CN111740650B - Motor synchronous control method, device, controller, system and storage medium - Google Patents

Motor synchronous control method, device, controller, system and storage medium Download PDF

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Publication number
CN111740650B
CN111740650B CN202010649188.8A CN202010649188A CN111740650B CN 111740650 B CN111740650 B CN 111740650B CN 202010649188 A CN202010649188 A CN 202010649188A CN 111740650 B CN111740650 B CN 111740650B
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China
Prior art keywords
motor
synchronous
total number
preset threshold
control
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CN111740650A (en
Inventor
陈毅东
季传坤
杨立保
欧阳锋
魏代友
孙清原
李平
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Dongguan Zhaowei Electromechanical Co ltd
Shenzhen Zhaowei Machinery and Electronics Co Ltd
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Shenzhen Zhaowei Machinery and Electronics Co Ltd
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Priority to CN202010649188.8A priority Critical patent/CN111740650B/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0856—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load characterised by the protection measure taken
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/30—Arrangements for controlling the direction of rotation

Abstract

The application provides a motor synchronous control method, a motor synchronous control device, a motor synchronous control controller, a motor synchronous control system and a storage medium, and relates to the field of motor synchronous control. When the current of a first motor in the synchronous motors is detected to be lower than a first preset threshold value and a second motor in the synchronous motors is in a closed state, controlling the second motor to start; the second motor is other than the first motor in the synchronous motor; acquiring the total number of Hall signals of a first motor and a second motor; and adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control is the same. The motor after the locked rotor is subjected to position adjustment based on the total number of the Hall signals, so that the influence of the locked rotor on the synchronization of the motor is reduced, and the synchronization precision of the motor is improved.

Description

Motor synchronous control method, device, controller, system and storage medium
Technical Field
The present disclosure relates to the field of synchronous control of motors, and in particular, to a method, an apparatus, a controller, a system and a storage medium for synchronous control of a motor.
Background
The brushless DC motor is one kind of synchronous motor, consists of motor body and driver and is one typical electromechanical integrated product. A brushless motor refers to a motor without a brush and a commutator (or a slip ring), which is also called a commutator-less motor.
The existing synchronous correction control of the direct current brushless motor adopts a correction method of firstly synchronizing and then separating, namely, the motors A and B move synchronously firstly, the motor reaching the end point stops moving firstly, the synchronous driving is released, a motor still moves at the original rotating speed until the motor stops reaching the end point, and the motor is positioned at the same position at the moment and is started again to realize the synchronization of the direct current brushless motor.
However, different motors may have differences in their motion conditions and influence of motor stalling on the motion speed, and the existing motor synchronous driving method may have a large error in the application process.
Disclosure of Invention
In order to solve the problems in the prior art, the application provides a motor synchronous control method, a motor synchronous control device, a motor synchronous control controller, a motor synchronous control system and a storage medium.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
the application provides a motor synchronous control method in a first aspect, which includes:
when the current of a first motor in the synchronous motors is detected to be lower than a first preset threshold value and a second motor in the synchronous motors is in a closed state, controlling the second motor to start; the second motor is the other motor except the first motor in the synchronous motor;
acquiring the total number of Hall signals of the first motor and the second motor;
and adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control are the same.
Optionally, before detecting that the current of the first motor in the synchronous motors is lower than a first preset threshold and the second motor in the synchronous motors is in an off state and controlling the second motor to start, the method further includes:
and when the current of the first motor is detected to be increased and exceed the first preset threshold, controlling the second motor to stop moving.
Optionally, the method further comprises:
and if the current of the first motor is detected to be increased and exceed a second preset threshold, controlling the first motor and the second motor to stop running, wherein the second preset threshold is larger than the first preset threshold.
Optionally, the performing adjustment control on the first motor or the second motor so that the total number of hall signals detected by the first motor and the second motor after adjustment control is the same includes:
and increasing and adjusting the rotating speed of the first motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment is the same.
Optionally, the performing adjustment control on the first motor or the second motor so that the total number of hall signals detected by the first motor and the second motor after adjustment control is the same includes:
and reducing and adjusting the rotating speed of the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment is the same.
