CN111525853B - Motor rotation control method and terminal - Google Patents
Motor rotation control method and terminal Download PDFInfo
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- CN111525853B CN111525853B CN202010376352.2A CN202010376352A CN111525853B CN 111525853 B CN111525853 B CN 111525853B CN 202010376352 A CN202010376352 A CN 202010376352A CN 111525853 B CN111525853 B CN 111525853B
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
Abstract
The invention discloses a control method and a terminal for motor rotation, which are used for determining the current rotation angle and the target rotation angle of a motor and determining the angle variation according to the current rotation angle and the target rotation angle; determining a duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate; adjusting the rotation angle of the motor according to the duty ratio until the rotation angle of the motor is adjusted to the target rotation angle; the motor is controlled to rotate in a secondary control mode, the problem that the low-speed condition is unstable in adjustment or even cannot be adjusted in the process of simply using PWM (pulse-width modulation) speed regulation can be solved, high-torque output control under different speeds can be realized through secondary control, large-torque motion can be output under the low-speed operation of the motor, and the secondary control plays an important role in clutch control.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor rotation control method and a terminal.
Background
Traditional direct current has brush motor usually adopts Pulse Width Modulation (PWM) mode control motor, carries out motor just reversal and rotational speed control through the duty cycle of control drive output, nevertheless adopts this mode to control, under the low-speed circumstances, can appear the drive not enough, causes unable normal driving motor pivoted condition, if improve the duty cycle, the motor rotates and fails the fast speed adjusting duty cycle, can arouse the rotational speed unstability again, can't realize the high torsion output operation of low-speed. However, many control fields require the motor to operate at a low speed, such as clutch motor engagement control, steering motor steering control, and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the motor rotation control method and the terminal are provided, the motor can output large-torque motion even when running at low speed, and the problems that the traditional PWM speed regulation cannot rotate at low rotating speed and the PWM speed regulation is unstable are solved.
In order to solve the technical problems, the invention adopts a technical scheme that:
a method of controlling rotation of a motor, comprising the steps of:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
and S3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a control terminal for motor rotation, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, the processor implementing the computer program when executing the computer program:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
and S3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle.
The invention has the beneficial effects that: the method comprises the steps of subdividing a target rotation angle into a plurality of small target rotation angles, determining an angle variation, determining a duty ratio for ensuring that a motor can rotate according to the angle variation and the current rotation angle, adjusting the rotation angle of the motor according to the duty ratio, controlling the rotation of the motor in a two-stage control mode, and solving the problem that the low-speed condition adjustment is unstable or even cannot be adjusted in the process of simply using PWM (pulse width modulation) speed adjustment.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for controlling rotation of a motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor rotation control terminal according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motor control system for controlling the rotation of a motor according to an embodiment of the present invention;
description of reference numerals:
1. a control terminal for motor rotation; 2. a memory; 3. a processor.
Detailed Description
In order to explain the technical contents, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for controlling rotation of a motor includes the steps of:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
and S3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle.
From the above description, the beneficial effects of the present invention are: the method comprises the steps of subdividing a target rotation angle into a plurality of small target rotation angles, determining an angle variation, determining a duty ratio for ensuring that a motor can rotate according to the angle variation and the current rotation angle, adjusting the rotation angle of the motor according to the duty ratio, and controlling the rotation of the motor in a two-stage control mode, so that the problem that the low-speed condition is unstable or even cannot be adjusted in the process of simply using PWM (pulse-width modulation) speed regulation can be solved, high-torque output control can be realized under different speeds through the two-stage control, large-torque motion can be output under the low-speed operation of the motor, and the method plays an important role in clutch control.
Further, the S1 includes:
the angle variation is as follows:
in the formula, cur _ angle represents the current rotation angle, tar _ angle represents the target rotation angle, f represents the control frequency, and accuracy represents the motor precision.
According to the description, the subdivision width for subdividing the target is determined according to the current rotation angle, the target rotation angle and the control frequency, and if the control frequency is high enough and enough subdivision is ensured, the continuity and the uniform stability of the speed in the process of changing the rotating speed of the motor can be ensured.
