CN112398406A - Motor operation control method and device, storage medium and electronic equipment - Google Patents
Motor operation control method and device, storage medium and electronic equipment Download PDFInfo
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- CN112398406A CN112398406A CN202011192796.7A CN202011192796A CN112398406A CN 112398406 A CN112398406 A CN 112398406A CN 202011192796 A CN202011192796 A CN 202011192796A CN 112398406 A CN112398406 A CN 112398406A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a motor operation control method, a device, a storage medium and an electronic device, wherein the process comprises the following steps: s1, acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process that the motor runs at the preset rotating speed; s2, acquiring the instantaneous rotating speed corresponding to any commutation period of the motor in at least one week of operation; s3, establishing an initial PI control loop, and respectively obtaining a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotating speed; s4, carrying out PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient to obtain a corresponding first adjustment amount; performing PI control on the instantaneous rotating speed and the preset rotating speed according to a second proportional coefficient and a second integral coefficient to obtain a corresponding second adjustment quantity; and S5, acquiring the sum of the first adjustment amount and the second adjustment amount as a third adjustment amount to perform chopping control on the motor. The invention can effectively ensure the stable operation of the motor.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a method and an apparatus for controlling operation of a motor, a storage medium, and an electronic device.
Background
In order to ensure the stable operation of the motor, the rotational speed difference between the preset rotational speed and the feedback rotational speed is usually used for PI control. In the PI control, however, the reading and calculation of the feedback rotation speed thereof are very important. In the conventional PI control, only one proper period is generally selected, a group of feedback rotating speeds are read, and the difference between the feedback rotating speeds and a preset rotating speed is made to complete the PI control. However, particularly when the rotation speed is lower than 60RPM, if the cycle of reading the rotation speed is too short, the rotation speed is easily affected by interference to generate fluctuation, and stable operation is difficult; if the period for reading the rotating speed is too long, the dynamic performance is not good while the low-speed stable operation is kept. The traditional single control is difficult to meet the requirements of stable operation at ultralow speed and better dynamic performance.
Disclosure of Invention
The present invention provides a method, an apparatus, a storage medium, and an electronic device for controlling operation of a motor, which are directed to some technical defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a motor operation control method is constructed, and the process comprises the following steps:
s1, acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process that the motor runs at the preset rotating speed;
s2, acquiring the instantaneous rotating speed corresponding to any commutation period of the motor in at least one week;
s3, establishing an initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotating speed for the initial PI control loop;
s4, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient to obtain a first adjustment amount corresponding to the average reference current value; performing PI control on the instantaneous rotating speed and the preset rotating speed according to the second proportional coefficient and the second integral coefficient to obtain a second adjustment amount corresponding to the instantaneous reference current value;
and S5, acquiring the sum of the first adjustment amount and the second adjustment amount as a third adjustment amount, and performing chopping control on the motor according to the third adjustment amount.
Preferably, the motor operation control method of the present invention further includes:
s0, comparing the preset rotation speed with a preset value, and executing the steps S1 to S5 when the preset rotation speed is not higher than the preset value;
s02, when the preset rotating speed is higher than the preset value, executing the step S1 and executing the following steps:
s31, establishing the initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed by the initial PI control loop;
and S41, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient, obtaining a first adjustment amount corresponding to an average reference current value, and performing chopping control on the motor according to the first adjustment amount.
Preferably, the preset rotation speed being lower than the preset value includes the preset rotation speed being less than or equal to 60 PRM.
Preferably, in step S2, the obtaining of the instantaneous rotation speed of the motor corresponding to any commutation period within the at least one revolution; the method comprises the following steps:
and in the at least one week, acquiring the time corresponding to the single commutation according to the position sensing device of the motor so as to acquire the single-step running time of the motor, and acquiring the corresponding instantaneous rotating speed according to the single-step running time.
Preferably, obtaining the single-step running time of the motor comprises:
and acquiring the running time of any corresponding single step in the at least one week of the running of the motor.
