CN112054741A - Motor control method and device, terminal equipment and storage medium - Google Patents
Motor control method and device, terminal equipment and storage medium Download PDFInfo
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- 238000007781 pre-processing Methods 0.000 claims abstract description 90
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K7/00—Modulating pulses with a continuously-variable modulating signal
- H03K7/08—Duration or width modulation ; Duty cycle modulation
Abstract
The motor control method comprises the steps of obtaining pulse signals with a set number of cycles from PWM control signals to serve as preprocessing signals, calculating the duty ratio of the preprocessing signals, determining a target pointing value according to the duty ratio of the preprocessing signals and the precision value of the PWM control signals, obtaining the corresponding target duty ratio from a duty ratio set according to the target pointing value, and controlling the motor based on the target duty ratio. The target duty ratio finally obtained by the method is one duty ratio in the PWM control signal, so that the problem of unidirectional deviation of the obtained duty ratio is avoided, and the control precision of the motor is improved.
Description
Technical Field
The present application belongs to the technical field of motor control, and in particular, to a motor control method, apparatus, terminal device, and storage medium.
Background
The control principle of the motors of the existing sweeper and dust collector is as follows: the method comprises the steps of obtaining a Pulse signal with a set period in an input PWM (Pulse Width Modulation) control signal at regular time, calculating the duty ratio of the Pulse signal, and controlling the motor to work according to the duty ratio of the Pulse signal. Generally, the precision value of the PWM control signal for controlling the operation of the motor is 1% or more, that is, when the precision value of the PWM control signal is 1%, the duty ratio of the PWM control signal may be 0, 1%, 2%, 3%, … …, 100%; when the precision value of the PWM control signal is 2%, the duty ratio of the PWM control signal may be 0, 2%, 4%, 6%, … …, 100%.
However, the duty ratio of the acquired pulse signal has a unidirectional deviation, that is, the duty ratio of the acquired pulse signal is always larger than the duty ratio of the actually input PWM control signal, or the duty ratio of the acquired pulse signal is always smaller than the duty ratio of the actually input PWM control signal, which affects the accuracy of motor control.
Disclosure of Invention
The embodiment of the application provides a motor control method, a motor control device, terminal equipment and a storage medium, and can solve the problem that unidirectional deviation influences motor control accuracy.
In a first aspect, an embodiment of the present application provides a motor control method, including:
acquiring pulse signals with a set number of cycles from input Pulse Width Modulation (PWM) control signals as preprocessing signals, and calculating the duty ratio of the preprocessing signals;
determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal; wherein the precision value is the minimum change value of the duty ratio of the PWM control signal;
determining a target duty ratio in a duty ratio set according to the target pointing value, and controlling a motor to work based on the target duty ratio; wherein the set of duty cycles includes all duty cycles of the PWM control signal, and the duty cycles in the set of duty cycles and the pointing values in the set of pointing values are in a one-to-one correspondence relationship.
In a possible implementation manner of the first aspect, before obtaining a preset number of cycles of a pre-processing signal from an input PWM control signal and calculating a duty ratio of the pre-processing signal, the method further includes:
sequencing all duty ratios in the PWM control signals from small to large to form a duty ratio set;
configuring one pointing value for each duty cycle in the set of duty cycles, forming the set of pointing values; wherein the set of directional values is a natural number sequence;
and taking the integer part of the compensation value as the target pointing value.
In a possible implementation manner of the first aspect, determining a target pointing value in a set of pointing values according to a duty cycle of the pre-processing signal and an accuracy value of the PWM control signal includes:
determining a target ratio according to the duty ratio of the preprocessing signal and the precision value;
compensating the target ratio by using a preset compensation factor to obtain a compensation value;
and taking the integer part of the compensation value as the target pointing value.
In a possible implementation manner of the first aspect, the determined formula of the compensation value is:
wherein m is the compensation value, N is the duty cycle of the preprocessed signal, N is the precision value, and b is the compensation factor.
