CN110350846B - Motor rotating speed control method and device - Google Patents
Motor rotating speed control method and device Download PDFInfo
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- CN110350846B CN110350846B CN201910630107.7A CN201910630107A CN110350846B CN 110350846 B CN110350846 B CN 110350846B CN 201910630107 A CN201910630107 A CN 201910630107A CN 110350846 B CN110350846 B CN 110350846B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency 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
- H02H7/08—Emergency 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency 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
- H02H7/08—Emergency 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
- H02H7/09—Emergency 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
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
The invention provides a method and a device for controlling the rotating speed of a motor, comprising the following steps: receiving a rotating speed control command input from the outside; determining a current operation voltage value and a resonance region of a motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region; determining an operable rotating speed value of the motor to be controlled according to the current operating voltage value and the rotating speed value corresponding to the rotating speed control command; determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area; and controlling the motor to be controlled to operate according to the target rotating speed value. The scheme can improve the use experience of the user.
Description
Technical Field
The invention relates to the technical field of motor driving, in particular to a method and a device for controlling the rotating speed of a motor.
Background
With the rapid progress of science and technology, the artificial intelligent household appliance is also applied to our lives, and more convenience is provided for our happy lives.
At present, a motor generally has a working rotating speed range on household appliances such as a refrigerator, an air conditioner, a washing machine and the like, for example, the working range on the refrigerator is generally 1200RPM (revolutions per minute) to 4500RPM, a control panel generally transmits a rotating speed command to a driving plate according to the difference between the actual temperature and the set temperature of the refrigerator, and the driving plate controls the motor to operate according to the rotating speed command.
However, in some special cases, a voltage drop or a voltage fluctuation is large, for example, when the rotation speed corresponding to the rotation speed command is large, even if the field weakening control is applied, the actual rotation speed of the motor is not maintained, and the control effect is not good, so that the user experience is poor.
Disclosure of Invention
The embodiment of the invention provides a motor rotating speed control method and device, which can improve the user experience.
In a first aspect, an embodiment of the present invention provides a method for controlling a rotation speed of a motor, including:
receiving a rotating speed control command input from the outside;
determining a current operation voltage value and a resonance region of the motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region;
determining an operable rotating speed value of the motor to be controlled according to the current operating voltage value and a rotating speed value corresponding to the rotating speed control command;
determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
and controlling the motor to be controlled to operate according to the target rotating speed value.
Preferably, the first and second electrodes are formed of a metal,
before the controlling the motor to be controlled to operate according to the target rotating speed value, the method further comprises the following steps:
dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the controlling the motor to be controlled to operate according to the target rotating speed value comprises the following steps:
controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to a preset acceleration;
determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process;
determining whether an absolute value of a difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section of the at least one rotation speed section in which the target rotation speed value is located;
when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the absolute value of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation value is larger than a preset out-of-step duration;
and when the absolute value of the difference value between the estimated value and the target rotating speed value is greater than the out-of-step duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the out-of-step of the motor to be controlled.
Preferably, the first and second electrodes are formed of a metal,
determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area, wherein the determining comprises the following steps:
determining whether the operational speed value is within the resonance zone;
if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled;
otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
Preferably, the first and second electrodes are formed of a metal,
before the receiving of the externally input rotation speed control command, the method further comprises:
the method comprises the steps that at least two rotating speed values and at least two operating voltage values are stored in advance, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation;
the determining the operable rotating speed value of the motor to be controlled according to the current operating voltage value and the rotating speed value corresponding to the rotating speed control command comprises the following steps:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two stored rotating speed values and the at least two operating voltage values;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
Preferably, the first and second electrodes are formed of a metal,
before the receiving of the externally input rotation speed control command, the method further comprises:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: executing the rotation speed control command for receiving external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
In a second aspect, an embodiment of the present invention provides a motor rotation speed control apparatus, including:
the command receiving module is used for receiving an externally input rotating speed control command;
the information management module is used for determining the current operating voltage value and the resonance region of the motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region;
the rotating speed processing module is used for determining the operable rotating speed value of the motor to be controlled according to the current operating voltage value determined by the information management module and the rotating speed value corresponding to the rotating speed control command received by the command receiving module; determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
and the motor control module is used for controlling the motor to be controlled to operate according to the target rotating speed value determined by the rotating speed processing module.
