CN107086823A - The control method and device of motor - Google Patents
The control method and device of motor Download PDFInfo
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- CN107086823A CN107086823A CN201710288307.XA CN201710288307A CN107086823A CN 107086823 A CN107086823 A CN 107086823A CN 201710288307 A CN201710288307 A CN 201710288307A CN 107086823 A CN107086823 A CN 107086823A
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- motor
- running parameter
- preset
- preparatory condition
- velocity
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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Abstract
The disclosure provides a kind of control method and device of motor, and the control method of motor includes：Obtain the feedback signal of the first motor and the feedback signal of the second motor；The running parameter of the first motor and the running parameter of the second motor are obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively, wherein, running parameter includes at least one power and moment of torsion；When the running parameter of the first motor and the running parameter of the second motor meet the first preparatory condition, the running parameter of the first motor and/or the running parameter of the second motor are adjusted according to the first preparatory condition.The disclosure can cause the running parameter of two motor to be mutually matched, and realize the load balancing of two motors, and then realize bigger power output.
Description
Technical field
This disclosure relates to motor technology field, more particularly to motor control method and device.
Background technology
Motor is a kind of equipment for converting electrical current into mechanical energy.Generally require and motor is selected according to loading demand
Suitable running parameter, then control electric current, voltage are driven to motor.If loading demand is larger, need larger
The motor of running parameter.In correlation technique, the motor of big running parameter can be selected to meet demand.But big running parameter
The general volume of motor it is larger, for the occasion of some limited spaces, if especially motor diametric(al) be limited, just can not
Meet user's request.
The content of the invention
The embodiment of the present disclosure provides a kind of control method and device of motor, and technical scheme is as follows：
, should applied to control device according to the first aspect of the embodiment of the present disclosure there is provided a kind of control method of motor
Method includes：
Obtain the feedback signal of the first motor and the feedback signal of the second motor；
The work of the first motor is obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively
Make the running parameter of parameter and the second motor, wherein, running parameter includes at least one power and moment of torsion；
When the running parameter of the first motor and the running parameter of the second motor meet the first preparatory condition, according to the
One preparatory condition adjusts the running parameter of the first motor and/or the running parameter of the second motor.
The embodiment, the work according to the first preparatory condition to the running parameter and/or the second motor of the first motor
Parameter is adjusted, and the running parameter of two motor can be caused to be mutually matched, and realizes the load balancing of two motors, and then
Realize bigger power output.
In one embodiment, the feedback signal of the first motor and the feedback signal of the second motor are obtained, including：
Detect the magnitude of voltage of the first motor and the current value of the first motor, and the magnitude of voltage of the second motor and
The current value of two motor.
The embodiment by detect two motor magnitude of voltage and current value can it is very convenient, efficiently calculate two electricity
The running parameter of motivation.
In one embodiment, it is electronic according to the running parameter of the first preparatory condition the first motor of adjustment and/or second
The running parameter of machine, including：
At least one in the magnitude of voltage of the first motor and the current value of the first motor is adjusted according to the first preparatory condition
；And/or
At least one in the magnitude of voltage of the second motor and the current value of the second motor is adjusted according to the first preparatory condition
.
The work that the embodiment very can easily change motor by adjusting the current value and magnitude of voltage of motor is joined
Number, so that the running parameter of two motor is mutually matched, realizes the load balancing of two motors, and then realize bigger
Power output.
In one embodiment, it is pre- in the running parameter of the first motor and the running parameter satisfaction first of the second motor
If during condition, the running parameter of the first motor and/or the running parameter of the second motor, bag are adjusted according to the first preparatory condition
Include：
When the running parameter of the first motor and the running parameter of the second motor are unsatisfactory for preset ratio, adjustment first
The running parameter of the running parameter of motor and/or the second motor so that the running parameter of the first motor and second electronic
The running parameter of machine meets preset ratio.
In this embodiment, according to preset ratio to the running parameter of the first motor and the running parameter of the second motor
Progress is uniformly coordinated control so that the running parameter of the running parameter of the first motor and the second motor meets preset ratio,
It can more precisely ensure that the running parameter of two motor is mutually matched, and realizes the load balancing of two motors, Jin Ershi
Now bigger power output.
In one embodiment, this method also includes：
Detect the velocity of rotation of the first motor and the velocity of rotation of the second motor；
When the velocity of rotation of the first motor and the velocity of rotation of the second motor meet the second preparatory condition, according to the
Two preparatory conditions adjust the velocity of rotation of the first motor and the velocity of rotation of the second motor.
The embodiment is by detecting the velocity of rotation of two motor and according to the second preparatory condition to two motor
Velocity of rotation is adjusted, and the velocity of rotation that two motor can be achieved matches, and is further easy to implement to two motor
Be uniformly coordinated control.
In one embodiment, this method also includes：
Detect on the position of preset on the position of preset and the second motor on the first motor, the first motor
Preset is that preset of any point on constant point, the second motor is phase in the rotating shaft relative to the first motor
To any point in the rotating shaft of the second motor apart from constant point；
The position of preset meets the 3rd preparatory condition on the position of preset and the second motor on the first motor
When, according to the position of preset on the position of preset on the 3rd preparatory condition the first motor of adjustment and the second motor.
The embodiment is by detecting on two motor the position of preset and electronic to two according to the 3rd preparatory condition
The position of preset is adjusted on machine, it is possible to achieve the position of two motor matches, and is further easy to implement to two
Motor is uniformly coordinated control.
