CN110350846A - A kind of motor speed control method and device - Google Patents

A kind of motor speed control method and device Download PDF

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Publication number
CN110350846A
CN110350846A CN201910630107.7A CN201910630107A CN110350846A CN 110350846 A CN110350846 A CN 110350846A CN 201910630107 A CN201910630107 A CN 201910630107A CN 110350846 A CN110350846 A CN 110350846A
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CN
China
Prior art keywords
value
motor
controlled
speed
target
Prior art date
Application number
CN201910630107.7A
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Chinese (zh)
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CN110350846B (en
Inventor
唐婷婷
朱绯
王声纲
任艳华
潘军
陈跃
杨正
王璠
Original Assignee
四川虹美智能科技有限公司
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Priority to CN201910630107.7A priority Critical patent/CN110350846B/en
Publication of CN110350846A publication Critical patent/CN110350846A/en
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Publication of CN110350846B publication Critical patent/CN110350846B/en

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02HEMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02HEMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/09Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Abstract

The present invention provides a kind of motor speed control method and device, comprising: receives externally input revolving speed control command;Determine the current running voltage value and resonance region of motor to be controlled, wherein the revolving speed of motor to be controlled can produce shake when being located at resonance region;According to current running voltage value and the corresponding tachometer value of revolving speed control command, determine motor to be controlled can running speed value;According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;According to the rotating speed of target value, the motor operating to be controlled is controlled.This programme can be improved the usage experience of user.

Description

A kind of motor speed control method and device
Technical field
The present invention relates to motor-drive technique field, in particular to a kind of motor speed control method and device.
Background technique
With the rapid advances of science and technology, the household electrical appliances of manual intelligent are also applied in our life, to our happiness Life provides more convenience.
Currently, motor general range of speeds for having a job on the household electrical appliances such as refrigerator, air-conditioning, washing machine, such as Working range on refrigerator is usually 1200RPM (rpm) to 4500RPM, and control panel is generally according to the actual temperature of refrigerator As soon as and the difference of set temperature passes a rotating speed command to driving plate, and driving plate controls motor and runs according to rotating speed command.
But will appear Voltage Drop in some special circumstances or voltage fluctuation is very big, for example, when rotating speed command is corresponding Revolving speed it is larger when, even if controlling plus weak magnetic, the actual speed of motor do not increase yet, and it is bad just to will appear control effect, from And cause user experience poor.
Summary of the invention
The embodiment of the invention provides a kind of motor speed control method and device, can be improved user experience.
In a first aspect, the embodiment of the invention provides a kind of motor speed control methods, comprising:
Receive externally input revolving speed control command;
Determine the current running voltage value and resonance region of the motor to be controlled, wherein the revolving speed of the motor to be controlled It can produce shake when positioned at the resonance region;
According to the current running voltage value and the corresponding tachometer value of the revolving speed control command, the electricity to be controlled is determined Machine can running speed value;
According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;
According to the rotating speed of target value, the motor operating to be controlled is controlled.
Preferably,
Further comprise before controlling the motor operating to be controlled according to the rotating speed of target value described:
The range of speeds of the preset motor is divided at least one speed stage, wherein each described speed stage A corresponding preset fluctuation threshold;
It is described according to the rotating speed of target value, control the motor operating to be controlled, comprising:
It controls the motor to be controlled and current rotating speed is adjusted to the rotating speed of target value correspondence according to preset acceleration Revolving speed;
Determine that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;
Determine whether the absolute value of the difference of the estimated value and the rotating speed of target value is greater than target fluctuation threshold, In, the rotating speed of target section at least one the described speed stage of the target fluctuation threshold where with the rotating speed of target value is opposite It answers;
When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold, determine Whether the duration that the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target undulating value is greater than Preset step-out duration;
When the absolute value of the estimated value and the difference of the rotating speed of target value be greater than the target undulating value it is lasting when When length is greater than the step-out duration, it is out of service to control the motor to be controlled, and export for prompting the motor to be controlled First prompt information of step-out.
Preferably,
It is described according to can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled, Include:
Described in determination can running speed value whether be located in the resonance region;
If so, using the object boundary value of the resonance region as the rotating speed of target value of the motor to be controlled;
Otherwise, using it is described can running speed value as the rotating speed of target value of the motor to be controlled, wherein the target side Dividing value is the maximum value or minimum value of the resonance region.
Preferably,
Before the externally input revolving speed control command of reception, further comprise:
At least two tachometer values and at least two working voltage values are stored in advance, wherein each tachometer value and a fortune Row voltage value is corresponding, and at least two tachometer value and corresponding working voltage value are in a linear relationship;
It is described according to the current running voltage value and the corresponding tachometer value of the revolving speed control command, determine described to be controlled Motor processed can running speed value, comprising:
D1: it according at least two tachometer value of storage and at least two working voltages value, determines described current The corresponding tachometer value of working voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than corresponding turn of the current running voltage value Otherwise speed value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
Preferably,
Before the externally input revolving speed control command of reception, further comprise:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, holding Otherwise row S3 executes S4;
S3: the externally input revolving speed control command of reception is executed;
S4: determine the current busbar voltage of the motor to be controlled no more than the under-voltage protection value duration whether Greater than preset under-voltage fault duration, if so, executing S5, otherwise, S3 is executed;
S5: the control motor to be controlled is out of service, exports for prompting the motor under-voltage fault to be controlled Two prompt informations.
