CN109256990B - Motor control method and device - Google Patents
Motor control method and device Download PDFInfo
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- CN109256990B CN109256990B CN201811068463.6A CN201811068463A CN109256990B CN 109256990 B CN109256990 B CN 109256990B CN 201811068463 A CN201811068463 A CN 201811068463A CN 109256990 B CN109256990 B CN 109256990B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the invention relates to the technical field of motor control, in particular to a motor control method and device. The motor control method comprises the following steps: receiving a commutation signal; acquiring a current commutation time sequence and a current commutation time width to be commutated; judging whether the current commutation time sequence is correct or not; judging whether the current commutation time width meets the time width condition or not; and if the current commutation time sequence is correct and the current commutation time width meets the time width condition, executing the commutation action, otherwise, not executing the commutation action. The Hall sensor can influence the current commutation time sequence and the current commutation time width value to be commutated after being interfered by the motor, so that commutation action is executed only when the current commutation time sequence is correct and the current commutation time width meets the time width condition, the commutation error of the motor is avoided, the abnormal current change of the controller is further caused, the temperature rise of the controller is overhigh, the temperature rise of the motor is also sharply increased, the power is difficult to be increased, and the like.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor control method and device.
Background
Along with the development of society and the attention to environmental protection, people require that the efficiency and the life-span of product are higher and higher, because direct current brushless motor has higher efficiency, long service life, consequently direct current brushless motor range of application is more and more extensive at present.
In the process of implementing the invention, the inventor of the invention finds the following problems in the prior art: in the prior art, most of position detection in the brushless direct current motor is carried out by adopting a Hall sensor, the Hall sensor is installed at the tail part of the motor, the Hall sensor can often be interfered by the motor in the high-power operation process of the motor, the phase change action can still be carried out at the moment, the commutation error of the motor is caused, the abnormal current change of a controller is further caused, the temperature rise of the controller is overhigh, the temperature rise of the motor is also sharply increased, and the power is difficult to be improved.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the invention is to provide a motor control method and a motor control device, aiming at solving the problem of phase change error after a Hall sensor is interfered by a motor.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention adopts a technical solution that: provided is a motor control method including:
receiving a commutation signal;
acquiring a current commutation time sequence and a current commutation time width to be commutated according to the commutation signals;
judging whether the current commutation time sequence is correct or not;
if the current commutation time sequence is correct, judging whether the current commutation time width meets the time width condition;
and if the current commutation time width meets the time width condition, executing commutation action, otherwise, not executing commutation action.
Optionally, the step of determining whether the current commutation timing sequence is correct includes:
acquiring a last commutation time sequence;
acquiring a next standard commutation time sequence after the last commutation time sequence according to a standard commutation time sequence;
and judging whether the current commutation time sequence is consistent with the next standard commutation time sequence or not, if so, judging that the current commutation time sequence is correct, and otherwise, judging that the current commutation time sequence is incorrect.
Optionally, the step of determining whether the current commutation time width satisfies a time width condition includes:
obtaining the last commutation time width;
and judging whether the absolute value of the difference value between the current commutation time width and the last commutation time width is less than or equal to a preset reference threshold, if so, the current commutation time width meets the time width condition, and if not, the current commutation time width does not meet the time width condition.
Optionally, the method further includes:
if the current commutation time sequence is incorrect or the current commutation time width does not meet the time width condition, judging whether the current commutation time width exceeds a preset condition range;
and if the current commutation time width exceeds a preset condition range, controlling the motor to stop running.
Optionally, the method further includes:
if the current commutation time sequence is correct, executing a formula: a is 0; wherein, A is the continuous incorrect times of the commutation sequence;
if the current commutation time sequence is incorrect, executing a formula: a is A +1, wherein A is the continuous incorrect times of the commutation sequence;
if the current commutation time width does not meet the time width condition and the current commutation time width does not exceed the preset condition range, judging whether the times are greater than a preset warning parameter or not;
and if the times are greater than a preset warning parameter, controlling the motor to stop running, otherwise, returning to the step of receiving the commutation signal.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention adopts a technical solution that: provided is a motor control device including:
a receiving module for receiving a commutation signal;
the first acquisition module is used for acquiring a current commutation time sequence and a current commutation time width to be commutated according to the commutation signals;
the first judging module is used for judging whether the current commutation time sequence is correct or not;
the second judging module is used for judging whether the current commutation time width meets the time width condition or not;
and the commutation module is used for executing commutation action if the current commutation time sequence is correct and the current commutation time width meets the time width condition, or not executing the commutation action.