Further, the determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation in S2 includes:
determining a subdivision target rotation angle according to the angle variation;
determining the angle deviation of the motor according to the subdivided target rotation angle and the current rotation angle;
determining a motor angle integral and a motor angle difference within a preset time period according to the motor angle deviation;
and determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference.
Further, the determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference includes:
the duty cycle P _ pwm of the motor is:
in the formula, Kp represents a proportional term coefficient, k represents k time sampling points within a preset time period, e _ angle represents a motor angle deviation, Ki represents an integral term coefficient, and Kd represents a differential term coefficient.
According to the description, the accuracy and the stability of the calculated duty ratio can be ensured by determining the duty ratio of the motor according to the angular deviation of the motor and the integral and the difference of the angular deviation of the motor in the preset time period, and the parameters used in duty ratio calculation can be determined through actual debugging tests, so that the reliability of motor rotation control is ensured.
Referring to fig. 2, a control terminal for motor rotation includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
and S3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle.
From the above description, the beneficial effects of the present invention are: the method comprises the steps of subdividing a target rotation angle into a plurality of small target rotation angles, determining an angle variation, determining a duty ratio for ensuring that a motor can rotate according to the angle variation and the current rotation angle, adjusting the rotation angle of the motor according to the duty ratio, and controlling the rotation of the motor in a two-stage control mode, so that the problem that the low-speed condition is unstable or even cannot be adjusted in the process of simply using PWM (pulse-width modulation) speed regulation can be solved, high-torque output control can be realized under different speeds through the two-stage control, large-torque motion can be output under the low-speed operation of the motor, and the method plays an important role in clutch control.
Further, the S1 includes:
the angle variation is as follows:
in the formula, cur _ angle represents the current rotation angle, tar _ angle represents the target rotation angle, f represents the control frequency, and accuracy represents the motor precision.
According to the description, the subdivision width for subdividing the target is determined according to the current rotation angle, the target rotation angle and the control frequency, and if the control frequency is high enough and enough subdivision is ensured, the continuity and the uniform stability of the speed in the process of changing the rotating speed of the motor can be ensured.
Further, the determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation in S2 includes:
determining a subdivision target rotation angle according to the angle variation;
determining the angle deviation of the motor according to the subdivided target rotation angle and the current rotation angle;
determining a motor angle integral and a motor angle difference within a preset time period according to the motor angle deviation;
and determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference.
Further, the determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference includes:
the duty cycle P _ pwm of the motor is:
in the formula, Kp represents a proportional term coefficient, k represents k time sampling points within a preset time period, e _ angle represents a motor angle deviation, Ki represents an integral term coefficient, Kd represents a differential term coefficient, and n represents an integral quantity.
According to the description, the accuracy and the stability of the calculated duty ratio can be ensured by determining the duty ratio of the motor according to the angular deviation of the motor and the integral and the difference of the angular deviation of the motor in the preset time period, and the parameters used in duty ratio calculation can be determined through actual debugging tests, so that the reliability of motor rotation control is ensured.