The present application provides in a second aspect a synchronous motor control apparatus comprising:
the control module is used for controlling a second motor in the synchronous motors to start when the current of the first motor is detected to be lower than a first preset threshold and the second motor is in a closed state; the second motor is the other motor except the first motor in the synchronous motor;
the acquisition module is used for acquiring the total number of Hall signals of the first motor and the second motor;
and the adjusting control module is used for adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after the adjusting and controlling are the same.
Optionally, the control module is further configured to control the second motor to stop moving when it is detected that the current of the first motor increases and exceeds the first preset threshold.
Optionally, the control module is configured to control both the first motor and the second motor to stop running if it is detected that the current of the first motor increases and exceeds a second preset threshold, where the second preset threshold is greater than the first preset threshold.
Optionally, the adjusting and controlling module is configured to increase and adjust the rotation speed of the first motor, so that the total number of hall signals detected based on the adjusted first motor and hall signals detected based on the adjusted second motor is the same.
Optionally, the adjustment control module is configured to perform reduction adjustment on the rotation speed of the second motor, so that the total number of hall signals detected based on the first motor and the second motor after adjustment is the same.
A third aspect of the present application provides a motor controller comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the apparatus is operating, the processor executing the machine-readable instructions to perform the steps of the method of the first aspect.
The present application in a fourth aspect provides a synchronous motor control system, comprising: a motor controller, a plurality of motor drivers, a synchronous motor, and a plurality of motor encoders; the synchronous machine includes: a plurality of motors;
the motor controller is connected with the motor drivers, and each motor driver is connected with one motor so as to control the motors through the motor drivers by the motor controller; each motor is provided with a motor encoder for detecting the total number of Hall signals output by each motor;
the motor controller is specifically configured to send a start control instruction to a motor driver connected to a second motor to control the second motor to start when it is detected that a current of the first motor in the plurality of motors is lower than a first preset threshold and the second motor in the plurality of motors is in a closed state; respectively acquiring the total number of Hall signals of the first motor and the second motor through motor encoders arranged on the first motor and the second motor; sending an adjustment control instruction to a motor driver connected with the first motor or a motor driver connected with the second motor to adjust and control the first motor or the second motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment and control are the same;
wherein the second motor is another motor than the first motor among the plurality of motors.
A fifth aspect of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.
In the motor synchronous control method, the device, the controller, the system and the storage medium provided by the application, when the current of a first motor in the synchronous motor is detected to be lower than a first preset threshold value and a second motor in the synchronous motor is in a closed state, the second motor is controlled to start; the second motor is other than the first motor in the synchronous motor; acquiring the total number of Hall signals of a first motor and a second motor; and adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control is the same. The motor after the locked rotor is subjected to position adjustment based on the total number of the Hall signals, so that the influence of the locked rotor on the synchronization of the motor is reduced, and the precision of the synchronous control of the motor is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a synchronous motor control system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a motor synchronization control method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a motor synchronization control method according to another embodiment of the present application;
fig. 4 is a schematic flow chart of a motor synchronization control method according to another embodiment of the present application;
fig. 5 is a schematic flow chart of a motor synchronization control method according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a synchronous motor control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a motor controller according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings or that the application product is usually placed in use, the description is merely for convenience and simplicity, and it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The existing synchronous correction control of the direct current brushless motor usually adopts a correction method of firstly synchronizing and then separating, namely, the motors A and B synchronously move firstly, the motor which reaches the terminal point firstly stops moving, synchronous driving is released, a motor still moves at the original rotating speed until the motor stops reaching the terminal point, and the motor is positioned at the same position at the moment and is started again to realize the synchronization of the direct current brushless motor. However, different motors may have differences in their motion conditions and influence of motor stalling on the motion speed, and the existing motor synchronous driving method may have a large error in the application process.
In order to solve the above technical problem, the present application provides a motor synchronous control system, as shown in fig. 1, taking the motor synchronous control system including two synchronous motors as an example for description, the motor synchronous control system includes: a motor controller 01, two motor drivers 02, two synchronous motors 03, and two motor encoders 04. It should be noted that the two synchronous motors 03 in this embodiment are only exemplary, and are not limited to 2, and may be 3 or more than 3. The number of the specific synchronous motors 03 is not particularly limited in the embodiment of the present application.