According to the second aspect of the embodiment of the present disclosure there is provided a kind of control device of motor, including：Feedback module, work
Make parameter acquisition module and running parameter adjusting module；
Feedback module, for obtaining the feedback signal of the first motor and the feedback signal of the second motor；
Running parameter acquisition module, for respectively according to the feedback signal of the first motor and the feedback letter of the second motor
Number obtain the first motor running parameter and the second motor running parameter, wherein, running parameter include power and moment of torsion
At least one；
Running parameter adjusting module, the running parameter for the running parameter in the first motor and the second motor is met
During the first preparatory condition, the work of the running parameter and/or the second motor of the first motor is adjusted according to the first preparatory condition
Parameter.
In one embodiment, feedback module includes detection sub-module；
Detection sub-module, for detecting the magnitude of voltage of the first motor and the current value of the first motor, and the second electricity
The current value of the magnitude of voltage of motivation and the second motor.
In one embodiment, running parameter adjusting module includes adjustment submodule；
Submodule is adjusted, for adjusting the magnitude of voltage of the first motor and the electricity of the first motor according to the first preparatory condition
At least one of in flow valuve, and/or, the magnitude of voltage of the second motor and the electricity of the second motor are adjusted according to the first preparatory condition
At least one of in flow valuve.
In one embodiment, running parameter adjusting module includes ratio submodule；
Ratio submodule, the running parameter for the running parameter in the first motor and the second motor is unsatisfactory for presetting
During ratio, the running parameter of the first motor and/or the running parameter of the second motor are adjusted so that the work of the first motor
The running parameter of parameter and the second motor meets preset ratio.
In one embodiment, control device also includes velocity measuring module and speed adjusting module；
Velocity measuring module, for detecting the velocity of rotation of the first motor and the velocity of rotation of the second motor；
Speed adjusting module, second is met for the velocity of rotation in the first motor and the velocity of rotation of the second motor
During preparatory condition, the velocity of rotation of the first motor and the velocity of rotation of the second motor are adjusted according to the second preparatory condition.
In one embodiment, control device also includes position detecting module and position adjusting type modules；
Velocity measuring module, the position for detecting the position of preset and preset on the second motor on the first motor
Put, the preset on the first motor is that any point is electric apart from constant point, second in the rotating shaft relative to the first motor
Preset in motivation be in the rotating shaft of relative second motor any point apart from constant point；
Speed adjusting module, the position of preset on the position of preset on the first motor and the second motor
When meeting the second preparatory condition, adjusted according to the second preparatory condition on the first motor on the position and the second motor of preset
The position of preset.
According to the third aspect of the embodiment of the present disclosure there is provided a kind of control device of motor, including：
Processor；
Memory for storing processor-executable instruction；
Wherein, processor is configured as：
Obtain the feedback signal of the first motor and the feedback signal of the second motor；
The work of the first motor is obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively
Make the running parameter of parameter and the second motor, wherein, running parameter includes at least one power and moment of torsion；
When the running parameter of the first motor and the running parameter of the second motor meet the first preparatory condition, according to the
One preparatory condition adjusts the running parameter of the first motor and/or the running parameter of the second motor.
In one embodiment, processor can be additionally configured to：
Detect the magnitude of voltage of the first motor and the current value of the first motor and the magnitude of voltage of the second motor and
The current value of two motor.
In one embodiment, processor can be additionally configured to：
At least one in the magnitude of voltage of the first motor and the current value of the first motor is adjusted according to the first preparatory condition
, and/or, at least one in the magnitude of voltage of the second motor and the current value of the second motor is adjusted according to the first preparatory condition
.
In one embodiment, processor can be additionally configured to：
When the running parameter of the first motor and the running parameter of the second motor are unsatisfactory for preset ratio, adjustment first
The running parameter of the running parameter of motor and/or the second motor so that the running parameter of the first motor and second electronic
The running parameter of machine meets preset ratio.
In one embodiment, processor can be additionally configured to：
Detect the velocity of rotation of the first motor and the velocity of rotation of the second motor；
When the velocity of rotation of the first motor and the velocity of rotation of the second motor meet the second preparatory condition, according to the
Two preparatory conditions adjust the velocity of rotation of the first motor and the velocity of rotation of the second motor.
In one embodiment, processor can be additionally configured to：
Detect on the position of preset on the position of preset and the second motor on the first motor, the first motor
Preset is that preset of any point on constant point, the second motor is phase in the rotating shaft relative to the first motor
To any point in the rotating shaft of the second motor apart from constant point；
The position of preset meets the 3rd preparatory condition on the position of preset and the second motor on the first motor
When, according to the position of preset on the position of preset on the 3rd preparatory condition the first motor of adjustment and the second motor.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and be used to together with specification to explain the principle of the disclosure.