Preferably, in the step S5, the chopping control includes voltage chopping control or current chopping control.
Preferably, in the step S1, the at least one week includes one to five weeks.
In addition, the present invention also provides a motor operation control device including:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process of running at the preset rotating speed;
the second acquisition unit is used for acquiring the instantaneous rotating speed corresponding to any commutation period within at least one cycle of the motor in operation;
a third obtaining unit, configured to establish an initial PI control loop, and obtain, for the initial PI control loop, a first proportional coefficient and a first integral coefficient corresponding to the average rotation speed, and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotation speed, respectively;
the first execution unit is used for performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient to obtain a first adjustment amount corresponding to an average reference current value;
the second execution unit is used for performing PI control on the instantaneous rotating speed and the preset rotating speed according to the second proportional coefficient and the second integral coefficient to obtain a second adjustment amount corresponding to the instantaneous reference current value;
and the third execution unit is used for acquiring the sum of the first adjustment amount and the second adjustment amount to serve as a third adjustment amount, and performing chopping control on the motor according to the third adjustment amount.
Preferably, an operation control device of a motor of the present invention further includes:
and the judging unit is used for comparing the preset rotating speed with a preset value and driving the first acquiring unit and the second acquiring unit to act when the preset rotating speed is lower than the preset value.
The invention also constitutes a computer storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements a motor operation control method as described in any one of the above.
The invention also features an electronic device including a memory and a processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program to realize the motor operation control method according to any one of the above items.
The implementation of the motor operation control method, the motor operation control device, the storage medium and the electronic equipment has the following beneficial effects: the stable operation of motor can be guaranteed effectively.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a program in an embodiment of a motor operation control method according to the present invention;
fig. 2 is a flowchart of a program in another embodiment of a motor operation control method of the present invention;
FIG. 3 is a logic block diagram of an embodiment of a motor operation control apparatus according to the present invention;
fig. 4 is a logic block diagram of another embodiment of a motor operation control apparatus according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in a first embodiment of a motor operation control method of the present invention, the process includes: s1, acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process that the motor runs at the preset rotating speed; that is, before the motor works, the rotation speed of the motor is preset, that is, the motor is set to start to operate at the preset rotation speed, but actually, the motor is affected by factors such as load during operation, and the actual rotation speed may not be equal to the preset rotation speed. In the rotating work of the motor, the actual rotating speed of the motor needs to be acquired, and because the actual rotating speed of the motor has a certain relation with the running time of the motor, in order to ensure the accuracy of acquiring the actual rotating speed, the average rotating speed corresponding to at least one rotation of the motor is acquired.
S2, acquiring the instantaneous rotating speed corresponding to any commutation period of the motor in at least one week; that is, the average rotation speed is obtained during the period of at least one week of the motor operation, and simultaneously the instantaneous rotation speed corresponding to any commutation period in the motor operation process can be obtained. The method comprises the steps of obtaining time corresponding to single commutation according to a position sensing device of the motor to obtain single-step running time of the motor, and calculating corresponding instantaneous rotating speed according to the single-step running time.
S3, establishing an initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotating speed for the initial PI control loop; specifically, an initial PI control loop is established according to a motor system, and the motor can stably run by using an incremental PI and debugging KP and KI values through the speed difference of a preset rotating speed and an average rotating speed Back _ Spd _ Aver. At the moment, the KP and KI values are the first comparison coefficient KP1 and the first integral coefficient KI1 corresponding to the average rotating speed obtained by the initial PI control loop; the specific incremental PI formula can be as follows: err _ Ref _ value-Back _ value; Err-PreErr; Δ Out _ value ═ Err KI + DeErr KP; when PreErr is Err; then Out _ Value ═ Δ Out _ Value is finally obtained. On the basis of obtaining the first PI control loop, a second PI control loop is added, incremental PI is used for debugging KP and KI values through the speed difference of preset rotating speed and instantaneous rotating speed Back _ Spd _ Inst, so that the motor is enabled to be good in dynamic running condition on the basis of keeping static stable running, and the KP and KI values at the moment are a second comparison coefficient KP2 and a second integral coefficient KI2 corresponding to the average rotating speed obtained through the initial PI control loop.