The motor controller 01 is connected with two motor drivers 02, each motor driver 02 is connected with one synchronous motor 03, and the motor controller 01 controls the two synchronous motors 03 through the two motor drivers 02; each synchronous motor 03 is provided with a motor encoder 04 for detecting the total number of hall signals output by each synchronous motor 03.
The hall signals are generally used to represent the position signals of the motor, and in the present embodiment, the total number of hall signals may be used to characterize the "distance" of the motion. The motor controller 01 starts the two synchronous motors 03 to move from the starting points at the same speed before controlling the two synchronous motors 03. It should be noted that in some possible implementations, the number of the motor controllers 01 may be 1, 2, or more than 2. Specifically, the number of the controllers 01 may be equal to the number of the synchronous motors 03, or all the synchronous motors 03 may be controlled by one controller 01.
It can be understood that, in the embodiment of the present application, one motor controller 01 is used to control and adjust all the synchronous motors 03, so that the space of the whole motor synchronous control system can be saved to a certain extent, and the purpose of miniaturizing the whole control system is achieved.
The motor encoder 04 is a device adapted to be used in a motor to encode and convert signals (e.g., bit streams) or data into a form of signals that can be communicated, transmitted, and stored. In the embodiment of the present application, the motor encoders 04 are used for detecting the total number of hall signals of the synchronous motor 03, and the number of the motor encoders 04 is the same as the number of the synchronous motors 03 and the number of the motor drivers 02.
The motor controller 01 is specifically configured to send a start control instruction to a motor driver connected to a second motor to control the second motor to start when it is detected that the current of the first motor of the two synchronous motors 03 is lower than a first preset threshold and the second motor of the two synchronous motors is in a closed state; respectively acquiring the total number of Hall signals of the first motor and the second motor through motor encoders 04 arranged on the first motor and the second motor; and sending an adjusting control instruction to a motor driver connected with the first motor or a motor driver connected with the second motor to adjust and control the first motor or the second motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment and control is the same.
In the embodiment of the present application, the first motor is not the only motor, and may be any motor that is blocked by an obstacle and causes a stall. The second motor may be another motor than the first motor among the plurality of motors, that is, all the motors in which no stalling occurs are referred to as second motors.
The synchronous motor drives the device to move, and the synchronization of the motor is represented by whether the device is at the same position or not. Therefore, in the embodiment of the present application, the synchronization of the motors may be embodied as the synchronization of the positions of the devices driven by the motors.
The current of the motor is not always stable and can be affected by the external environment, for example: temperature, slight changes occur. In the embodiment of the present application, in order to avoid the motor controller 01 misjudging that the first motor is locked or that the locked rotor has been released due to a slight change in the current of the first motor, a first threshold value is set for the current of the first motor. When the current of the first motor is lower than the first threshold value, the first motor can be considered to normally operate without the occurrence of locked rotor, or the locked rotor condition is already released.
In this embodiment of the present application, when the locked-rotor condition of the first motor is removed, in order to avoid the problem that the operation of the plurality of synchronous motors is not synchronous due to the locked-rotor condition of the first motor, the total number of hall signals of all the synchronous motors needs to be compensated, so that the operation of all the synchronous motors 03 is synchronous. That is, when the motor controller 01 detects that the current of the first motor is lower than a first preset threshold value, and the second motor of the two motors is in an off state, the motor controller 01 sends a starting instruction to the second motor, and after the second motor is started, the motor encoders 04 arranged on the first motor and the second motor respectively acquire the total number of hall signals of the first motor and the second motor. For example, when the total number of hall signals of the first motor obtained by the motor encoder 04 is HallA and the total number of hall signals of the second motor obtained by the motor encoder 04 is HallB, the motor encoder 04 may feed the total number of hall signals back to the motor controller 01, and the motor controller 01 may control to compensate the total number of hall signals of the first motor and the second motor, so that the total numbers of hall signals of the first motor and the second motor are the same.