In a possible implementation manner of the first aspect, determining a target duty cycle in a set of duty cycles according to the target pointing value includes:
acquiring an M +1 pointing value from the pointing value set; wherein M is an integer part of the compensation value M;
and acquiring the duty ratio associated with the M +1 th pointing value in the duty ratio set, and taking the acquired duty ratio as the target duty ratio.
In a possible implementation manner of the first aspect, after acquiring a preset number of cycles of a pre-processing signal from an input PWM control signal and calculating a duty ratio of the pre-processing signal, the method further includes:
acquiring a decimal part of the duty ratio of the preprocessing signal;
comparing the fractional part of the duty ratio of the preprocessed signal with a preset value;
and under the condition that the fractional part of the duty ratio of the preprocessing signal is smaller than the preset value, executing the step of determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal.
In a possible implementation manner of the first aspect, after comparing the fractional part of the duty cycle of the preprocessed signal with a preset value, the method further includes:
under the condition that the fractional part of the duty ratio of the preprocessing signal is greater than or equal to the preset value, acquiring an integer part of the duty ratio of the preprocessing signal and an integer part of the duty ratio of a last effective preprocessing signal; the effective preprocessing signal is a preprocessing signal of which the target duty ratio fractional part is smaller than the preset value;
and under the condition that the integer part of the duty ratio of the preprocessing signal is the same as the integer part of the duty ratio of the last effective preprocessing signal, controlling the motor to work according to the target duty ratio corresponding to the last effective preprocessing signal.
In a second aspect, an embodiment of the present application provides a motor control apparatus, including:
the acquisition module is used for acquiring pulse signals with a set number of cycles from the input Pulse Width Modulation (PWM) control signals as preprocessing signals and calculating the duty ratio of the preprocessing signals;
the target pointing value determining module is used for determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal; wherein the precision value is the minimum change value of the duty ratio of the PWM control signal;
the first control module is used for determining a target duty ratio in a duty ratio set according to the target pointing value and controlling the motor to work based on the target duty ratio; wherein the set of duty cycles includes all duty cycles of the PWM control signal, and the duty cycles in the set of duty cycles and the pointing values in the set of pointing values are in a one-to-one correspondence relationship.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the method according to any one of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to any one of the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
the method comprises the steps of obtaining preprocessing signals with a set number of cycles from PWM control signals, calculating the duty ratio of the preprocessing signals, determining a target direction value according to the duty ratio of the preprocessing signals and the precision value of the PWM control signals, obtaining the corresponding target duty ratio from a duty ratio set according to the target direction value, and controlling a motor based on the target duty ratio. The target duty ratio finally obtained by the method is one duty ratio in the PWM control signal, so that the problem of unidirectional deviation of the obtained duty ratio is avoided, and the control precision of the motor is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a target pointing value obtaining method according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a target duty ratio obtaining method according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for establishing a correspondence between a duty cycle set and a directional value set according to an embodiment of the present application;
FIG. 5 is a flowchart illustrating a method for verifying validity of a preprocessed signal according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a motor control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 shows a schematic flow chart of a motor control method provided in an embodiment of the present application, which may include, by way of example and not limitation, the following steps:
s101, acquiring pulse signals with a set number of cycles from the input Pulse Width Modulation (PWM) control signals as preprocessing signals, and calculating the duty ratio of the preprocessing signals.
Specifically, the PWM control signal is a continuous pulse signal, the pulse signals with a set number of cycles are periodically intercepted from the continuous PWM control signal as the preprocessing signal, the number of cycles of the intercepted pulse signals can be preset, for example, 1 cycle, 2 cycles or other number of cycles, and then the duty ratio of the preprocessing signal is obtained, where the duty ratio of the preprocessing signal is the duty ratio of the capture signal.
And S102, determining a target pointing value in the pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal.
