CN112671304B - Motor control method and device - Google Patents
Motor control method and device Download PDFInfo
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- CN112671304B CN112671304B CN202110051007.6A CN202110051007A CN112671304B CN 112671304 B CN112671304 B CN 112671304B CN 202110051007 A CN202110051007 A CN 202110051007A CN 112671304 B CN112671304 B CN 112671304B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
Abstract
The invention discloses a motor control method and a motor control device. Wherein the method comprises the following steps: acquiring a first waveform parameter and a second waveform parameter, wherein the first waveform parameter is a waveform parameter of a first waveform acquired by a sensor, the second waveform parameter is a waveform parameter of a second waveform of a target voltage, and the target voltage is an excitation voltage of a motor; determining an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used for representing an advance angle of the second waveform relative to the first waveform; and controlling the working state of the motor based on the lead angle and the first algorithm. The invention solves the technical problem that the motor fails due to abrupt change of the rotating speed of the motor in the related art.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor control method and a motor control device.
Background
When the motor is applied to household appliances such as dust collectors, abrupt rotation speed changes of the motor often occur, for example, current of the motor suddenly increases, which results in abrupt rotation speed changes of the motor, and current of the motor suddenly decreases, which results in abrupt rotation speed changes of the motor. However, the rotating speed of the motor is extremely easy to be abnormal in the process of sudden rise or sudden reduction, so that the motor is in a fault such as sudden stop and the like, and thus the motor cannot normally operate.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a motor control method and a motor control device, which at least solve the technical problem that the motor fails due to abrupt change of the rotating speed of the motor in the related art.
According to an aspect of an embodiment of the present invention, there is provided a control method of a motor, including: acquiring a first waveform parameter and a second waveform parameter, wherein the first waveform parameter is a waveform parameter of a first waveform acquired by a sensor, the second waveform parameter is a waveform parameter of a second waveform of a target voltage, and the target voltage is an excitation voltage of a motor; determining an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used for representing an advance angle of the second waveform relative to the first waveform; and controlling the working state of the motor based on the lead angle and the first algorithm.
Optionally, controlling the working state of the motor based on the lead angle and the first algorithm includes: adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter; and controlling the working state of the motor based on the third waveform parameter.
Optionally, the second waveform parameters include: the first phase change point is used for representing the position where the phase of the second waveform changes, and the third waveform parameters comprise: the second commutation point or the third commutation point, wherein the adjusting the second waveform parameter based on the lead angle and the first algorithm, to obtain the third waveform parameter, includes: judging whether the advance angle is larger than a first preset value or smaller than a second preset value; under the condition that the lead angle is larger than a first preset value, controlling the first phase change point to lag based on a first algorithm to obtain a second phase change point; under the condition that the advance angle is smaller than a second preset value, controlling the first commutation point to advance based on a first algorithm to obtain a third commutation point; wherein the second preset value is less than or equal to the first preset value.
Optionally, the first waveform parameters include: a transition edge for characterizing a location where a level of the first waveform changes, wherein determining the lead angle based on the first waveform parameter and the second waveform parameter comprises: the lead angle is determined based on the phase difference between the transition edge and the first commutation point.
Optionally, the method further comprises: judging whether the advance angle is in a preset advance angle interval or not; controlling the working state of the motor based on the lead angle and a first algorithm under the condition that the lead angle is not in a preset lead angle interval; and under the condition that the lead angle is in a preset lead angle interval, prohibiting the control of the working state of the motor.
Optionally, the method further comprises: acquiring a first duty ratio and a second duty ratio of a second waveform, wherein the first duty ratio is the duty ratio of the second waveform at the current moment, and the second duty ratio is the duty ratio of the second waveform at the moment before the current moment; determining a duty cycle change rate of the target voltage based on the first duty cycle and the second duty cycle; and controlling the working state of the motor based on the duty ratio change rate and the second algorithm.
Optionally, controlling the operating state of the motor based on the duty cycle rate of change and the second algorithm includes: adjusting the first duty cycle based on the duty cycle rate of change and a second algorithm; and controlling the working state of the motor based on the adjusted first duty ratio.
Optionally, adjusting the first duty cycle based on the duty cycle rate of change and the second algorithm includes: judging whether the duty ratio change rate is larger than a first preset duty ratio change rate or smaller than a second preset duty ratio change rate; reducing the first duty cycle based on a second algorithm when the duty cycle rate of change is greater than a first preset duty cycle rate of change; under the condition that the duty ratio change rate is smaller than a second preset duty ratio change rate, the first duty ratio is improved based on a second algorithm; wherein the first preset duty cycle rate of change is greater than or equal to the second preset duty cycle rate of change.
Optionally, before controlling the operating state of the motor based on the duty cycle rate of change and the second algorithm, the method further comprises: judging whether the duty ratio change rate is in a preset duty ratio change rate interval or not; controlling the working state of the motor based on the duty ratio change rate and a second algorithm under the condition that the duty ratio change rate is not in a preset duty ratio change rate interval; and under the condition that the duty ratio change rate is in a preset duty ratio change rate interval, prohibiting the control of the working state of the motor.
Optionally, before acquiring the first waveform parameter and the second waveform parameter, the method further comprises: and responding to a start signal or a shutdown signal of the motor, and acquiring a first waveform parameter and a second waveform parameter.