S4, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient, and acquiring an average reference current increment value as a corresponding first adjustment amount; and performing PI control on the instantaneous rotating speed and the preset rotating speed according to the second proportional coefficient and the second integral coefficient to obtain an instantaneous reference current increment value as a corresponding second adjustment amount. Specifically, PI control is performed according to the first proportional coefficient KP1 and the first integral coefficient KI1 through an average rotating speed and a preset rotating speed, so as to obtain a corresponding average reference current increment value Delt _ I _ Ref _ Aver, which is used as a corresponding first adjustment quantity; and performing PI control according to the second proportionality coefficient KP2 and the second integral coefficient KI2 through an instantaneous rotating speed and a preset rotating speed to obtain a corresponding instantaneous reference current increment value Delt _ I _ Ref _ Inst as a corresponding second adjustment quantity.
And S5, acquiring the sum of the first adjustment amount and the second adjustment amount as a third adjustment amount, and performing chopping control on the motor according to the third adjustment amount. Specifically, after the corresponding adjustment amount is obtained, the two adjustment amounts are summed to obtain a final adjustment amount, a final output reference current value is obtained according to the adjustment amount, and the final output reference current value is compared with an actual current value obtained by real-time sampling to complete current chopping control of the motor. The specific process includes obtaining the sum of the average reference current increment value Delt _ I _ Ref _ Aver corresponding to the first adjustment amount and the instantaneous reference current increment value Delt _ I _ Ref _ Inst corresponding to the second adjustment amount as the third adjustment amount Delt _ I _ Ref _ Aver + Delt _ I _ Ref _ Inst. Based on the incremental PI, the output quantity reference current I _ Ref + (Delt _ I _ Ref _ Aver + Delt _ I _ Ref _ Inst); namely, current chopping control is carried out on the motor according to the output quantity reference current I _ Ref obtained by the third adjustment quantity (Delt _ I _ Ref _ Aver + Delt _ I _ Ref _ Inst).
As shown in fig. 2, in an embodiment, the method for controlling the operation of the motor further includes: and S0, comparing the preset rotating speed with a preset value in the running process of the motor, and executing the steps S1 to S5 when the preset rotating speed is not higher than the preset value. Specifically, when the running speed of the motor is extremely low, the difficulty of keeping the motor in static stable running and dynamic quick response is high in the running process, so that before the steps are executed, whether the preset rotating speed of the motor is higher than a preset value or not can be confirmed, when the preset rotating speed is not higher than the preset value, namely the running speed of the motor is lower than or equal to the preset value, the motor is considered to need to run at the extremely low rotating speed, and the running process of the motor is controlled by the method.
Optionally, in an embodiment, the method for controlling operation of a motor according to the present invention further includes: s02, when the preset rotating speed is higher than the preset value, executing the step S1: s31, establishing the initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed by the initial PI control loop; and S41, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient, obtaining a first adjustment amount corresponding to an average reference current value, and performing chopping control on the motor according to the first adjustment amount. When the preset rotating speed is larger than or equal to the preset value, PI control can be directly carried out through the average rotating speed, and an instantaneous rotating speed PI control part is not required to be added.
Optionally, the preset rotation speed lower than the preset value includes that the preset rotation speed is less than or equal to 60 PRM. That is, when the preset rotation speed is less than or equal to 60PRM, it may be considered that the motor operates at an extremely low rotation speed, which may realize the operation control of the motor through the above-described control process.
The method comprises the steps of obtaining the instantaneous rotating speed corresponding to any reversing period of the motor in at least one week; the method comprises the following steps: and calculating the corresponding instantaneous rotating speed according to the single step running time obtained by the single commutation corresponding time obtained by the position sensing device of the motor. Specifically, in the motor operation process, the rotation speed within the time of one motor phase change, that is, one single step operation, can be obtained as the instantaneous rotation speed of the motor, and the motor phase change process can be obtained by a position sensing device of the motor, wherein the position sensing device of the motor can be a general HALL or a photoelectric switch.