Fig. 1 is the flow chart of the control method of the motor according to an exemplary embodiment；
Fig. 2 is the logical schematic of the control method of the motor according to an exemplary embodiment；
Fig. 3 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 4 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 5 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 6 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 7 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 8 is the block diagram of the control device of the motor according to an exemplary embodiment；
Fig. 9 is the block diagram of the control device of the motor according to an exemplary embodiment；
Figure 10 is the block diagram of the control device of the motor according to an exemplary embodiment.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
For the motor of some larger running parameters of needs, because volume is larger, under the occasion of some limited spaces,
User's request can not be met.Under this scene, it can join together to realize the need of big running parameter high capacity by two motor
Ask, wherein it is desired to carry out being uniformly coordinated control to two motor.The technical scheme that the embodiment of the present disclosure is provided, by obtaining
The feedback signal of the feedback signal of first motor and the second motor；Respectively according to the feedback signal of the first motor and second
The feedback signal of motor obtains the running parameter of the first motor and the running parameter of the second motor, wherein, running parameter
Including at least one power and moment of torsion；It is pre- that first is met in the running parameter of the first motor and the running parameter of the second motor
, can if during condition, the running parameter of the first motor and/or the running parameter of the second motor are adjusted according to the first preparatory condition
To cause the running parameter of two motor to be mutually matched, the load balancing of two motors is realized, and then realize bigger power
Output.Secondly, the embodiment of the present disclosure also proposes to control the velocity of rotation of two motor and/or the position of two motor
System, so as to realize the matching of two electromotor velocities and/or position, further realizes being uniformly coordinated for two motor.
Fig. 1 is a kind of flow chart of the control method of motor according to an exemplary embodiment, as shown in figure 1,
The control method of the motor includes step 101-103：
In a step 101, the feedback signal of the first motor and the feedback signal of the second motor are obtained.
In the embodiment, double motor can be set in same equipment, that is, the first motor and the second motor.Example
Such as, double motor is set in treadmill.First motor and the second motor can be controlled by same control device,
It can also be controlled by the different control devices set in equipment.
Optionally, above-mentioned first motor and the second motor are two fractional electric motors, by electronic to this two
Machine jointly controls, and realizes high-power output.
Wherein, above-mentioned feedback signal is the signal that electric current feeds back after the first motor and the second motor.
In one embodiment, feedback signal can include current value and magnitude of voltage.Obtain the feedback letter of the first motor
Number and the second motor feedback signal, including：The magnitude of voltage of the first motor and the current value of the first motor are detected, and
The current value of the magnitude of voltage of second motor and the second motor.
The embodiment by detect two motor magnitude of voltage and current value can it is very convenient, efficiently calculate two electricity
The running parameter of motivation.
In a step 102, the is obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively
The running parameter of the running parameter of one motor and the second motor.
Wherein, running parameter includes at least one power and moment of torsion.
So that running parameter includes power as an example, power is equal to the product of current value and magnitude of voltage, therefore, by the first motor
Current value be multiplied with magnitude of voltage and obtain the power of the first motor, the current value of the second motor is multiplied with magnitude of voltage and obtained
The power of second motor.The current value and magnitude of voltage of motor can be motor input current and input voltage it is big
The size of small or motor output current and output voltage, the disclosure is not restricted to this, but is needed and motor
Power it is corresponding.For example, detecting the output current and output voltage of the first motor, the defeated of the first motor can be obtained
Go out power.
In addition, the moment of torsion for obtaining motor can be calculated according to the magnitude of voltage and current value of motor.Such as, an electronic electromechanics
The angular speed of pressure value and the product of current value divided by the motor rotation obtains the moment of torsion of the motor.
In step 103, first is met in the running parameter of the first motor and the running parameter of the second motor to preset
During condition, the running parameter of the first motor and/or the running parameter of the second motor are adjusted according to the first preparatory condition.
Optionally, the first preparatory condition can be used for the running parameter for characterizing the first motor and the second motor not
The condition matched somebody with somebody, if the running parameter of the running parameter of the first motor and the second motor is unsatisfactory for the first preparatory condition, says
The running parameter of bright two motor is mutually matched, on the basis of the disclosure, it is not necessary to the first motor and the second motor
Running parameter be adjusted；If the running parameter of the running parameter of the first motor and the second motor meets first and preset
Condition, then illustrate that the running parameter of two motor is mismatched, can be to the running parameter of the first motor and the second motor
Running parameter is adjusted, and to realize the matching of the two, realizes bigger power output.
Optionally, the first preparatory condition can be the first motor and the second motor running parameter it is unequal；Also may be used
To be that the running parameter of two motor is unsatisfactory for certain proportion (that is, in rational scope, it is allowed to the work of the first motor
There is error in the running parameter for making parameter and the second motor, when the two error exceeds zone of reasonableness, then it is believed that two is electronic
The running parameter of machine is mismatched).First preparatory condition is set as the case may be, and the disclosure is not restricted to this.
In one embodiment, it is electronic according to the running parameter of the first preparatory condition the first motor of adjustment and/or second
The running parameter of machine, including：The magnitude of voltage of the first motor and the current value of the first motor are adjusted according to the first preparatory condition
At least one of in；And/or, the magnitude of voltage of the second motor and the current value of the second motor are adjusted according to the first preparatory condition
At least one of in.
In the embodiment, any one in current value and magnitude of voltage that can be by adjusting motor changes motor
Running parameter so that the running parameter of two motor is mutually matched.Wherein, when adjusting running parameter, electricity can only be adjusted
The current value or magnitude of voltage of motivation, the current value and magnitude of voltage of motor can also be adjusted simultaneously.
In one embodiment, this method also includes：Detect the velocity of rotation of the first motor and turning for the second motor
Dynamic speed；When the velocity of rotation of the first motor and the velocity of rotation of the second motor meet the second preparatory condition, according to the
Two preparatory conditions adjust the velocity of rotation of the first motor and the velocity of rotation of the second motor.Second preparatory condition can be two
The velocity of rotation of individual motor is unequal, or two motor rotation speed are unsatisfactory for certain proportion, and the disclosure is not made to this
Limitation.