Example one
Referring to fig. 1, a method for controlling rotation of a motor includes the steps of:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
the angle variation is as follows:
in the formula, cur _ angle represents the current rotation angle, tar _ angle represents the target rotation angle, f represents the control frequency, accuracy represents the motor precision, and usually the resolution adopted by the angle modulus is taken;
wherein the control frequency f must be sufficient (greater than or equal to 100Hz) to ensure the continuity of the speed;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
wherein determining the duty cycle of the motor according to the current rotation angle of the motor and the angle variation includes:
and determining a subdivision target rotation angle as the last angle and the angle variable according to the angle variable:
tar_angle＝tar_angle'+angle_change；
the last-time angle refers to a rotation angle value of a last subdivision target, and if the current rotation angle of the subdivision target is the rotation angle value of the first subdivision target, the last-time angle is the current sampling angle value;
determining the angle deviation of the motor according to the subdivided target rotation angle and the current rotation angle:
e_angle(k)＝tar_angle-cur_angle；
determining a motor angle integral in a preset time period according to the motor angle deviation:
and motor angle difference:
e_angle(k)-e_angle(k-1)
determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference;
specifically, the duty ratio P _ pwm of the motor is:
wherein Kp represents a proportionality coefficient, k represents k time sampling points in a preset time period, k represents the latest calculated value, k-1 represents the last calculated value, … …, 1 represents the first calculated value; as the control is continuously carried out, k is continuously carried out and continuously updated;
e _ angle represents a motor angle deviation, Ki represents an integral term coefficient, and Kd represents a differential term coefficient; the larger the deviation from the target angle is, the larger the duty ratio is, the positive represents that the vehicle turns to the target angle in the positive direction, and the negative represents that the vehicle turns to the target angle in the negative direction; ki. Kp and Kd parameters are determined through actual debugging and testing to ensure the control reliability;
s3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle;
wherein, the motor is the motor of taking angle sensor, can acquire the motor and rotate the angle at the motor rotation in-process, as shown in fig. 3, accessible drive output, angle feedback, control calculation realize the negative feedback control of motor:
the controller mainly has analog-to-digital conversion to acquire angle signals, and calculates a driving value required by the motor according to a target rotation angle and a current rotation angle to drive and output;
the control process of the motor rotation comprises two-stage control:
primary control: reading the position of the motor through analog-to-digital conversion to obtain an angle digital signal, performing closed-loop operation according to the structure shown in fig. 3 and the calculation formula of the duty ratio according to the small target position subdivided by the second stage, and calculating a driving output quantity, wherein the motor can reach a specified angle through the driving output quantity;
secondary control: subdividing the target according to the current angle digital signal and the target control angle digital signal, wherein the subdivision width depends on the target control angle distance, the target control speed and the control frequency, and the control frequency is high enough (more than 100Hz) to ensure the speed continuity;
the angle sampling is performed at equal time intervals, the calculation is performed once after the angle is obtained by sampling each time, the sampling time is very fast, for example, the sampling is performed once in 1ms, the output control is obtained by calculating according to the current sampling and the target angle, the output result can reach the target angle at the highest speed, the target angle is subdivided into a series of subdivision target angles at equal angle intervals, and the speed can be controlled as long as the execution time of the target at equal intervals is controlled; the angular interval is obtained according to the target distance and the subdivision steps, the execution time of the target at equal intervals is obtained according to the speed and the angular interval, namely, the target reaches the design position according to the design time each time in the total movement process, and the speed in the middle process is basically average;
each step control time interval:
wherein, delay is the time delay of each subdivision target, namely the time of the motion reaching each subdivision target, if the speed is greater than the rated speed of the motor, the running time of the motor running to the subdivision target is greater than delay, if the speed is less than the rated speed of the motor, the running time of the motor running to the subdivision target is less than delay, the controller stops outputting and outputs the time reaching delay, and then executes the output, thereby controlling the speed;
the secondary control is to subdivide the target position into a plurality of small targets, each small target is delayed, the delay time is obtained by converting the target rotating speed, and the uniform and stable rotating speed can be realized as long as the target rotating speed is sufficiently subdivided;
the target rotating speed is provided for an external control instruction, the control instruction provides a target angle on one hand, and provides an execution speed, namely a target speed on the other hand, the target angle is subdivided, the subdivision step number can be obtained by subdividing the target angle, and the delay time can be obtained according to the subdivision step number;
for example: the effective stroke of the motor is 0-90 degrees, the corresponding digital-analog sampling range is 0-4095, and the control quantity is as follows: 1. the motor is controlled to rotate from 0 degree to 45 degrees, namely the sampling value is rotated from 0 degree to 2047, 2, the rotating speed is controlled to be 10 degrees per second, i.e., the sample value change is 455 sample values per second (this value is tar angle speed, specifically obtained by rounding at 2048/45 x 10), the control frequency is required to be 100Hz in advance, i.e., 10ms (this value is delay, angle _ change must be an integer, so delay is not always the minimum value of 10ms, which may be more than 10ms depending on the calculation, depending on the target speed and set angle), the 455 samples are scaled to 4.55 samples per second every 10ms (this value is angle _ change), and since the sampling values are integers and are rounded up, 5 sampling values are obtained, the change amount of each step is obtained, the delay is 5/455 to 11ms, the subdivision step number is 2048/5 to 409 steps, and the target control speed is realized and the output driving is ensured.