Second aspect, the embodiment of the invention provides a kind of motor speed control devices, comprising:
Order receiver module, for receiving externally input revolving speed control command;
Information management module, for determining the current running voltage value and resonance region of the motor to be controlled, wherein described The revolving speed of motor to be controlled can produce shake when being located at the resonance region;
Revolving speed processing module, the current running voltage value and the life for being determined according to the information management module The corresponding tachometer value of the received revolving speed control command of receiving module is enabled, determine the motor to be controlled can running speed Value;According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;
Motor control module, the rotating speed of target value for being determined according to the revolving speed processing module, control it is described to Control motor operating.
Preferably,
The motor control module, comprising: revolving speed control submodule and loss of synchronism protection module;
The information management module, for the range of speeds of the preset motor to be divided at least one speed stage, Wherein, the corresponding preset fluctuation threshold of each described speed stage;
The revolving speed control submodule, for controlling the motor to be controlled according to preset acceleration for current rotating speed tune It saves to the corresponding revolving speed of the rotating speed of target value;
The loss of synchronism protection module, for determining that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;Really Whether the absolute value of the difference of the fixed estimated value and the rotating speed of target value is greater than target fluctuation threshold, wherein the target The mesh at least one described speed stage that the information management module where fluctuation threshold and the rotating speed of target value divides It is corresponding to mark speed stage;When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold When, determine that the absolute value of the estimated value and the difference of the rotating speed of target value is greater than the duration of the target undulating value It is no to be greater than preset step-out duration;When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target wave When the duration of dynamic value is greater than the step-out duration, it is out of service to control the motor to be controlled, and export for prompting State the first prompt information of motor desynchronizing to be controlled.
Preferably,
The revolving speed processing module, for described in determination can running speed value whether be located in the resonance region;If so, Using the object boundary value of the resonance region as the rotating speed of target value of the motor to be controlled;It otherwise, can running speed by described in Be worth rotating speed of target value as the motor to be controlled, wherein the object boundary value for the resonance region maximum value or most Small value.
Preferably,
Further comprise: information storage module;
The information storage module, at least two tachometer values and at least two working voltage values to be stored in advance, wherein Each tachometer value is corresponding with a working voltage value, and at least two tachometer value and corresponding working voltage value are linear Relationship;
The revolving speed processing module, for executing:
D1: at least two tachometer value and at least two working voltage stored according to the information storage module Value, determines the corresponding tachometer value of the current running voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than corresponding turn of the current running voltage value Otherwise speed value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
Preferably,
Further comprise: under-voltage protective module;
The under-voltage protective module, for executing:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, holding Otherwise row S3 executes S4;
S3: it triggers the Order receiver module and executes the externally input revolving speed control command of reception;
S4: determine the current busbar voltage of the motor to be controlled no more than the under-voltage protection value duration whether Greater than preset under-voltage fault duration, if so, executing S5, otherwise, S3 is executed;
S5: the control motor to be controlled is out of service, exports for prompting the motor under-voltage fault to be controlled Two prompt informations.
The embodiment of the invention provides a kind of motor speed control method and device, user can input according to demand and be used for The revolving speed control command of motor speed is controlled, it is right in conjunction with the current running voltage of motor to be controlled and revolving speed control command institute in this way The tachometer value answered, can determine that a motor to be controlled can run can running speed value, avoid revolving speed control command corresponding Revolving speed it is larger so that the actual speed of motor to be controlled, which does not increase, the bad situation of control effect occurs, in conjunction with can run The resonance region of tachometer value and motor to be controlled determines the rotating speed of target value that motor to be controlled finally needs to be implemented, so that reducing While motor to be controlled resonates, motor to be controlled is controlled according to user's control demand, user is improved and uses body It tests.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart for motor speed control method that one embodiment of the invention provides;
Fig. 2 is the flow chart for another motor speed control method that one embodiment of the invention provides;
Fig. 3 is a kind of schematic diagram for motor speed control device that one embodiment of the invention provides;
Fig. 4 is the schematic diagram for another motor speed control device that one embodiment of the invention provides;
Fig. 5 is the schematic diagram for another motor speed control device that one embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of motor speed control methods, comprising:
Step 101: receiving externally input revolving speed control command;
Step 102: determining the current running voltage value and resonance region of the motor to be controlled, wherein the electricity to be controlled The revolving speed of machine can produce shake when being located at the resonance region;
Step 103: according to the current running voltage value and the corresponding tachometer value of the revolving speed control command, determine described in Motor to be controlled can running speed value;
Step 104: according to it is described can running speed value and the resonance region, determine the rotating speed of target of the motor to be controlled Value;
Step 105: according to the rotating speed of target value, controlling the motor operating to be controlled.
In embodiments of the present invention, user can input the revolving speed control command for controlling motor speed according to demand, In this way in conjunction with motor to be controlled current running voltage and revolving speed control command corresponding to tachometer value, can determine one to Control motor can run can running speed value, avoid the corresponding revolving speed of revolving speed control command larger, so that motor to be controlled Actual speed, which does not increase, there is the bad situation of control effect, in conjunction with can running speed value and motor to be controlled resonance region, The rotating speed of target value that motor to be controlled finally needs to be implemented is determined, so as to press while reduction motor to be controlled resonates Motor to be controlled is controlled according to user's control demand, is improved the user experience.