In the embodiment, the velocity of rotation of the first motor of detection and the velocity of rotation of the second motor can be by two
Velocity sensor is set to realize on individual motor.
The embodiment is by detecting the velocity of rotation of two motor and according to the second preparatory condition to two motor
Velocity of rotation is adjusted, and the velocity deviation that both produce is modified by velocity feedback correction-compensation, such motor exists
I.e. both controllable in operation process to reach same speed, the velocity of rotation that two motor can be achieved matches, further
It is easy to implement and control is uniformly coordinated to two motor.
In one embodiment, this method also includes：Detect the position of preset and the second motor on the first motor
Preset on the position of upper preset, the first motor be in the rotating shaft relative to the first motor any point apart from constant
Point, the preset on the second motor be in the rotating shaft of relative second motor any point apart from constant point；First
It is default according to the 3rd when the position of preset meets three preparatory conditions on the position of preset and the second motor on motor
Condition adjusts the position of the position of preset and preset on the second motor on the first motor.It should be noted that electronic
The position of default point, in the axis of rotation of motor, is static relative to the point in rotating shaft on machine, is preset on motor
Point can be in the rotating shaft of motor, can not also be in the rotating shaft of motor.3rd preparatory condition can be two electronic
The position of preset is differed relative to motor on machine, for example, the position of preset is all not at electricity on two motor
Then the position of preset meets preset on the 3rd preparatory condition, two motor on two motor for the surface of motivation rotating shaft
Position be all located at the surface of motor rotary shaft and be then unsatisfactory for the 3rd preparatory condition, certainly, simply exemplary illustration herein, and
The disclosure is not represented is confined to this.
In the embodiment, detect that the position and the position of preset on the second motor of the preset of the first motor can be with
By setting velocity sensor to realize on two motors.
The embodiment is by detecting on two motor the position of preset and electronic to two according to the 3rd preparatory condition
The position of preset is adjusted on machine, and the position deviation produced to both is modified by the compensation of position feedback modifiers, this
Sample motor is i.e. both controllable in operation process to reach identical position, it is possible to achieve the position of two motor matches,
Further it is easy to implement and control is uniformly coordinated to two motor.
Fig. 2 is the logical schematic of the control method of the motor according to an exemplary embodiment.As shown in Fig. 2
To the position of preset, the velocity of rotation of the first motor and the second motor and on the first motor and the second motor
The current value and magnitude of voltage of one motor and the second motor are detected and feed back to control device.Control device is according to the 3rd
The position of preset on first motor and the second motor is adjusted preparatory condition, according to the second preparatory condition to first
The velocity of rotation of motor and the second motor is adjusted, and electronic to the first motor and second according to the first preparatory condition
The running parameter (power or moment of torsion) of machine is adjusted.
Optionally, the position of preset on motor is adjusted, can be carried out by the velocity of rotation to motor
Regulation, on two motor during position three preparatory condition of satisfaction of preset, then the velocity of rotation of two motor is adjusted
Whole is same speed.
Optionally, the velocity of rotation to motor is adjusted, and can be that the magnitude of voltage of two motor is adjusted,
Magnitude of voltage is bigger, and the velocity of rotation of motor is bigger.It is also possible to adjust the current value of two motor, current value is bigger,
The torsion of motor is bigger.
Optionally, for a given target location, the position deviation that binding site sensor feedback is returned obtains one
Individual speed preset, rear recombination velocity deviation draws given value of current, provides a pwm signal to control eventually through current regulator
Power drive element processed realizes the control of motor, if so motor position or speed generate deviation and can detected by position
Fed back, so as to be modified.
Optionally, the running parameter of motor is adjusted, can is the magnitude of voltage and current value to two motor
Regulation.If the magnitude of voltage of motor is bigger, accordingly, the current value of motor is also bigger.A concrete implementation side
In formula, the magnitude of voltage of motor is adjusted, pulse width modulation (English Pulse Width can be passed through
Modulation, PWM) control running parameter driving element to realize the control to motor magnitude of voltage.
Optionally, for Double Motor Control System, decision-making can be carried out by a public controller, two electricity is detected respectively
The power output and moment of torsion of machine control unit, are to give a higher target output and torsion for less power output
Square, carries out signal output by load feedback compensating module and feedback signal is obtained, detect in real time and adjust to ensure two
The power output and moment of torsion of individual motor match, and the maximization of dual motors system power output so can be achieved.
It should be noted that on two motor the position of preset, velocity of rotation and running parameter adjustment, can be equal
Realized by the current value and magnitude of voltage that adjust motor, therefore, it can take into account three adjustment.It should be noted that Fig. 2
It is logical schematic, the practical structures of control device can do corresponding replace or deformation.
The embodiment of the present disclosure provide above-mentioned motor control method, by obtain the first motor feedback signal and
The feedback signal of second motor；Respectively the is obtained according to the feedback signal of the first motor and the feedback signal of the second motor
The running parameter of the running parameter of one motor and the second motor, wherein, running parameter includes at least one power and moment of torsion；
When the running parameter of the first motor and the running parameter of the second motor meet the first preparatory condition, according to the first default bar
Part adjusts the running parameter of the first motor and/or the running parameter of the second motor, can cause the work of two motor
Parameter (power and moment of torsion) is mutually matched, and realizes the load balancing of two motors, and then realize bigger power output.