According to another aspect of the embodiment of the present invention, there is also provided a control device for an electric motor, including: the acquisition module is used for acquiring first waveform parameters and second waveform parameters, wherein the first waveform parameters are waveform parameters of a first waveform acquired by the sensor, the second waveform parameters are waveform parameters of a second waveform of a target voltage, and the target voltage is excitation voltage of the motor; a determining module for determining an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used for representing an advance angle of the second waveform relative to the first waveform; and the control module is used for controlling the working state of the motor based on the lead angle and the first algorithm.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, a device where the computer readable storage medium is controlled to execute the above-described method for controlling a motor.
According to another aspect of the embodiment of the present invention, there is also provided a processor, configured to execute a program, where the program executes the above-mentioned method for controlling a motor.
In the embodiment of the invention, first waveform parameters of a first waveform acquired by a sensor and second waveform parameters of a second waveform of motor excitation voltage are acquired, then an advance angle is determined based on the first waveform parameters and the second waveform parameters, and the working state of a motor is controlled based on the advance angle and a first algorithm; the method has the advantages that the advance angle of the voltage in the motor is monitored, when the advance angle is abnormal, the parameters in the motor are adjusted by utilizing the first algorithm, so that the motor is controlled to be in a normal working state, in addition, when the rotating speed of the motor is suddenly increased or reduced, the abnormal condition of the motor when the rotating speed is suddenly increased or reduced can be found out in real time by determining the advance angle of the voltage of the motor, so that the parameters of the motor are adjusted in time, the motor is in the normal working state, and the technical problem that the motor is in fault due to sudden change of the rotating speed of the motor in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flowchart of a motor control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a position sensor and excitation voltage waveform diagram during normal constant speed operation of a motor according to an embodiment of the present application;
FIG. 3 is a flow chart of another motor control method according to an embodiment of the present application;
FIG. 4 is a flow chart of yet another motor control method according to an embodiment of the present application;
FIG. 5 is a graph of HALL versus excitation voltage waveforms for motor tuyere stock reduction in accordance with an embodiment of the present application;
FIG. 6 is a graph of HALL versus excitation voltage waveforms for motor start-up or acceleration operation according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a control device of a motor according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a control method embodiment of a motor, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of a control method of an electric motor according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, a first waveform parameter and a second waveform parameter are obtained.
The first waveform parameter is a waveform parameter of a first waveform acquired by the sensor, the second waveform parameter is a waveform parameter of a second waveform of a target voltage, and the target voltage is an excitation voltage of the motor.
The first waveform parameter in the above step may include, but is not limited to, a jump edge of the first waveform, and the second waveform parameter may include, but is not limited to, a second waveform, that is, a commutation point of an excitation voltage, where the voltage when providing a magnetic field required for operation of the motor is the excitation voltage.
The sensor in the above step is a position sensor, wherein the position sensor is one of the component parts of the motor, and is used for detecting the relative position of the rotor of the motor to the stator winding in the motion process, converting the position signal of the rotor in the magnetic field into an electric signal, and providing correct commutation information for the logic switch circuit so as to control the on-off of the logic switch circuit, so that the current in the armature winding of the motor is commutated in sequence along with the change of the position of the rotor. Wherein the position sensor may be a hall sensor.
The first waveform in the above step is used to represent the position change condition of the rotor in the magnetic field, as shown in fig. 2, waveform 1 is used to represent the position change condition of the rotor when the motor is in normal operation, and when the position of the motor rotor is changed, the low level signal is converted into the high level signal, or the high level signal is converted into the low level signal.
The second waveform in the above step is used to represent the voltage variation situation in the winding of the motor, as shown in fig. 2, waveform 2 is used to represent the voltage variation situation of the winding of the motor when the motor is operating normally, and when the voltage of the motor is changed, the duty ratio of the voltage is correspondingly changed.
Step S104, determining the lead angle based on the first waveform parameter and the second waveform parameter.
Wherein the lead angle is used to characterize the angle by which the second waveform advances relative to the first waveform.
The lead angle in the above step is the lead angle of the excitation voltage.
In an alternative embodiment, the lead angle of the exciting voltage can be obtained through the phase of the first waveform parameter and the phase of the second waveform parameter, namely through the phase difference of the jump edge and the phase difference of the phase change point, and whether the working state of the motor is normal can be predicted through determining whether the lead angle of the exciting voltage is normal or not, so that the working state of the motor can be adjusted timely.
Step S106, controlling the working state of the motor based on the lead angle and the first algorithm.
The first algorithm in the above step may be a lead angle constraint algorithm based on hall detection.
In an alternative embodiment, when the lead angle is too large or too small, the normal operation of the motor is affected, so that the lead angle can be monitored in real time, and when the lead angle of the motor is too large or too small, the phase change point of the exciting voltage of the motor is timely adjusted through a first algorithm, so that the lead angle of the motor is in a normal range, and the motor can normally operate.
In another alternative embodiment, when the rotation speed of the motor suddenly increases, the lead angle is correspondingly reduced, and when the lead angle is reduced to a certain range, normal operation of the motor is affected, at this time, the phase change point of the exciting voltage can be adjusted to be advanced by using the first algorithm, so that the lead angle of the exciting voltage is maintained in a normal range, and normal operation of the motor is ensured.