It should be noted that, in the embodiment of the present application, the motor controller 01 may compensate the hall signal of the motor in two ways. For example, the hall signal total of all the motors may be compensated to the hall signal total of the first motor, i.e., hall a; the sum of the hall signals of all the motors can also be compensated to the sum of the hall signals of the second motor, i.e. hall b. Specifically, which compensation mode is adopted is not limited in the embodiment of the present application.
According to the motor synchronous control system, when the motor controller 01 detects that the current of a first motor in the synchronous motor is lower than a first preset threshold value and a second motor in the synchronous motor is in a closed state, the second motor is controlled to be started; the second motor is other than the first motor in the synchronous motor; acquiring the total number of Hall signals of a first motor and a second motor; and adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control is the same. The motor controller 01 is used for adjusting the position of the motor after the stalling based on the total number of the Hall signals, so that the influence of the stalling on the synchronization of the motor is reduced, and the precision of the synchronous control of the motor is improved.
Fig. 2 is a schematic flowchart of a motor synchronization control method according to an embodiment of the present application, and as shown in fig. 2, the method includes:
s201, when the current of a first motor in the synchronous motors is detected to be lower than a first preset threshold value and a second motor in the synchronous motors is in a closed state, controlling the second motor to start.
It should be noted that, in the embodiment of the present application, the first motor is not only the only motor, but may be any motor that is blocked and causes a locked rotor. The second motor is the other motor than the first motor among all the synchronous motors. The first preset threshold is a threshold current for determining whether the locked rotor of the first motor is eliminated. Specifically, when the current of the first motor is below a first preset threshold, it may be determined that stalling of the first motor has been eliminated.
In this embodiment, the number of synchronous motors is not particularly limited, and may be 2, 3, or 3 or more.
S202, acquiring the total number of Hall signals of the first motor and the second motor.
In this embodiment, the hall signal can be used to characterize the "running distance" of the synchronous machine. When the locked rotor of the first motor is removed, the current of the first synchronous motor is lower than a first preset threshold value, and in order to reduce the asynchronous operation of all synchronous motors caused by the locked rotor of the first motor, the 'operating distance' of all motors, namely the total number of hall signals, needs to be compensated.
S203, adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control are the same.
It should be noted that, in this embodiment, there may be two adjustment concepts for controlling the total number of hall signals of the first motor and the second motor. For example, the total number of hall signals of all the motors may be adjusted to the total number of hall signals (hall a) of the first motor, the total number of hall signals of all the motors may be adjusted to the total number of hall signals (hall b) of the second motor, and the total number of hall signals is specifically adjusted according to which motor's total number of hall signals is used as a standard, which is not limited in the embodiment of the present application.
Fig. 3 is a schematic flow chart of a motor synchronization control method according to another embodiment of the present application. As shown in fig. 3, in this embodiment, when it is detected that the current of the first motor in the synchronous motors is lower than the first preset threshold, and the second motor in the synchronous motors is in an off state, before controlling the second motor to start, i.e., before step S201, the method further includes step S200.
And S200, when the current of the first motor is detected to be increased and exceed a first preset threshold value, controlling the second motor to stop moving.
It should be noted that in the present embodiment, all synchronizations may be run at the same speed from the beginning before the stalling of the first motor occurs. When the first motor is locked, the current of the first motor is increased and exceeds a first preset threshold, at the moment, the controller applies a braking instruction to all synchronous motors except the first motor, and all motors except the first motor are controlled to stop moving.
Optionally, the method further comprises: and if the current of the first motor is detected to be increased and exceed a second preset threshold, controlling the first motor and the second motor to stop running, wherein the second preset threshold is larger than the first preset threshold.
It should be noted that each synchronous motor has a maximum current that the motor itself can bear, in this embodiment of the present application, the second preset threshold may be the maximum current that the synchronous motor can bear, and when the current of the first motor exceeds the second preset threshold, there is a risk of burning the motor and even the circuit system. In order to avoid damaging the circuit system, in the present embodiment, when the motor controller detects that the current of the first motor increases and exceeds the second preset threshold, the motor controller controls both the first motor and the second motor to stop operating.