Preferably, the first and second electrodes are formed of a metal,
the motor control module includes: the rotating speed control submodule and the step-out protection module;
the information management module is used for dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the rotating speed control submodule is used for controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to the preset acceleration;
the step-out protection module is used for determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process; determining whether the absolute value of the difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section in the at least one rotation speed section divided by the information management module where the target rotation speed value is located; when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the absolute value of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation value is larger than a preset out-of-step duration; and when the absolute value of the difference value between the estimated value and the target rotating speed value is greater than the out-of-step duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the out-of-step of the motor to be controlled.
Preferably, the first and second electrodes are formed of a metal,
the rotating speed processing module is used for determining whether the operable rotating speed value is positioned in the resonance area; if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled; otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
Preferably, the first and second electrodes are formed of a metal,
further comprising: an information storage module;
the information storage module is used for pre-storing at least two rotating speed values and at least two operating voltage values, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation;
the rotating speed processing module is used for executing the following steps:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two rotating speed values and the at least two operating voltage values stored by the information storage module;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
Preferably, the first and second electrodes are formed of a metal,
further comprising: an undervoltage protection module;
the undervoltage protection module is used for executing:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: triggering the command receiving module to execute the rotating speed control command for receiving external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
The embodiment of the invention provides a motor rotating speed control method and a motor rotating speed control device, wherein a user can input a rotating speed control command for controlling the rotating speed of a motor according to requirements, so that a runnable rotating speed value of the motor to be controlled can be determined by combining the current operating voltage of the motor to be controlled and the rotating speed value corresponding to the rotating speed control command, the rotating speed corresponding to the rotating speed control command is prevented from being large, the situation of poor control effect does not occur on the actual speed of the motor to be controlled, and then a target rotating speed value which is finally required to be executed by the motor to be controlled is determined by combining the runnable rotating speed value and a resonance area of the motor to be controlled, so that the motor to be controlled is controlled according to the control requirements of the user while the resonance of the motor to be controlled is reduced, and the.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a rotational speed of a motor according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling the rotational speed of a motor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a motor rotation speed control apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another motor speed control apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another motor rotation speed control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a rotation speed of a motor, including:
step 101: receiving a rotating speed control command input from the outside;
step 102: determining a current operation voltage value and a resonance region of the motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region;
step 103: determining an operable rotating speed value of the motor to be controlled according to the current operating voltage value and a rotating speed value corresponding to the rotating speed control command;
step 104: determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
step 105: and controlling the motor to be controlled to operate according to the target rotating speed value.
In the embodiment of the invention, a user can input a rotating speed control command for controlling the rotating speed of the motor according to requirements, so that an operable rotating speed value of the motor to be controlled can be determined by combining the current operating voltage of the motor to be controlled and the rotating speed value corresponding to the rotating speed control command, the rotating speed value corresponding to the rotating speed control command is prevented from being large, the situation of poor control effect does not occur on the actual speed of the motor to be controlled, and then the target rotating speed value which is finally required to be executed by the motor to be controlled is determined by combining the operable rotating speed value and the resonance area of the motor to be controlled, so that the motor to be controlled is controlled according to the control requirements of the user while the resonance of the motor to be controlled is reduced, and the use experience of the user.
In an embodiment of the present invention, before the controlling the operation of the motor to be controlled according to the target rotation speed value, the method further includes:
dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the controlling the motor to be controlled to operate according to the target rotating speed value comprises the following steps:
controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to a preset acceleration;
determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process;
determining whether an absolute value of a difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section of the at least one rotation speed section in which the target rotation speed value is located;
when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the absolute value of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation value is larger than a preset out-of-step duration;
and when the absolute value of the difference value between the estimated value and the target rotating speed value is greater than the out-of-step duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the out-of-step of the motor to be controlled.
In the embodiment of the invention, when the motor to be controlled is controlled to operate according to the target rotating speed value, the out-of-step protection detection is required to be carried out when the current rotating speed of the motor to be controlled is regulated, namely whether the motor to be controlled has abnormality in the rotating speed regulation process is preliminarily determined by determining the estimated value of the rotating speed in the rotating speed regulation process of the motor to be controlled and the target rotating speed value, when the motor to be controlled is determined to have abnormality in the operation, namely the absolute value of the difference value between the estimated value of the motor to be controlled and the target rotating speed value is greater than the target fluctuation threshold value, whether the duration time of the difference value between the estimated value and the target rotating speed value is greater than the preset out-of-step time length is further determined to determine whether the motor to be controlled has abnormality in the operation, and when the actual operating rotating speed of the motor to be controlled cannot keep up with the rotating, therefore, the motor to be controlled can be shut down, the first prompt information is output to prompt the motor to be controlled to be out of step, and the probability that the motor to be controlled is damaged due to the out of step is reduced.