The embodiment of the present disclosure, by obtaining the running parameter of two motor, namely obtains the loading condition of motor, can control
Two motors realize the equilibrium of load.The embodiment can set two low-power machines with holding equipment, it is to avoid for some spaces
Limited occasion, if especially the diametric(al) of motor is limited, the structure design caused using heavy-duty motor is difficult to ask
Topic.The embodiment of the present disclosure bi-motor that can be arranged in the space of minor diameter carries out powerful output, according to the operating of motor
Characteristic realizes the load balancing of bi-motor, improves the peak power output of dual motors system.
Following is disclosure device embodiment, can be used for performing method of disclosure embodiment.
Fig. 3 is a kind of block diagram of the control device of motor according to an exemplary embodiment, and the device can lead to
That crosses software, hardware or both is implemented in combination with some or all of as control device, and the control device is used to perform
State the control method of the motor described in the corresponding embodiments of Fig. 1.As shown in figure 3, the control device 30 includes：Feed back mould
Block 301, running parameter acquisition module 302 and running parameter adjusting module 303；
Feedback module 301, for obtaining the feedback signal of the first motor and the feedback signal of the second motor；
Running parameter acquisition module 302, for respectively according to the anti-of the feedback signal of the first motor and the second motor
Feedback signal obtain the first motor running parameter and the second motor running parameter, wherein, running parameter include power and
At least one moment of torsion；
Running parameter adjusting module 303, for the running parameter in the first motor and the running parameter of the second motor
When meeting the first preparatory condition, the running parameter and/or second motor of the first motor are adjusted according to the first preparatory condition
Running parameter.
In one embodiment, as shown in figure 4, feedback module 301 includes detection sub-module 3011；
Detection sub-module 3011, for detecting the magnitude of voltage of the first motor and the current value of the first motor, Yi Ji
The current value of the magnitude of voltage of two motor and the second motor.
In one embodiment, as shown in figure 5, running parameter adjusting module 303 includes adjustment submodule 3031；
Submodule 3031 is adjusted, magnitude of voltage and the first motor for adjusting the first motor according to the first preparatory condition
Current value at least one of, according to the first preparatory condition adjust the second motor magnitude of voltage and the second motor electric current
At least one of in value.
In one embodiment, as shown in fig. 6, running parameter adjusting module 303 includes ratio submodule 3032；
Ratio submodule 3032, the running parameter for the running parameter in the first motor and the second motor is unsatisfactory for
During preset ratio, the running parameter of the first motor and/or the running parameter of the second motor are adjusted so that the first motor
The running parameter of running parameter and the second motor meets preset ratio.
In one embodiment, as shown in fig. 7, control device 30 also includes velocity measuring module 304 and speed adjustment mould
Block 305；
Velocity measuring module 304, for detecting the velocity of rotation of the first motor and the velocity of rotation of the second motor；
Speed adjusting module 305, meets for the velocity of rotation in the first motor and the velocity of rotation of the second motor
During the second preparatory condition, the velocity of rotation of the first motor and the rotation speed of the second motor are adjusted according to the second preparatory condition
Degree.
In one embodiment, as shown in figure 8, the device of control device 30 also includes position detecting module 306 and position is adjusted
Mould preparation block 307；
Position detecting module 306, for detect the first motor on preset position and the second motor on preset
Position, the preset on the first motor be in the rotating shaft relative to the first motor any point apart from constant point,
Preset on two motor be in the rotating shaft of relative second motor any point apart from constant point；
Position adjusting type modules 307, the preset on the position of preset on the first motor and the second motor
It is electronic according to the position of preset on the second preparatory condition the first motor of adjustment and second when position meets the second preparatory condition
The position of preset on machine.
The control device that the embodiment of the present disclosure is provided, obtains the feedback signal of the first motor and the feedback of the second motor
Signal；The work for obtaining the first motor according to the feedback signal of the first motor and the feedback signal of the second motor respectively is joined
The running parameter of number and the second motor, wherein, running parameter includes at least one power and moment of torsion；In the work of the first motor
When the running parameter for making parameter and the second motor meets the first preparatory condition, the first motor is adjusted according to the first preparatory condition
Running parameter and/or the second motor running parameter.According to the first preparatory condition to the running parameter of the first motor and/
Or second the running parameter of motor be adjusted, the running parameter of two motor can be caused to meet the first preparatory condition,
It is mutually matched, is uniformly coordinated two motor of control.
Fig. 9 is a kind of block diagram of the control device of motor according to an exemplary embodiment, and the device can lead to
That crosses software, hardware or both is implemented in combination with some or all of as control device, and the control device is used to perform
State the control method of the motor described in the corresponding embodiments of Fig. 1.As shown in figure 9, the control device 90 includes：
Processor 901；
Memory 902 for storing the executable instruction of processor 901；
Wherein, processor 901 is configured as：
Obtain the feedback signal of the first motor and the feedback signal of the second motor；
The work of the first motor is obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively
Make the running parameter of parameter and the second motor, wherein, running parameter includes at least one power and moment of torsion；
When the running parameter of the first motor and the running parameter of the second motor meet the first preparatory condition, according to the
One preparatory condition adjusts the running parameter of the first motor and/or the running parameter of the second motor.
