CN111684712A - Motor control method and controller, distance measuring sensor and mobile platform thereof - Google Patents
Motor control method and controller, distance measuring sensor and mobile platform thereof Download PDFInfo
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- CN111684712A CN111684712A CN201980002887.9A CN201980002887A CN111684712A CN 111684712 A CN111684712 A CN 111684712A CN 201980002887 A CN201980002887 A CN 201980002887A CN 111684712 A CN111684712 A CN 111684712A
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- 230000003287 optical effect Effects 0.000 claims description 83
- 239000004519 grease Substances 0.000 claims description 22
- 230000001050 lubricating effect Effects 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000005070 sampling Methods 0.000 description 15
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- 238000005259 measurement Methods 0.000 description 3
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 2
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
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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
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
Abstract
A control method of a motor, a controller of the motor, a distance measuring sensor and a mobile platform are provided, and the method comprises the following steps: step S110, detecting whether the environmental temperature of the motor is lower than a temperature threshold value; step S120, if the environment temperature of the motor is lower than the temperature threshold, increasing the starting current of the motor to a first starting current, and starting the motor with the first starting current; step S130 of detecting whether the rotation speed of the motor reaches a first rotation speed; step S140 controls the motor to enter a heating mode if the rotation speed of the motor does not reach the first rotation speed. According to the control method and the controller, the distance measuring sensor and the mobile platform thereof, the bearing of the motor is preheated or the starting current is increased when the environmental temperature is lower, and the starting current is reduced when the environmental temperature is higher, so that the starting of the motor in a wide temperature range is realized, and the working reliability of the motor is improved.
Description
The invention relates to the technical field of motors, in particular to control of a motor.
As a drive device for a wide range of applications, motors are often required to operate in different environments, such as a temperature environment. The starting currents of the motor in different temperature environments are different, and the bearing friction of the motor is increased in a low-temperature environment, so that the motor is difficult to start, and a larger torque needs to be provided to reach a target rotating speed, namely a larger starting current needs to be increased; under a high-temperature environment, the temperature of the stator coil of the motor is increased to easily cause the motor to be burnt, so that the current allowed to pass through the stator coil of the motor is limited, and the starting current of the motor is also limited to be not too large. This results in the motor failing to meet the starting requirements in both high and low temperature environments.
Disclosure of Invention
The embodiment of the invention provides a motor control method, a controller, a distance measuring sensor and a mobile platform thereof, and aims to solve the problem that the motor cannot be started within a wide environment temperature range.
In a first aspect, an embodiment of the present invention provides a method for controlling a motor, including:
detecting whether the ambient temperature of the motor is lower than a temperature threshold value;
if the environmental temperature of the motor is lower than the temperature threshold value, increasing the starting current of the motor to a first starting current, and starting the motor with the first starting current;
detecting whether the rotating speed of the motor reaches a first rotating speed;
and if the rotating speed of the motor does not reach the first rotating speed, controlling the motor to enter a heating mode.
In a second aspect, an embodiment of the present invention provides a ranging sensor, including:
a light generating element for generating a light signal;
the optical element is fixed on the motor and used for reflecting or transmitting the optical signal;
the motor is used for driving the optical element to rotate;
a controller electrically connected to the motor for controlling the rotation of the motor, wherein the controller comprises one or more processors, the processors operating individually or collectively, the processors being configured to perform the method of the first aspect.
In a third aspect, an embodiment of the present invention provides a method for controlling a motor, including:
acquiring the ambient temperature of the motor;
determining the starting current of the motor according to the environment temperature of the motor;
and controlling the motor to start according to the determined starting current.
In a fourth aspect, an embodiment of the present invention provides a controller for an electric motor, including:
the driving circuit is used for providing working current of the motor;
one or more processors, working individually or collectively;
wherein the processor is electrically connected to the driving circuit for controlling the driving circuit to provide the corresponding working current to the motor, and the processor is capable of executing the method of the third aspect.
In a fifth aspect, an embodiment of the present invention provides a ranging sensor, including:
a functional component capable of movement;
the motor is used for driving the functional component;
the controller of the fourth aspect is electrically connected to the motor, and is configured to control an operating state of the motor.
In a sixth aspect, an embodiment of the present invention provides a movable platform, including:
a platform body; and
the distance measuring sensor of the second or fifth aspect, mounted on the platform body, is used for sensing the distance of an obstacle around the platform body.
According to the control method of the motor and the controller, the distance measuring sensor and the mobile platform of the motor, the bearing of the motor is preheated or the starting current is increased when the environmental temperature is low, and the starting current is reduced when the environmental temperature is high, so that the motor is started within a wide temperature range, and the working reliability of the motor is improved.
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 described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of an electric motor of an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of a further motor of an embodiment of the present invention;
fig. 3 is a schematic flowchart of a specific example of a control method of the embodiment of the invention;
FIG. 4 is a schematic block diagram of a ranging device of an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a distance measuring device using coaxial optical paths according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the process of starting the motor, if the starting current limit value of the motor is set to be higher, the starting capability of the motor in a low-temperature environment can be improved, but the higher starting current limit value can cause the stator coil of the motor to generate heat in a high-temperature environment, so that the motor is easier to burn; on the contrary, if the starting current limit value of the motor is set to be relatively low, although it is ensured that the stator coil does not cause the motor to burn out within the allowable temperature rise range, the motor is difficult to start under a low temperature environment.