Specifically, the precision value is the minimum variation value of the duty ratio of the PWM control signal, and the set of duty ratios includes all the duty ratios of the PWM control signal, for example, the duty ratio of the PWM control signal includes 0, 1%, 2%, 3%, … …, and 100%, then the precision value of the PWM control signal is 1%, and the set of duty ratios is {0, 1%, 2%, 3%, … …, and 100% }; for another example, the duty ratios of the PWM control signals include 0, 2%, 4%, 6%, … …, and 100%, the precision value of the PWM control signal is 2%, and the set of duty ratios is {0, 2%, 4%, 6%, … …, and 100% }; for another example, the duty ratios of the PWM control signals include 0, 3%, 6%, 9%, … …, and 99%, the precision value of the PWM control signal is 3%, and the set of duty ratios is {0, 3%, 6%, 9%, … …, and 99% }.
The set of pointing values may be a set including a plurality of values, that is, each pointing value is a specific value, and the pointing values in the set of pointing values have a one-to-one correspondence relationship with each duty cycle in the set of duty cycles. The set of pointing values may be a natural number sequence, for example, when the set of duty ratios is {0, 1%, 2%, 3%, … …, 100% }, the set of index values may be {0, 1, 2, 3, … …, 100 }; also for example, when the set of duty ratios is {0, 2%, 4%, 6%, … …, 100% }, the set of index values may be {0, 1, 2, 3, … …, 50 }.
For example, as shown in fig. 2, step S102 may specifically include:
and S1021, determining a target ratio according to the duty ratio and the precision value of the preprocessed signal.
Specifically, the target ratio is determined by the formula:
wherein a is a target ratio, N is a duty ratio of the preprocessing signal, and N is a precision value.
And S1022, compensating the target ratio by using a preset compensation factor to obtain a compensation value.
Specifically, the compensation factor is a constant, and can be set according to the actual situation, and the determination formula of the compensation value is as follows:
wherein m is a compensation value, N is a duty ratio of the preprocessing signal, N is a precision value, and b is a compensation factor.
And S1023, taking the integer part of the compensation value as a target pointing value.
Specifically, the compensation value M is determined in step S1022, and then the integer part M of the compensation value M is taken as the target orientation value.
And S103, determining a target duty ratio in the duty ratio set according to the target pointing value, and controlling the motor to work based on the target duty ratio.
Specifically, as shown in fig. 3, step S103 may include:
and S1031, acquiring the M +1 th pointing value from the pointing value set.
Specifically, the duty cycles in the duty cycle set and the pointing values in the pointing value set are in a one-to-one correspondence relationship, and the first duty cycle of the duty cycle set is 0, so that the duty cycle corresponding to the M +1 th pointing value in the pointing value set is the target duty cycle.
S1032 obtains the duty ratio associated with the M +1 th pointing value from the set of duty ratios, and takes the obtained duty ratio as the target duty ratio.
Specifically, it is determined in step S1031 that the M +1 th pointing value is the target pointing value, and the corresponding duty ratio may be determined according to the association relationship.
In the steps S101 to S103, when obtaining the target duty ratio, the set of duty ratios and the set of pointing values need to be used. The corresponding relation between the duty ratio set and the pointing value set can be established in advance, and when the method is used, the corresponding relation is directly called.
For clarity of description of the specific work flow of the above-mentioned motor control method, two specific embodiments are described below.
Example one
The precision value of the PWM control signal is 1%, when the duty ratio of the PWM control signal input at the time is 35%, the duty ratio of the acquired preprocessing signal is 35.3%, and the compensation factor is 0.5. Since the precision value of the PWM control signal is 1%, the duty ratio set is {0, 1%, 2%, 3%, … …, 100% }, and the preset pointing value set is {0, 1, 2, 3, … …, 100 }.
The compensation value m is:
then the target pointing value M is 35, the M +1 th pointing value in the pointing value set is 36, the duty cycle associated with 36 in the duty cycle set is 35%, and then the target duty cycle is 35%, which is the same as the duty cycle of the input PWM control signal.