In yet another alternative embodiment, when the rotational speed of the motor suddenly decreases, the lead angle increases accordingly, and when the lead angle increases to a certain range, normal operation of the motor is affected, at this time, the phase change point lag of the exciting voltage may be adjusted by using the first algorithm, so that the lead angle of the exciting voltage is maintained within the normal range, thereby ensuring normal operation of the motor.
Through the steps of the embodiment of the invention, first waveform parameters of a first waveform acquired by a sensor and second waveform parameters of a second waveform of motor exciting voltage are acquired, then an advance angle is determined based on the first waveform parameters and the second waveform parameters, and the working state of the motor is controlled based on the advance angle and a first algorithm; the method has the advantages that the advance angle of the voltage in the motor is monitored, when the advance angle is abnormal, the parameters in the motor are adjusted by the aid of the first algorithm, so that the motor is controlled to be in a normal working state, in addition, when the rotating speed of the motor is suddenly increased or reduced, the abnormal condition of the motor when the rotating speed is suddenly increased or reduced can be timely found by determining the advance angle of the voltage of the motor, so that the parameters of the motor are timely adjusted, the motor is in the normal working state, and the technical problem that the motor is in failure due to sudden change of the rotating speed of the motor in the related technology is solved.
Optionally, controlling the working state of the motor based on the lead angle and the first algorithm includes: adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter; and controlling the working state of the motor based on the third waveform parameter.
The third waveform parameter in the above step may include, but is not limited to, a commutation point, where the commutation point may be earlier than the commutation point corresponding to the second waveform parameter, and may be later than the commutation point corresponding to the second waveform parameter.
In an alternative embodiment, when the lead angle is too small, the phase change point in the second waveform parameter can be advanced by using the first algorithm, the lead angle is redetermined by using the advanced phase change point, and the redetermined lead angle is ensured to be in a normal range, so that the motor is in a normal working state.
In another alternative embodiment, when the lead angle is too large, the first algorithm may be used to retard the commutation point in the second waveform parameter, and the retarded commutation point is used to redetermine the lead angle and ensure that the redetermined lead angle is in the normal range, so that the motor is in the normal operating state.
In yet another alternative embodiment, in the case that the advance angle redetermined in the above step is not in the normal range, the commutation point of the exciting voltage may be further adjusted based on the first algorithm, so as to ensure that the motor is in a normal working state.
Optionally, the second waveform parameters include: the first phase change point is used for representing the position where the phase of the second waveform changes, and the third waveform parameters comprise: the second commutation point or the third commutation point, wherein the adjusting the second waveform parameter based on the lead angle and the first algorithm, to obtain the third waveform parameter, includes: judging whether the advance angle is larger than a first preset value or smaller than a second preset value; under the condition that the lead angle is larger than a first preset value, controlling the first phase change point to lag based on a first algorithm to obtain a second phase change point; under the condition that the lead angle is smaller than a second preset value, controlling the first phase change point to lag based on a first algorithm to obtain a third phase change point; wherein the second preset value is less than or equal to the first preset value.
The second commutation point in the above step lags the first commutation point, and the third commutation point in the above step is earlier than the first commutation point.
The first preset value and the second preset value in the steps can be set by a user according to the performance of the motor, and can also be preset values which are obtained through experiments and can be in a normal working state of the motor.
In an alternative embodiment, when the lead angle is greater than the first preset value, it indicates that the lead angle has exceeded the normal range of operation of the motor, and at this time, the second commutation point obtained by the first algorithm may make the lead angle smaller, so as to ensure that the motor is in a normal working state.
In another alternative embodiment, when the lead angle is smaller than the second preset value, the lead angle is lower than the normal range of operation of the motor, and at this time, the lead angle can be increased by the third commutation point obtained by the first algorithm, so that the motor is ensured to be in a normal working state.
In yet another alternative embodiment, it may be determined whether the lead angle is greater than a first preset value or less than a second preset value when the motor is in the start phase, the acceleration phase, the scram phase, and the deceleration phase, so that the motor is in a normal operating state by determining the lead angle of the exciting voltage in the motor to monitor the abnormal condition of the motor in case of easy failure.
Optionally, the first waveform parameters include: a transition edge for characterizing a location where a level of the first waveform changes, wherein determining the lead angle based on the first waveform parameter and the second waveform parameter comprises: the lead angle is determined based on the phase difference between the transition edge and the first commutation point.
In an alternative embodiment, a phase difference may be determined according to the phase of the jump edge and the phase of the first commutation point, and then an angle value corresponding to the phase difference is determined as the lead angle.
Optionally, before controlling the operating state of the motor based on the lead angle and the first algorithm, the method further comprises: judging whether the advance angle is in a preset advance angle interval or not; controlling the working state of the motor based on the lead angle and a first algorithm under the condition that the lead angle is not in a preset lead angle interval; and under the condition that the lead angle is in a preset lead angle interval, prohibiting the control of the working state of the motor.
In an alternative embodiment, the preset lead angle interval may be determined by a user according to the performance of the motor, or may be an optimal preset lead angle interval obtained through experiments and capable of ensuring that the motor is in a normal working state.