In view of the above, in a first aspect, an embodiment of the present invention provides a control method for a motor, and referring to fig. 1, fig. 1 illustrates a control method for a motor according to an embodiment of the present invention. The method 100 comprises:
in step S110, detecting whether an ambient temperature of the motor is lower than a temperature threshold;
in step S120, if the ambient temperature of the motor is lower than the temperature threshold, increasing the starting current of the motor to a first starting current, and starting the motor with the first starting current;
in step S130, detecting whether the rotation speed of the motor reaches a first rotation speed;
in step S140, if the rotation speed of the motor does not reach the first rotation speed, the motor is controlled to enter a heating mode.
The starting current of the motor is set based on the environment temperature of the motor, when the environment temperature of the motor is lower than a preset temperature threshold value, the motor is in a low-temperature environment, the friction force of a bearing of the motor is increased, and the starting current needs to be increased to provide torque enough to overcome the friction force so as to enable a rotor of the motor to rotate. When the starting current of the motor is increased to the first starting current, the motor is tried to be started by the first starting current, and if the rotating speed of the motor reaches the preset first rotating speed, the motor can be started slowly; if the motor speed does not reach the first speed, it means that the torque generated by the first starting current is not sufficient to cause the rotor of the motor to overcome the friction. The friction force of the motor bearing mainly comes from lubricating grease on the bearing, the lubricating grease generally has the characteristic of high viscosity at low temperature, along with the rise of the temperature of the lubricating grease, the friction force on the bearing is reduced, so that the motor does not need to generate larger torque to start the motor at low temperature, therefore, after the starting failure is carried out by using the first starting current, the motor can be controlled to enter a heating mode to improve the lubrication degree of the lubricating grease on the bearing and reduce the friction force, so that the motor can be started without increasing the starting current in a low-temperature environment, the problem that the motor is difficult to start due to the fact that the smaller starting current is arranged in the low-temperature environment is solved, and meanwhile, the motor cannot be burnt in the high-temperature environment.
Alternatively, the method 100 may be implemented by an FPGA (Field-Programmable Gate Array).
Optionally, the first starting current comprises: the starting current allowed when the surface temperature of the coil winding reaches thermal equilibrium.
Optionally, a difference between a starting current allowed when the surface temperature of the coil winding is-20 ° and a starting current allowed when the surface temperature of the coil winding is 65 ° is 1.3A.
When different input currents are introduced into the coil windings, corresponding different temperature rises can be generated when the coil windings reach thermal equilibrium. If the coil winding continues to increase the input current after reaching thermal equilibrium, the thermal equilibrium of the coil winding is destroyed, and the coil is easily heated to burn out the motor. Thus, the first starting current may be the maximum current allowed to pass while ensuring that the motor is not burned.
In one embodiment, taking the coil winding as an enameled wire, the enameled wire with the diameter of 0.23mm has the surface temperature rise of 15 degrees when the current of 0.43A is input and the surface temperature rise of 105 degrees when the current of 1.82A is input. The allowable phase currents for the two may differ by about 1.3A at the ambient temperature for start-up at-20 degrees and start-up at 65 degrees. That is, in a low-temperature environment, a higher starting current of 1.3A can be set than in a high-temperature environment.
Optionally, the heating mode comprises: and preheating current or preheating voltage is fed into the coil wheel of the motor, so that the motor coil uniformly heats.
Optionally, passing a preheating current to a coil wheel of the motor, comprising: preheating current with the same time is sequentially input to each phase coil of the coils.
Optionally, the preheat current is less than 1A.
Optionally, passing a preheating voltage to a coil wheel of the motor, comprising: and controlling the preheating voltage by adopting an SVPWM algorithm.
Optionally, the heating mode further comprises: the motor coil uniformly generates heat to raise the ambient temperature of the motor, and the temperature of the lubricating grease on the bearing is also raised.
The heating mode is to increase the temperature of the grease on the bearing to reduce the friction force of the bearing, reduce the torque of the motor start, and thus reduce the starting current of the motor. Therefore, the temperature of the bearing can be increased by increasing the temperature of the internal components of the motor and the temperature of the motor itself, so as to achieve the purpose of increasing the temperature of the lubricating grease. The temperature of the internal parts of the motor can be increased by applying preheating voltage or preheating current on the coil of the motor, after a period of time, the coil generates heat to increase the temperature of the coil, and the heat is conducted to the motor bearing through the physical connection of the internal parts of the motor, so that the temperature of the bearing is increased, lubricating grease is lubricated more, and the friction force of the bearing is reduced; when the working condition of the motor allows, the temperature of the motor can be increased, and the temperature of the bearing and the lubricating grease on the bearing can be increased through heat conduction.
In one embodiment, preheating current is alternately supplied to A, B, C three-phase coils of the motor for the same time, for example, preheating current of 0.5A is firstly supplied to the A-phase coil; after time t1, preheating current of 0.5A is introduced into the B-phase coil; after time t1, preheating current of 0.5A is introduced into the C-phase coil; after time t1, preheating current of 0.5A is introduced into the phase A coil again; wherein, the preheating current of which the A, B, C three-phase coils are all switched on for time t1 is used as a preheating period; and by analogy, after a preset period, when the coil temperature reaches a preset coil temperature, the coil is stopped to be preheated.