In one embodiment, processor 901 can be additionally configured to：
Detect the magnitude of voltage of the first motor and the current value of the first motor, and the magnitude of voltage of the second motor and
The current value of two motor.
In one embodiment, processor 901 can be additionally configured to：
At least one in the magnitude of voltage of the first motor and the current value of the first motor is adjusted according to the first preparatory condition
, at least one in the magnitude of voltage of the second motor and the current value of the second motor is adjusted according to the first preparatory condition.
In one embodiment, processor 901 can be additionally configured to：
When the running parameter of the first motor and the running parameter of the second motor are unsatisfactory for preset ratio, adjustment first
The running parameter of the running parameter of motor and/or the second motor so that the running parameter of the first motor and second electronic
The running parameter of machine meets preset ratio.
In one embodiment, processor 901 can be additionally configured to：
Detect the velocity of rotation of the first motor and the velocity of rotation of the second motor；
When the velocity of rotation of the first motor and the velocity of rotation of the second motor meet the second preparatory condition, according to the
Two preparatory conditions adjust the velocity of rotation of the first motor and the velocity of rotation of the second motor.
In one embodiment, processor 901 can be additionally configured to：
Detect on the position of preset on the position of preset and the second motor on the first motor, the first motor
Preset is that preset of any point on constant point, the second motor is phase in the rotating shaft relative to the first motor
To any point in the rotating shaft of the second motor apart from constant point；
The position of preset meets the 3rd preparatory condition on the position of preset and the second motor on the first motor
When, according to the position of preset on the position of preset on the 3rd preparatory condition the first motor of adjustment and the second motor.
The control device that the embodiment of the present disclosure is provided, by the feedback signal and second motor that obtain the first motor
Feedback signal；The work of the first motor is obtained according to the feedback signal of the first motor and the feedback signal of the second motor respectively
Make the running parameter of parameter and the second motor, wherein, running parameter includes at least one power and moment of torsion；In the first motor
Running parameter and the second motor running parameter meet the first preparatory condition when, according to the first preparatory condition adjustment first electricity
The running parameter of the running parameter of motivation and/or the second motor, can cause the running parameter of two motor to be mutually matched,
The load balancing of two motors is realized, and then realizes bigger power output.
The embodiment of the present disclosure additionally provides a kind of control device of motor as shown in Figure 10, as shown in Figure 10, the control
Device 100 processed can be smart mobile phone, tablet personal computer, treadmill etc., and the control device 100 is corresponding for performing above-mentioned Fig. 1
The control method of motor described in embodiment.
Control device 100 can include following one or more assemblies：Processing assembly 1001, memory 1002, power supply group
Part 1003, multimedia groupware 1004, audio-frequency assembly 1005, the interface 1006 of input/output (I/O), sensor cluster 1007, with
And communication component 1008.
The integrated operation of the generally control control device 100 of processing assembly 1001, such as with display, call, data are led to
Letter, the camera operation operation associated with record operation.Processing assembly 1001 can include one or more processors 10011
Execute instruction, to complete all or part of step of above-mentioned method.In addition, processing assembly 1001 can include it is one or more
Module, is easy to the interaction between processing assembly 1001 and other assemblies.For example, processing assembly 1001 can include multimedia mould
Block, to facilitate the interaction between multimedia groupware 1004 and processing assembly 1001.
Memory 1002 is configured as storing various types of data supporting the operation in control device 100.These numbers
According to example include the instruction of any application program or method for being used to operate on control device 100, contact data, phone
Book data, message, picture, video etc..Memory 1002 can by any kind of volatibility or Nonvolatile memory devices or
Person's combinations thereof realizes that such as static RAM is (English：Static Random Access Memory, SRAM),
Electrically Erasable Read Only Memory (English：Electrically Erasable Programmable Read Only
Memory, EEPROM), Erasable Programmable Read Only Memory EPROM (English：Erasable Programmable Read Only
Memory, EPROM), programmable read only memory (English：Programmable Read Only Memory, PROM), it is read-only
Memory (English：Read Only Memory, ROM), magnetic memory, flash memory, disk or CD.
Power supply module 1003 provides electric power for the various assemblies of control device 100.Power supply module 1003 can include power supply
Management system, one or more power supplys, and other components associated with generating, managing and distributing electric power for control device 100.
Multimedia groupware 1004 is included in the screen of one output interface of offer between control device 100 and user.
In some embodiments, screen can include liquid crystal display (English：Liquid Crystal Display, LCD) and touch surface
Plate (English：Touch Panel, TP).If screen includes touch panel, screen may be implemented as touch-screen, be come with receiving
From the input signal of user.Touch panel includes one or more touch sensors with sensing touch, slip and touch panel
Gesture.Touch sensor can not only sensing touch or sliding action border, but also detection is with touching or slide
Related duration and pressure.In certain embodiments, multimedia groupware 1004 includes a front camera and/or rearmounted
Camera.When control device 100 is in operator scheme, such as screening-mode or during video mode and/or rearmounted is taken the photograph front camera
As head can receive the multi-medium data of outside.Each front camera and rear camera can be a fixed optical lens
Mirror system or with focusing and optical zoom capabilities.