Specifically, the method for determining whether the motor to be controlled has the step-out phenomenon may be to pre-store the rotation speed fluctuation values corresponding to different rotation speed values, for example, the rotation speed fluctuation value corresponding to the rotation speed value 1500-3000 PRM is 300, and the rotation speed fluctuation value corresponding to the rotation speed value 0-1500 RPM is 40. Because the rotating speed of the motor to be controlled is different from the target rotating speed in the operation process, theoretically, the rotating speed of the motor to be controlled needs to be at the target rotating speed value, but the absolute value of the difference between the actual rotating speed of the motor to be controlled and the target rotating speed value is not greater than the rotating speed fluctuation value corresponding to the target rotating speed value, and the motor to be controlled can be considered to normally operate. In order to improve the accuracy of judging the motor step-out protection fault, when the absolute value of the difference between the actual rotating speed and the target rotating speed of the motor to be controlled is greater than the corresponding rotating speed fluctuation value for a certain duration (for example, 5ms), the motor can be determined to have the step-out phenomenon, so that first prompt information for prompting the step-out of the motor can be output, and the motor is stopped.
Specifically, the manner of controlling the motor to be controlled to adjust the current rotation speed to the rotation speed corresponding to the target rotation speed value may be that the motor to be controlled is controlled according to a preset acceleration when the motor to be controlled is controlled to increase or decrease the rotation speed. For example, the acceleration of the motor to be controlled at the time of acceleration is set to X1 and the acceleration at the time of deceleration is set to X2 in advance. When the speed of the motor to be controlled is increased, the motor to be controlled is accelerated according to the acceleration X1, so that the rotating speed of the motor to be controlled is increased to the target rotating speed as soon as possible, the speed increasing duration is shortened to the greatest extent, and the use experience of a user is improved. Similarly, when the motor to be controlled is decelerated, the motor to be controlled is decelerated according to the acceleration X2.
In an embodiment of the present invention, the determining the target rotation speed value of the motor to be controlled according to the operable rotation speed value and the resonance area includes:
determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area, wherein the determining comprises the following steps:
determining whether the operational speed value is within the resonance zone;
if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled;
otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
In the embodiment of the invention, whether the operable rotating speed value is positioned in the resonance area can be determined by comparing the operable rotating speed value with the resonance point of the resonance area, and when the operable rotating speed value is determined to be positioned in the resonance area, the maximum value or the minimum value of the resonance area is taken as the final operating target rotating speed value of the motor to be controlled, so that the motor to be controlled avoids the resonance area, and the damage of an internal mechanism caused by the shaking of the motor to be controlled in the resonance area is prevented; when the operable rotating speed value is determined not to be located in the resonance area, the situation that the motor to be controlled does not meet the resonance area in the speed regulating stage is indicated, and therefore the motor to be controlled can be controlled according to the operable rotating speed so as to meet the control requirement of a user.
In an embodiment of the present invention, before the receiving of the externally input rotational speed control command, the method further includes:
the method comprises the steps that at least two rotating speed values and at least two operating voltage values are stored in advance, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation;
the determining the operable rotating speed value of the motor to be controlled according to the current operating voltage value and the rotating speed value corresponding to the rotating speed control command comprises the following steps:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two stored rotating speed values and the at least two operating voltage values;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
In the embodiment of the invention, by storing the operable operating voltage value of the motor to be controlled and the corresponding operable maximum rotating speed value, the rotating speed value corresponding to the detected motor to be controlled under the current operating voltage can be determined according to the operating voltage value and the corresponding rotating speed value with linear relation in each PWM period of the motor to be controlled. And comparing the rotating speed value corresponding to the current operating voltage value with the rotating speed value corresponding to the rotating speed control command, so that whether the rotating speed corresponding to the rotating speed control command exceeds the operable rotating speed of the motor to be controlled under the current operating voltage can be determined, the operable rotating speed of the motor to be controlled under the current operating voltage can be conveniently determined, and the damage to an internal mechanism caused by overload operation of the motor to be controlled is avoided. Because the stored operating voltage value and the corresponding rotating speed value are in a corresponding linear relation, the number of the stored values is small, the storage space occupied by information can be reduced, and the difficulty in storing the information can be reduced.