In one embodiment, the preheating voltage is controlled by alternating the preheating voltage to the A, B, C three-phase coils of the motor and using an SVPWM (Space Vector Pulse Width Modulation) algorithm, e.g., a Pulse Width modulated wave generated by a particular switching pattern consisting of six power switching elements of a three-phase power inverter, to bring the output current waveform as close as possible to an ideal sinusoidal waveform, and to bring the motor to an ideal circular flux linkage trajectory. The preheating voltage is controlled by adopting an SVPWM algorithm, the harmonic component of the current waveform in the coil of the motor is small, so that the torque pulsation of the motor is reduced, the rotating magnetic field is more approximate to a circle, and the digitization is easier to realize.
Optionally, the method further comprises: and if the ambient temperature of the motor is not lower than the temperature threshold, starting the motor with the second starting current, wherein the second starting current is smaller than the first starting current.
When the environmental temperature of the motor is not lower than the preset temperature threshold, it indicates that the motor is not in a low-temperature environment, and the friction force of the bearing of the motor is smaller than that in the low-temperature environment, so that the starting current can be set to be smaller than that in the low-temperature environment.
Optionally, the method further comprises:
if the rotating speed of the motor reaches the first rotating speed, detecting the current of the motor at regular time;
and judging whether the current of the motor is less than the current threshold value twice continuously, and increasing the rotating speed of the motor by a preset rotating speed when the current of the motor is less than the current threshold value twice continuously.
Optionally, increasing the rotational speed of the motor by the predetermined rotational speed comprises: increasing the current of the motor.
Optionally, the method further comprises:
detecting whether the rotating speed of the motor reaches a second rotating speed after increasing a preset rotating speed, and finishing starting if the rotating speed reaches the second rotating speed;
and if the second rotating speed is not reached, repeatedly judging whether the current of the motor is less than the current threshold value twice continuously, and increasing the rotating speed of the motor by a preset rotating speed when the current of the motor is less than the current threshold value twice continuously.
After the motor is started, the rotating speed of the motor reaches a preset first rotating speed, then the slow starting process can be continued, so that the motor finally reaches a target rotating speed, namely a second rotating speed, and the starting process of the motor is completed. The slow starting process comprises the steps of gradually increasing or stepwise increasing the current of the motor to gradually increase or stepwise increase the rotating speed; in order to prevent misoperation and ensure the starting reliability of the motor, the current of the motor can be detected in real time, when the current of the motor is continuously and repeatedly smaller than the current threshold value, the current is increased to increase the rotating speed, and the step of increasing the rotating speed when the current of the motor is continuously and repeatedly smaller than the current threshold value is repeated until the rotating speed of the motor reaches the target rotating speed. In the above starting process, the rate of the current rise change can be adjusted and set according to the difference of the load, and the larger the current rise rate is, the larger the starting torque is, and the shorter the starting time is.
In a second aspect, an embodiment of the present invention provides a ranging sensor, including:
a light generating element for generating a light signal;
the optical element is fixed on the motor and used for reflecting or transmitting the optical signal;
the motor is used for driving the optical element to rotate;
a controller electrically connected with the motor and used for controlling the motor to rotate,
wherein the controller comprises one or more processors, which individually or collectively operate, the processors being for use in the method of the first aspect.
The control method for the motor provided by the first aspect of the embodiment of the invention can be applied to a distance measuring sensor. In one embodiment, the ranging sensor is used to sense external environmental information, such as distance information, orientation information, reflected intensity information, velocity information, etc. of environmental targets.
In one embodiment, a ranging sensor includes: a light generating element generating a light signal; the optical element is used for reflecting or transmitting the optical signal to change the direction of the optical signal, and the optical element projects the optical signal to different directions; wherein the motor is controlled by a controller comprising one or more processors to perform the method of the first aspect.
In a third aspect, an embodiment of the present invention provides a method for controlling a motor, and referring to fig. 2, fig. 2 shows a method for controlling a motor according to an embodiment of the present invention. The method 200 comprises the following steps:
in step S210, obtaining an ambient temperature of the motor;
in step S220, determining a starting current of the motor according to an ambient temperature of the motor;
in step S230, the motor is controlled to start according to the determined starting current.
The starting current of the motor is set based on the environment temperature of the motor, and the starting reliability of the motor can be improved. When the environmental temperature of the motor is lower, the friction force of a bearing of the motor is increased, and larger starting current needs to be introduced into the motor to provide torque enough to overcome the friction force so as to enable a rotor of the motor to rotate; when the environmental temperature of the motor is higher, the friction force of the bearing of the motor is reduced, and then the motor can be started by introducing smaller starting current into the motor.
Optionally, the ambient temperature of the electric machine comprises at least one of: the temperature of the motor itself, and the temperature of the components associated with the motor.
Optionally, the temperature of the motor related component comprises at least one of: the temperature of a bearing connected with the motor, the temperature of the bearing seat and the temperature of a circuit board used for controlling the motor.
Alternatively, the temperature of the motor itself is sensed by a temperature sensor.
Optionally, the temperature of the motor itself is calculated by calculating an electrical parameter of the motor.
Optionally, the parameter of the electric machine comprises at least one of: induced electromotive force, resistance.