Optionally, the first determining module includes:
a first obtaining unit, configured to obtain a last commutation timing sequence;
a second obtaining unit configured to obtain a next standard commutation timing sequence after the previous commutation timing sequence according to a standard commutation timing sequence;
and the first judgment unit is used for judging whether the current commutation time sequence is consistent with the next standard commutation time sequence or not, if so, the current commutation time sequence is correct, and otherwise, the current commutation time sequence is incorrect.
Optionally, the second determining module includes:
a third obtaining unit, configured to obtain a last commutation time width;
a second determining unit, configured to determine whether an absolute value of a difference between the current commutation time width and the previous commutation time width is smaller than or equal to a preset reference threshold, if so, the current commutation time width satisfies a time width condition, and if not, the current commutation time width does not satisfy the time width condition.
Optionally, the apparatus further comprises:
a third determining unit, configured to determine whether the current commutation time duration exceeds a preset condition range if the current commutation time sequence is incorrect or the current commutation time duration does not satisfy a time duration condition;
and the first stopping module is used for controlling the motor to stop running if the current commutation time width exceeds a preset condition range.
Optionally, the apparatus further comprises:
a first assignment module, configured to execute a formula if the current commutation timing is correct: a is 0; wherein, A is the continuous incorrect times of the commutation sequence;
a second assignment module for executing a formula if the current commutation sequence is incorrect: a is A +1, wherein A is the continuous incorrect times of the commutation sequence;
a fourth judging module, configured to judge whether the number of times is greater than a preset warning parameter if the current commutation time width does not satisfy the time width condition and the current commutation time width does not exceed a preset condition range;
and the second stopping module is used for controlling the motor to stop running if the times are greater than a preset warning parameter, and otherwise, returning to the step of receiving the commutation signal.
The beneficial effects of the embodiment of the invention are as follows: in contrast to the prior art, in an embodiment of the present invention, a motor control method includes: receiving a commutation signal; acquiring a current commutation time sequence and a current commutation time width to be commutated; judging whether the current commutation time sequence is correct or not; judging whether the current commutation time width meets a time width condition or not; and if the current commutation time sequence is correct and the current commutation time width meets the time width condition, executing the commutation action, otherwise, not executing the commutation action. The Hall sensor can influence the current commutation time sequence and the current commutation time width value to be commutated after being interfered by the motor, so that commutation action is executed only when the current commutation time sequence is correct and the current commutation time width meets the time width condition, the commutation error of the motor is avoided, the abnormal current change of the controller is further caused, the temperature rise of the controller is overhigh, the temperature rise of the motor is also sharply increased, the power is difficult to be increased, and the like.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the output of each Hall sensor in an embodiment of the invention;
FIG. 3 is a schematic flow chart of a motor control method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a process of determining whether a current commutation timing sequence is correct in a motor control method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of determining whether the current commutation time width satisfies the time width condition in the motor control method according to the embodiment of the present invention;
FIG. 6 is another schematic flow chart diagram of a motor control method according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a motor control device according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of a hardware structure of an electronic device for motor control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
To better explain the technical solution of the embodiment of the present invention, please refer to fig. 1 and fig. 2, fig. 1 is a schematic diagram of an application environment of the embodiment of the present invention, fig. 2 is a schematic diagram of output results of each hall sensor in the embodiment of the present invention, fig. 1 is a schematic diagram of a structure of a brushless dc motor, and the brushless dc motor 100 is composed of an igbt (mosfet) bridge circuit 10, an igbt (mosfet) driving circuit 20, a hall sampling circuit 30, a control circuit 40, a coil winding electric driver 50, and a permanent magnet 60, where the coil winding electric driver 50 is a stator, and the permanent magnet 60 is a rotor. If only the coil winding electric driver 50 is energized with a fixed direct current, the coil winding electric driver 50 can only generate a constant magnetic field, the rotor cannot rotate, only the position of the rotor of the motor is detected in real time, and then the rotor can be rotated along with the magnetic field by communicating with corresponding currents according to the position of the rotor and generating a rotating magnetic field with a uniformly changing direction by the stator.