For example, the operation voltage values 110V, 220V, 3000PRM corresponding to 110V and 4000PRM corresponding to 220V are stored.
When the current operation voltage of the voltage to be controlled is 165V, the operable rotating speed of the motor to be controlled under the current operation voltage 165V is 3500 PRM.
In an embodiment of the present invention, before the receiving of the externally input rotational speed control command, the method further includes:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: executing the rotation speed control command for receiving external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
In the embodiment of the present invention, in each PWM period of the motor to be controlled, under-voltage protection detection may be performed on the motor to be controlled, that is, the current bus voltage of the motor to be controlled is detected and compared with a preset under-voltage protection value, so as to determine whether the motor to be controlled is in an under-voltage state. So as to carry out shutdown processing on the motor when determining that the motor to be controlled is in the undervoltage state, prevent the equipment from being burnt out due to overload, and then output corresponding second prompt information so that the outside knows that the motor to be controlled is in the undervoltage state. And after determining that the motor to be controlled is not in the undervoltage state currently, the motor to be controlled can receive an externally input rotating speed control command and directly control the motor to be controlled according to the rotating speed control command so as to shorten the time for controlling the motor.
In order to more clearly illustrate the technical solution and advantages of the present invention, the following describes in detail a method for controlling a rotational speed of a motor according to an embodiment of the present invention, as shown in fig. 2, the method may specifically include the following steps:
step 201: at least two rotating speed values and at least two operating voltage values are stored in advance, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation.
Specifically, the rotating speed value and the corresponding operating voltage value which have a linear relation are stored, so that the time for determining the rotating speed value corresponding to the current operating voltage value of the motor to be controlled can be shortened, and the difficulty and the occupied space for storing the rotating speed value can be reduced.
For example, a rotation speed value of 1000RPM, a rotation speed value of 3000RPM, an operation voltage value of 160V corresponding to the rotation speed value of 1000RPM, and an operation voltage value of 220V corresponding to the rotation speed value of 3000RPM are stored, wherein the rotation speed value of 1000RPM, the rotation speed value of 3000RPM, the operation voltage value of 160V, and the operation voltage value of 220V are in a linear relationship.
Step 202: the preset rotating speed range of the motor is divided into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value.
Specifically, the operable rotating speed range of the motor is divided into different rotating speed sections, and fluctuation thresholds corresponding to different rotating speeds are not set in the different rotating speed sections, so that whether the motor to be controlled is out of step or not can be determined when the motor to be controlled is regulated.
For example, the operable rotation speed range of the motor to be controlled is divided into rotation speed sections of 0-500 RPM, 501-1000 RPM, 1001-2000 RPM and 2001-2500 RPM;
when the rotating speed section is 0-500 RPM, the corresponding fluctuation threshold value is 20;
when the rotating speed section is 501-1000 RPM, the corresponding fluctuation threshold value is 50;
when the rotating speed section is 1001-2000 RPM, the corresponding fluctuation threshold value is 100;
when the rotating speed section is 2001-2500 RPM, the corresponding fluctuation threshold value is 150.
Step 203: and detecting the current bus voltage of the motor to be controlled.
Step 204: and (4) determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing step 205, otherwise, executing step 217.
Specifically, when each PWM wave cycle of the motor to be controlled is executed, the current bus voltage of the motor to be controlled, which can be detected, is compared with a preset undervoltage protection value, so as to determine whether the motor to be controlled needs undervoltage protection.
Step 205: and step 206 is executed after receiving the rotation speed control command input from the outside.
Specifically, when it is determined that the current bus voltage of the motor to be controlled is greater than the under-voltage protection value, a rotation speed control command for controlling the rotation speed of the motor can be received, so that the motor to be controlled is controlled according to the requirements of a user.
Step 206: and determining the current operation voltage value and the resonance region of the motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region.
Step 207: and determining a rotating speed value corresponding to the current operating voltage value according to the at least two stored rotating speed values and the at least two operating voltage values.
In particular, since the stored rotational speed value and the corresponding operating voltage value have a linear relationship, the rotational speed value of the maximum rotational speed at which the motor to be controlled can be operated at the voltage of the current operating voltage value can be determined by this linear relationship.