In an embodiment of the present invention, it controls the motor to be controlled according to the rotating speed of target value described and operates it Before, further comprise:
The range of speeds of the preset motor is divided at least one speed stage, wherein each described speed stage A corresponding preset fluctuation threshold;
It is described according to the rotating speed of target value, control the motor operating to be controlled, comprising:
It controls the motor to be controlled and current rotating speed is adjusted to the rotating speed of target value correspondence according to preset acceleration Revolving speed;
Determine that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;
Determine whether the absolute value of the difference of the estimated value and the rotating speed of target value is greater than target fluctuation threshold, In, the rotating speed of target section at least one the described speed stage of the target fluctuation threshold where with the rotating speed of target value is opposite It answers;
When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold, determine Whether the duration that the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target undulating value is greater than Preset step-out duration;
When the absolute value of the estimated value and the difference of the rotating speed of target value be greater than the target undulating value it is lasting when When length is greater than the step-out duration, it is out of service to control the motor to be controlled, and export for prompting the motor to be controlled First prompt information of step-out.
In embodiments of the present invention, it when controlling motor to be controlled according to the operating of rotating speed of target value, needs to electricity to be controlled Machine carries out loss of synchronism protection detection when adjusting current rotating speed, i.e., by determining that motor to be controlled adjusts the estimation of revolving speed in Rotation Process Value and rotating speed of target value primarily determine that motor to be controlled is adjusted in Rotation Process with the presence or absence of exception, are determining motor to be controlled When operation exception, i.e., when the absolute value of the difference of the estimated value and rotating speed of target value of motor to be controlled is greater than target fluctuation threshold, Need further judge the absolute value of the difference of estimated value and rotating speed of target value greater than target fluctuation threshold duration whether Greater than preset step-out duration, to further determine that whether motor to be controlled is operating abnormally, in motor actual motion to be controlled When revolving speed can not keep up with rotating speed of target value corresponding revolving speed, it can determine that step-out phenomenon occurs for motor to be controlled, it is possible to right Motor to be controlled carries out shutdown processing, and exports the first prompt information, to prompt motor to be controlled that step-out phenomenon occurs, to reduce The probability that motor to be controlled causes motor internal mechanism to damage because of step-out.
Specifically, it is determined that motor to be controlled can be with the presence or absence of step-out phenomenon mode, different tachometer values is stored in advance Corresponding fluctuation of speed value, for example, the corresponding fluctuation of speed value of 1500~3000PRM of tachometer value is 300, tachometer value 0~ The corresponding fluctuation of speed value of 1500RPM is 40.Since revolving speed has differences with rotating speed of target motor to be controlled during operation, So theoretically the revolving speed of motor to be controlled is needed in rotating speed of target value, but the actual speed of motor to be controlled and the target turn The absolute value of the difference of fast value is no more than fluctuation of speed value corresponding to rotating speed of target value, i.e., it is believed that the motor to be controlled operates just Often.In order to improve judge motor desynchronizing protection failure accuracy, when motor to be controlled actual speed and rotating speed of target value it After absolute value of the difference continues certain time length (for example, 5ms) greater than corresponding fluctuation of speed value, it can determine that there are step-outs for the motor Phenomenon, therefore the first prompt information of prompt motor desynchronizing can be exported, and shutdown processing is carried out to motor.
Specifically, controlling mode that current rotating speed is adjusted to the corresponding revolving speed of rotating speed of target value by motor to be controlled can be with It is that can be controlled according to preset acceleration when controlling the raising speed or reduction of speed of motor to be controlled.For example, preset to Controlling acceleration of the motor in raising speed is X1, and the acceleration in reduction of speed is X2.So in the raising speed of motor to be controlled, press Motor to be controlled is accelerated according to acceleration X1, so as to the revolving speed of motor to be controlled is promoted to rotating speed of target as early as possible, it is maximum Degree shortens the duration of raising speed, improves the usage experience of user.Similarly, in motor reduction to be controlled, then according to acceleration X2 is to motor reduction to be controlled.
In an embodiment of the present invention, it is described according to can running speed value and the resonance region, determine described to be controlled The rotating speed of target value of motor processed, comprising:
It is described according to can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled, Include:
Described in determination can running speed value whether be located in the resonance region;
If so, using the object boundary value of the resonance region as the rotating speed of target value of the motor to be controlled;
Otherwise, using it is described can running speed value as the rotating speed of target value of the motor to be controlled, wherein the target side Dividing value is the maximum value or minimum value of the resonance region.
In embodiments of the present invention, by by can the resonance point of running speed value and resonance region be compared, can determine Can running speed value whether be located in resonance region, determination can running speed value be located in resonance region when, by the maximum of resonance region The rotating speed of target value that value or minimum value are finally run as motor to be controlled so that motor to be controlled avoids resonance region, prevent to Control motor, which encounters resonance region generation shake, causes internal mechanism to damage;Determination can running speed value be not located in resonance region When, then illustrate that motor to be controlled will not encounter resonance region in the speed regulation stage, therefore, can according to can running speed to be controlled Motor is controlled, to complete the demand for control of user.
