the PWM value and the feedback data.

Preferably, each power driver sends the feedback data received by the power driver to the motor main controller through the communication link, and the motor main controller updates the motor control signal by combining the feedback data of each power driver.

According to the utility model discloses an on the other hand still provides a motor drive and motor control system, and it includes drive integrated device and a plurality of power driver. The driving and controlling integrated device comprises a motion controller and a motor main controller; wherein the motion controller is configured to perform motion control; the motor main controller is used for generating a motor control signal according to the motion control signal sent by the motion controller, and at least executing any one or a combination of several of current loop calculation, motor speed loop calculation and position loop calculation of the motor. Each power driver is connected with one motor and used for executing motor driving according to the motor control signal. The motor main controller, the power drivers and the power drivers are connected in series through a field bus to form a ring-shaped communication link.

Compared with the prior art, the utility model discloses with the long-range separation of motor main control unit and power driver for the motor can be pressed close to as far as possible to power driver, and UVW output and encoder cable become extremely short, can close together as an organic whole by driver and motor even and hardly have the cable. Therefore, the number of the wiring is greatly reduced, the difficulty of mechanical design and mechanical and electrical integration is reduced, and the defects that the output of the integrated wiring is more and the driving modularization capability is insufficient in the prior art are overcome.

Drawings

FIG. 1 is a schematic diagram of a servo control unit and a power driving unit connected in a prior art;

FIG. 2 is a schematic diagram of another prior art connection between a servo control unit and a power drive unit;

fig. 3 is a block diagram of a remote decoupled motor drive and motor control system according to an embodiment of the present invention;

fig. 4 is a block diagram of a system for integrating motion control and remote motor drive and motor control according to an embodiment of the present invention;

fig. 5 is a block diagram of a power driver in a remote decoupled motor drive and motor control system according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating a work flow of a node in a signal transmission process of a remote separated motor driving and motor control system according to an embodiment of the present invention.

Detailed Description

In order to make the contents of the present invention clearer and more understandable, the contents of the present invention are further explained below with reference to the drawings of the specification. Of course, the invention is not limited to this specific embodiment, and general alternatives known to those skilled in the art are also within the scope of the invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited by the specific embodiments disclosed below.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

It will be understood that when an element or module is referred to as being "connected," "coupled" to another element, module or block, it can be directly connected or coupled or in communication with the other element, module or block or intervening elements, modules or blocks may be present, unless the context clearly dictates otherwise.

The embodiment of the utility model provides a but the motor drive and the motor control system of long-range separation of motor control and motor drive function are contained in the description. As understood by those skilled in the art, the motor control function may calculate and generate a motor control signal (e.g., a pulse width modulation, PWM, value). The motor driving function can drive the motor to rotate correspondingly according to the motor control signal.

The utility model discloses a motor drive and motor control system of long-range separation can include a motor master controller and a plurality of power driver. The motor master controller may perform the motor control functions previously described, and calculate and generate motor control signals (e.g., Pulse Width Modulation (PWM) values) to a plurality of power drivers, which drive the motor to operate.

The utility model discloses an in the embodiments, the motor drive and the motor control system of long-range separation can be applied to occasions such as electric robot, digit control machine tool, electronic many rotor crafts, electric automobile, mechanical artificial limb, mechanical palm, electric mobile carrier for all kinds of multiaxis, must move between the axle harmonious, motor drive's the motor control of equipment.

In the embodiments of the present invention, the number of shafts of the motor is not limited, and may be 6 shafts or 8 shafts, or fewer shafts, or more shafts.

Example 1

Fig. 3 is a block diagram of a remote decoupled motor drive and motor control system according to a first embodiment of the present invention. The remote separate motor drive and motor control system includes a motor master controller 11 and a plurality of power drivers 12. The motor main controller 11 is used for calculating and generating a motor control signal. The motor control may involve current loop calculations, speed loop calculations and/or position loop calculations. The motor master controller thus performs at least any one of, or a combination of, current loop calculations, motor speed loop calculations, and position loop calculations for the motor. Each power driver 12 is connected to one motor for performing motor driving according to a motor control signal. In particular, the motor main controller 11 and the power drivers 12 are connected in series through a field bus, and the motor main controller 11 and the power drivers 12 are connected in series through the field bus to form a ring-shaped communication link. Here, the motor master controller 11 may be used as a master, each power driver 12 may be used as a node (or a slave), all the masters and nodes respectively include an input interface and an output interface, the masters and the nodes are connected in series, and signals are sequentially transmitted from the output interface of the master to the input interface of the master through each node, thereby forming a communication link. In the embodiment, the field bus is used for transmitting signals, the LVDS level standard is followed during connection, and the advantages of good signal anti-interference capability and long transmission distance are achieved. The communication rate can be set according to requirements, and is preferably greater than or equal to 50 Mhz.