If a common control method is used, the motor is controlled by the PWM control signal with the duty ratio of 35.3 percent, and after the method is used, the duty ratio of the working signal for controlling the motor is the duty ratio of the input PWM control signal, so that the control precision of the motor is improved.
Example two
The precision value of the PWM control signal is 2%, when the duty ratio of the PWM control signal input at the time is 36%, the duty ratio of the acquired preprocessing signal is 36.3%, and the compensation factor is 0.5. Since the precision value of the PWM control signal is 2%, the duty ratio set is {0, 2%, 4%, 6%, … …, 100% }, and the preset pointing value set is {0, 1, 2, 3, … …, 50 }.
The compensation value m is:
then the target pointing value M is 18, the M +1 th pointing value in the pointing value set is 19, the duty cycle associated with 19 in the duty cycle set is 36%, and then the target duty cycle is 36%, which is the same as the duty cycle of the input PWM control signal.
If a common control method is used, the motor is controlled by the PWM control signal with the duty ratio of 36.3 percent, and after the method is used, the duty ratio of the working signal for controlling the motor is the duty ratio of the input PWM control signal, so that the control precision of the motor is improved.
Fig. 4 is a schematic flowchart illustrating a method for establishing a correspondence between a duty cycle set and a directional value set according to an embodiment of the present application, which may specifically include:
and S1001, sequencing all duty ratios in the PWM control signals from small to large to form a duty ratio set.
Specifically, the construction of the duty cycle set needs to be designed according to specific parameters of the PWM control signal, for example, if the precision value of the PWM control signal is 1%, the duty cycle of the PWM control signal includes 0, 1%, 2%, 3%, … …, and 100%, and the duty cycle set is {0, 1%, 2%, 3%, … …, and 100% }; for another example, if the precision value of the PWM control signal is 2%, the duty ratios of the PWM control signal include 0, 2%, 4%, 6%, … …, and 100%, and the set of duty ratios is {0, 2%, 4%, 6%, … …, and 100% }; for another example, if the precision value of the PWM control signal is 3%, the duty ratios of the PWM control signal include 0, 3%, 6%, 9%, … …, and 99%, and the set of duty ratios is {0, 3%, 6%, 9%, … …, and 99% }.
S1002, configuring a pointing value for each duty cycle in the set of duty cycles to form a set of pointing values.
Specifically, the set of point values may select a natural number sequence starting from zero, and the values in the set of point values correspond to the duty cycles in the set of duty cycles one to one. For example, when the set of duty ratios is {0, 1%, 2%, 3%, … …, 100% }, the set of index values may be {0, 1, 2, 3, … …, 100 }; also for example, when the set of duty ratios is {0, 2%, 4%, 6%, … …, 100% }, the set of index values may be {0, 1, 2, 3, … …, 50 }.
S1003, establishing a corresponding relation between the duty ratio set and the pointing value set.
Specifically, each duty cycle of the duty cycle set is associated with each pointing value in the pointing value set one by one to form a corresponding relationship, and the corresponding relationship is directly called when the device is used.
When the PWM control signal controls the motor, the PWM control signal may be affected by some factors (e.g., interference of a strong electromagnetic field) to cause a change in the control signal, and a control system of the motor may also malfunction to cause a large deviation between the duty ratio of the acquired preprocessing signal and the actual PWM control signal, both of which may affect the accuracy of the motor control. In order to solve the above problem, after the duty ratio of the preprocessed signal is acquired in step S101, verification of the validity of the preprocessed signal needs to be performed.
Fig. 5 is a schematic flowchart illustrating a flow chart of a preprocessing signal validity verification method provided in an embodiment of the present application, where the method specifically may include:
s1011, acquiring the decimal part of the duty ratio of the preprocessed signal.