Since the magnitude of the torque required for starting the motor is related to the friction force of the bearings of the motor, that is, the lubrication condition of the grease of the bearings is related to the temperature of the grease, the magnitude of the torque required for starting the motor is related to the temperature of the grease, and increasing the temperature of the grease can reduce the starting current of the motor. The lubricating grease covers the bearing, the temperature of the lubricating grease is almost the same as that of the bearing, and therefore the temperature of the motor and the temperature of relevant parts of the motor can directly or indirectly reflect the temperature and friction force conditions of the bearing and can be used as a basis for setting starting current. The temperature of the motor and the temperature of the related parts of the motor can be directly measured through the temperature sensor, and the temperature of the motor can be indirectly obtained through calculation according to the parameters of the motor.
In one embodiment, the motor is monitored in real time, the voltage, the current, the induced electromotive force, the resistance, the bearing temperature, the temperature of a bearing seat, the temperature of a circuit board for controlling the motor and the like of the motor can be obtained or calculated, and one or more parameters can be selected as the basis for setting the starting current; when a plurality of parameters are selected as the basis, the weights of the plurality of parameters can be set, and the starting current is set after the weights of the plurality of parameters are comprehensively considered.
Optionally, when the ambient temperature of the motor is less than a temperature threshold, starting the motor at a first starting current; and when the ambient temperature is greater than or equal to the temperature threshold, starting the motor with a second starting current, wherein the second starting current is less than the first starting current.
When the environmental temperature of the motor is lower than a preset temperature threshold, the motor is in a low-temperature environment, the friction force of a bearing of the motor is increased, and the starting current needs to be increased to provide torque enough to overcome the friction force so as to enable a rotor of the motor to rotate; when the environmental temperature of the motor is greater than or equal to the preset temperature threshold, it indicates that the motor is not in a low-temperature environment, and the friction force of the bearing of the motor is smaller than that in the low-temperature environment, so that the starting current at this time may be set to be smaller than that in the low-temperature environment.
Optionally, the first starting current is less than 4 amps; alternatively, the temperature threshold is equal to or less than 0 degrees. It should be noted that the above-mentioned first starting current and temperature threshold are merely examples, and both the first starting current and the temperature threshold may be adjusted according to a bearing parameter, a lubricating grease parameter, and a motor parameter, and are not limited herein.
Optionally, the method 200 further comprises:
corresponding starting current is introduced into the motor according to a first rotating speed;
acquiring the current rotating speed of the motor, and determining whether the current rotating speed reaches a first rotating speed;
and if the first rotating speed is not reached, determining that the motor cannot be started.
In the starting process of the motor, when the rotating speed of the motor cannot reach the set rotating speed in the first stage, the motor cannot complete the subsequent acceleration process, that is, cannot complete the starting of the motor.
Optionally, if the first rotation speed is reached, determining whether to increase the rotation speed of the motor according to the current of the motor.
Optionally, if the current of the motor is smaller than a preset current, the rotation speed of the motor is increased.
Optionally, when the current of the motor is smaller than the preset current, the rotating speed of the motor is continuously increased until the rotating speed of the motor reaches a second speed.
Optionally, if the first rotation speed is reached, the current of the motor is obtained continuously for multiple times.
After the motor is started, the rotating speed of the motor reaches a preset first rotating speed, the current of the motor can be gradually increased or increased in a step mode, and the rotating speed is gradually increased or increased in a step mode until the rotating speed of the motor reaches a target rotating speed, namely a second rotating speed. And meanwhile, in order to prevent misoperation and ensure the starting reliability of the motor, the current of the motor can be continuously obtained for multiple times, and the rotating speed is increased when the current of the motor is less than the current threshold value for a single time or continuously for multiple times until the rotating speed of the motor reaches the target rotating speed. In the above starting process, the rate of the current rise change can be adjusted and set according to the difference of the load, and the larger the current rise rate is, the larger the starting torque is, and the shorter the starting time is.
Optionally, the method further comprises:
and when the motor is determined to be incapable of being started and the environment temperature of the motor is less than the threshold temperature, controlling the motor to enter a heating mode.
The lubricating grease is coated on the bearing, the temperature of the lubricating grease is almost the same as that of the bearing and is in positive correlation, and then the temperature of the lubricating grease can be controlled by controlling the temperature of the bearing. The bearing is in direct or indirect physical contact with the motor itself and the related components of the motor, and the heat generated by raising the temperature of the motor itself and the related components of the motor is transferred to the bearing through heat conduction, so that the temperature of the bearing is raised.
It should be noted that heat conduction can also be carried out through a medium, such as air; and the heating mode can be the heating mode of the first aspect of the embodiment of the invention, and can also be other reasonable heating modes.
Optionally, the motor is restarted when the ambient temperature of the motor is greater than a temperature threshold.
When the temperature of the bearing and the lubricating grease is increased to a certain threshold value in the heating mode, namely after the environmental temperature of the motor reaches the temperature threshold value, the friction force of the motor bearing is reduced, and the motor can be started again.
Optionally, the method further comprises: and determining whether the motor is in an abnormal state or not according to the current and the duration of the motor.
Optionally, when the current of the motor is greater than a preset current and the duration is greater than a preset time, it is determined that the motor is in an abnormal state.
Optionally, the preset time is greater than or equal to 5 seconds; or, the preset current is greater than or equal to 3 amperes.