In another alternative embodiment, whether the lead angle is abnormal or not can be judged by judging whether the lead angle is in a preset lead angle interval in advance, when the lead angle is abnormal, the lead angle is required to be adjusted at the moment, and the motor can be adjusted through further judgment, so that the motor is controlled to be in a normal working state; when the motor is not abnormal, further judgment is not needed, so that memory resources occupied by logic operation are reduced, the working state of the motor is not required to be controlled, the control process of the motor is reduced, and energy consumed during motor control is reduced.
Optionally, the method further comprises: acquiring a first duty ratio and a second duty ratio of a second waveform, wherein the first duty ratio is the duty ratio of the second waveform at the current moment, and the second duty ratio is the duty ratio of the second waveform at the moment before the current moment; determining a duty cycle change rate of the target voltage based on the first duty cycle and the second duty cycle; and controlling the working state of the motor based on the duty ratio change rate and the second algorithm.
In an alternative embodiment, when the rotation speed of the motor suddenly decreases, the exciting voltage in the motor may suddenly increase, and at this time, an abnormal situation may occur in the motor, and since the corresponding duty ratio of the exciting voltage also increases when the exciting voltage suddenly increases, it may be determined whether the abnormal situation may occur in the motor by acquiring the duty ratio of the exciting voltage; similarly, when the rotation speed of the motor suddenly increases, the exciting voltage in the motor may suddenly decrease, and at this time, an abnormal condition may also occur in the motor, and since the corresponding duty ratio of the exciting voltage suddenly decreases, it may be determined whether the abnormal condition may occur in the motor by obtaining the duty ratio of the exciting voltage.
In another alternative embodiment, the duty cycle change rate may be determined by the first duty cycle and the second duty cycle, when the first duty cycle is far greater than the second duty cycle, the corresponding duty cycle change rate may exceed the duty cycle change rate in the normal range, so that the abnormal condition of the motor occurs, and at this time, the first duty cycle of the motor may be adjusted by the second algorithm, so that the duty cycle change rate of the motor is reduced and kept in the normal range, so as to ensure that the motor may be in the normal working state. When the first duty ratio is far smaller than the second duty ratio, the corresponding duty ratio change rate may be smaller than the duty ratio change rate in the normal range, so that an abnormal condition occurs to the motor, and at the moment, the first duty ratio of the motor can be adjusted through a second algorithm, so that the duty ratio change rate of the motor becomes larger and is kept in the normal range, and the motor is ensured to be in a normal working state.
Optionally, controlling the operating state of the motor based on the duty cycle rate of change and the second algorithm includes: adjusting the first duty cycle based on the duty cycle rate of change and a second algorithm; and controlling the working state of the motor based on the adjusted first duty ratio.
In an alternative embodiment, when the duty cycle change rate is smaller, the second algorithm may be used to increase the first duty cycle, and the adjusted first duty cycle is used to redetermine the duty cycle change rate, and ensure that the redetermined duty cycle change rate is in a normal range, so that the motor is in a normal working state.
In another alternative embodiment, when the duty cycle change rate is larger, the second algorithm may be used to reduce the first duty cycle, and the adjusted first duty cycle is used to redetermine the duty cycle change rate, and ensure that the redetermined duty cycle change rate is in a normal range, so that the motor is in a normal working state.
In yet another alternative embodiment, in the case that the duty cycle change rate redetermined in the above step is not in the normal range, the phase change point of the exciting voltage may be further adjusted based on the second algorithm, so as to ensure that the motor is in a normal working state.
Optionally, adjusting the first duty cycle based on the duty cycle rate of change and the second algorithm includes: judging whether the duty ratio change rate is larger than a first preset duty ratio change rate or smaller than a second preset duty ratio change rate; reducing the first duty cycle based on a second algorithm when the duty cycle rate of change is greater than a first preset duty cycle rate of change; under the condition that the duty ratio change rate is smaller than a second preset duty ratio change rate, the first duty ratio is improved based on a second algorithm; wherein the first preset duty cycle rate of change is greater than or equal to the second preset duty cycle rate of change.
The first preset duty ratio change rate and the second preset duty ratio change rate in the steps above may be set by a user according to the performance of the motor, or may be preset duty ratio change rates that the obtained motor can be in a normal working state by implementing.
In an alternative embodiment, when the duty cycle change rate is greater than the first preset duty cycle change rate, the duty cycle change rate is indicated to exceed the normal range in which the motor can operate, and at this time, the first duty cycle is reduced by the second algorithm, so that the duty cycle change rate is reduced, thereby ensuring that the motor is in a normal working state.
In an alternative embodiment, when the duty cycle change rate is smaller than the second preset duty cycle change rate, the duty cycle change rate is lower than the normal range in which the motor can operate, and at this time, the first duty cycle is increased by the second algorithm, so that the duty cycle change rate is increased, and the motor is guaranteed to be in a normal working state.
In yet another alternative embodiment, it may be determined whether the duty cycle change rate is greater than the first preset duty cycle change rate or less than the second preset duty cycle change rate when the motor is in the start-up phase, the acceleration phase, the emergency stop phase, and the deceleration phase, so that the abnormal condition of the motor is monitored by determining the duty cycle change rate of the exciting voltage in the motor in case that the motor is prone to failure, thereby ensuring that the motor can be in a normal operating state.