Thus, the control scheme of brushless dc motor 100 is electronically controlled, and to rotate brushless dc motor 100, the stator windings must be energized in a certain sequence, and knowing the position of the rotor is important in order to determine which winding will be energized in the sequence of energization. The position of the rotor is detected by a hall effect sensor embedded in the stator. Most BLDC motors have three hall sensors embedded centrally on their non-drive ends, including hall sensor a, hall sensor B, and hall sensor C. Whenever the rotor poles pass near the hall sensor, they send a high or low signal indicating that either the north or south pole is passing the sensor. From the combination of these three hall sensor signals, the exact sequence of commutation can be determined. One of the hall sensors changes state for every 60 electrical degrees of rotation. Thus, six steps are required to complete one electrical cycle. In synchronous mode, the phase current is switched once every 60 electrical degrees of rotation. Referring to fig. 2, specific outputs of three hall sensors, according to fig. 2, in the case that the hall sensors are not interfered, the standard phase sequence is listed as follows:
| 001 | 000 | 100 | 110 | 111 | 011 |
however, when the hall sensor is interfered, an error may occur in the commutation timing sequence in the commutation signal, for example, according to a standard phase timing sequence, if the previous phase timing sequence is 001, the current commutation timing sequence to be commutated should be 000, and if other timing sequences than 000 occur at this time, some abnormalities may occur in controlling to execute commutation, such as an excessive current, an excessive temperature rise, and the like.
Implementation mode one
Referring to fig. 3, fig. 3 is a schematic flow chart of a motor control method according to an embodiment of the present invention, the motor control method includes:
step 101: receiving a commutation signal;
the commutation signal includes a current commutation timing sequence and a current commutation time width at which commutation is to be performed.
Step 102: acquiring a current commutation time sequence and a current commutation time width to be commutated according to the commutation signals;
step 103: judging whether the current commutation time sequence is correct or not;
further, referring to fig. 4, the specific step of determining whether the current commutation timing sequence is correct includes the following steps 1031 to 1033:
step 1031: acquiring a last commutation time sequence;
the corresponding commutation time sequence is recorded after the commutation signal is acquired every time, so that the last commutation time sequence can be directly called when needed.
Step 1032: acquiring a next standard commutation time sequence after the last commutation time sequence according to the standard commutation time sequence;
after the last commutation time sequence is obtained, the next standard commutation time sequence after the last commutation time sequence may be obtained according to the standard commutation time sequence, for example, according to the standard commutation time sequence, if the obtained last phase time sequence is 001, the current commutation time sequence to be commutated is 000.
Step 1033: and judging whether the current commutation time sequence is consistent with the next standard commutation time sequence or not, if so, judging that the current commutation time sequence is correct, and otherwise, judging that the current commutation time sequence is incorrect.
If the obtained current commutation sequence is 010 and the obtained next standard commutation sequence is 000, it indicates that the current commutation sequence is wrong, and at this time, performing commutation will cause problems of excessive current, excessive temperature rise, and the like. Assuming that the obtained current commutation timing sequence is 000 and the obtained next standard commutation timing sequence is 000, it indicates that the current commutation timing sequence is correct, and commutation can be performed at this time.
Step 104: if the current commutation time sequence is correct, judging whether the current commutation time width meets the time width condition;
further, referring to fig. 5, the step of determining whether the current commutation time width satisfies the time width condition includes the following steps 1041 to 1042:
step 1041: obtaining the last commutation time width;
the corresponding commutation time width is recorded after the commutation signal is acquired every time, so that the last commutation time width can be directly called when needed.
Step 1042: and judging whether the absolute value of the difference value between the current commutation time width and the last commutation time width is less than or equal to a preset reference threshold, if so, the current commutation time width meets the time width condition, and if not, the current commutation time width does not meet the time width condition.
Referring to fig. 2 again, assuming that the current commutation time width is T2, the previous commutation time width is T1, the difference between the current commutation time width T2 and the previous commutation time width T1 is compared with a preset reference threshold, and if the absolute value of the difference between the current commutation time width T2 and the previous commutation time width T1 is less than or equal to the preset reference threshold, it is determined that the current commutation time width T2 satisfies the time width condition. Assuming that the current commutation time width is T4, the last commutation time width is T3, the difference between the current commutation time width T4 and the last commutation time width T3 is compared with a preset reference threshold, and if the absolute value of the difference between the current commutation time width T4 and the last commutation time width T3 is greater than the preset reference threshold, it is determined that the current commutation time width T4 does not satisfy the time width condition.
The preset reference threshold is a reference value obtained by a technician according to requirements or experimental calculation and the like. Of course, in some other embodiments, it may also be determined whether a ratio of the current commutation time width to the previous commutation time width is within a preset reference threshold interval, if so, the current commutation time width satisfies a time width condition, and if not, the current commutation time width does not satisfy the time width condition, and optionally, the preset reference threshold interval is 0.9 to 1.1.