Specifically, the duty ratio of the preprocessed signal obtained in step S101 includes an integer part and a fractional part, and only the fractional part is obtained at this time, for example, if the duty ratio of the preprocessed signal is 3.2%, the fractional part is 0.2.
S1012, comparing the fractional part of the duty ratio of the pre-processed signal with a preset value.
Specifically, the preset value may be set according to an actual situation, and under a normal situation, the fraction part of the duty ratio of the acquired preprocessing signal should be smaller than the preset value, and by comparing the fraction part of the duty ratio of the preset value with the preset value, it can be determined whether the preprocessing signal is a valid signal.
And S1013, under the condition that the decimal part of the duty ratio of the preprocessing signal is smaller than a preset value, executing the step of determining the target pointing value in the pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal.
Specifically, when the fractional part of the duty ratio of the preprocessed signal is smaller than the preset value, the preprocessed signal is proved to be a valid signal, and at this time, the step S102 may be continuously performed, that is, the target pointing value is determined in the pointing value set according to the duty ratio of the preprocessed signal and the precision value of the PWM control signal.
S1014, acquiring an integer part of the duty ratio of the preprocessed signal and an integer part of the duty ratio of the last effective preprocessed signal when the fractional part of the duty ratio of the preprocessed signal is greater than or equal to a preset value.
Specifically, when the fractional part of the duty ratio of the preprocessing signal is greater than or equal to the preset value, the preprocessing signal is proved to be a non-effective signal, and at this time, the preprocessing signal cannot be used as a control signal, but the last effective signal is used for controlling the motor. The above applies to the case where the input PWM control signal is not changed, and when the duty ratio of the input PWM control signal is changed, for example, the duty ratio of the PWM control signal is changed from 10% to 20%, the last valid pre-processing signal cannot be used as the control signal. Therefore, after the pre-processed signal is determined to be a non-valid signal, the integer part of the duty ratio of the pre-processed signal needs to be compared with the integer part of the duty ratio of the last valid pre-processed signal to judge whether the duty ratio of the input PWM control signal changes.
And S1015, under the condition that the integer part of the duty ratio of the preprocessing signal is the same as the integer part of the duty ratio of the last effective preprocessing signal, controlling the motor to work according to the target duty ratio corresponding to the last effective preprocessing signal.
Specifically, when the integer part of the duty ratio of the preprocessing signal is the same as the integer part of the duty ratio of the last effective preprocessing signal, it indicates that the duty ratio of the input PWM control signal has not changed, and at this time, the target duty ratio corresponding to the last effective preprocessing signal may be used to control the motor to operate.
When the integer part of the duty ratio of the preprocessing signal is different from the integer part of the duty ratio of the last effective preprocessing signal, the duty ratio of the input PWM control signal is changed, the last effective preprocessing signal cannot be used as the control signal, and at the moment, the control system can send alarm information or brake to avoid the motor control system from being out of order.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 is a schematic structural diagram of a motor control apparatus provided in an embodiment of the present application, where the motor control apparatus may include an obtaining module 61, a target pointing value determining module 62, and a first control module 63;
an obtaining module 61, configured to obtain pulse signals with a set number of cycles from an input Pulse Width Modulation (PWM) control signal as a preprocessing signal, and calculate a duty ratio of the preprocessing signal;
a target direction value determining module 62, configured to determine a target direction value in the direction value set according to the duty ratio of the preprocessed signal and the precision value of the PWM control signal; wherein, the precision value is the minimum change value of the duty ratio of the PWM control signal;
the first control module 63 is configured to determine a target duty ratio in a duty ratio set according to the target pointing value, and control the motor to operate based on the target duty ratio; wherein the set of duty cycles includes all duty cycles of the PWM control signal, and the duty cycles in the set of duty cycles and the pointing values in the set of pointing values are in a one-to-one correspondence relationship.