Because the motor main controller 11 and the plurality of power drivers 12 use field bus communication, the power drivers are allowed to be far away from the motor main controller, each power driver 12 can be arranged close to the motor, one power driver is arranged near each motor, and each power driver is connected with the next power driver, so that the UVW ground wire, the encoder power cable, the encoder data wire and the band-type brake control wire connected between the power drivers and the motors can be extremely short. Even preferably, when the power driver 12 and the motor are integrated, i.e., the power driver 12 is disposed on the motor, there is little cable therebetween. And only 2 buses, 2 low-voltage power supplies and 2 bus power lines are wired among the power drivers, so that the wiring quantity is greatly reduced, and the wiring difficulty is reduced. The more complex the mechanism, the more the motor, the more obvious the benefit to mechanical design of this kind of long-range separation scheme of the utility model.

Fig. 5 is a block diagram of a power driver in a remote separated motor driving and motor control system according to an embodiment of the present invention. As shown in the figure, each power driver 12 includes a communication interface 121 for signal transmission with an adjacent power driver 12 or motor main controller 11, a PWM waveform generator 122, a motor power driving module 123, and a feedback data collecting module 124, where the PWM waveform generator 122 generates and outputs a PWM signal to the motor power driving module 123 according to a motor control signal sent by the motor main controller 11, and the feedback data collecting module 124 receives feedback data from a motor. In this embodiment, the motor control signal is a given value of the motor power driving module, and may also be represented by a PWM value, when the motor power driving module drives the motor to rotate by the given value, the motor can reach a specified motor given value, and finally, a resultant motion reflected on the terminal execution will be a sample required by the application task. The feedback data referred to herein includes a current value, a position value and a speed value of the motor. Specifically, the motor may be provided with an encoder, which is connected to a rotor position sensor and a speed sensor on the motor, and is used to detect rotor position information and speed information, that is, a position value and a speed value of the motor. The feedback data acquisition module 124 receives feedback information sent by the encoder, and samples the current value to detect the motor current. In addition, each power driver further comprises a temporary storage module for temporarily storing the PWM value and the feedback data. Each power driver 12 sends the feedback data it receives to the motor master controller via a communication link over the bus, and the motor master controller 11 updates the motor control signals in conjunction with the feedback data of the respective power drivers.

Next, a transmission method of signal transmission through the bus will be described in detail.

First, after power-on, the motor main controller 11 and each power driver 12 handshake, establishing connection. The motor main controller 11 generates a motor control signal (including a PWM value), encodes the motor control signal, and transmits the encoded motor control signal to the node 1 (i.e., the first power driver), the node 1 receives the current encoding, and directly transmits the current encoding to the next node if it is determined that the broadcast or the address information does not match the address of the node, and if the address information matches the address of the node, acquires information in the motor control signal, replaces the information of the current state of the node, the current of the motor, the position, the speed, and the like with the information, and transmits the information to the next node. The signals sequentially pass through each node and finally return to a host (a motor main controller), and the host polls and analyzes related data of each node to obtain the state of each node and feedback data containing motor current, position and speed. And the host machine carries out calculation according to the feedback data, updates the motor control signal and sends the motor control signal to the node again.

In this embodiment, the motor main controller 11 transmits a motor control signal in the form of a data packet. The data packet is divided into 4 high bits (4 bits) and 4 low bits (4 bits) by taking a byte as a unit, and the data packet is encoded respectively. The utility model discloses in adopt 4B 5B code, least significant bit LSB is preceding when sending. The 4B/5B coding table is as follows:

synchronization code:

the utility model discloses well whole data link's state contains three kinds of states of power-on acquiescence, normal and error recovery. The data link establishment procedure is as follows:

when the system enters a power-on default state (power-on or reset) or enters an error recovery state, the master (i.e. the motor controller) starts to send the synchronization code 1, and the slave (i.e. the power driver) is in a receiving state. Node 1 (power driver 1) on the bus recognizes the consecutive synchronization code 1, aligns its receiver to a 5bit word length, and then also sends out the synchronization code 1. And the other nodes align the receivers of the other nodes according to the word length of 5 bits in sequence and send out a synchronous code 1. When the motor main controller detects that the synchronous code 1 is correctly received and lasts for a certain time, such as more than 1ms, the current data link is stably established, and the synchronous code 2 is sent out to indicate that the whole link enters a normal state.