Carry out two
Referring to fig. 2, a control terminal 1 for motor rotation includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3, wherein the processor 3 implements the steps of the first embodiment when executing the computer program.
In summary, according to the control method and the terminal for motor rotation provided by the invention, motor control is performed in a two-stage control mode, the first-stage control is direct control of the motor and is also PWM control, the duty ratio is calculated, and the output duty ratio is calculated through a PID algorithm, so that the duty ratio can be improved to the extent that the motor can rotate in each movement; the secondary control is to subdivide the target position into a plurality of small targets, each small target is delayed, the delay time is obtained by converting the target rotating speed, and the uniform and stable rotating speed can be realized as long as the target rotating speed is sufficiently subdivided; the motor can output large-torque motion even when running at low speed, and the problems that the traditional PWM speed regulation cannot rotate under the condition of low rotating speed and the PWM speed regulation is unstable are solved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (4)
1. A method of controlling rotation of a motor, comprising the steps of:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
s3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle;
determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation in S2 includes:
determining a subdivision target rotation angle according to the angle variation;
determining the angle deviation of the motor according to the subdivided target rotation angle and the current rotation angle;
determining a motor angle integral and a motor angle difference within a preset time period according to the motor angle deviation;
determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference;
the angle variation is as follows:
in the formula, cur _ angle represents the current rotation angle, tar _ angle represents the target rotation angle, f represents the control frequency, and accuracy represents the motor precision.
2. The method of claim 1, wherein determining the duty cycle of the motor based on the motor angle deviation, the motor angle integral, and the motor angle differential comprises:
the duty cycle P _ pwm of the motor is:
in the formula, Kp represents a proportional term coefficient, k represents k time sampling points within a preset time period, e _ angle represents a motor angle deviation, Ki represents an integral term coefficient, and Kd represents a differential term coefficient.
3. A control terminal for motor rotation, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the following steps:
s1, determining the current rotation angle and the target rotation angle of the motor, and determining the angle variation according to the current rotation angle and the target rotation angle;
s2, determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation, wherein the duty ratio ensures that the motor can rotate;
s3, adjusting the rotation angle of the motor according to the duty ratio, and returning to S2 until the rotation angle of the motor is adjusted to the target rotation angle;
determining the duty ratio of the motor according to the current rotation angle of the motor and the angle variation in S2 includes:
determining a subdivision target rotation angle according to the angle variation;
determining the angle deviation of the motor according to the subdivided target rotation angle and the current rotation angle;
determining a motor angle integral and a motor angle difference within a preset time period according to the motor angle deviation;
determining the duty ratio of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference;
the angle variation is as follows:
in the formula, cur _ angle represents the current rotation angle, tar _ angle represents the target rotation angle, f represents the control frequency, and accuracy represents the motor precision.
4. The control terminal for motor rotation according to claim 3, wherein the determining the duty cycle of the motor according to the motor angle deviation, the motor angle integral and the motor angle difference comprises:
the duty cycle P _ pwm of the motor is:
in the formula, Kp represents a proportional term coefficient, k represents k time sampling points within a preset time period, e _ angle represents a motor angle deviation, Ki represents an integral term coefficient, and Kd represents a differential term coefficient.
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| CN113217559B (en) * | 2021-05-24 | 2022-11-11 | 福建盛海智能科技有限公司 | Optimization method and system for clutch-by-wire clutch |
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