In an embodiment of the present invention, before the externally input revolving speed control command of reception, further comprise:
At least two tachometer values and at least two working voltage values are stored in advance, wherein each tachometer value and a fortune Row voltage value is corresponding, and at least two tachometer value and corresponding working voltage value are in a linear relationship;
It is described according to the current running voltage value and the corresponding tachometer value of the revolving speed control command, determine described to be controlled Motor processed can running speed value, comprising:
D1: it according at least two tachometer value of storage and at least two working voltages value, determines described current The corresponding tachometer value of working voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than corresponding turn of the current running voltage value Otherwise speed value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
In embodiments of the present invention, by storing working voltage value that motor to be controlled can be run and corresponding running Maximum tachometer value, can in each PWM cycle of motor to be controlled, according to linear relationship working voltage value and Corresponding tachometer value can determine the motor to be controlled of detection tachometer value corresponding under current running voltage.Pass through again by The corresponding tachometer value of current running voltage value tachometer value corresponding with revolving speed control command is compared, and can determine revolving speed control Order whether corresponding revolving speed is more than revolving speed that motor to be controlled can be run under current running voltage, convenient for determining electricity to be controlled Machine under current running voltage can running speed, avoid motor overload to be controlled operation that internal mechanism is caused to damage.Due to The working voltage value of storage and corresponding tachometer value are corresponding in a linear relationship, so it is few to need to store numerical value, can reduce The memory space that information occupies can also reduce difficulty when storage information.
For example, the corresponding tachometer value 3000PRM and 220V of storage working voltage value 110V, 220V, 110V is corresponding Tachometer value 4000PRM.
When the current running voltage of voltage to be controlled is 165V, then motor to be controlled is at current running voltage 165V The revolving speed that can be run is 3500PRM.
In an embodiment of the present invention, before the externally input revolving speed control command of reception, further comprise:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, holding Otherwise row S3 executes S4;
S3: the externally input revolving speed control command of reception is executed;
S4: determine the current busbar voltage of the motor to be controlled no more than the under-voltage protection value duration whether Greater than preset under-voltage fault duration, if so, executing S5, otherwise, S3 is executed;
S5: the control motor to be controlled is out of service, exports for prompting the motor under-voltage fault to be controlled Two prompt informations.
In embodiments of the present invention, in each PWM cycle of motor to be controlled, motor to be controlled can be carried out under-voltage Protection detection, that is, detect the current busbar voltage of motor to be controlled, and be compared with preset under-voltage protection value, to determination Whether motor to be controlled is in under-voltage condition.To carry out dock to motor when determining that motor to be controlled is in under-voltage condition Reason, prevents equipment from burning because of overload, then export corresponding second prompt information, is in deficient so that outside understands motor to be controlled Pressure condition.And can receive externally input revolving speed control command after determining that motor to be controlled is not presently within under-voltage condition, And directly motor to be controlled is controlled according to the revolving speed control command, to shorten the time of control motor.
In order to more clearly illustrate technical solution of the present invention and advantage, below to one kind provided in an embodiment of the present invention Motor speed control method is described in detail, as shown in Fig. 2, can specifically include following steps:
Step 201: at least two tachometer values and at least two working voltage values are stored in advance, wherein each tachometer value Corresponding with a working voltage value, at least two tachometer values and corresponding working voltage value are in a linear relationship.
Specifically, tachometer value and corresponding working voltage value of the storage with linear relationship, it is to be controlled can to shorten determination The time of tachometer value corresponding to motor current running voltage value, while the difficulty and occupancy of storage tachometer value can also be reduced Space.
For example, tachometer value 1000RPM, tachometer value 3000RPM, the corresponding working voltage of tachometer value 1000RPM are stored The corresponding working voltage value 220V of value 160V, tachometer value 3000RPM, wherein tachometer value 1000RPM, tachometer value 3000RPM, fortune Row voltage value 160V and working voltage value 220V are in a linear relationship.
Step 202: the range of speeds of preset motor being divided at least one speed stage, wherein each speed stage A corresponding preset fluctuation threshold.
Specifically, the range of speeds that motor can be run is divided into different speed stages, not different speed stage settings Fluctuation threshold corresponding to different revolving speeds can determine whether motor to be controlled occurs step-out in electric machine speed regulation to be controlled Phenomenon.
For example, 0~2500RPM of the range of speeds that motor to be controlled can be run is divided into, 0~500RPM, 501~ The speed stage of 1000RPM, 1001~2000RPM and 2001~2500RPM;
When 0~500RPM of speed stage, corresponding fluctuation threshold is 20;
When 501~1000RPM of speed stage, corresponding fluctuation threshold is 50;
When 1001~2000RPM of speed stage, corresponding fluctuation threshold is 100;
When 2001~2500RPM of speed stage, corresponding fluctuation threshold is 150.
Step 203: detecting the current busbar voltage of motor to be controlled.
Step 204: determine whether the current busbar voltage of motor to be controlled is greater than preset under-voltage protection value, if so, Step 205 is executed, otherwise, executes step 217.
Specifically, at each PWM wave period of motor to be controlled, the current bus for the motor to be controlled that can detecte Voltage, and compared with preset under-voltage protection value, so as to determine whether motor to be controlled needs to carry out under-voltage protection.