Step 105: and if the current commutation time sequence is correct and the current commutation time width meets the time width condition, executing the commutation action, otherwise, not executing the commutation action.
If the current commutation time sequence is determined to be correct according to the steps and the current commutation time width meets the time width condition, the commutation action can be allowed to be executed, otherwise, the commutation action is not executed, so that the commutation error is avoided.
Referring to fig. 6, in order to further avoid damaging the motor, the embodiment of the present invention further includes steps 106 to 111:
after determining that the current commutation time sequence is incorrect or the current commutation time width does not meet the time width condition, judging whether the current commutation time width exceeds a preset condition range, wherein the preset condition range can be a reference value obtained by technicians according to requirements or experimental calculation and the like.
And 107, if the current commutation time width exceeds a preset condition range, controlling the motor to stop running.
Step 108 (not shown): if the current commutation time sequence is correct, executing a formula: a is 0; wherein, A is the continuous incorrect times of the commutation sequence;
step 109 (not shown): if the current commutation time sequence is incorrect, executing a formula: a is A +1, wherein A is the continuous incorrect times of the commutation sequence;
the initial value of a is 0, for example, if the current commutation sequence is always correct, a is always 0, if the current commutation sequence is continuously incorrect, a values are sequentially superimposed by 1 and updated to a new value a, and if the number of times that the commutation sequence is continuously incorrect is 5, the value a is updated to 5.
Step 110: if the current commutation time width does not meet the time width condition and the current commutation time width does not exceed the preset condition range, judging whether the times are greater than a preset warning parameter or not;
optionally, the preset warning parameter is a reference value obtained by a technician according to a requirement or an experimental calculation, and assuming that the preset warning parameter is 6, if the value a is 7, the number of times is greater than the preset warning parameter, and if the value a is 5, the number of times is less than the preset warning parameter.
Step 111: and if the times are greater than the preset warning parameters, controlling the motor to stop running, otherwise, returning to the step of receiving the commutation signal in the step 101.
In an embodiment of the present invention, a motor control method includes: receiving a commutation signal; acquiring a current commutation time sequence and a current commutation time width to be commutated; judging whether the current commutation time sequence is correct or not; judging whether the current commutation time width meets a time width condition or not; and if the current commutation time sequence is correct and the current commutation time width meets the time width condition, executing the commutation action, otherwise, not executing the commutation action. The Hall sensor can influence the current commutation time sequence and the current commutation time width value to be commutated after being interfered by the motor, so that commutation action is executed only when the current commutation time sequence is correct and the current commutation time width meets the time width condition, the commutation error of the motor is avoided, the abnormal current change of the controller is further caused, the temperature rise of the controller is overhigh, the temperature rise of the motor is also sharply increased, the power is difficult to be increased, and the like.
Second embodiment
Referring to fig. 7, fig. 7 is a schematic structural diagram of a second motor control device according to an embodiment of the present invention, where the motor control device 200 includes: the device comprises a receiving module 201, a first obtaining module 202, a first judging module 203, a second judging module 204, a commutation module 205, a third judging unit 206, a first stopping module 207, a first assigning module 208, a second assigning module 209, a fourth judging module 210 and a second stopping module 211.
A receiving module 201, configured to receive a commutation signal;
a first obtaining module 202, configured to obtain a current commutation timing sequence and a current commutation time width to be commutated according to the commutation signal;
a first determining module 203, configured to determine whether the current commutation timing sequence is correct;
optionally, the first determining module 203 includes:
a first obtaining unit (not shown) for obtaining a last commutation timing sequence;
a second acquisition unit (not shown) for acquiring a next standard commutation timing sequence after the last commutation timing sequence according to a standard commutation timing sequence;
a first determining unit (not shown) for determining whether the current commutation timing sequence is consistent with the next standard commutation timing sequence, if so, the current commutation timing sequence is correct, otherwise, the current commutation timing sequence is incorrect.
A second determining module 204, configured to determine whether the current commutation time width satisfies a time width condition if the current commutation time sequence is correct;
optionally, the second determining module 204 includes:
a third obtaining unit (not shown) for obtaining a last commutation time width;
a second determining unit (not shown) configured to determine whether an absolute value of a difference between the current commutation time width and the previous commutation time width is smaller than or equal to a preset reference threshold, if so, the current commutation time width satisfies a time width condition, and if not, the current commutation time width does not satisfy the time width condition.