In an embodiment of the present application, the motor control apparatus may further include a duty ratio set creation module, a pointing value set creation module, and a correspondence relationship establishment unit;
the duty ratio set creating module is used for sequencing all duty ratios in the PWM control signals from small to large to form a duty ratio set;
a pointing value set creating module, configured to configure a pointing value for each duty cycle in the set of duty cycles, to form the pointing value set; wherein the set of directional values is a natural number sequence;
and the corresponding relation establishing unit is used for establishing the corresponding relation between the duty ratio set and the pointing value set.
In one embodiment of the present application, the target pointing value determination module 62 may include a target ratio determination unit, a compensation value determination unit, and a target pointing value determination unit;
the target ratio determining unit is used for determining a target ratio according to the duty ratio of the preprocessing signal and the precision value;
the compensation value determining unit is used for compensating the target ratio by using a preset compensation factor to obtain a compensation value;
a target pointing value determination unit, configured to take an integer part of the compensation value as the target pointing value.
In an embodiment of the present application, the determined formula of the compensation value is:
wherein m is the compensation value, N is the duty cycle of the preprocessed signal, N is the precision value, and b is the compensation factor.
In one embodiment of the present application, the first control module 63 may include a directional value obtaining unit and a target duty ratio obtaining unit;
a pointing value obtaining unit, configured to obtain an M +1 th pointing value from the pointing value set; wherein M is an integer part of the compensation value M;
and the target duty ratio acquisition unit is used for acquiring the duty ratio associated with the (M + 1) th pointing value in the duty ratio set and taking the acquired duty ratio as the target duty ratio.
In one embodiment of the present application, the motor control apparatus may further include a decimal obtaining module, a comparing module, and an executing module;
the decimal obtaining module is used for obtaining a decimal part of the duty ratio of the preprocessed signal;
the comparison module is used for comparing the decimal part of the duty ratio of the preprocessing signal with a preset value;
and the execution module is used for executing the step of determining the target pointing value in the pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal under the condition that the decimal part of the duty ratio of the preprocessing signal is smaller than the preset value.
In one embodiment of the present application, the motor control apparatus may further include an integer acquisition module and a second control module;
the integer acquisition module is used for acquiring the integer part of the duty ratio of the preprocessing signal and the integer part of the duty ratio of the last effective preprocessing signal under the condition that the fractional part of the duty ratio of the preprocessing signal is greater than or equal to the preset value; the effective preprocessing signal is a preprocessing signal of which the target duty ratio fractional part is smaller than the preset value;
and the second control module is used for controlling the motor to work according to the target duty ratio corresponding to the previous effective preprocessing signal under the condition that the integer part of the duty ratio of the preprocessing signal is the same as the integer part of the duty ratio of the previous effective preprocessing signal.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The motor control device shown in fig. 6 may be a software unit, a hardware unit, or a combination of software and hardware unit built in an existing terminal device, may be integrated into the terminal device as a separate pendant, or may exist as a separate terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment may include: at least one processor 70 (only one processor 70 is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps of any of the above-mentioned method embodiments, such as the steps S101 to S103 in the embodiment shown in fig. 1, when executing the computer program 72. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 61 to 63 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of instruction segments of the computer program 72 capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the terminal device 7.
The terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 7 may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of the terminal device 7, and does not constitute a limitation to the terminal device 7, and may include more or less components than those shown, or combine some components, or different components, for example, and may further include input/output devices, network access devices, and the like.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer program 72. The memory 71 may also be used to temporarily store data that has been output or is to be output.