Optionally, before controlling the operating state of the motor based on the duty cycle rate of change and the second algorithm, the method includes: judging whether the duty ratio change rate is in a preset duty ratio change rate interval or not; controlling the working state of the motor based on the duty ratio change rate and a second algorithm under the condition that the duty ratio change rate is not in a preset duty ratio change rate interval; and under the condition that the duty ratio change rate is in a preset duty ratio change rate interval, prohibiting the control of the working state of the motor.
In an alternative embodiment, the preset duty cycle change rate interval may be determined by a user according to the performance of the motor, or may be an optimal preset duty cycle change rate interval obtained through experiments and capable of ensuring that the motor is in a normal working state.
In another alternative embodiment, whether the duty ratio change rate is abnormal can be judged by judging whether the duty ratio change rate is in a preset duty ratio change rate interval in advance, when the duty ratio change rate is abnormal, the fact that the duty ratio change rate needs to be adjusted at the moment is indicated, and the motor can be adjusted through further judgment, so that the motor is controlled to be in a normal working state; when the motor is not abnormal, further judgment is not needed, so that memory resources occupied by logic operation are reduced, the working state of the motor is not required to be controlled, the control process of the motor is reduced, and energy consumed during motor control is reduced.
Optionally, before acquiring the first waveform parameter and the second waveform parameter, the method further comprises: and responding to a start signal or a shutdown signal of the motor, and acquiring a first waveform parameter and a second waveform parameter.
In an alternative embodiment, the first duty cycle and the second duty cycle of the second waveform may also be obtained in response to a start signal or a shutdown signal of the motor.
In another alternative embodiment, the first waveform parameter and the second waveform parameter may be obtained in response to an acceleration signal or a deceleration signal of the motor; the first duty cycle and the second duty cycle of the second waveform may also be obtained in response to an acceleration signal or a deceleration signal of the motor.
Because the motor has higher abnormal probability when starting, shutting down, accelerating or decelerating, the motor can be monitored only when starting, shutting down, accelerating or decelerating, thereby ensuring that the motor is in a normal working state under the condition of reducing the electric quantity consumption of the motor.
A preferred embodiment of the present invention will be described in detail with reference to fig. 2 to 6. As shown in fig. 3, the method may include the steps of:
step S301, calculating the voltage duty ratio change rate of the motor in real time;
When the dust collector is abnormal, such as a foreign matter is blocked, the air outlet suddenly becomes smaller, at this time, when the air outlet of the constant-power motor suddenly becomes smaller, the winding current becomes smaller, the load becomes lighter, at this time, due to the constant-power effect of the motor, the exciting voltage suddenly increases to maintain the constant power, that is, the duty ratio of the exciting voltage becomes larger, so that the duty ratio change rate is too large, and when the duty ratio change rate is too large, the motor is stopped and other faults are caused. By calculating the duty ratio change rate in real time, faults such as shutdown and the like of the motor can be avoided.
Step S302, judging whether the voltage duty ratio change rate exceeds the preset highest safety change rate or is smaller than the preset highest safety change rate, if so, executing step S303, and if so, executing step S304;
step S303, under the condition that the voltage duty ratio change rate exceeds the preset highest safety change rate, the duty ratio change rate is reduced by utilizing a lead angle constraint algorithm based on Hall detection;
step S304, under the condition that the voltage duty ratio change rate is lower than the preset highest safety change rate, the duty ratio change rate is improved by utilizing a lead angle constraint algorithm based on Hall detection.
The duty ratio change rate is calculated in real time, and when the duty ratio change rate exceeds the preset highest safe change rate, the duty ratio change rate is reduced by using an algorithm, so that the change rate is kept within the preset highest safe duty ratio change rate; when the duty ratio change rate is smaller than the preset minimum safety change rate, the duty ratio change rate is raised by using an algorithm, so that the change rate is kept within the preset safety duty ratio change rate; the safe duty ratio change rate is maintained, the excitation voltage of the motor can be ensured to be changed in a proper safety range in the wind gap change process, the speed sudden rise/sudden fall amplitude is in a preset speed area, and the normal working state of the motor is maintained.
Through the steps, the problem that when the wind gap of the motor with constant power suddenly increases, the exciting voltage of the motor can be suddenly reduced to maintain constant power, and when the wind gap of the motor suddenly decreases, the exciting voltage of the motor can be suddenly increased to maintain constant power can be solved; when the exciting voltage duty ratio change rate is too large, the motor can be caused to stop.
As shown in fig. 4, the method may further include the steps of:
step S401, detecting exciting voltage phase change points and Hall sensor jump edges in real time, and calculating an advance angle alpha formed by the exciting voltage phase change points and the Hall sensor jump edges;
The lead angle alpha of the position sensor voltage jump edge and the exciting voltage (PWM) phase change point is monitored. In the motor starting or accelerating stage, the Hall voltage jump edge is advanced, so that the lead angle alpha is reduced or even no lead occurs; in the stage of sudden stop or deceleration of the motor, the Hall voltage jump edge is delayed, so that the lead angle alpha is increased and even exceeds the preset lead range; such anomalies can cause the motor to operate in an unstable state or even damage to the motor.