Optionally, the obtaining the single-step running time of the motor includes: and acquiring the running time of any corresponding single step in the at least one week of the running of the motor. Specifically, the instantaneous rotation speed may be obtained as an instantaneous rotation speed corresponding to an arbitrary human commutation period within the average rotation speed obtaining period.
Optionally, in the step S1, the at least one week includes one to five weeks. Specifically, the obtaining period of the average rotating speed of the motor can be determined according to an actual motor control system, and relatively speaking, the lower the preset rotating speed is, the longer the period is; the higher the preset rotation speed, the shorter the period.
As shown in fig. 3, the motor operation control device of the present invention includes:
the first obtaining unit 111 is configured to obtain, when a motor runs at a preset rotation speed, an average rotation speed corresponding to at least one week of the motor running;
a second obtaining unit 112, configured to obtain an instantaneous rotation speed corresponding to any commutation period of the motor during the at least one cycle of operation;
a third obtaining unit 113, configured to establish an initial PI control loop, and obtain a first proportional coefficient and a first integral coefficient corresponding to the average rotation speed, and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotation speed, respectively, with the initial PI control loop;
the first execution unit 121 is configured to perform PI control on the average rotation speed and the preset rotation speed according to the first proportional coefficient and the first integral coefficient, and obtain a first adjustment amount corresponding to an average reference current value;
the second execution unit 122 is configured to perform PI control on the instantaneous rotation speed and the preset rotation speed according to the second proportional coefficient and the second integral coefficient, and obtain a second adjustment amount corresponding to the instantaneous reference current value;
and a third executing unit 123, configured to obtain a sum of the first adjustment amount and the second adjustment amount as a third adjustment amount, and perform voltage chopping control or current chopping control on the motor according to the third adjustment amount.
Specifically, the specific coordination operation process among the units of the motor operation control device may specifically refer to the above-mentioned motor operation control method, and in the working process of the motor, the motor acquires the average rotation speed of the motor during the operation process of the motor at a preset rotation speed. The instantaneous rotating speed corresponding to any commutation period in the running process of the motor can be obtained simultaneously. Establishing an initial PI control loop, obtaining a corresponding first proportional coefficient and a corresponding first integral coefficient according to the average rotating speed and the preset rotating speed, obtaining a corresponding second comparison coefficient and a corresponding second integral coefficient according to the instantaneous rotating speed and the preset rotating speed, summing the two adjustment quantities after obtaining the corresponding adjustment quantities, obtaining a final adjustment quantity, and controlling the voltage or the current of the motor according to the adjustment quantity, wherein the specific control process can adopt voltage chopping control or current chopping control.
In an embodiment, as shown in fig. 4, the motor operation control apparatus of the present invention further includes a determining unit 130, configured to compare the preset rotation speed with a preset value, and drive the first obtaining unit 111 and the second obtaining unit 112 to operate when the preset rotation speed is lower than the preset value. That is, before the above steps are performed, it may be determined whether the preset rotation speed of the motor is lower than a preset value, and when the preset rotation speed is lower than the preset value, it is determined that the motor needs to operate at an extremely low rotation speed, and the operation process of the motor is controlled by the above method. For a more detailed process, reference may be made to the above description, which is not repeated here.
In addition, an electronic device of the present invention includes a memory and a processor; the memory is used for storing a computer program; the processor is configured to execute a computer program to implement the motor operation control method as any of the above. In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed by an electronic device and executed to perform the above-described functions defined in the methods of embodiments of the present invention. The electronic equipment can be a terminal such as a notebook, a desktop, a tablet computer, a smart phone and the like, and can also be a server.