Step 205: receiving externally input revolving speed control command, execute step 206.
Specifically, it when the current busbar voltage for determining motor to be controlled is greater than under-voltage protection value, can receive for controlling The revolving speed control command of motor speed processed, to control according to the demand of user motor to be controlled.
Step 206: determining the current running voltage value and resonance region of motor to be controlled, wherein the revolving speed of motor to be controlled It can produce shake when positioned at resonance region.
Step 207: according at least two tachometer values of storage and at least two working voltages value, determining current operation The corresponding tachometer value of voltage value.
Specifically, since the tachometer value of storage and corresponding working voltage value have linear relationship, so linear by this Relationship can determine the tachometer value for the maximum (top) speed that motor to be controlled can be run under the voltage of current running voltage value.
Step 208: determining whether the corresponding tachometer value of revolving speed control command is less than the corresponding revolving speed of current running voltage value Otherwise value, executes step 216 if so, executing step 209.
Specifically, turn the corresponding tachometer value of control command tachometer value corresponding with current running voltage by comparing, determine The revolving speed that motor to be controlled can be run under current running voltage can running speed value, so as to can running speed value according to this Motor to be controlled is controlled.
Step 209: using the corresponding tachometer value of revolving speed control command as motor to be controlled can running speed value, execute step Rapid 210.
Specifically, when the corresponding tachometer value of revolving speed control command tachometer value corresponding less than current running voltage, explanation Motor to be controlled can execute the revolving speed of the corresponding tachometer value of revolving speed control command, therefore, Ke Yigen under current running voltage Motor to be controlled is controlled according to the tachometer value.
Step 210: determination can running speed value whether be located in resonance region, if so, execute step 211, otherwise, execute Step 212.
Specifically, by determination can running speed value whether be located in resonance region, can determine that motor to be controlled is adjusting the speed Whether the stage can encounter resonance region, so as to avoid resonance region when encountering resonance region determining, prevent the revolving speed position of motor to be controlled In shaking motor in resonance region, motor is reduced because of the probability of resonance damage.
Step 211: using the object boundary value of resonance region as the rotating speed of target value of motor to be controlled, wherein object boundary Value is the maximum value or minimum value of resonance region, executes step 213.
Step 212: using can running speed value as the rotating speed of target value of motor to be controlled, execute step 212.
Step 213: controlling motor to be controlled according to preset acceleration and current rotating speed is adjusted to rotating speed of target value correspondence Revolving speed, execute step 214.
Specifically, after determining the rotating speed of target value of the rotating speed of target of motor to be controlled, that is, motor to be controlled can control to press Revolving speed is adjusted according to preset acceleration.For example, acceleration A when presetting motor raising speed, acceleration B when reduction of speed, It is so reduced in Rotation Process in motor to be controlled, motor reduction can be controlled according to acceleration B, so as to drop in the shortest time As low as the corresponding revolving speed of rotating speed of target value, accelerate in motor accelerator to be controlled according to acceleration B.
Step 214: determining that motor to be controlled is adjusted in Rotation Process with the presence or absence of step-out phenomenon, execute step 215.
Specifically, when determining whether motor occurs step-out phenomenon, it can first determine that motor to be controlled adjusts Rotation Process The estimated value of middle revolving speed, then the determining absolute value with the difference of rotating speed of target value, if be greater than target fluctuation threshold, wherein should Target fluctuation threshold is corresponding with the rotating speed of target section at least one speed stage where rotating speed of target value.Due to turning for motor There is the case where fluctuation in speed, therefore when estimated value and the absolute value of the difference of rotating speed of target value are not more than target fluctuation threshold, It can determine that motor speed to be controlled is normal, in normal fluctuation range, determine electricity to be controlled conversely, needing to further determine that The duration of the absolute value of the difference of the estimated value and rotating speed of target value of machine revolving speed, if greater than judging to be arranged when motor desynchronizing Step-out duration, if it is, corresponding first prompt information of output, to prompt motor desynchronizing to be controlled, and carries out motor Shutdown processing prevents step-out damage motor internal mechanism from otherwise can determine that motor speed to be controlled belongs to normal fluctuation.
Step 215: there are when step-out phenomenon, control motor to be controlled to stop fortune during motor to be controlled turns speed Row, and the first prompt information for prompting motor desynchronizing to be controlled is exported, terminate current process.
Specifically, determining that motor to be controlled, there are when step-out phenomenon, can control motor to be controlled in speed regulation process It shuts down, and inputs corresponding prompt information, step-out phenomenon occur with the external motor to be controlled of prompt, understand convenient for outside to be controlled The operation conditions of motor.
Step 216: using the corresponding tachometer value of current running voltage value as motor to be controlled can running speed value, execute Step 210.
Specifically, when the corresponding tachometer value of revolving speed control command tachometer value corresponding not less than current running voltage value, Can using the corresponding tachometer value of current running voltage value as motor to be controlled can running speed value, to avoid motor to be controlled Exceed motor operation ability according to the corresponding tachometer value operating of revolving speed control command, motor is caused to break down.
Step 217: determining whether the current busbar voltage of motor to be controlled is big no more than the duration of under-voltage protection value In preset under-voltage fault duration, if so, executing step 218, otherwise, step 205 is executed.
