针对滚筒式炒菜机的锅体、叶片和倾倒动作的快速响应和平稳运行，设计了一种以STM32F767IGT6为主控制器的多电机协同控制器。采用74HC244隔离电路和双BTN7960芯片电机驱动电路实现电机控制，增量式编码器和光电耦合器测速电路实现速度反馈，PID算法实现速度的整定。试验表明，设计的多电机协同控制器能够实现电机的快速响应，电机在0.04~0.06 s稳定到预设速度，锅体、锅铲、倾倒控制电机可以实现同步和独立工作模式，并且相互影响可以忽略，满足炒菜机的动作需求。

Aiming at the quick response and smooth operation of the pan body, blade and dumping action of the drum type cooking machine, a multi-motor cooperative controller with STM32F767IGT6 as the main controller is designed. The controller adopts 74HC244 isolation circuit and dual-BTN7960-chip motor drive circuit to realize motor control, incremental encoder and photocoupler speed measurement circuit to achieve speed feedback, and PID algorithm to achieve speed setting. The experiments show that the multi motor cooperative controller can realize the fast response of the motor. The motors stabilize to the preset speed in 0.04~0.06 s. The pan body, blade, and dumping control motors can achieve synchronous and independent working modes, and the interaction is neglectable. This controller can meet the action needs of the cooking machine.