And the commutation module 205 is configured to execute a commutation action if the current commutation timing is correct and the current commutation time width satisfies the time width condition, and otherwise not execute the commutation action.
A third determining unit 206, configured to determine whether the current commutation time duration exceeds a preset condition range if the current commutation time sequence is incorrect or the current commutation time duration does not satisfy a time duration condition;
a first stopping module 207, configured to control the motor to stop operating if the current commutation time width exceeds a preset condition range.
A first evaluation module 208, configured to execute the following formula if the current commutation timing sequence is correct: a is 0; wherein, A is the continuous incorrect times of the commutation sequence;
a second assignment module 209, configured to execute the following formula if the current commutation timing sequence is incorrect: a is A +1, wherein A is the continuous incorrect times of the commutation sequence;
a fourth determining module 210, configured to determine whether the number of times is greater than a preset warning parameter if the current commutation time width does not exceed a preset condition range;
and a second stop module 211, configured to control the motor to stop operating if the number of times is greater than a preset warning parameter, and otherwise, return to the step of receiving the commutation signal.
Since the second embodiment of the apparatus and the first embodiment of the method are based on the same purpose, please refer to the first embodiment of the method for details of the second embodiment of the apparatus, which is not described herein again.
It is worth mentioning that: those skilled in the art will further appreciate that the various steps of the motor control methods described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both, and that the components or steps of the various embodiments have been described in the foregoing description generally in terms of functions that are performed in either hardware or software depending on the particular application and design constraints imposed on the technical solution for clarity of interchangeability of hardware and software.
Further, an embodiment of a hardware architecture is provided below.
Referring to fig. 8, fig. 8 is a schematic diagram of a hardware structure of an electronic device for controlling a motor according to an embodiment of the present invention, and as shown in fig. 8, the electronic device 80 includes:
one or more processors 81 and a memory 82, with one processor 81 being an example in fig. 7.
The processor 81 and the memory 82 may be connected by a bus or other means, and fig. 8 illustrates the connection by a bus as an example.
The memory 82 is a non-volatile computer-readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to motor control in the embodiment of the present invention (for example, the receiving module 201, the first obtaining module 202, the first judging module 203, the second judging module 204, the phase changing module 205, the third judging unit 206, the first stopping module 207, the first assigning module 208, the second assigning module 209, the fourth judging module 210, and the second stopping module 211 shown in fig. 7). The processor 81 executes various functional applications of the server and data processing, i.e. motor control of the above-described method embodiments, by running non-volatile software programs, instructions and modules stored in the memory 82.
The memory 82 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the article recommendation device, and the like. Further, the memory 82 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 82 optionally includes memory located remotely from the processor 81, which may be connected to the motor control device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 82, and when executed by the one or more processors 81, perform the motor control in any of the above-described method embodiments, for example, perform the above-described method steps 101 to 105 in fig. 3, method steps 1031 to 1033 in fig. 4, and method steps 1041 to 1042 in fig. 5, so as to implement the functions of the receiving module 201, the first obtaining module 202, the first judging module 203, the second judging module 204, the commutation module 205, the third judging unit 206, the first stopping module 207, the first assigning module 208, the second assigning module 209, the fourth judging module 210, and the second stopping module 211 in fig. 7.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present invention.
The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to: a server: the device for providing the computing service comprises a processor, a hard disk, a memory, a system bus and the like, and the server is similar to a general computer architecture, but has higher requirements on processing capacity, stability, reliability, safety, expandability, manageability and the like because of the need of providing high-reliability service. Or other electronic devices with data interaction functions.
An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the non-volatile computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions are controlled by an electronic device to perform the motor in any of the above-described method embodiments, for example, to perform the above-described method steps 101 to 105 in fig. 3, method steps 1031 to 1033 in fig. 4, and method steps 1041 to 1042 in fig. 5, so as to implement the functions of the receiving module 201, the first obtaining module 202, the first determining module 203, the second determining module 204, the phase commutation module 205, the third determining unit 206, the first stopping module 207, the first assigning module 208, the second assigning module 209, the fourth determining module 210, and the second stopping module 211 in fig. 7.