Specifically, due to voltage, voltage value is likely lower than the under-voltage protection value of setting in wave process, but voltage wave Dynamic is not lasting, therefore in order to avoid undervoltage condition occurs for erroneous judgement motor, can determine that being in for the motor to be controlled is under-voltage Whether the duration of state is greater than preset under-voltage fault duration, whether is really in under-voltage condition with determination motor to be controlled.
Step 218: controlling that motor to be controlled is out of service, export for prompting the second of motor under-voltage fault to be controlled to mention Show information.
Specifically, when determining that motor to be controlled occurs under-voltage, corresponding prompt information can be exported, to prompt external electrical The operating status of machine, and motor stopping is controlled, it avoids leading to motor damage because under-voltage.
As shown in figure 3, the embodiment of the invention provides a kind of motor speed control devices, comprising:
Order receiver module 301, for receiving externally input revolving speed control command;
Information management module 302, for determining the current running voltage value and resonance region of the motor to be controlled, wherein The revolving speed of the motor to be controlled can produce shake when being located at the resonance region;
Revolving speed processing module 303, for according to the information management module 302 determine the current running voltage value and The corresponding tachometer value of the received revolving speed control command of the Order receiver module 301, determine the motor to be controlled can Running speed value;According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;
Motor control module 304, the rotating speed of target value for being determined according to the revolving speed processing module 303, control The motor operating to be controlled.
In embodiments of the present invention, user can input the revolving speed control command for controlling motor speed according to demand, The current running voltage and Order receiver module of the determining motor to be controlled of revolving speed processing module combining information management module in this way Tachometer value corresponding to received revolving speed control command, can determine that a motor to be controlled can run can running speed Value, avoids the corresponding revolving speed of revolving speed control command larger, so that the actual speed of motor to be controlled does not increase and control effect occurs Bad situation, in conjunction with can running speed value and motor to be controlled resonance region, determine motor control module control it is to be controlled The rotating speed of target value that motor finally needs to be implemented, so that while reduction motor to be controlled resonates, according to user's control Demand controls motor to be controlled, improves the user experience.
In an embodiment of the present invention, the motor control module, comprising: revolving speed control submodule and loss of synchronism protection mould Block;
The information management module, for the range of speeds of the preset motor to be divided at least one speed stage, Wherein, the corresponding preset fluctuation threshold of each described speed stage;
The revolving speed control submodule, for controlling the motor to be controlled according to preset acceleration for current rotating speed tune It saves to the corresponding revolving speed of the rotating speed of target value;
The loss of synchronism protection module, for determining that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;Really Whether the absolute value of the difference of the fixed estimated value and the rotating speed of target value is greater than target fluctuation threshold, wherein the target The mesh at least one described speed stage that the information management module where fluctuation threshold and the rotating speed of target value divides It is corresponding to mark speed stage;When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold When, determine that the absolute value of the estimated value and the difference of the rotating speed of target value is greater than the duration of the target undulating value It is no to be greater than preset step-out duration;When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target wave When the duration of dynamic value is greater than the step-out duration, it is out of service to control the motor to be controlled, and export for prompting State the first prompt information of motor desynchronizing to be controlled.
In an embodiment of the present invention, the revolving speed processing module, for described in determination can running speed value whether be located at In the resonance region;If so, using the object boundary value of the resonance region as the rotating speed of target value of the motor to be controlled;It is no Then, using it is described can running speed value as the rotating speed of target value of the motor to be controlled, wherein the object boundary value is described The maximum value or minimum value of resonance region.
In an embodiment of the present invention, as shown in figure 4, the motor speed control device further comprises: information storage Module 401;
The information storage module 401, at least two tachometer values and at least two working voltage values to be stored in advance, In, each tachometer value is corresponding with a working voltage value, and at least two tachometer value is in corresponding working voltage value Linear relationship;
The revolving speed processing module 303, for executing:
D1: at least two tachometer value and at least two working voltage stored according to the information storage module Value, determines the corresponding tachometer value of the current running voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than corresponding turn of the current running voltage value Otherwise speed value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
In an embodiment of the present invention, as shown in figure 5, the motor speed control device further comprises: under-voltage protection Module 501;
The under-voltage protective module 501, for executing:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, holding Otherwise row S3 executes S4;
S3: it triggers the Order receiver module 301 and executes the externally input revolving speed control command of reception;
S4: determine the current busbar voltage of the motor to be controlled no more than the under-voltage protection value duration whether Greater than preset under-voltage fault duration, if so, executing S5, otherwise, S3 is executed;
S5: the control motor to be controlled is out of service, exports for prompting the motor under-voltage fault to be controlled Two prompt informations.
The each embodiment of the present invention at least has the following beneficial effects:
1, in an embodiment of the present invention, user can input the control life of the revolving speed for controlling motor speed according to demand It enables, in this way the tachometer value in conjunction with corresponding to the current running voltage of motor to be controlled and revolving speed control command, can determine one A motor to be controlled can run can running speed value, avoid the corresponding revolving speed of revolving speed control command larger, so that electricity to be controlled The actual speed of machine, which does not increase, there is the bad situation of control effect, in conjunction with can running speed value and motor to be controlled resonance Area determines the rotating speed of target value that motor to be controlled finally needs to be implemented, so that while reduction motor to be controlled resonates, Motor to be controlled is controlled according to user's control demand, is improved the user experience.