The utility model discloses in, data transmission uses the package as the unit, transmits at every turn to a data packet. Data packets have two forms: the first contains 3 parts of command, data and check. The packet format is as follows:

Sync2

CMD

Data

ECC

Sync2

when no data packet is transmitted, the synchronization code 2 is transmitted. The check part ECC checks only the whole data part (data) and does not contain a check for the Command (CMD).

The second packet format is a packet format that contains only 1 command:

Sync2

CMD

Sync2

it should be noted that, the memory algorithm of the ECC sampling standard of the check part is generated, the column storage result is 3 bits, the maximum support is 8 columns, the row storage result is 5 bits, and the maximum support is 32 rows. The storage structure is as follows:

r4

r3

r2

r1

r0

c2

c1

c0

when the first data is received, which is not the sync code 2, it is the start of the data packet. When either Sync2 or Sync1 is encountered, it is the end of the packet. And if the result of checking the code ECC is correct or 1bit error is detected, the data packet is considered to be a valid data packet. If the result of ECC is more than 2bit error, it is considered as invalid data packet.

According to the above, when the system is powered on or reset, the system enters a power-on default state; entering a normal state after the data link is successfully established; for the node, when receiving invalid data packets for 2 times continuously or the synchronization code 2 is wrong, entering an error recovery state; for the host, the error recovery state is entered when an exception is received (data error) or when it times out (no valid data or synchronization code 2 received exception).

The operation of the master and slave in each state of the overall data link is as follows:

starting from the output interface of the motor master controller, the addresses of the connected serial nodes are 1,2 … N in sequence, the motor master controller sends information to the power drivers on the whole communication link by addressing, and each node only receives and processes the information of the own address. Specifically, when the address bits are all 1, this indicates that the information is in broadcast mode, and all nodes should receive and process the information. Each node can send data only when requested by the host. The transmitted data is in a unit of 1 5-bit coding, switching is not allowed in the middle of 5-bit coding, and each node should transmit the received data, namely, bypass mode (bypass mode) when not transmitting own data.

For a packet containing a command, the first byte is a command, and the command is self-checking (4 high bits as opposed to 4 low bits), including the following:

CMD value	Description of the invention
		0x3C	Setting and reading status
0x69	Setting PWM values and reading current, position and speed values
		0xF0	Write PWM value

Accordingly, the packet formats corresponding to the above commands are as follows:

setting and reading status values:

write motor control signal (motor control signal expressed in PWM value):

reading feedback data:

writing PWM values into PWM waveform generator

The "state Status" in the "setting and reading state value" of the first packet is described as follows:

bit	Description of the invention		bit	Description of the invention
						0	Set state	Band-type brake	8	Status of state	U overcurrent
1	Set state	Open circuit field	9	Status of state	V overcurrent
						2			10	Status of state	W over-current
3			11	Status of state	Power module failure
						4			12	Status of state	Over-temperature
5			13	Status of state	Bus power line voltage anomaly
						6			14	Status of state	Communication exception
7			15	Status of state	Encoder exception

The 2 nd to 7 th bits are left empty to be expanded, the 0 th bit and the 1 st bit are used for setting the states of contracting brake opening and excitation opening, and the 8 th to 15 th bits are used for feedback states.

Fig. 6 is a flowchart illustrating a work flow of a node in a remote separated motor driving and motor control system according to an embodiment of the present invention.

In the whole communication link, for a node, if the node is in a normal state, the node receives the code of the first non-synchronous code 2 and enters a receiving state. After that, the first byte is received, which must be a command. Since the command is self-checking (the high 4bit is opposite to the low 4bit), the node judges whether the command is effective after receiving the command. If the command is valid, the associated data transmission may be performed according to the command. And if the command is invalid, waiting for the end of the current packet and entering a normal state.

If the current command is a command for writing the PWM value, the power driver writes the PWM value in the temporary storage into the PWM waveform generator and enters a normal state. And continuing to receive the address if the current command is not a PWM value write command. Then, judging whether the received address is consistent with the address of the node, if not, waiting for the end of the current packet, and entering a normal state. If the data is consistent with the ECC data, the current packet is ended and replaces the relevant feedback data, and the relevant ECC data is received and sent.

Then, whether the data packet is valid is judged by checking the ECC, if the data packet is valid, the data is recorded, if the data packet is invalid, whether the same condition happens last time is judged, if the same condition happens, the invalid data packet is received twice continuously, an error recovery mode is entered, if only the current data packet is the invalid data packet, the error state is recorded, and the normal mode is kept. If the data has been replaced, the wrong ECC is set, ensuring that the data packet received by the host can be identified as uncorrectable for errors. The node is still in a normal state and waits for the next data packet of the receiving host.