It can be understood that, in the embodiment of the present application, by setting the second preset threshold for the current flowing through the first motor, the function of protecting the circuit system can be performed to some extent, and damage to the circuit system of the synchronous motor is avoided.
Fig. 4 is a schematic flow chart of a motor synchronization control method according to another embodiment of the present application. As shown in fig. 4, in some possible implementations, in step S203, the first motor or the second motor is subjected to adjustment control, so that the total number of hall signals detected by the first motor and the second motor after the adjustment control is the same, and the specific implementation process may be step S204.
S204, increasing and adjusting the rotating speed of the first motor to enable the total number of the Hall signals detected by the first motor and the second motor after adjustment to be the same.
In the embodiment of the application, the total number of the Hall signals of the first motor is adjusted by taking the total number of the Hall signals of the second motor as a reference standard. Specifically, the rotating speed of the first motor is increased, and the speeds of other synchronous motors except the first motor are kept unchanged, so that the total number of the Hall signals of the first motor and the second motor is equal.
Fig. 5 is a schematic flowchart of a motor synchronization control method according to another embodiment of the present application. As shown in fig. 5, in other possible implementations, the specific execution process of step S203 may also be step S205.
S205, the rotating speed of the second motor is reduced and adjusted, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment is the same.
In the embodiment of the application, the total number of the Hall signals of the second motor is adjusted by taking the total number of the Hall signals of the first motor as a standard. Specifically, the rotating speed of the second motor is adjusted to be small, and the rotating speed of the first motor is kept unchanged, so that the total number of the Hall signals of the first motor and the second motor is equal.
In addition, in some possible implementation modes, the rotation speed of the motor can be kept unchanged, and the positive and negative synchronization can be adjusted. For example, the synchronous motor (which may be the first motor or the second motor) with a small total number of hall signals is kept unchanged in motion, and the synchronous motor with a large total number of hall signals is adjusted to be reversed, so that the total numbers of hall signals of the first motor and the second motor are equal.
In the motor synchronous control method provided by the embodiment of the application, when the current of a first motor in a synchronous motor is detected to be lower than a first preset threshold value and a second motor in the synchronous motor is in a closed state, the second motor is controlled to start; the second motor is other than the first motor in the synchronous motor; acquiring the total number of Hall signals of a first motor and a second motor; and adjusting and controlling the first motor or the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment and control is the same. The motor after the locked rotor is subjected to position adjustment based on the total number of the Hall signals, so that the influence of the locked rotor on the synchronization of the motor is reduced, and the precision of the synchronous control of the motor is improved.
The embodiment of the application provides a motor synchronous control device, which is used for executing the motor synchronous control method. Fig. 6 is a schematic structural diagram of a motor synchronous control device according to an embodiment of the present application, and as shown in fig. 6, the motor synchronous control device includes: a control module 301, an acquisition module 302, and a regulation control module 303.
The control module 301 is configured to, when it is detected that a current of a first motor in the synchronous motors is lower than a first preset threshold and a second motor in the synchronous motors is in an off state, control the second motor to start; the second motor is other than the first motor in the synchronous motor.
The obtaining module 302 is configured to obtain a total number of hall signals of the first motor and the second motor.
And the adjusting control module 303 is configured to perform adjusting control on the first motor or the second motor, so that the total number of hall signals detected by the first motor and the second motor after the adjusting control is the same.
Optionally, the control module 301 is configured to control the second motor to stop moving when it is detected that the current of the first motor increases and exceeds a first preset threshold.
Optionally, the control module 301 is configured to control both the first motor and the second motor to stop running if it is detected that the current of the first motor increases and exceeds a second preset threshold, where the second preset threshold is greater than the first preset threshold.
Optionally, the adjusting control module 303 is configured to increase and adjust the rotation speed of the first motor so that the total number of the hall signals detected based on the adjusted first motor and the adjusted second motor is the same.
Optionally, the adjusting control module 303 is configured to perform a decreasing adjustment on the rotation speed of the second motor, so that the total number of the hall signals detected based on the adjusted first motor and the adjusted second motor is the same.