Step S402, judging whether the lead angle exceeds the preset normal lead angle range or is lower than the preset normal lead angle range, if the lead angle exceeds the preset normal lead angle range, executing step S403, and if the lead angle is lower than the preset normal lead angle range, executing step S404;
step S403, when the lead angle exceeds a preset normal lead angle range, a lead angle constraint algorithm based on Hall detection is used to lead the phase change point of the exciting voltage for a certain time;
in step S404, when the lead angle is lower than the preset normal lead angle range, the phase change point of the exciting voltage is delayed for a certain time by using the lead angle constraint algorithm based on hall detection.
The method comprises the steps of detecting exciting voltage phase change points and Hall sensor jump edges in real time, calculating an advance angle alpha formed by the exciting voltage phase change points and the Hall sensor jump edges, reducing the advance angle alpha when a motor is started or the rotation speed rises, and adjusting the exciting voltage phase change points by using an algorithm when the advance angle alpha is reduced to exceed a preset normal advance angle range, so that the exciting voltage phase change points are advanced for a certain time, the advance angle is ensured to be in a preset normal operation range, and the advance angle is maintained under the preset range when the rotation speed of the motor is increased; when the motor is in sudden stop or rotation speed reduction operation, the exciting voltage phase change point and the jump of the Hall sensor are increased along the lead angle alpha, and when the lead angle alpha is increased to exceed the preset normal lead angle range, the algorithm is used for adjusting the exciting voltage phase change point, so that the exciting voltage phase change point is delayed for a certain time, the lead angle is ensured to be in the preset normal operation range, and the lead angle is maintained in the preset range when the rotation speed of the motor is reduced; ensuring that the motor is in a normal working state.
Through the steps, the problem that the Hall voltage jump edge is advanced in the starting or accelerating stage of the motor, so that the advance angle alpha is reduced or even no advance occurs can be solved; in the emergency stop operation or the deceleration stage of the motor, the Hall voltage jump edge is delayed, so that the lead angle alpha is increased and even exceeds the preset lead range.
Optionally, when the rotating speed is suddenly increased/reduced, the exciting voltage duty ratio is also delayed to be too fast by controlling the current change rate.
As shown in fig. 2, the position sensor (HALL) and exciting voltage waveforms are shown when the motor is operating at normal constant speed. When the motor normally operates, the time duration of the high level and the low level of the HALL is continuously equal, the lead angle alpha formed by the jump edge of the HALL and the exciting voltage phase change point is constantly equal to T1, and the change rate of the duty ratio of the exciting voltage is 0, so that the motor can normally operate.
As shown in fig. 5, the graph is a graph of HALL and exciting voltage waveforms when the motor tuyere is suddenly reduced. Under the running condition, the duration time of the high and low levels of the HALL is unequal, the air gap is suddenly reduced, the current of the constant-power motor is reduced, the load is lightened, the sudden rise of the rotating speed is caused by the sudden rise of the exciting voltage duty ratio, the jump of the high and low levels of the HALL is faster, and the motor is stopped due to the too fast change rate when the voltage duty ratio is increased. For example: when the wind gap suddenly increases, under the running condition, the duration of the high and low levels of the HALL is unequal, the wind gap suddenly increases, the constant power motor current is increased, the load becomes heavy, the excitation voltage duty ratio suddenly decreases to cause the sudden decrease of the rotating speed so as to lead the jump of the high and low levels of the HALL to be slow, and the too fast change rate of the voltage duty ratio decreases to cause the shutdown phenomenon of the motor.
As shown in fig. 6, the graph is a graph of HALL and exciting voltage waveforms at the time of motor start or acceleration operation. Under this operating condition, the HALL jump will continue to decrease for a period of time along the lead angle α formed by the HALL jump and the field voltage commutation point (T1 > T4> T5> T6> T7> T8), and when the lead angle α decreases beyond the minimum value, no lead problem will occur, resulting in failure of the motor at high speed operation, for example: abnormal shutdown, incapability of running in a high-speed state and the like, and the excitation voltage duty ratio commutation point is adjusted through an algorithm, so that the excitation voltage duty ratio commutation point is advanced, the advance angle alpha is maintained within a preset safety range, and various abnormal conditions of the motor caused by too small or even no advance angle of the motor are solved. For example: when the motor suddenly stops or operates in a decelerating state, under the running condition, the HALL jump is increased for a period of time along the lead angle alpha formed by the field voltage commutation point (T1 < T4< T5< T6< T7< T8), and when the increase amplitude of the lead angle alpha exceeds the maximum value, the problem of overlarge lead angle and even hysteresis occurs, so that the motor malfunctions during high-speed running, such as: abnormal shutdown, incapability of running in a high-speed state and the like, and the excitation voltage duty ratio commutation point is regulated through an algorithm, so that the lead angle alpha is maintained within a preset safety range after the excitation voltage duty ratio commutation point is delayed, and various abnormal conditions of the motor caused by overlarge lead angle and even hysteresis of the motor are solved.
Example 2
According to the embodiment of the present invention, a control device for a motor is further provided, where the device may execute the control method for a motor in the foregoing embodiment, and a specific implementation manner and a preferred application scenario are the same as those of the foregoing embodiment, and are not described herein.