Audio-frequency assembly 1005 is configured as output and/or input audio signal.For example, audio-frequency assembly 1005 includes a wheat
Gram wind (English：Microphone, MIC), when control device 100 is in operator scheme, such as call model, logging mode and voice
During recognition mode, microphone is configured as receiving external audio signal.The audio signal received can be further stored
Memory 1002 is sent via communication component 1008.In certain embodiments, audio-frequency assembly 1005 also includes a loudspeaker,
For exports audio signal.
I/O interfaces 1006 are that interface, above-mentioned peripheral interface module are provided between processing assembly 1001 and peripheral interface module
Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and
Locking press button.
Sensor cluster 1007 includes one or more sensors, the shape for providing various aspects for control device 100
State is assessed.For example, sensor cluster 1007 can detect opening/closed mode of control device 100, component it is relatively fixed
Position, such as described component is the display and keypad of control device 100, and sensor cluster 1007 can be with detection control apparatus
100 or 100 1 components of control device position change, the existence or non-existence that user contact with control device 100, control fill
Put the temperature change of 100 orientation or acceleration/deceleration and control device 100.Sensor cluster 1007 can include proximity transducer,
It is configured to the presence of the object near detection in not any physical contact.Sensor cluster 1007 can also include light
Sensor, such as complementary metal oxide semiconductor (English：Complementary Metal Oxide Semiconductor,
CMOS) or charge coupled cell (English：Charge Coupled Device, CCD) imaging sensor, in imaging applications
In use.In certain embodiments, the sensor cluster 1007 can also include acceleration transducer, gyro sensor, magnetic
Sensor, pressure sensor or temperature sensor.
Communication component 1008 is configured to facilitate the logical of wired or wireless way between control device 100 and other devices
Letter.Control device 100 can access the wireless network based on communication standard, such as Wireless Fidelity (English：Wireless-
Fidelity, WiFi), 2G or 3G, or combinations thereof.In one exemplary embodiment, communication component 1008 is via broadcast
Channel receives broadcast singal or broadcast related information from external broadcasting management system.In one exemplary embodiment, lead to
Believe that component 1008 also includes near-field communication (English：Near Field Communication, NFC) module, to promote short distance to lead to
Letter.For example, can be based on radio frequency identification (English in NFC module：Radio Frequency Identification, RFID) skill
Art, Infrared Data Association's (English：Infrared Data Association, IrDA) technology, ultra wide band (English：Ultra
Wideband, UWB) technology, bluetooth (English：Bluetooth, BT) technology and other technologies realize.
In the exemplary embodiment, control device 100 can be by one or more application specific integrated circuits (English：
Application Specific Integrated Circuit, ASIC), digital signal processor (English：Digital
Signal Processing, DSP), digital signal processing device (English：Digital Signal Processing
Device, DSPD), PLD (English：Programmable Logic Device, PLD), field programmable gate
Array (English：Field Programmable Gate Array, FPGA), controller, microcontroller, microprocessor or other
Electronic component realization, the control method for performing the motor described in any of the above-described embodiment.
The embodiment of the present disclosure additionally provides a kind of computer-readable recording medium, such as the memory 1002 including instruction,
Above-mentioned instruction can be performed electronic described in the corresponding embodiments of Fig. 1 to complete by the processing assembly 1001 of control device 100
The control method of machine.Exemplary, computer-readable recording medium can be ROM, random access memory (English：Random
Access Memory, RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..When the computer-readable recording medium
In instruction when being performed by the processing assembly 1001 of control device 100 so that control device 100 is able to carry out any of the above-described implementation
The control method of motor described in example.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (13)
1. a kind of control method of motor, it is characterised in that methods described includes：
Obtain the feedback signal of the first motor and the feedback signal of the second motor；
First electricity is obtained according to the feedback signal of first motor and the feedback signal of second motor respectively
The running parameter of the running parameter of motivation and second motor, wherein, the running parameter includes power and moment of torsion at least
One of；
When the running parameter of first motor and the running parameter of second motor meet the first preparatory condition, root
The running parameter of first motor and/or the running parameter of second motor are adjusted according to first preparatory condition.
2. according to the method described in claim 1, it is characterised in that obtain the feedback signal and the second motor of the first motor
Feedback signal, including：
Detect the magnitude of voltage of first motor and the current value of first motor, and second motor electricity
The current value of pressure value and second motor.
3. according to the method described in claim 1, it is characterised in that electronic according to first preparatory condition adjustment described first
The running parameter of the running parameter of machine and/or second motor, including：
Adjusted according to first preparatory condition in the magnitude of voltage of first motor and the current value of first motor
At least one of；And/or
Adjusted according to first preparatory condition in the magnitude of voltage of second motor and the current value of second motor
At least one of.
4. according to the method described in claim 1, it is characterised in that in the running parameter of first motor and described second
When the running parameter of motor meets the first preparatory condition, the work of first motor is adjusted according to first preparatory condition
Make the running parameter of parameter and/or second motor, including：
When the running parameter of first motor and the running parameter of second motor are unsatisfactory for preset ratio, adjustment
The running parameter of the running parameter of first motor and/or second motor so that the work of first motor
The running parameter for making parameter and second motor meets the preset ratio.
5. the method according to claim any one of 1-4, it is characterised in that methods described also includes：
Detect the velocity of rotation of first motor and the velocity of rotation of second motor；
When the velocity of rotation of first motor and the velocity of rotation of second motor meet the second preparatory condition, root
The velocity of rotation of first motor and the velocity of rotation of second motor are adjusted according to second preparatory condition.