Step 208: and determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing step 209, otherwise, executing step 216.
Specifically, an operable rotation speed value of the rotation speed of the motor to be controlled under the current operation voltage is determined by comparing a rotation speed value corresponding to the rotation control command with a rotation speed value corresponding to the current operation voltage, so that the motor to be controlled is controlled according to the operable rotation speed value.
Step 209: and step 210 is executed by taking the rotating speed value corresponding to the rotating speed control command as the operable rotating speed value of the motor to be controlled.
Specifically, when the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage, it is indicated that the rotating speed of the motor to be controlled corresponding to the rotating speed control command can be executed under the current operating voltage, and therefore, the motor to be controlled can be controlled according to the rotating speed value.
Step 210: it is determined whether the operable speed value is within the resonance region, if so, step 211 is performed, otherwise, step 212 is performed.
Specifically, whether the motor to be controlled meets the resonance area in the speed regulation stage can be determined by determining whether the operable rotating speed value is located in the resonance area, so that the motor to be controlled avoids the resonance area when the motor to be controlled meets the resonance area, the rotating speed of the motor to be controlled is prevented from being located in the resonance area, the motor is prevented from shaking, and the probability of damage of the motor due to resonance is reduced.
Step 211: and step 213 is executed by taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
Step 212: and step 212 is executed by taking the operable rotating speed value as a target rotating speed value of the motor to be controlled.
Step 213: and controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to the preset acceleration, and executing step 214.
Specifically, after the target rotating speed value of the target rotating speed of the motor to be controlled is determined, the motor to be controlled can be controlled to adjust the rotating speed according to the preset acceleration. For example, the acceleration a when the motor is accelerated and the acceleration B when the motor is decelerated are preset, so that the motor can be decelerated according to the acceleration B in the process of reducing the rotating speed of the motor to be controlled, so that the rotating speed corresponding to the target rotating speed value is reduced in the shortest time, and the motor to be controlled is accelerated according to the acceleration B in the process of accelerating the motor to be controlled.
Step 214: and determining whether the motor to be controlled has step loss in the process of regulating the rotating speed, and executing step 215.
Specifically, when determining whether the motor is out of step, an estimated value of the rotation speed of the motor to be controlled during the rotation speed adjustment process may be determined, and then an absolute value of a difference value between the estimated value and the target rotation speed value is determined whether to be greater than a target fluctuation threshold, where the target fluctuation threshold corresponds to a target rotation speed section of at least one rotation speed section where the target rotation speed value is located. Because the rotating speed of the motor fluctuates, when the absolute value of the difference value between the estimated value and the target rotating speed value is not greater than the target fluctuation threshold value, the rotating speed of the motor to be controlled can be determined to be normal and be within a normal fluctuation range, otherwise, the duration of the absolute value of the difference value between the estimated value and the target rotating speed value of the rotating speed of the motor to be controlled needs to be further determined, whether the duration is greater than the step-out duration set when the motor is judged to be out of step is determined, if yes, corresponding first prompt information is output to prompt the motor to be controlled to be out of step, the motor is stopped, the internal mechanism of the motor is prevented from being damaged due to the step-out, and otherwise, the rotating speed of the motor to.
Step 215: and when the out-of-step phenomenon exists in the process of regulating the rotating speed of the motor to be controlled, controlling the motor to be controlled to stop running, outputting first prompt information for prompting the out-of-step of the motor to be controlled, and ending the current process.
Specifically, when it is determined that the motor to be controlled has the step-out phenomenon in the speed regulation process, the motor to be controlled can be controlled to stop, and corresponding prompt information is input to prompt the external motor to be controlled to have the step-out phenomenon, so that the external motor to be controlled can know the running condition of the motor to be controlled conveniently.
Step 216: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled, and executing the step 210.
Specifically, when the rotating speed value corresponding to the rotating speed control command is not less than the rotating speed value corresponding to the current operating voltage value, the rotating speed value corresponding to the current operating voltage value can be used as the operable rotating speed value of the motor to be controlled, so that the motor to be controlled is prevented from running beyond the motor running capability according to the rotating speed value corresponding to the rotating speed control command, and the motor is prevented from being out of order.
Step 217: and (4) determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than the preset undervoltage fault duration, if so, executing step 218, otherwise, executing step 205.
