CN112858984B - Motor driving current calibration method, device, equipment and storage medium - Google Patents
Motor driving current calibration method, device, equipment and storage medium Download PDFInfo
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- CN112858984B CN112858984B CN202110386160.4A CN202110386160A CN112858984B CN 112858984 B CN112858984 B CN 112858984B CN 202110386160 A CN202110386160 A CN 202110386160A CN 112858984 B CN112858984 B CN 112858984B
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Abstract
The invention discloses a motor driving current calibration method, a motor driving current calibration device, motor driving current calibration equipment and a storage medium, and relates to the technical field of motors. The method comprises the following steps: obtaining output torque of the motor when the motor operates under each driving current to be calibrated; dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated; determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current; a calibration curve is determined based on each reference drive current and maximum output torque. According to the invention, the calibration data is automatically classified, screened and the calibration curve is determined, so that the process of manually calibrating the data is eliminated, and the motor calibration efficiency is improved; meanwhile, the high driving efficiency of the calibrated driving current can be ensured, and the effectiveness of the calibration result is improved.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a method, an apparatus, a device, and a storage medium for calibrating a motor driving current.
Background
The output torque of the motor is directly related to the direct current and the quadrature current, and in order to better control the motor, the direct current and the quadrature current of the motor are usually required to be calibrated first to accurately control the output torque of the motor. At present, motor driving current calibration is generally finished manually by means of manpower, calibration data are collected by manually adjusting direct axis current and quadrature axis current, and corresponding current calibration diagrams are obtained by manually processing the data. However, the process involves a large amount of work, consumes time and labor, and affects motor testing efficiency.
Disclosure of Invention
The invention mainly aims to provide a motor driving current calibration method, a motor driving current calibration device, motor driving current calibration equipment and a motor driving current calibration storage medium, and aims to solve the technical problem that motor marking is manually performed in the prior art, and efficiency is low.
In order to achieve the above object, the present invention provides a motor driving current calibration method, which includes the following steps:
obtaining output torque of the motor when the motor runs under each driving current to be calibrated, wherein different calibration parameters are arranged between the driving currents to be calibrated;
dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated;
determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current;
and determining a calibration curve according to each reference driving current and the maximum output torque, wherein the calibration curve is used for representing the relation between the driving current and the output torsion.
Further, the calibration parameters include current amplitude and rotation speed;
dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated, wherein the driving current sets to be calibrated comprise:
respectively extracting driving currents to be calibrated with the same rotating speed to obtain a plurality of current sets with the same rotating speed;
and respectively extracting the driving currents to be calibrated with the same current amplitude in each current set with the same rotation speed to obtain a plurality of current sets to be calibrated.
Further, determining a maximum output torque corresponding to each current set to be calibrated, and taking a driving current to be calibrated corresponding to the maximum output torque as a reference driving current, including:
judging whether the rotating speed corresponding to each current set to be calibrated is larger than a first preset rotating speed or not;
when a first current set to be calibrated with the corresponding rotating speed being larger than a first preset rotating speed exists, the voltage utilization rate corresponding to each driving current to be calibrated in the first current set to be calibrated is obtained;
taking the driving current to be calibrated corresponding to the maximum voltage utilization rate in the voltage utilization rates as the reference driving current corresponding to the first current set to be calibrated, and taking the output torque corresponding to the reference driving current as the maximum output torque;
when a second current set to be calibrated with the corresponding rotating speed smaller than or equal to the first preset rotating speed exists, the output torque with the largest value in the output torques corresponding to the second current set to be calibrated is taken as the maximum output torque, and the driving current to be calibrated corresponding to the maximum output torque is taken as the reference driving current.
Further, dividing each driving current to be calibrated according to the calibration parameters, and before obtaining a plurality of current sets to be calibrated, further comprising:
obtaining the corresponding voltage utilization rate of each driving current to be calibrated;
taking the corresponding driving current to be calibrated, the voltage utilization rate of which is smaller than a first preset value, as a reference calibration driving current;
dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated, wherein the driving current sets to be calibrated comprise:
dividing each reference calibration driving current according to the calibration parameters to obtain a plurality of current sets to be calibrated.
Further, before obtaining the output torque of the motor when the motor operates under each driving current to be calibrated, the method further comprises:
acquiring a current amplitude calibration value and a current power angle calibration value;
generating a plurality of driving current requests according to the current amplitude calibration value and the current power angle calibration value;
obtaining driving currents to be calibrated according to the driving current request so that the motor operates according to the driving currents to be calibrated;
and recording the output torque of the motor under the operation of each driving current to be calibrated.