An embodiment of the present invention provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the motor control in any of the method embodiments described above, for example, execute the above-described method steps 101 to 105 in fig. 3, method steps 1031 to 1033 in fig. 4, and method steps 1041 to 1042 in fig. 5, and implement the functions of the receiving module 201, the first obtaining module 202, the first determining module 203, the second determining module 204, the commutation module 205, the third determining unit 206, the first stopping module 207, the first assigning module 208, the second assigning module 209, the fourth determining module 210, and the second stopping module 211 in fig. 7.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A motor control method, comprising:
receiving a commutation signal;
acquiring a current commutation time sequence and a current commutation time width to be commutated according to the commutation signals;
judging whether the current commutation time sequence is correct or not;
if the current commutation time sequence is correct, judging whether the current commutation time width meets the time width condition;
if the current commutation time width meets the time width condition, executing commutation action, otherwise, not executing commutation action;
when the current commutation time sequence is incorrect or the current commutation time width does not meet the time width condition, judging whether the current commutation time width exceeds a preset condition range or not;
if the current commutation time width exceeds the preset condition range, controlling the motor to stop running,
if the current commutation time width does not exceed the preset condition range, judging whether the continuous incorrect times of the commutation time sequence are greater than the preset warning parameters;
and if the continuous incorrect times of the commutation time sequence are greater than a preset warning parameter, controlling the motor to stop running, otherwise, returning to the step of receiving the commutation signal.
2. The motor control method according to claim 1,
the step of judging whether the current commutation timing sequence is correct includes:
acquiring a last commutation time sequence;
acquiring a next standard commutation time sequence after the last commutation time sequence according to a standard commutation time sequence;
and judging whether the current commutation time sequence is consistent with the next standard commutation time sequence or not, if so, judging that the current commutation time sequence is correct, and otherwise, judging that the current commutation time sequence is incorrect.
3. The motor control method according to claim 2,
the step of judging whether the current commutation time width meets the time width condition comprises the following steps:
obtaining the last commutation time width;
and judging whether the absolute value of the difference value between the current commutation time width and the last commutation time width is less than or equal to a preset reference threshold, if so, the current commutation time width meets the time width condition, and if not, the current commutation time width does not meet the time width condition.
4. The motor control method according to claim 3,
the method further comprises the following steps:
if the current commutation time sequence is correct, executing a formula: a is 0, wherein A is the continuous incorrect times of the commutation sequence;
if the current commutation time sequence is incorrect, executing a formula: and A is A +1, wherein A is the number of times that the commutation sequence is continuously incorrect.
5. A motor control apparatus, comprising:
a receiving module for receiving a commutation signal;
the first acquisition module is used for acquiring a current commutation time sequence and a current commutation time width to be commutated according to the commutation signals;
the first judging module is used for judging whether the current commutation time sequence is correct or not;
the second judgment module is used for judging whether the current commutation time sequence is correct or not;
the commutation module is used for executing commutation action if the current commutation time sequence is correct and the current commutation time width meets the time width condition, and otherwise, not executing commutation action;
a third determining unit, configured to determine whether the current commutation time duration exceeds a preset condition range when the current commutation time sequence is incorrect or the current commutation time duration does not satisfy a time duration condition;
a first stopping module for controlling the motor to stop running if the current commutation time width exceeds a preset condition range,
the fourth judging module is used for judging whether the continuous incorrect times of the commutation time sequence are greater than a preset warning parameter or not if the current commutation time width does not exceed a preset condition range;
and the second stopping module is used for controlling the motor to stop running if the continuous incorrect times of the commutation time sequence are greater than a preset warning parameter, otherwise, returning to the step of receiving the commutation signal.
6. The apparatus of claim 5,
the first judging module comprises:
a first obtaining unit, configured to obtain a last commutation timing sequence;
a second obtaining unit configured to obtain a next standard commutation timing sequence after the previous commutation timing sequence according to a standard commutation timing sequence;
and the first judgment unit is used for judging whether the current commutation time sequence is consistent with the next standard commutation time sequence or not, if so, the current commutation time sequence is correct, and otherwise, the current commutation time sequence is incorrect.
7. The apparatus of claim 6,
the second judging module includes:
a third obtaining unit, configured to obtain a last commutation time width;
a second determining unit, configured to determine whether an absolute value of a difference between the current commutation time width and the previous commutation time width is smaller than or equal to a preset reference threshold, if so, the current commutation time width satisfies a time width condition, and if not, the current commutation time width does not satisfy the time width condition.
8. The apparatus of claim 7, further comprising:
a first assignment module, configured to execute a formula if the current commutation timing is correct: a is 0; wherein, A is the continuous incorrect times of the commutation sequence;
a second assignment module for executing a formula if the current commutation sequence is incorrect: and A is A +1, wherein A is the number of times that the commutation sequence is continuously incorrect.
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