Abstract: Provided are a motor control method and a device, applicable in the technical field of motor control, and particularly applicable to a controller in a motor control system. The system comprises one controller and at least two motors, and each of the motors drives one drive entity. The method comprises: acquiring a control instruction at a current time, a positional relationship of drive entities, and a system state after a previous program cycle has ended; on the basis of the acquired information, and in combination with a pre-established mapping of transition relationships and transition conditions between all system states, determining, from the control instruction at the current time, a target system state corresponding to the system state after the previous program cycle has ended, determining, according to the target system state, a target control instruction, and controlling actions of all of the motors.

Abstract: The invention discloses a horizontal lead storage battery include a battery container and a cover; the interior of said battery container is installed with a partition that divides its inner cavity into a plurality of single cells, and each cell is installed with a plate group; the adjacent plate groups are connected by a bridge; said partition has a gap for the bridge to pass through, and a sealing component is installed at the gap; said sealing component comprises two sealing plates with a gap and sealed with said partition; said gap is filled with sealant. The gap of the partition of present invention is provided with two sealing plates, the gap between the two sealing plates is filled with sealant, and the tiny gap between the sealing plate and the partition is sealed by sealing, thereby improving the sealing effect.

Abstract: Provided are a motor control method and a device, applicable in the technical field of motor control, and particularly applicable to a controller in a motor control system. The system comprises one controller and at least two motors, and each of the motors drives one drive entity. The method comprises: acquiring a control instruction at a current time, a positional relationship of drive entities, and a system state after a previous program cycle has ended; on the basis of the acquired information, and in combination with a pre-established mapping of transition relationships and transition conditions between all system states, determining, from the control instruction at the current time, a target system state corresponding to the system state after the previous program cycle has ended, determining, according to the target system state, a target control instruction, and controlling actions of all of the motors.