Specifically, since the voltage value may be lower than the set under-voltage protection value in the voltage fluctuation process, but the voltage fluctuation is not continuous, in order to avoid misjudging that the motor is in an under-voltage condition, it may be determined whether the duration of the motor to be controlled in the under-voltage state is greater than a preset under-voltage fault duration to determine whether the motor to be controlled is in the under-voltage state.
Step 218: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
Specifically, when the motor to be controlled is determined to be under-voltage, corresponding prompt information can be output to prompt the running state of an external motor, the motor is controlled to stop, and the motor is prevented from being damaged due to under-voltage.
As shown in fig. 3, an embodiment of the present invention provides a motor rotation speed control apparatus, including:
the command receiving module 301 is configured to receive an externally input rotational speed control command;
the information management module 302 is configured to determine a current operating voltage value and a resonance region of the motor to be controlled, where a rotational speed of the motor to be controlled may jitter when the rotational speed is in the resonance region;
a rotation speed processing module 303, configured to determine an operable rotation speed value of the motor to be controlled according to the current operating voltage value determined by the information management module 302 and a rotation speed value corresponding to the rotation speed control command received by the command receiving module 301; determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
and the motor control module 304 is configured to control the motor to be controlled to operate according to the target rotation speed value determined by the rotation speed processing module 303.
In the embodiment of the invention, a user can input a rotating speed control command for controlling the rotating speed of the motor according to requirements, so that the rotating speed processing module can determine an operable rotating speed value of the motor to be controlled by combining the current operating voltage of the motor to be controlled determined by the information management module and the rotating speed value corresponding to the rotating speed control command received by the command receiving module, avoid the condition that the actual speed of the motor to be controlled is not poor in control effect due to the fact that the rotating speed corresponding to the rotating speed control command is large, and then determine a target rotating speed value which is finally required to be executed by the motor control module to control the motor to be controlled so as to control the motor to be controlled according to the control requirements of the user while reducing the resonance of the motor to be controlled, and improve the user experience.
In an embodiment of the present invention, the motor control module includes: the rotating speed control submodule and the step-out protection module;
the information management module is used for dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the rotating speed control submodule is used for controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to the preset acceleration;
the step-out protection module is used for determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process; determining whether the absolute value of the difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section in the at least one rotation speed section divided by the information management module where the target rotation speed value is located; when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the absolute value of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation value is larger than a preset out-of-step duration; and when the absolute value of the difference value between the estimated value and the target rotating speed value is greater than the out-of-step duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the out-of-step of the motor to be controlled.
In an embodiment of the present invention, the rotation speed processing module is configured to determine whether the operable rotation speed value is located in the resonance region; if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled; otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
In an embodiment of the present invention, as shown in fig. 4, the motor rotation speed control apparatus further includes: an information storage module 401;
the information storage module 401 is configured to store at least two rotation speed values and at least two operation voltage values in advance, where each rotation speed value corresponds to one operation voltage value, and the at least two rotation speed values and the corresponding operation voltage values are in a linear relationship;
the rotation speed processing module 303 is configured to execute:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two rotating speed values and the at least two operating voltage values stored by the information storage module;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
In an embodiment of the present invention, as shown in fig. 5, the motor rotation speed control apparatus further includes: an undervoltage protection module 501;
the undervoltage protection module 501 is configured to perform:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: triggering the command receiving module 301 to execute the rotation speed control command for receiving the external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
The embodiments of the invention have at least the following beneficial effects:
1. in an embodiment of the present invention, a user may input a rotation speed control command for controlling a rotation speed of a motor according to a requirement, so that by combining a current operating voltage of the motor to be controlled and a rotation speed value corresponding to the rotation speed control command, an operable rotation speed value of the motor to be controlled may be determined, and a rotation speed value corresponding to the rotation speed control command is avoided from being large, so that a situation of a poor control effect does not occur at an actual speed of the motor to be controlled, and then by combining the operable rotation speed value and a resonance region of the motor to be controlled, a target rotation speed value that the motor to be controlled finally needs to execute is determined, so that the motor to be controlled is controlled according to the user control requirement while resonance of the motor to be controlled is reduced, thereby improving user experience.