2, it in an embodiment of the present invention, when controlling motor to be controlled according to the operating of rotating speed of target value, needs to be controlled Motor processed carries out loss of synchronism protection detection when adjusting current rotating speed, i.e., by determining that motor to be controlled adjusts revolving speed in Rotation Process Estimated value and rotating speed of target value primarily determine that motor to be controlled is adjusted with the presence or absence of exception in Rotation Process, to be controlled determining When motor operation exception, i.e., the absolute value of the difference of the estimated value and rotating speed of target value of motor to be controlled is greater than target fluctuation threshold When, need further to judge that the absolute value of estimated value and the difference of rotating speed of target value is greater than the duration of target fluctuation threshold It is no to be greater than preset step-out duration, to further determine that whether motor to be controlled is operating abnormally, in motor actual motion to be controlled Revolving speed when can not keep up with the corresponding revolving speed of rotating speed of target value, can determine that step-out phenomenon occurs for motor to be controlled, it is possible to Shutdown processing is carried out to motor to be controlled, and exports the first prompt information, to prompt motor to be controlled that step-out phenomenon occurs, with drop The probability that low motor to be controlled causes motor internal mechanism to damage because of step-out.
3, in an embodiment of the present invention, by by can the resonance point of running speed value and resonance region be compared, can be with Determination can running speed value whether be located in resonance region, determination can running speed value be located in resonance region when, by resonance region The rotating speed of target value that maximum value or minimum value are finally run as motor to be controlled is prevented so that motor to be controlled avoids resonance region Only motor to be controlled, which encounters resonance region generation shake, causes internal mechanism to damage;Determination can running speed value be not located at resonance region When interior, then illustrate that motor to be controlled will not encounter resonance region in the speed regulation stage, therefore, can according to can running speed to be controlled Motor processed is controlled, to complete the demand for control of user.
4, in an embodiment of the present invention, by storing working voltage value that motor to be controlled can be run and corresponding transporting Capable maximum tachometer value, can be in each PWM cycle of motor to be controlled, according to the working voltage with linear relationship Value and corresponding tachometer value can determine the motor to be controlled of detection tachometer value corresponding under current running voltage.Lead to again It crosses and the corresponding tachometer value of current running voltage value tachometer value corresponding with revolving speed control command is compared, can determine revolving speed Whether the corresponding revolving speed of control command is more than revolving speed that motor to be controlled can be run under current running voltage, to be controlled convenient for determination Motor processed under current running voltage can running speed, avoid motor overload to be controlled operation that internal mechanism is caused to damage. It, can be with so it is few to need to store numerical value since the working voltage value of storage and corresponding tachometer value are corresponding in a linear relationship The memory space that information occupies is reduced, difficulty when storage information can also be reduced.
5, in an embodiment of the present invention, in each PWM cycle of motor to be controlled, motor to be controlled can be carried out Under-voltage protection detection, that is, detect the current busbar voltage of motor to be controlled, and be compared with preset under-voltage protection value, to Determine whether motor to be controlled is in under-voltage condition.To stop when determining that motor to be controlled is in under-voltage condition to motor Machine processing, prevents equipment from burning because of overload, then export corresponding second prompt information, so that outside understands at motor to be controlled In under-voltage condition.And it can receive externally input revolving speed control life after determining that motor to be controlled is not presently within under-voltage condition It enables, and directly motor to be controlled is controlled according to the revolving speed control command, to shorten the time of control motor.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non- It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements, It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention, Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.

Claims (10)

1. a kind of motor speed control method characterized by comprising
Receive externally input revolving speed control command;
Determine the current running voltage value and resonance region of the motor to be controlled, wherein the revolving speed of the motor to be controlled is located at It can produce shake when the resonance region;
According to the current running voltage value and the corresponding tachometer value of the revolving speed control command, the motor to be controlled is determined It can running speed value;
According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;
According to the rotating speed of target value, the motor operating to be controlled is controlled.
2. the method according to claim 1, wherein
Further comprise before controlling the motor operating to be controlled according to the rotating speed of target value described:
The range of speeds of the preset motor is divided at least one speed stage, wherein each described speed stage is corresponding One preset fluctuation threshold;
It is described according to the rotating speed of target value, control the motor operating to be controlled, comprising:
It controls the motor to be controlled and current rotating speed is adjusted to corresponding turn of the rotating speed of target value according to preset acceleration Speed;
Determine that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;
Determine whether the absolute value of the difference of the estimated value and the rotating speed of target value is greater than target fluctuation threshold, wherein institute The rotating speed of target section stated at least one the described speed stage of target fluctuation threshold where with the rotating speed of target value is corresponding;
When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold, described in determination It is default whether the duration that estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target undulating value is greater than Step-out duration;
When the duration that the absolute value of the estimated value and the difference of the rotating speed of target value is greater than the target undulating value is big When the step-out duration, it is out of service to control the motor to be controlled, and export for prompting the motor desynchronizing to be controlled The first prompt information.
3. the method according to claim 1, wherein
It is described according to can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled, comprising:
Described in determination can running speed value whether be located in the resonance region;
If so, using the object boundary value of the resonance region as the rotating speed of target value of the motor to be controlled;
Otherwise, using it is described can running speed value as the rotating speed of target value of the motor to be controlled, wherein the object boundary value For the maximum value or minimum value of the resonance region.
