A motor control method, applied to a controller in a motor control system, wherein the motor control system comprises one controller and at least two motors, each of the motors drives a to-be-driven entity, and the method is characterized in comprising: acquiring (S100) current control commands, a positional relationship of to-be-driven entities, and a system state at an end of a previous processing period, wherein the system state at the end of the previous processing period indicates motion states of the motors at the end of the previous processing period, the motion states of the motors indicating whether each of the motors is in operation and whether the motor is rotating forward or backward; determining (S110) a target system state corresponding to the system state at the end of the previous processing period based on a preset mapping relationship, the positional relationship of the to-be-driven entities and the current control commands, wherein the preset mapping relationship indicates transition relationships between system states and transition conditions for the system states; determining (S120) target control commands based on the target system state; and controlling (S130) the motors to operate based on the target control commands, wherein the controller is directly arranged together with one of the motors or is not directly connected to any of the motors; when the controller is directly arranged together with one of the multiple motors, the motor directly connected to the controller and the controller serve as a Master, the motor directly connected to the controller is called as a Master motor, and each of the other motors is connected to the controller via a wire harness and is called as a Slave motor; and when the controller is not directly connected to any of the motors, the controller serves as the Master, and each of the motors is connected to the controller via a wire harness and serves as a Slave motor. acquiring (S100) current control commands, a positional relationship of to-be-driven entities, and a system state at an end of a previous processing period, wherein the system state at the end of the previous processing period indicates motion states of the motors at the end of the previous processing period, the motion states of the motors indicating whether each of the motors is in operation and whether the motor is rotating forward or backward; determining (S110) a target system state corresponding to the system state at the end of the previous processing period based on a preset mapping relationship, the positional relationship of the to-be-driven entities and the current control commands, wherein the preset mapping relationship indicates transition relationships between system states and transition conditions for the system states; determining (S120) target control commands based on the target system state; and controlling (S130) the motors to operate based on the target control commands, wherein the controller is directly arranged together with one of the motors or is not directly connected to any of the motors; when the controller is directly arranged together with one of the multiple motors, the motor directly connected to the controller and the controller serve as a Master, the motor directly connected to the controller is called as a Master motor, and each of the other motors is connected to the controller via a wire harness and is called as a Slave motor; and when the controller is not directly connected to any of the motors, the controller serves as the Master, and each of the motors is connected to the controller via a wire harness and serves as a Slave motor. <EOS>