2. In an embodiment of the present invention, when the motor to be controlled is controlled to operate according to the target rotation speed value, the out-of-step protection detection is performed when the current rotation speed of the motor to be controlled is adjusted, that is, whether an abnormality exists in the rotation speed adjustment process of the motor to be controlled is preliminarily determined by determining the estimated value of the rotation speed and the target rotation speed value in the rotation speed adjustment process of the motor to be controlled, when the operation of the motor to be controlled is determined to be abnormal, that is, when the absolute value of the difference value between the estimated value of the motor to be controlled and the target rotation speed value is greater than the target fluctuation threshold value, whether the duration that the absolute value of the difference value between the estimated value and the target rotation speed value is greater than the target fluctuation threshold value needs to be further determined to determine whether the motor to be controlled operates abnormally, when the actual operation rotation speed of the motor to be controlled cannot follow the rotation speed corresponding, therefore, the motor to be controlled can be shut down, the first prompt information is output to prompt the motor to be controlled to be out of step, and the probability that the motor to be controlled is damaged due to the out of step is reduced.
3. In one embodiment of the invention, whether the operable rotating speed value is located in the resonance area can be determined by comparing the operable rotating speed value with the resonance point of the resonance area, and when the operable rotating speed value is determined to be located in the resonance area, the maximum value or the minimum value of the resonance area is taken as the final operating target rotating speed value of the motor to be controlled, so that the motor to be controlled avoids the resonance area, and the damage of an internal mechanism caused by the shake of the motor to be controlled in the resonance area is prevented; when the operable rotating speed value is determined not to be located in the resonance area, the situation that the motor to be controlled does not meet the resonance area in the speed regulating stage is indicated, and therefore the motor to be controlled can be controlled according to the operable rotating speed so as to meet the control requirement of a user.
4. In an embodiment of the present invention, by storing the operable operating voltage value of the motor to be controlled and the corresponding operable maximum rotating speed value, the rotating speed value corresponding to the detected current operating voltage of the motor to be controlled can be determined according to the operating voltage value and the corresponding rotating speed value having a linear relationship in each PWM period of the motor to be controlled. And comparing the rotating speed value corresponding to the current operating voltage value with the rotating speed value corresponding to the rotating speed control command, so that whether the rotating speed corresponding to the rotating speed control command exceeds the operable rotating speed of the motor to be controlled under the current operating voltage can be determined, the operable rotating speed of the motor to be controlled under the current operating voltage can be conveniently determined, and the damage to an internal mechanism caused by overload operation of the motor to be controlled is avoided. Because the stored operating voltage value and the corresponding rotating speed value are in a corresponding linear relation, the number of the stored values is small, the storage space occupied by information can be reduced, and the difficulty in storing the information can be reduced.
5. In an embodiment of the present invention, in each PWM period of the motor to be controlled, under-voltage protection detection may be performed on the motor to be controlled, that is, the current bus voltage of the motor to be controlled is detected and compared with a preset under-voltage protection value, so as to determine whether the motor to be controlled is in an under-voltage state. So as to carry out shutdown processing on the motor when determining that the motor to be controlled is in the undervoltage state, prevent the equipment from being burnt out due to overload, and then output corresponding second prompt information so that the outside knows that the motor to be controlled is in the undervoltage state. And after determining that the motor to be controlled is not in the undervoltage state currently, the motor to be controlled can receive an externally input rotating speed control command and directly control the motor to be controlled according to the rotating speed control command so as to shorten the time for controlling the motor.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A method of controlling a rotational speed of a motor, comprising:
receiving a rotating speed control command input from the outside;
determining a current operation voltage value and a resonance region of a motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region;
determining an operable rotating speed value of the motor to be controlled according to the current operating voltage value and a rotating speed value corresponding to the rotating speed control command;
determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
controlling the motor to be controlled to operate according to the target rotating speed value;
before the controlling the motor to be controlled to operate according to the target rotating speed value, the method further comprises the following steps:
dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the controlling the motor to be controlled to operate according to the target rotating speed value comprises the following steps:
controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to a preset acceleration;
determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process;
determining whether an absolute value of a difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section of the at least one rotation speed section in which the target rotation speed value is located;
when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation threshold value is larger than a preset out-of-step duration;
and when the duration of the absolute value of the difference between the estimated value and the target rotating speed value is greater than the step-out duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the step-out of the motor to be controlled.