4. the method according to claim 1, wherein
Before the externally input revolving speed control command of reception, further comprise:
At least two tachometer values and at least two working voltage values are stored in advance, wherein each tachometer value and an operation electricity Pressure value is corresponding, and at least two tachometer value and corresponding working voltage value are in a linear relationship;
It is described according to the current running voltage value and the corresponding tachometer value of the revolving speed control command, determine the electricity to be controlled Machine can running speed value, comprising:
D1: according at least two tachometer value of storage and at least two working voltages value, the current operation is determined The corresponding tachometer value of voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than the corresponding revolving speed of the current running voltage value Otherwise value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
5. according to claim 1 to any method in 4, which is characterized in that
Before the externally input revolving speed control command of reception, further comprise:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, executing Otherwise S3 executes S4;
S3: the externally input revolving speed control command of reception is executed;
S4: determine whether the current busbar voltage of the motor to be controlled is greater than no more than the duration of the under-voltage protection value Otherwise preset under-voltage fault duration, executes S3 if so, executing S5;
S5: the control motor to be controlled is out of service, exports for prompting the second of the motor under-voltage fault to be controlled to mention Show information.
6. a kind of motor speed control device characterized by comprising
Order receiver module, for receiving externally input revolving speed control command;
Information management module, for determining the current running voltage value and resonance region of the motor to be controlled, wherein described to be controlled The revolving speed of motor processed can produce shake when being located at the resonance region;
Revolving speed processing module, the current running voltage value and the order for being determined according to the information management module connect The corresponding tachometer value of the received revolving speed control command of module is received, determine the motor to be controlled can running speed value;Root According to it is described can running speed value and the resonance region, determine the rotating speed of target value of the motor to be controlled;
Motor control module, the rotating speed of target value for being determined according to the revolving speed processing module, controls described to be controlled Motor operating.
7. device according to claim 6, which is characterized in that the motor control module, comprising: revolving speed control submodule With loss of synchronism protection module;
The information management module, for the range of speeds of the preset motor to be divided at least one speed stage, wherein The corresponding preset fluctuation threshold of each described speed stage;
Current rotating speed is adjusted to for controlling the motor to be controlled according to preset acceleration by the revolving speed control submodule The corresponding revolving speed of the rotating speed of target value;
The loss of synchronism protection module, for determining that the motor to be controlled adjusts the estimated value of revolving speed in Rotation Process;Determine institute Whether the absolute value for stating the difference of estimated value and the rotating speed of target value is greater than target fluctuation threshold, wherein the target fluctuation The target at least one described speed stage that the information management module where threshold value and the rotating speed of target value divides turns Fast section is corresponding;When the estimated value and the absolute value of the difference of the rotating speed of target value are greater than the target fluctuation threshold, Determine the absolute value of the difference of the estimated value and the rotating speed of target value be greater than the target undulating value duration whether Greater than preset step-out duration;When the estimated value and the absolute value of the difference of the rotating speed of target value are fluctuated greater than the target When the duration of value is greater than the step-out duration, it is out of service to control the motor to be controlled, and exports described for prompting First prompt information of motor desynchronizing to be controlled.
8. device according to claim 6, which is characterized in that
The revolving speed processing module, for described in determination can running speed value whether be located in the resonance region;If so, by institute State rotating speed of target value of the object boundary value of resonance region as the motor to be controlled;It otherwise, can running speed value work by described in For the rotating speed of target value of the motor to be controlled, wherein the object boundary value is the maximum value or minimum value of the resonance region.
9. device according to claim 6, which is characterized in that further comprise: information storage module;
The information storage module, at least two tachometer values and at least two working voltage values to be stored in advance, wherein each A tachometer value is corresponding with a working voltage value, and at least two tachometer value is linearly closed with corresponding working voltage value System;
The revolving speed processing module, for executing:
D1: at least two tachometer value stored according to the information storage module and at least two working voltages value, Determine the corresponding tachometer value of the current running voltage value;
D2: determine whether the corresponding tachometer value of the revolving speed control command is less than the corresponding revolving speed of the current running voltage value Otherwise value, executes D4 if so, executing D3;
D3: using the corresponding tachometer value of the revolving speed control command as the motor to be controlled can running speed value;
D4: using the corresponding tachometer value of the current running voltage value as the motor to be controlled can running speed value.
10. according to the device any in claim 6 to 9, which is characterized in that further comprise: under-voltage protective module;
The under-voltage protective module, for executing:
S1: the current busbar voltage of motor to be controlled is detected;
S2: determining whether the current busbar voltage of the motor to be controlled is greater than preset under-voltage protection value, if so, executing Otherwise S3 executes S4;
S3: it triggers the Order receiver module and executes the externally input revolving speed control command of reception;
S4: determine whether the current busbar voltage of the motor to be controlled is greater than no more than the duration of the under-voltage protection value Otherwise preset under-voltage fault duration, executes S3 if so, executing S5;
S5: the control motor to be controlled is out of service, exports for prompting the second of the motor under-voltage fault to be controlled to mention Show information.
CN201910630107.7A 2019-07-12 2019-07-12 Motor rotating speed control method and device CN110350846B (en)

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