For the host, the host polls and analyzes the related data of each node to obtain the state of each node and feedback data including the current, position and speed of the motor. And the host computer carries out calculation according to the feedback data, updates the control signal and sends the control signal to each node again.

Example 2

Fig. 4 is a block diagram of a system that integrates motion control, and remote separation of motor drive and motor control, according to an embodiment of the present invention. The system comprises a driving and controlling integrated device. The driving and controlling integrated device comprises a motion controller 10 and a motor main controller 11. The drive and control integration is a hardware architecture form that the motion controller and the motor main controller are integrated in 1 chip or 2 adjacent chips. In this way, the on-chip bus or the board-level bus is used for data transmission between the motion controller 10 and the motor main controller 11, so as to ensure reliability and high speed. Wherein, the motion controller 10 is used for executing motion control, and the motor main controller 11 calculates and generates a motor control signal according to a motion control signal sent by the motion controller 10. Specifically, the motion controller 10 may calculate the motion target of each of the kinematic pairs of the controlled object over time according to a specific application task. The kinematic pair herein refers to a movable joint, such as a joint, which is in direct contact with two members of the controlled object and can produce relative motion. The calculation steps, the calculation objects and the calculated parameter variables may also be different according to different applications, but the final purpose is to obtain motion control data of each kinematic pair of the controlled object. The motion control data may be, for example, any one or more of a position, velocity, acceleration, force, or moment of the kinematic pair. The motor main controller 11 can calculate and generate motor control signals for driving the respective joint motors of the controlled object from the motion control data of the respective kinematic pairs. Current loop calculations, speed loop calculations and/or position loop calculations are typically involved in motor control. The motor master controller thus performs at least any one of, or a combination of, current loop calculations, motor speed loop calculations, and position loop calculations for the motor. Preferably, the motor main controller and the motion controller are integrated on the same chip, for example, on an integrated dual-core SOC chip, the coupling between the motion control and the motor control is stronger, data transmission is performed inside the chip, external interference is not easy to occur, and data can be transmitted at a high rate accurately and reliably.

The system for integrated motion control and remote discrete motor drive and motor control further includes a plurality of power drivers 12, each power driver 12 being connected to a motor for performing motor drive in response to motor control signals from a motor master controller 22. That is, the motor main controller 11 and the power driver 12 can collectively perform control and driving of the motor. The motor main controller 11 and the power drivers 12 are connected in series through a field bus, and the motor main controller 11 and the power drivers 12 are connected in series through the field bus to form a ring-shaped communication link. In particular, the motor master controller 11 may be used as a master, each power driver 12 may be used as a node (or a slave), all the masters and nodes include an input interface and an output interface, the masters and nodes are connected in series, and signals pass through the nodes from the output interface of the master, and finally are transmitted to the input interface of the master to form a ring communication link. In the embodiment, the field bus is used for transmitting signals, the LVDS level standard is followed during connection, and the advantages of good signal anti-interference capability and long transmission distance are achieved. The communication rate can be set according to requirements, and is preferably greater than or equal to 50 Mhz.

Because the motor main controller 11 and the plurality of power drivers 12 use field bus communication, the power drivers are allowed to be far away from the motor main controller, each power driver 12 can be arranged close to the motor, one power driver is arranged near each motor, and each power driver is connected with the next power driver, so that the UVW ground wire, the encoder power cable, the encoder data wire and the band-type brake control wire connected between the power drivers and the motors can be extremely short. Even when the power driver 12 and the motor are integrated, i.e., the power driver 12 is provided on the motor, there is almost no cable therebetween. And only 2 buses, 2 low-voltage power supplies and 2 bus power lines are wired among the power drivers, so that the wiring quantity is greatly reduced, and the wiring difficulty is reduced. The more complicated mechanism, the more the motor, the utility model discloses this kind of scheme of long-range separation is obvious more to mechanical design's benefit, and the servo drive system of the integrative framework of specially adapted drive accuse.