6. the method according to claim any one of 1-4, it is characterised in that methods described also includes：
Detect the position of preset on the position of preset and second motor on first motor, first electricity
Preset in motivation is that any point is electronic apart from constant point, described second in the rotating shaft relative to first motor
Preset on machine be in the rotating shaft of relatively described second motor any point apart from constant point；
The position of preset meets the 3rd and preset on the position of preset and second motor on first motor
During condition, adjusted according to the 3rd preparatory condition on first motor on the position and second motor of preset
The position of preset.
7. a kind of control device of motor, it is characterised in that including：Feedback module, running parameter acquisition module and work ginseng
Number adjusting module；
The feedback module, for obtaining the feedback signal of the first motor and the feedback signal of the second motor；
The running parameter acquisition module, for respectively according to the feedback signal of first motor and second motor
Feedback signal obtain the running parameter of first motor and the running parameter of second motor, wherein, the work
Making parameter includes at least one power and moment of torsion；
The running parameter adjusting module, the work for the running parameter in first motor and second motor
When parameter meets the first preparatory condition, according to first preparatory condition adjust first motor running parameter and/or
The running parameter of second motor.
8. device according to claim 7, it is characterised in that the feedback module includes detection sub-module；
The detection sub-module, for detecting the magnitude of voltage of first motor and the current value of first motor, with
And the magnitude of voltage and the current value of second motor of second motor.
9. device according to claim 7, it is characterised in that the running parameter adjusting module includes adjustment submodule；
The adjustment submodule, the magnitude of voltage and described for adjusting first motor according to first preparatory condition
At least one of in the current value of one motor, and/or, the electricity of second motor is adjusted according to first preparatory condition
At least one of in the current value of pressure value and second motor.
10. device according to claim 7, it is characterised in that the running parameter adjusting module includes ratio submodule；
The ratio submodule, the running parameter for the running parameter in first motor and second motor is not
When meeting preset ratio, the running parameter of first motor and/or the running parameter of second motor are adjusted so that
The running parameter of the running parameter of first motor and second motor meets the preset ratio.
11. the device according to claim any one of 7-10, it is characterised in that described device also includes velocity measuring module
With speed adjusting module；
The velocity measuring module, for detecting the velocity of rotation of first motor and the rotation speed of second motor
Degree；
The speed adjusting module, for the velocity of rotation in first motor and the velocity of rotation of second motor
When meeting the second preparatory condition, the velocity of rotation and described second of first motor is adjusted according to second preparatory condition
The velocity of rotation of motor.
12. the device according to claim any one of 7-10, it is characterised in that described device also includes position detecting module
And position adjusting type modules；
The position detecting module, it is pre- on the position of preset and second motor for detecting on first motor
Preset on the position set up an office, first motor is any point distance in the rotating shaft relative to first motor
Preset on constant point, second motor be in the rotating shaft of relatively described second motor any point apart from constant
Point；
The position adjusting type modules, preset on the position of preset on first motor and second motor
When the position of point meets the second preparatory condition, the position of preset on first motor is adjusted according to second preparatory condition
Put the position with preset on second motor.
13. a kind of control device of motor, it is characterised in that including：
Processor；
Memory for storing processor-executable instruction；
Wherein, the processor is configured as：
Obtain the feedback signal of the first motor and the feedback signal of the second motor；
First electricity is obtained according to the feedback signal of first motor and the feedback signal of second motor respectively
The running parameter of the running parameter of motivation and second motor, wherein, the running parameter includes power and moment of torsion at least
One of；
When the running parameter of first motor and the running parameter of second motor meet the first preparatory condition, root
The running parameter of first motor and/or the running parameter of second motor are adjusted according to first preparatory condition.
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|---|---|---|---|
| CN201710288307.XA CN107086823A (en) | 2017-04-27 | 2017-04-27 | The control method and device of motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710288307.XA CN107086823A (en) | 2017-04-27 | 2017-04-27 | The control method and device of motor |
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| CN101814876A (en) * | 2010-04-19 | 2010-08-25 | 新大洋机电集团有限公司 | Drive control system of double motors of rear axle of electric automobile |
| JP5060659B1 (en) * | 2011-03-10 | 2012-10-31 | パイオニア株式会社 | EFFICIENT MAP GENERATING DEVICE, EFFICIENT MAP GENERATING METHOD, AND PROGRAM |
| JP2012244676A (en) * | 2011-05-17 | 2012-12-10 | Toyo Electric Mfg Co Ltd | Electric vehicle control device |
| CN106230325A (en) * | 2016-07-22 | 2016-12-14 | 天津工业大学 | Bi-motor gear train assembly torque balance control method |
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- 2017-04-27 CN CN201710288307.XA patent/CN107086823A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101814876A (en) * | 2010-04-19 | 2010-08-25 | 新大洋机电集团有限公司 | Drive control system of double motors of rear axle of electric automobile |
| JP5060659B1 (en) * | 2011-03-10 | 2012-10-31 | パイオニア株式会社 | EFFICIENT MAP GENERATING DEVICE, EFFICIENT MAP GENERATING METHOD, AND PROGRAM |
| JP2012244676A (en) * | 2011-05-17 | 2012-12-10 | Toyo Electric Mfg Co Ltd | Electric vehicle control device |
| CN106230325A (en) * | 2016-07-22 | 2016-12-14 | 天津工业大学 | Bi-motor gear train assembly torque balance control method |
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