In the starting process of the motor, in order to ensure the starting safety, the current of the motor can be continuously monitored, and when the current of the motor works at a high current within a preset time for some reason, the motor can be easily burnt. In order to prevent the motor from being burnt out due to continuous high current, when the current of the monitored motor is in the condition, the motor should be immediately controlled to stop so as to protect the motor from being damaged.
It should be noted that the preset current and the preset time are examples, and the preset current and the preset time may be adjusted according to parameters of the motor, actual conditions, and design requirements, which is not limited herein.
In one embodiment, referring to fig. 3, fig. 3 shows a schematic flow chart of an example of a control method of an embodiment of the present invention. As shown in fig. 3, the method 300 includes:
first, in step S301, a soft start process of the motor is started.
Secondly, in step S302, obtaining an ambient temperature of the motor, setting a starting current of the motor as a first current and a target rotation speed of the first stage as a first rotation speed 2000 rpm; the rotation speed of the motor starts to increase after the first current is input into the motor.
Next, in step S303, the rotation speed of the motor is sampled, and it is determined whether the rotation speed of the motor reaches the first rotation speed of 2000 rpm; the sampling may be performed periodically in real time, or the sampling may be performed for a preset number of times after the preset time T1, and the sampling time and frequency may be adjusted according to actual conditions, which is not limited herein; the specific sampling result may be directly obtained by the rotation speed sensor, or may be indirectly obtained by obtaining parameters of the motor, such as current, voltage, or induced electromotive force, and the like, which is not limited herein.
Next, in step S304, when the rotation speed of the motor reaches the first rotation speed of 2000rpm after the predetermined time T2, the current of the motor is detected for multiple times, and if the current of the motor is detected for 2 consecutive times and is less than 1A, it indicates that the motor start process is normal, and the rotation speed may be increased to perform the subsequent slow start process.
Next, in step S305, the current of the motor is raised to increase the motor rotation speed by 1000 rpm.
Next, in step S306, detecting the current rotation speed of the motor and determining whether the current rotation speed reaches the target rotation speed at which the start is completed; if the motor start is finished, and if the motor start is not finished, the steps S304 to S306 are repeated until the motor start is finished.
In step S303, if the motor speed does not reach the first speed 2000rpm, step S307 is executed.
In step S307, if the rotation speed of the motor does not reach the first rotation speed of 2000rpm after the predetermined time T2, it indicates that the motor cannot be started.
Next, in step S308, it is determined whether the ambient temperature of the motor is less than the temperature threshold of-20 degrees, and if the ambient temperature of the motor is not less than the temperature threshold of-20 degrees, it is determined that the motor is abnormal; if the environmental temperature of the motor is less than the temperature threshold value of-20 degrees, it indicates that the environmental temperature of the motor is low, the torque generated by the first current is insufficient to start the motor, and the friction force of the bearing needs to be reduced, then step S350 is executed.
Next, in step S309, the motor enters a heating mode, and preheating currents are alternately supplied to A, B, C three-phase coils of the motor for the same time, or preheating voltages controlled by an SVPWM algorithm are alternately supplied to A, B, C three-phase coils of the motor, so that the coils uniformly heat, the temperature of the bearings and the grease on the bearings is raised, the friction force is reduced, and the problem that the motor is difficult to start at low temperature is solved.
Then, in step S310, when the ambient temperature of the motor rises to be greater than the temperature threshold value of-20 degrees, the motor is started again, step S302 is executed, and the motor is started slowly until the motor is started completely.
Therefore, in the control method 300 for the motor, the bearing of the motor is preheated or the starting current is increased when the environmental temperature is low, so that the starting current at a low temperature is reduced while the motor is prevented from being burnt, the starting current in a high-temperature and low-temperature environment is considered, the starting of the motor in a wide temperature range is realized, and the working reliability of the motor is improved.
In a fourth aspect, an embodiment of the present invention provides a controller for an electric motor, including:
the driving circuit is used for providing working current of the motor;
one or more processors, working individually or collectively;
wherein the processor is electrically connected to the driving circuit for controlling the driving circuit to provide the corresponding working current to the motor, and the processor is capable of executing the method of the third aspect.
Optionally, the driving circuit comprises a plurality of controllable switches, such as MOS transistors.
In a fifth aspect, an embodiment of the present invention provides a ranging sensor, including:
a functional component capable of movement;
the motor is used for driving the functional component;
the controller of the fourth aspect is electrically connected to the motor, and is configured to control an operating state of the motor.
Optionally, the movement pattern of the functional component comprises at least one of: rotate, slide, swing.
Optionally, the functional component comprises at least one of: optical elements, acoustic elements, electrical elements, mechanical elements.
Optionally, the ranging sensor comprises at least one of: the sensor comprises a laser sensor, an infrared sensor, an ultrasonic sensor, a monocular sensor and a binocular sensor.
Optionally, the motor is an inner rotor motor or an outer rotor motor.
Optionally, the motor is a hollow motor, and the functional component is located within the motor.
The hollow motor has a hollow accommodating space in the middle part, so that functional components, such as optical elements, can be placed in the hollow accommodating space, and the volume of the driving device of the hollow motor can be effectively reduced.
Optionally, the functional component is located within and fixedly connected to the rotor of the electric machine.
Optionally, the controller is located externally to the motor.