Fig. 7 is a schematic view of a control device for an electric motor according to an embodiment of the present invention, as shown in fig. 7, the device including:
the acquiring module 70 is configured to acquire a first waveform parameter and a second waveform parameter, where the first waveform parameter is a waveform parameter of a first waveform acquired by the sensor, the second waveform parameter is a waveform parameter of a second waveform of a target voltage, and the target voltage is an excitation voltage of the motor;
a determination module 72 for determining an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used to characterize an angle by which the second waveform advances relative to the first waveform;
a control module 74 for controlling the operating state of the motor based on the lead angle and the first algorithm.
Optionally, the control module includes: the adjusting unit is used for adjusting the second waveform parameters based on the lead angle and the first algorithm to obtain third waveform parameters; and the first control unit is used for controlling the working state of the motor based on the third waveform parameter.
Optionally, the second waveform parameters in the above embodiment of the present invention include: the first phase change point is used for representing the position where the phase of the second waveform changes, and the third waveform parameters comprise: a second commutation point or a third commutation point, a regulating unit comprising: the first judging subunit is used for judging whether the advance angle is larger than a first preset value or smaller than a second preset value; the first control subunit is used for controlling the first phase change point to lag based on a first algorithm under the condition that the lead angle is larger than a first preset value to obtain a second phase change point; the first control subunit is further configured to control, based on the first algorithm, the first commutation point to advance to obtain a third commutation point when the lead angle is smaller than a second preset value; wherein the second preset value is less than or equal to the first preset value.
Optionally, the first waveform parameters in the above embodiment of the present invention include: a transition edge, a position where the transition edge is used for representing the level change of the first waveform, and a determining module, including: and a determining unit for determining the lead angle based on the phase difference between the jump edge and the first commutation point.
Optionally, the apparatus further comprises: the judging module is used for judging whether the advance angle is in a preset advance angle interval or not; the control module is also used for controlling the working state of the motor based on the lead angle and a first algorithm under the condition that the lead angle is not in a preset lead angle interval; the control module is also used for prohibiting the control of the working state of the motor under the condition that the lead angle is in a preset lead angle interval.
Optionally, the obtaining module is further configured to obtain a first duty cycle and a second duty cycle of the second waveform, where the first duty cycle is a duty cycle of the second waveform at a current time, and the second duty cycle is a duty cycle of the second waveform at a time previous to the current time; the determining module is further used for determining the duty ratio change rate of the target voltage based on the first duty ratio and the second duty ratio; the control module is also used for controlling the working state of the motor based on the duty ratio change rate and the second algorithm.
Optionally, the control module includes: the adjusting unit is further used for adjusting the first duty ratio based on the duty ratio change rate and a second algorithm; and the second control unit is used for controlling the working state of the motor based on the adjusted first duty ratio.
Optionally, the adjusting unit includes: the second judging subunit is used for judging whether the duty ratio change rate is larger than the first preset duty ratio change rate or smaller than the second preset duty ratio change rate; a second control subunit, configured to reduce the first duty cycle based on a second algorithm when the duty cycle variation rate is greater than the first preset duty cycle variation rate; the second control subunit is further configured to increase the first duty cycle based on the second algorithm if the duty cycle variation rate is smaller than a second preset duty cycle variation rate; wherein the first preset duty cycle rate of change is greater than or equal to the second preset duty cycle rate of change.
Optionally, the judging module is further configured to judge whether the duty cycle change rate is in a preset duty cycle change rate interval; the control module is also used for controlling the working state of the motor based on the duty ratio change rate and a second algorithm under the condition that the duty ratio change rate is not in a preset duty ratio change rate interval; the control module is also used for prohibiting the control of the working state of the motor under the condition that the duty ratio change rate is in a preset duty ratio change rate interval.
Optionally, the apparatus further comprises: and the response module is used for acquiring the first waveform parameter and the second waveform parameter under the condition of responding to a start signal or a shutdown signal of the motor.
Example 3
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein a device in which the computer-readable storage medium is controlled to execute the control method of the motor in embodiment 1 described above when the program runs.
Example 4
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program executes the control method of the motor in embodiment 1 described above when running.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (12)
1. A control method of an electric motor, characterized by comprising:
acquiring a first waveform parameter and a second waveform parameter, wherein the first waveform is the position change condition of a rotor in a motor in a magnetic field, the second waveform parameter is the waveform parameter of a second waveform of a target voltage, and the target voltage is the excitation voltage of the motor;
determining an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used for representing an advance angle of the second waveform relative to the first waveform;
controlling the working state of the motor based on the lead angle and a first algorithm, wherein the first algorithm is a phase change point for adjusting the exciting voltage of the motor;
wherein the method further comprises:
acquiring a first duty cycle and a second duty cycle of the second waveform, wherein the first duty cycle is the duty cycle of the second waveform at the current moment, and the second duty cycle is the duty cycle of the second waveform at the moment before the current moment;
Determining a duty cycle rate of change of the target voltage based on the first duty cycle and the second duty cycle;
and controlling the working state of the motor based on the duty ratio change rate and a second algorithm, wherein the second algorithm is used for adjusting the first duty ratio of the motor.