In addition, a computer storage medium of the present invention has a computer program stored thereon, and the computer program realizes the motor operation control method of any one of the above when executed by a processor. In particular, it should be noted that the computer readable medium of the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A motor operation control method is characterized in that the process comprises the following steps:
s1, acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process that the motor runs at the preset rotating speed;
s2, acquiring the instantaneous rotating speed corresponding to any commutation period of the motor in at least one week;
s3, establishing an initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotating speed by using the initial PI control loop;
s4, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient to obtain a first adjustment amount corresponding to the average reference current value; performing PI control on the instantaneous rotating speed and the preset rotating speed according to the second proportional coefficient and the second integral coefficient to obtain a second adjustment amount corresponding to the instantaneous reference current value;
and S5, acquiring the sum of the first adjustment amount and the second adjustment amount as a third adjustment amount, and performing chopping control on the motor according to the third adjustment amount.
2. The motor operation control method according to claim 1, characterized by further comprising:
s01, comparing the preset rotation speed with a preset value, and executing the steps S1 to S5 when the preset rotation speed is not higher than the preset value;
s02, when the preset rotating speed is higher than the preset value, executing the step S1 and executing the following steps:
s31, establishing the initial PI control loop, and respectively acquiring a first proportional coefficient and a first integral coefficient corresponding to the average rotating speed by the initial PI control loop;
and S41, performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient, obtaining a first adjustment amount corresponding to an average reference current value, and performing chopping control on the motor according to the first adjustment amount.
3. The motor operation control method according to claim 2, wherein the preset rotation speed lower than the preset value includes the preset rotation speed being less than or equal to 60 PRM.
4. The motor operation control method according to claim 1, wherein in the step S2, the instantaneous rotation speed corresponding to any commutation period within at least one operating cycle of the motor is obtained; the method comprises the following steps:
and in the at least one week, acquiring the time corresponding to the single commutation according to the position sensing device of the motor so as to acquire the single-step running time of the motor, and acquiring the corresponding instantaneous rotating speed according to the single-step running time.
5. The motor operation control method according to claim 4, wherein the acquiring the motor single step operation time includes:
and acquiring the running time of any corresponding single step in the at least one week of the running of the motor.
6. The motor operation control method according to claim 1, wherein in the step S5, the chopping control includes voltage chopping control or current chopping control.
7. An operation control device of a motor, characterized by comprising:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the corresponding average rotating speed of the motor when the motor runs for at least one week in the process of running at the preset rotating speed;
the second acquisition unit is used for acquiring the instantaneous rotating speed corresponding to any commutation period within at least one cycle of the motor in operation;
a third obtaining unit, configured to establish an initial PI control loop, and obtain, for the initial PI control loop, a first proportional coefficient and a first integral coefficient corresponding to the average rotation speed, and a second proportional coefficient and a second integral coefficient corresponding to the instantaneous rotation speed, respectively;
the first execution unit is used for performing PI control on the average rotating speed and the preset rotating speed according to the first proportional coefficient and the first integral coefficient to obtain a first adjustment amount corresponding to an average reference current value;
the second execution unit is used for performing PI control on the instantaneous rotating speed and the preset rotating speed according to the second proportional coefficient and the second integral coefficient to obtain a second adjustment amount corresponding to the instantaneous reference current value;
and the third execution unit is used for acquiring the sum of the first adjustment amount and the second adjustment amount to serve as a third adjustment amount, and performing voltage chopping control or current chopping control on the motor according to the third adjustment amount.
8. The motor operation control device according to claim 7, further comprising:
and the judging unit is used for comparing the preset rotating speed with a preset value and driving the first acquiring unit and the second acquiring unit to act when the preset rotating speed is lower than the preset value.
9. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a motor operation control method according to any one of claims 1 to 6.
10. An electronic device comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program to implement the motor operation control method according to any one of claims 1 to 6.
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| CN113315449A (en) * | 2021-04-25 | 2021-08-27 | 深圳拓邦股份有限公司 | Low-speed variable load control method and device for switched reluctance motor and switched reluctance motor |
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