Fig. 5 is a block diagram of a power driver in a remote separated motor driving and motor control system according to an embodiment of the present invention. As shown in the figure, each power driver 12 includes a communication interface 121 for signal transmission with an adjacent power driver 12 or motor main controller 11, a PWM waveform generator 122, a motor power driving module 123, and a feedback data collecting module 124, where the PWM waveform generator 122 generates and outputs a PWM signal to the motor power driving module 123 according to a motor control signal sent by the motor main controller 11, and the feedback data collecting module 124 receives feedback data from a motor. In the embodiment, the motor control signal is a given value of the motor power driving module, and can also be represented by a PWM value, when the motor power driving module drives the motor to rotate by the given value, the motor can reach the expected given value of the motor, and finally the resultant motion reflected on the terminal execution can be the required appearance of the application task. The feedback data referred to herein includes a current value, a position value and a speed value of the motor. Specifically, the motor may be provided with an encoder, which is connected to a rotor position sensor and a speed sensor on the motor, and is used to detect rotor position information and speed information, that is, a position value and a speed value of the motor. The feedback data acquisition module 124 receives feedback information sent by the encoder, and samples the current value to detect the motor current. In addition, each power driver further comprises a temporary storage module for temporarily storing the PWM value and the feedback data. Each power driver sends the received feedback data to the motor main controller through the bus, and the motor main controller updates the motor control signal by combining the feedback data of each power driver.

The signal transmission method of this embodiment is the same as that of the previous embodiment, and is not described herein.

To sum up, the utility model discloses a with the long-range separation of motor main control unit and power driver for the motor can be pressed close to as far as possible to power driver, UVW output and encoder cable become extremely short, can close together as an organic whole driver and motor even and hardly have the cable. Therefore, the number of the wiring is greatly reduced, the difficulty of mechanical design and mechanical and electrical integration is reduced, and the defects that the output of the integrated wiring is more and the driving modularization capability is insufficient in the prior art are overcome.

Although the present invention has been described with reference to preferred embodiments, it is to be understood that the present invention is not limited to the disclosed embodiments, but is intended to cover various changes and modifications within the spirit and scope of the invention as defined by the appended claims.

Claims

1. A remote decoupled motor drive and motor control system, comprising:

2. The remotely separated motor drive and motor control system of claim 1 wherein the motor master controller and a motion controller form a drive and control integrated device, the motion controller is configured to perform motion control, and the motor master controller generates the motor control signal based on a motion control signal from the motion controller.

3. The remotely separated motor drive and motor control system of claim 2 wherein the motor master controller and the motion controller are integrated on the same chip.

4. The remotely separated motor drive and motor control system of claim 1 wherein each of said power drivers is disposed on a respective one of said motors.

5. The remotely separated motor drive and motor control system of claim 1 wherein each of the power drivers includes a communication interface for signal transmission with an adjacent power driver or a motor master controller, a PWM waveform generator, a motor power drive module, and a feedback data collection module, wherein the PWM waveform generator generates and outputs a PWM signal to the motor power drive module according to a motor control signal sent by the motor master controller, and the feedback data collection module receives feedback data from the motor.

6. The remotely separated motor drive and motor control system of claim 5 wherein the feedback data includes current, position and speed values for the motor.

7. The remotely separated motor drive and motor control system of claim 5 wherein the motor control signals comprise PWM values, each of the power drivers further comprising a temporary storage module for temporarily storing the PWM values and the feedback data.

8. The remotely separated motor drive and motor control system of claim 5 wherein each of said power drivers transmits its received feedback data to said motor master controller via said communication link, said motor master controller updating said motor control signal in conjunction with the feedback data of each of said power drivers.

9. A motor drive and motor control system, comprising:

the driving and controlling integrated device comprises a motion controller and a motor main controller; wherein the motion controller is configured to perform motion control; the motor main controller is used for generating a motor control signal according to the motion control signal sent by the motion controller, and at least executing any one or combination of several of current loop calculation, motor speed loop calculation and position loop calculation of the motor; and

10. The motor drive and motor control system of claim 9, wherein the motor main controller and the motion controller are integrated on the same chip.

11. The motor drive and motor control system of claim 9, wherein each of the power drivers is disposed on each of the motors.

12. The motor drive and motor control system of claim 9, wherein each of the power drivers comprises a communication interface for signal transmission with an adjacent power driver or a motor main controller, a PWM waveform generator, a motor power driving module, and a feedback data collecting module, wherein the PWM waveform generator generates and outputs a PWM signal to the motor power driving module according to a motor control signal sent by the motor main controller, and the feedback data collecting module receives feedback data from the motor.

13. The motor drive and motor control system of claim 12 wherein the feedback data includes current, position and speed values for the motor.

14. The motor drive and motor control system of claim 12 wherein the motor control signals comprise PWM values, each of the power drivers further comprising a buffer module for buffering the PWM values and the feedback data.

15. The motor drive and motor control system of claim 12 wherein each of the power drivers transmits feedback data received by it to the motor master controller via the communication link, the motor master controller updating the motor control signals in conjunction with the feedback data for each of the power drivers.