2. The method of claim 1,
determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area, wherein the determining comprises the following steps:
determining whether the operational speed value is within the resonance zone;
if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled;
otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
3. The method of claim 1,
before the receiving of the externally input rotation speed control command, the method further comprises:
the method comprises the steps that at least two rotating speed values and at least two operating voltage values are stored in advance, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation;
the determining the operable rotating speed value of the motor to be controlled according to the current operating voltage value and the rotating speed value corresponding to the rotating speed control command comprises the following steps:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two stored rotating speed values and the at least two operating voltage values;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
4. The method according to any one of claims 1 to 3,
before the receiving of the externally input rotation speed control command, the method further comprises:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: executing the rotation speed control command for receiving external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
5. A motor rotation speed control apparatus, characterized by comprising:
the command receiving module is used for receiving an externally input rotating speed control command;
the information management module is used for determining the current operating voltage value and the resonance region of the motor to be controlled, wherein the rotating speed of the motor to be controlled can generate jitter when being positioned in the resonance region;
the rotating speed processing module is used for determining the operable rotating speed value of the motor to be controlled according to the current operating voltage value determined by the information management module and the rotating speed value corresponding to the rotating speed control command received by the command receiving module; determining a target rotating speed value of the motor to be controlled according to the operable rotating speed value and the resonance area;
the motor control module is used for controlling the motor to be controlled to operate according to the target rotating speed value determined by the rotating speed processing module;
the motor control module includes: the rotating speed control submodule and the step-out protection module;
the information management module is used for dividing a preset rotating speed range of the motor into at least one rotating speed section, wherein each rotating speed section corresponds to a preset fluctuation threshold value;
the rotating speed control submodule is used for controlling the motor to be controlled to adjust the current rotating speed to the rotating speed corresponding to the target rotating speed value according to the preset acceleration;
the step-out protection module is used for determining an estimated value of the rotating speed of the motor to be controlled in the rotating speed adjusting process; determining whether the absolute value of the difference between the estimated value and the target rotation speed value is greater than a target fluctuation threshold value, wherein the target fluctuation threshold value corresponds to a target rotation speed section in the at least one rotation speed section divided by the information management module where the target rotation speed value is located; when the absolute value of the difference value between the estimated value and the target rotating speed value is larger than the target fluctuation threshold value, determining whether the duration of the difference value between the estimated value and the target rotating speed value larger than the target fluctuation threshold value is larger than a preset out-of-step duration; and when the duration of the absolute value of the difference between the estimated value and the target rotating speed value is greater than the step-out duration, controlling the motor to be controlled to stop running and outputting first prompt information for prompting the step-out of the motor to be controlled.
6. The apparatus of claim 5,
the rotating speed processing module is used for determining whether the operable rotating speed value is positioned in the resonance area; if so, taking the target boundary value of the resonance area as the target rotating speed value of the motor to be controlled; otherwise, the operable rotation speed value is used as a target rotation speed value of the motor to be controlled, wherein the target boundary value is the maximum value or the minimum value of the resonance area.
7. The apparatus of claim 5, further comprising: an information storage module;
the information storage module is used for pre-storing at least two rotating speed values and at least two operating voltage values, wherein each rotating speed value corresponds to one operating voltage value, and the at least two rotating speed values and the corresponding operating voltage values are in a linear relation;
the rotating speed processing module is used for executing the following steps:
d1: determining a rotating speed value corresponding to the current operating voltage value according to the at least two rotating speed values and the at least two operating voltage values stored by the information storage module;
d2: determining whether the rotating speed value corresponding to the rotating speed control command is smaller than the rotating speed value corresponding to the current operating voltage value, if so, executing D3, otherwise, executing D4;
d3: taking a rotating speed value corresponding to the rotating speed control command as an operable rotating speed value of the motor to be controlled;
d4: and taking the rotating speed value corresponding to the current operating voltage value as the operable rotating speed value of the motor to be controlled.
8. The apparatus of any of claims 5 to 7, further comprising: an undervoltage protection module;
the undervoltage protection module is used for executing:
s1: detecting the current bus voltage of a motor to be controlled;
s2: determining whether the current bus voltage of the motor to be controlled is greater than a preset undervoltage protection value, if so, executing S3, otherwise, executing S4;
s3: triggering the command receiving module to execute the rotating speed control command for receiving external input;
s4: determining whether the duration of the current bus voltage of the motor to be controlled not greater than the undervoltage protection value is greater than a preset undervoltage fault duration, if so, executing S5, otherwise, executing S3;
s5: and controlling the motor to be controlled to stop running, and outputting second prompt information for prompting the undervoltage fault of the motor to be controlled.
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