In a fifth aspect, an embodiment of the present invention provides a movable platform, including:
a platform body; and
the distance measuring sensor of the second or fifth aspect, mounted on the platform body, is configured to sense a distance of an obstacle around the platform body.
The motor control method, the controller and the ranging sensor provided by the embodiments of the invention can be applied to a ranging device, and the ranging device can be electronic equipment such as a laser radar and laser ranging equipment. In one embodiment, the ranging device is used to sense external environmental information, such as distance information, orientation information, reflected intensity information, velocity information, etc. of environmental targets. In one implementation, the ranging device may detect the distance of the probe to the ranging device by measuring the Time of flight (TOF), which is the Time-of-flight (Time-of-flight) Time of light propagation between the ranging device and the probe. Alternatively, the distance measuring device may detect the distance from the probe to the distance measuring device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.
For ease of understanding, the following describes an example of the ranging operation with reference to the ranging apparatus 400 shown in fig. 4.
As shown in fig. 4, ranging apparatus 400 may include a transmitting circuit 410, a receiving circuit 420, a sampling circuit 430, and an arithmetic circuit 440.
The transmit circuit 410 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 420 may receive the optical pulse train reflected by the detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, and output the electrical signal to the sampling circuit 430 after processing the electrical signal. The sampling circuit 430 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 440 may determine the distance between the distance measuring device 400 and the detected object based on the sampling result of the sampling circuit 430.
Optionally, the distance measuring apparatus 400 may further include a control circuit 450, and the control circuit 450 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.
It should be understood that, although the distance measuring device shown in fig. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the embodiments of the present application are not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and the stacks of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 4, the distance measuring apparatus 400 may further include a scanning module 460 for emitting at least one laser pulse sequence emitted from the emitting circuit with a changed propagation direction.
The module including the transmitting circuit 410, the receiving circuit 420, the sampling circuit 430, and the operation circuit 440, or the module including the transmitting circuit 410, the receiving circuit 420, the sampling circuit 4430, the operation circuit 440, and the control circuit 450 may be referred to as a ranging module, which may be independent of other modules, for example, the scanning module 460.
The distance measuring device can adopt a coaxial light path, namely the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device. FIG. 5 shows a schematic diagram of one embodiment of the ranging device of the present invention using coaxial optical paths.
Ranging apparatus 500 includes a ranging module 510, ranging module 510 including an emitter 503 (which may include the transmit circuitry described above), a collimating element 504, a detector 505 (which may include the receive circuitry, sampling circuitry, and arithmetic circuitry described above), and a path-altering element 506. The distance measurement module 510 is used for emitting a light beam, receiving a return light, and converting the return light into an electrical signal. Wherein the emitter 503 may be configured to emit a sequence of light pulses. In one embodiment, the transmitter 503 may transmit a sequence of laser pulses. Alternatively, the emitter 503 emits a laser beam that is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 504 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 503, and collimate the light beam emitted from the emitter 503 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 504 may be a collimating lens or other element capable of collimating a light beam.
In the embodiment shown in fig. 5, the transmit and receive optical paths within the ranging apparatus are combined by the optical path altering element 506 before the collimating element 504, so that the transmit and receive optical paths may share the same collimating element, making the optical path more compact. In other implementations, the emitter 503 and the detector 505 may use respective collimating elements, and the optical path changing element 506 may be disposed in the optical path after the collimating elements.
In the embodiment shown in fig. 5, since the beam aperture of the light beam emitted from the emitter 503 is small and the beam aperture of the return light received by the distance measuring device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the optical path changing element may also be a mirror with a through hole for transmitting the outgoing light from the emitter 503, and a mirror for reflecting the return light to the detector 505. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.
In the embodiment shown in fig. 5, the optical path altering element is offset from the optical axis of the collimating element 504. In other implementations, the optical path altering element may also be located on the optical axis of the collimating element 504.
The ranging device 500 also includes a scanning module 502. The scanning module 502 is disposed on the outgoing light path of the distance measuring module 510, and the scanning module 502 is configured to change the transmission direction of the collimated light beam 515 outgoing from the collimating element 504, project the collimated light beam to the external environment, and project return light to the collimating element 504. The return light is converged by the collimating element 504 onto the detector 505.
In one embodiment, the scanning module 502 may include at least one optical element for altering the propagation path of the light beam, wherein the optical element may alter the propagation path of the light beam by reflecting, refracting, diffracting, etc., the light beam. For example, scanning module 502 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical element is moved, for example, by a driving module, and the moved optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 502 may rotate or oscillate about a common axis 509, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 502 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 502 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or in the same direction, or in different directions, without limitation.
In one embodiment, the scan module 502 includes a first optical element 514 and a driver 516 coupled to the first optical element 514, the driver 516 configured to drive the first optical element 514 to rotate about a rotation axis 509 to cause the first optical element 514 to redirect the collimated light beam 519. The first optical element 514 projects the collimated light beam 519 in a different direction. In one embodiment, the angle between the altered direction of the collimated beam 519 through the first optical element and the axis of rotation 509 changes as the first optical element 514 rotates. In one embodiment, the first optical element 514 includes a pair of opposing non-parallel surfaces through which the collimated light beam 519 passes. In one embodiment, the first optical element 514 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, first optical element 514 comprises a wedge angle prism that refracts collimated light beam 519.