2. The method of claim 1, wherein controlling the operating state of the motor based on the lead angle and a first algorithm comprises:
adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter;
and controlling the working state of the motor based on the third waveform parameter.
3. The method of claim 2, wherein the second waveform parameters comprise: a first commutation point, the first commutation point being configured to characterize a location where a phase of the second waveform changes, the third waveform parameter comprising: and a second commutation point or a third commutation point, wherein the second waveform parameter is adjusted based on the lead angle and the first algorithm to obtain a third waveform parameter, including:
judging whether the advance angle is larger than a first preset value or smaller than a second preset value;
Controlling the first commutation point to lag based on the first algorithm under the condition that the lead angle is larger than the first preset value, so as to obtain the second commutation point;
controlling the first commutation point to advance based on the first algorithm under the condition that the advance angle is smaller than the second preset value, so as to obtain the third commutation point;
wherein the second preset value is less than or equal to the first preset value.
4. The method of claim 1, wherein the first waveform parameters comprise: a transition edge for characterizing a location where a level of the first waveform changes, wherein determining a lead angle based on the first waveform parameter and the second waveform parameter comprises:
the lead angle is determined based on a phase difference between the transition edge and the first commutation point.
5. The method of claim 1, wherein prior to controlling the operating state of the motor based on the lead angle and a first algorithm, the method further comprises:
judging whether the lead angle is in a preset lead angle interval or not;
controlling the working state of the motor based on the advance angle and a first algorithm under the condition that the advance angle is not in the preset advance angle interval;
And under the condition that the lead angle is in the preset lead angle interval, prohibiting the control of the working state of the motor.
6. The method of claim 1, wherein controlling the operating state of the motor based on the duty cycle rate of change and a second algorithm comprises:
adjusting the first duty cycle based on the duty cycle rate of change and the second algorithm;
and controlling the working state of the motor based on the adjusted first duty ratio.
7. The method of claim 1, wherein adjusting the first duty cycle based on the duty cycle rate of change and the second algorithm comprises:
judging whether the duty ratio change rate is larger than a first preset duty ratio change rate or smaller than a second preset duty ratio change rate;
reducing the first duty cycle based on the second algorithm if the duty cycle rate of change is greater than the first preset duty cycle rate of change;
increasing the first duty cycle based on the second algorithm if the duty cycle rate of change is less than the second preset duty cycle rate of change;
wherein the first preset duty cycle rate of change is greater than or equal to the second preset duty cycle rate of change.
8. The method of claim 1, comprising, prior to controlling the operating state of the motor based on the duty cycle rate of change and a second algorithm:
judging whether the duty ratio change rate is in a preset duty ratio change rate interval or not;
controlling the working state of the motor based on the duty ratio change rate and the second algorithm under the condition that the duty ratio change rate is not in the preset duty ratio change rate interval;
and under the condition that the duty ratio change rate is in the preset duty ratio change rate interval, prohibiting control of the working state of the motor.
9. The method of claim 1, wherein prior to acquiring the first waveform parameter and the second waveform parameter, the method further comprises:
and responding to a start signal or a shutdown signal of the motor, and acquiring the first waveform parameter and the second waveform parameter.
10. A control device for an electric motor, comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first waveform parameter and a second waveform parameter, the first waveform is the position change condition of a rotor in a magnetic field in a motor, the second waveform parameter is the waveform parameter of a second waveform of a target voltage, and the target voltage is the excitation voltage of the motor;
A determining module configured to determine an advance angle based on the first waveform parameter and the second waveform parameter, wherein the advance angle is used to characterize an advance angle of the second waveform relative to the first waveform;
the control module is used for controlling the working state of the motor based on the lead angle and a first algorithm; wherein the first algorithm is to adjust a commutation point of the excitation voltage of the motor;
the acquisition module is further configured to acquire a first duty cycle and a second duty cycle of the second waveform, where the first duty cycle is a duty cycle of the second waveform at a current time, and the second duty cycle is a duty cycle of the second waveform at a time previous to the current time;
the determining module is further configured to determine a duty cycle rate of change of the target voltage based on the first duty cycle and the second duty cycle;
the control module is also used for controlling the working state of the motor based on the duty ratio change rate and a second algorithm, wherein the second algorithm is used for adjusting the first duty ratio of the motor.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to perform the method of controlling the motor according to any one of claims 1 to 9.
12. A processor for running a program, wherein the program when run performs the method of controlling a motor according to any one of claims 1 to 9.
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| PCT/CN2021/123799 WO2022151775A1 (en) | 2021-01-14 | 2021-10-14 | Motor control method and apparatus |
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| JP6206093B2 (en) * | 2013-10-30 | 2017-10-04 | サンケン電気株式会社 | Motor drive device and motor device |
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| EP3731406A1 (en) * | 2019-04-25 | 2020-10-28 | Black & Decker Inc. | Low-speed sensorless brushless motor control in a power tool |
| CN113014158B (en) * | 2019-12-18 | 2023-03-28 | 珠海格力电器股份有限公司 | Motor control method and device, motor controller, motor and storage medium |
| CN112671304B (en) * | 2021-01-14 | 2023-10-03 | 珠海格力电器股份有限公司 | Motor control method and device |
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