Fig. 7 is a schematic structural diagram of a motor controller according to an embodiment of the present application, where the motor controller may include: a processor 410, a storage medium 420 and a bus 430, wherein the storage medium 420 stores machine-readable instructions executable by the processor 410, and when the electronic device is operated, the processor 410 communicates with the storage medium 420 via the bus 430, and the processor 410 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
The embodiment of the application provides a storage medium, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to execute the method.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (7)

1. A method of synchronous control of a motor, comprising:
when the current of a first motor in the synchronous motors is detected to be lower than a first preset threshold value and a second motor in the synchronous motors is in a closed state, controlling the second motor to start; the second motor is the other motor except the first motor in the synchronous motor; when the current of the first motor is lower than a first preset threshold value, the first motor does not generate locked rotor or the locked rotor condition is relieved;
acquiring the total number of Hall signals of the first motor and the second motor;
adjusting and controlling the first motor or the second motor to enable the total number of Hall signals detected by the first motor and the second motor after adjustment and control to be the same;
when it is detected that the current of the first motor in the synchronous motors is lower than a first preset threshold value and the second motor in the synchronous motors is in a closed state, before controlling the second motor to start, the method further comprises the following steps:
when the current of the first motor is detected to be increased and exceeds the first preset threshold value, the first motor is locked, and the second motor is controlled to stop moving;
and if the current of the first motor is detected to be increased and exceed a second preset threshold, controlling the first motor and the second motor to stop running, wherein the second preset threshold is larger than the first preset threshold.
2. The method of claim 1, wherein the adjusting the first motor or the second motor such that the total number of hall signals detected based on the first motor and the second motor after the adjusting control is the same comprises:
and increasing and adjusting the rotating speed of the first motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment is the same.
3. The method of claim 1, wherein the adjusting the first motor or the second motor such that the total number of hall signals detected based on the first motor and the second motor after the adjusting control is the same comprises:
and reducing and adjusting the rotating speed of the second motor, so that the total number of the Hall signals detected by the first motor and the second motor after adjustment is the same.
4. A synchronous motor control apparatus, comprising:
the control module is used for controlling a second motor in the synchronous motors to start when the current of the first motor is detected to be lower than a first preset threshold and the second motor is in a closed state; the second motor is the other motor except the first motor in the synchronous motor; when the current of the first motor is lower than a first preset threshold value, the first motor does not generate locked rotor or the locked rotor condition is relieved;
the acquisition module is used for acquiring the total number of Hall signals of the first motor and the second motor;
the adjusting control module is used for adjusting and controlling the first motor or the second motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment and control are the same;
the control module is used for controlling the second motor to stop moving when the current of the first motor is detected to be increased and exceed the first preset threshold and the first motor is locked;
the control module is used for controlling the first motor and the second motor to stop running if the current of the first motor is detected to be increased and exceed a second preset threshold, wherein the second preset threshold is larger than the first preset threshold.
5. A motor controller, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the motor controller is operating, the processor executing the machine-readable instructions to perform the steps of the method of any of claims 1-3.
6. A synchronous motor control system, comprising: a motor controller, a plurality of motor drivers, a synchronous motor, and a plurality of motor encoders; the synchronous machine includes: a plurality of motors;
the motor controller is connected with the motor drivers, and each motor driver is connected with one motor so as to control the motors through the motor drivers by the motor controller; each motor is provided with a motor encoder for detecting the total number of Hall signals output by each motor;
the motor controller is specifically configured to send a start control instruction to a motor driver connected to a second motor to control the second motor to start when it is detected that a current of the first motor in the plurality of motors is lower than a first preset threshold and the second motor in the plurality of motors is in a closed state; respectively acquiring the total number of Hall signals of the first motor and the second motor through motor encoders arranged on the first motor and the second motor; sending an adjustment control instruction to a motor driver connected with the first motor or a motor driver connected with the second motor to adjust and control the first motor or the second motor, so that the total number of Hall signals detected by the first motor and the second motor after adjustment and control are the same;
wherein the second motor is another motor than the first motor among the plurality of motors.
7. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 3.
CN202010649188.8A 2020-07-07 2020-07-07 Motor synchronous control method, device, controller, system and storage medium Active CN111740650B (en)

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