In one embodiment, the scanning module 502 further comprises a second optical element 515, the second optical element 515 rotates about the rotation axis 509, and the rotation speed of the second optical element 515 is different from the rotation speed of the first optical element 514. The second optical element 515 is used to change the direction of the light beam projected by the first optical element 514. In one embodiment, the second optical element 515 is connected to another driver 517, and the driver 517 drives the second optical element 515 to rotate. The first 514 and second 515 optical elements may be driven by the same or different drivers to rotate and/or steer the first 514 and second 515 optical elements differently, thereby projecting the collimated beam 515 into different directions in ambient space, allowing a larger spatial range to be scanned. In one embodiment, the controller 518 controls the drivers 516 and 517 to drive the first optical element 514 and the second optical element 515, respectively. The rotation speed of the first 514 and second 515 optical elements may be determined according to the area and pattern desired to be scanned in an actual application. The drivers 516 and 517 may comprise motors or other drivers.
In one embodiment, the second optical element 515 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 515 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the second optical element 515 comprises a wedge angle prism.
In one embodiment, the scan module 502 further comprises a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element comprises a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.
Rotation of the optical elements in the scanning module 502 may project light in different directions, such as the direction of lights 511 and 513, thus scanning the space around the ranging device 500. When the light 511 projected by the scanning module 502 hits the object 501, a part of the light is reflected by the object 501 to the distance measuring device 500 in the opposite direction to the projected light 511. The return light 512 reflected by the detected object 501 passes through the scanning module 502 and then enters the collimating element 504.
The detector 505 is placed on the same side of the collimating element 504 as the emitter 503, and the detector 505 is used to convert at least part of the return light passing through the collimating element 504 into an electrical signal.
In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.
In one embodiment, a filter layer is coated on a surface of a component in the distance measuring device, which is located on the light beam propagation path, or a filter is arranged on the light beam propagation path, and is used for transmitting at least a wave band in which the light beam emitted by the emitter is located and reflecting other wave bands, so as to reduce noise brought to the receiver by ambient light.
In some embodiments, the transmitter 503 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the ranging apparatus 500 can calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance of the object 501 to be detected from the ranging apparatus 500.
The distance and orientation detected by ranging device 500 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In an embodiment, the distance measuring device of the embodiment of the invention can be applied to a mobile platform, and the distance measuring device can be installed on a platform body of the mobile platform. The mobile platform with the distance measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the distance measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the automobile body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the distance measuring device is applied to the remote control car, the platform body is the car body of the remote control car. When the ranging device is applied to a robot, the platform body is the robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.
According to the control method of the motor, the controller of the motor, the distance measuring device and the mobile platform, the bearing of the motor is preheated or the starting current is increased when the environmental temperature is low, and the starting current is reduced when the environmental temperature is high, so that the motor is started within a wide temperature range, and the working reliability of the motor is improved.
Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Various modifications and alterations to this invention will become apparent to those skilled in the art without departing from the scope and spirit of this invention. The embodiments described herein are further intended to explain the principles of the invention and its practical application and to enable others skilled in the art to understand the invention.
The flow chart described in the present invention is only an example, and various modifications can be made to the diagram or the steps in the present invention without departing from the spirit of the present invention. For instance, the steps may be performed in a differing order, or steps may be added, deleted or modified. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed.
Claims (42)
- A method of controlling an electric machine, the method comprising:detecting whether the ambient temperature of the motor is lower than a temperature threshold value;if the environmental temperature of the motor is lower than the temperature threshold value, increasing the starting current of the motor to a first starting current, and starting the motor with the first starting current;detecting whether the rotating speed of the motor reaches a first rotating speed;and if the rotating speed of the motor does not reach the first rotating speed, controlling the motor to enter a heating mode.
- The method of claim 1, wherein the heating mode comprises: and preheating current or preheating voltage is fed into the coil wheel of the motor, so that the motor coil uniformly heats.
- The method of claim 2, wherein injecting a preheating current into a coil wheel of the electric machine comprises: preheating current with the same time is sequentially input to each phase coil of the coils.
- The method of claim 2, wherein passing a preheat voltage to a coil wheel of the motor comprises: and controlling the preheating voltage by adopting an SVPWM algorithm.
- The method of claim 2, wherein the heating mode further comprises: the motor coil uniformly generates heat to enable the ambient temperature of the motor to rise, and the temperature of the lubricating grease on the bearing seat also rises.
- The method of claim 1, wherein the first starting current comprises: the starting current allowed when the surface temperature of the coil winding reaches thermal equilibrium.
- The method of claim 6, wherein a difference between an allowable starting current when a surface temperature of the coil winding is-20 ° and an allowable starting current when the surface temperature of the coil winding is 65 ° is 1.3A.
- The method of claim 1, wherein the method further comprises: and if the ambient temperature of the motor is not lower than the temperature threshold, starting the motor with the second starting current, wherein the second starting current is smaller than the first starting current.
- The method of claim 1, wherein the method further comprises:if the rotating speed of the motor reaches the first rotating speed, detecting the current of the motor at regular time;and judging whether the current of the motor is less than the current threshold value twice continuously, and increasing the rotating speed of the motor by a preset rotating speed when the current of the motor is less than the current threshold value twice continuously.