The present application further provides a computer-readable storage medium, which stores a computer program 72, and when the computer program 72 is executed by the processor 70, the steps in the above-mentioned method embodiments can be implemented.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by the computer program 72 to instruct the relevant hardware, where the computer program 72 can be stored in a computer readable storage medium, and when the computer program 72 is executed by the processor 70, the steps of the methods of the embodiments described above can be implemented. Wherein the computer program 72 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A motor control method, comprising:
acquiring pulse signals with a set number of cycles from input Pulse Width Modulation (PWM) control signals as preprocessing signals, and calculating the duty ratio of the preprocessing signals;
determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal; wherein the precision value is the minimum change value of the duty ratio of the PWM control signal;
determining a target duty ratio in a duty ratio set according to the target pointing value, and controlling a motor to work based on the target duty ratio; wherein the set of duty cycles includes all duty cycles of the PWM control signal, and the duty cycles in the set of duty cycles and the pointing values in the set of pointing values are in a one-to-one correspondence relationship.
2. The motor control method according to claim 1, wherein before obtaining a set number of cycles of pulse signals as a preprocessed signal from the input PWM control signal and calculating a duty ratio of the preprocessed signal, the method further comprises:
sequencing all duty ratios in the PWM control signals from small to large to form a duty ratio set;
configuring one pointing value for each duty cycle in the set of duty cycles, forming the set of pointing values; wherein the set of directional values is a natural number sequence;
and establishing a corresponding relation between the duty ratio set and the pointing value set.
3. The motor control method of claim 2, wherein determining a target pointing value in a set of pointing values based on the duty cycle of the pre-processed signal and the precision value of the PWM control signal comprises:
determining a target ratio according to the duty ratio of the preprocessing signal and the precision value;
compensating the target ratio by using a preset compensation factor to obtain a compensation value;
and taking the integer part of the compensation value as the target pointing value.
4. The motor control method according to claim 3, wherein the compensation value is determined by the formula:
wherein m is the compensation value, N is the duty cycle of the preprocessed signal, N is the precision value, and b is the compensation factor.
5. The motor control method of claim 4, wherein determining a target duty cycle in the set of duty cycles from the target bearing value comprises:
acquiring an M +1 pointing value from the pointing value set; wherein M is an integer part of the compensation value M;
and acquiring the duty ratio associated with the M +1 th pointing value in the duty ratio set, and taking the acquired duty ratio as the target duty ratio.
6. The motor control method according to any one of claims 1 to 5, further comprising, after acquiring a preset number of cycles of the preprocessed signal from the input Pulse Width Modulation (PWM) control signal and calculating a duty ratio of the preprocessed signal:
acquiring a decimal part of the duty ratio of the preprocessing signal;
comparing the fractional part of the duty ratio of the preprocessed signal with a preset value;
and under the condition that the fractional part of the duty ratio of the preprocessing signal is smaller than the preset value, executing the step of determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal.
7. The motor control method of claim 6, wherein after comparing the fractional part of the duty cycle of the preprocessed signal to a preset value, further comprising:
under the condition that the fractional part of the duty ratio of the preprocessing signal is greater than or equal to the preset value, acquiring an integer part of the duty ratio of the preprocessing signal and an integer part of the duty ratio of a last effective preprocessing signal; the effective preprocessing signal is a preprocessing signal of which the target duty ratio fractional part is smaller than the preset value;
and under the condition that the integer part of the duty ratio of the preprocessing signal is the same as the integer part of the duty ratio of the last effective preprocessing signal, controlling the motor to work according to the target duty ratio corresponding to the last effective preprocessing signal.
8. A motor control apparatus, comprising:
the acquisition module is used for acquiring pulse signals with a set number of cycles from the input Pulse Width Modulation (PWM) control signals as preprocessing signals and calculating the duty ratio of the preprocessing signals;
the target pointing value determining module is used for determining a target pointing value in a pointing value set according to the duty ratio of the preprocessing signal and the precision value of the PWM control signal; wherein the precision value is the minimum change value of the duty ratio of the PWM control signal;
the first control module is used for determining a target duty ratio in a duty ratio set according to the target pointing value and controlling the motor to work based on the target duty ratio; wherein the set of duty cycles includes all duty cycles of the PWM control signal, and the duty cycles in the set of duty cycles and the pointing values in the set of pointing values are in a one-to-one correspondence relationship.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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