- The method of claim 9, wherein increasing the rotational speed of the motor by the predetermined rotational speed comprises: increasing the current of the motor.
- The method of claim 9, wherein the method further comprises:detecting whether the rotating speed of the motor reaches a second rotating speed after increasing a preset rotating speed, and finishing starting if the rotating speed reaches the second rotating speed;and if the second rotating speed is not reached, repeatedly judging whether the current of the motor is less than the current threshold value twice continuously, and increasing the rotating speed of the motor by a preset rotating speed when the current of the motor is less than the current threshold value twice continuously.
- A ranging sensor, the apparatus comprising:a light generating element for generating a light signal;the optical element is fixed on the motor and used for reflecting or transmitting the optical signal;the motor is used for driving the optical element to rotate;a controller electrically connected with the motor and used for controlling the motor to rotate,wherein the controller comprises one or more processors, working individually or collectively, to perform the method of any one of claims 1-12.
- A method of controlling a motor, comprising:acquiring the ambient temperature of the motor;determining the starting current of the motor according to the environment temperature of the motor;and controlling the motor to start according to the determined starting current.
- The method of claim 13, wherein the ambient temperature of the electric machine comprises at least one of: the temperature of the motor itself, and the temperature of the components associated with the motor.
- The method of claim 14, wherein the temperature of the motor related component comprises at least one of: and the temperature of a bearing connected with the motor is used for controlling the temperature of a circuit board of the motor.
- The method of claim 14, wherein the temperature of the motor itself is sensed by a temperature sensor.
- The method of claim 14, wherein the temperature of the motor itself is calculated by calculating an electrical parameter of the motor.
- The method of claim 17, wherein the parameters of the motor include at least one of: induced electromotive force, resistance.
- The method of claim 13, wherein when the ambient temperature of the motor is less than a temperature threshold, then starting the motor at a first starting current; and when the ambient temperature is greater than or equal to the temperature threshold, starting the motor with a second starting current, wherein the second starting current is less than the first starting current.
- The method of claim 19, wherein the first starting current is less than 4 amps; alternatively, the temperature threshold is equal to or less than 0 degrees.
- The method of claim 13, further comprising:corresponding starting current is introduced into the motor according to a first rotating speed;acquiring the current rotating speed of the motor, and determining whether the current rotating speed reaches a first rotating speed;and if the first rotating speed is not reached, determining that the motor cannot be started.
- The method of claim 21, wherein if the first rotational speed is reached, determining whether to increase the rotational speed of the motor based on a present current of the motor.
- The method of claim 22, wherein the rotational speed of the motor is increased if the present current of the motor is less than a predetermined current.
- The method of claim 22, wherein the increasing the rotational speed of the motor continues until the rotational speed of the motor reaches a second speed when the present current of the motor is less than a preset current.
- The method of claim 21, wherein the present current of the motor is obtained a plurality of times in succession if the first rotational speed is reached.
- The method of claim 21, further comprising:and when the motor is determined to be incapable of being started and the environment temperature of the motor is less than the threshold temperature, controlling the motor to enter a heating mode.
- The method of claim 26, wherein the motor is restarted when an ambient temperature of the motor is greater than a temperature threshold.
- The method of claim 13, further comprising: and determining whether the motor is in an abnormal state or not according to the current and the duration of the motor.
- The method of claim 28, wherein the motor is determined to be in an abnormal state when the current of the motor is greater than a preset current and the duration is greater than a preset time.
- The method of claim 29, wherein the predetermined time is 5 seconds or more; or, the preset current is greater than or equal to 3 amperes.
- A controller for an electric machine, comprising:the driving circuit is used for providing working current of the motor;one or more processors, working individually or collectively;wherein the processor is electrically connected to the driving circuit for controlling the driving circuit to provide the corresponding working current to the motor, and the processor is capable of executing the method of any one of claims 13-30.
- The controller of claim 31, wherein the driver circuit comprises a plurality of MOS transistors.
- A ranging sensor, comprising:a functional component capable of movement;the motor is used for driving the functional component;the controller of claim 31, electrically connected to the motor for controlling an operating state of the motor.
- The range sensor of claim 33, wherein the movement pattern of the functional component comprises at least one of: rotate, slide, swing.
- The ranging sensor of claim 33, wherein the functional component comprises at least one of: optical elements, acoustic elements, electrical elements, mechanical elements.
- The ranging sensor of claim 33, wherein the ranging sensor comprises at least one of: laser sensor, infrared sensor, ultrasonic sensor, monocular, binocular.
- The range sensor of claim 33, wherein the motor is an inner rotor motor or an outer rotor motor.
- The range sensor of claim 33 wherein the motor is a hollow motor and the functional component is located within the motor.
- The ranging sensor of claim 38 wherein the functional component is located within and fixedly attached to the rotor of the motor.
- The ranging sensor of claim 16 wherein the controller is located external to the motor.
- A movable platform, comprising:a platform body; anda ranging sensor as claimed in any of claims 12 and 33 to 40 mounted on the platform body for sensing the distance to obstacles around the platform body.
- The movable platform of claim 41, wherein the movable platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/071025 WO2020142942A1 (en) | 2019-01-09 | 2019-01-09 | Control method and controller for motor, distance measurement sensor, and mobile platform |
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| WO (1) | WO2020142942A1 (en) |
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Application publication date: 20200918 |