Further, before recording the output torque of the motor when each driving current to be calibrated operates, the method further comprises:
acquiring the motor temperature of a motor;
when the temperature of the motor is greater than a second preset value, determining the current driving current to be calibrated corresponding to the motor, and adjusting the current driving current to be calibrated to the preset driving current so as to reduce the temperature of the motor;
when the reduced motor temperature is smaller than a third preset value, the preset driving current is restored to the current driving current to be calibrated
The recording of the output torque of the motor when the motor operates under each driving current to be calibrated comprises the following steps:
and recording the output torque of the motor when the motor operates under the current driving current to be calibrated.
Further, before recording the output torque of the motor when each driving current to be calibrated operates, the method further comprises:
acquiring real-time running current of a motor;
determining a difference value between the real-time running current and the current driving current to be calibrated corresponding to the motor;
and when the difference value is smaller than a fourth preset value, executing the step of recording the output torque of the motor when each driving current to be calibrated runs.
In addition, in order to achieve the above object, the present invention also provides a motor driving current calibration device, including:
the parameter acquisition module is used for acquiring the output torque of the motor when the motor runs under each driving current to be calibrated, and different calibration parameters are arranged among the driving currents to be calibrated;
the preprocessing module is used for dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated;
the calculation module is used for determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current;
and the calibration module is used for determining a calibration curve according to the reference driving current and the maximum output torque, and the calibration curve is used for representing the relation between the current and the output torsion.
In addition, in order to achieve the above object, the present invention also provides a motor drive current calibration apparatus, including: the method comprises the steps of a memory, a processor and a motor driving current calibration program which is stored in the memory and can run on the processor, wherein the motor driving current calibration program is executed by the processor to realize the motor driving current calibration method.
In addition, in order to achieve the above object, the present invention also provides a storage medium, on which a motor driving current calibration program is stored, which when executed by a processor, implements the steps of the motor driving current calibration method as described above.
According to the invention, the output torque of the motor is obtained when the motor runs under each driving current to be calibrated; dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated; determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current; and determining a calibration curve according to each reference driving current and the maximum output torque. According to the invention, the calibration data is automatically classified, screened and the calibration curve is determined, so that the process of manually calibrating the data is eliminated, and the motor calibration efficiency is improved; meanwhile, the high driving efficiency of the calibrated driving current can be ensured, and the effectiveness of the calibration result is improved.
Drawings
FIG. 1 is a schematic diagram of a motor drive current calibration device for a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a motor driving current calibration method according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a second embodiment of the motor driving current calibration method according to the present invention;
FIG. 4 is a flow chart of a third embodiment of the motor driving current calibration method according to the present invention;
fig. 5 is a block diagram of a first embodiment of the motor driving current calibration device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a motor driving current calibration device in a hardware operation environment according to an embodiment of the present invention.
As shown in fig. 1, the motor driving current calibration apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display (Display), and the optional user interface 1003 may also include a standard wired interface, a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the motor drive current calibration apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is considered to be a computer storage medium, may include an operating system, a network communication module, a user interface module, and a motor drive current calibration program.
In the motor driving current calibration device shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the motor driving current calibration device invokes a motor driving current calibration program stored in the memory 1005 through the processor 1001, and executes the motor driving current calibration method provided by the embodiment of the invention.
Based on the hardware structure, the embodiment of the motor driving current calibration method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a motor driving current calibration method according to the present invention.
In a first embodiment, a motor drive current calibration method includes the steps of:
step S10: and obtaining the output torque of the motor when the motor runs under each driving current to be calibrated, wherein different calibration parameters are arranged between the driving currents to be calibrated.
It should be understood that the implementation main body of this embodiment is the foregoing motor driving current calibration device, which has functions of data processing, data communication, program running, etc., and the motor driving current calibration device may be a computer device such as a tablet, a computer, or a server, etc., and of course, may also be other devices with similar functions, which is not limited in this embodiment.
It should be noted that the motor may be a synchronous motor, and further, the permanent magnet synchronous motor is taken as an example for explanation in this embodiment mode. The output torque of the permanent magnet synchronous motor is directly related to the direct axis current Id and the quadrature axis current Iq, and the driving precision of the permanent magnet synchronous motor is ensured by calibrating the relation between the output torque and the direct axis current and the quadrature axis current.
The calibration parameters mainly comprise test parameters of driving current, such as current characteristics, test time, rotating speed and the like, wherein the current characteristics mainly comprise direct axis current components and quadrature axis current components, or vector current amplitude and current power angle. The direct current component and the quadrature current component, and the vector current amplitude and the current power angle can be converted based on a coordinate system, so as to facilitate the subsequent data processing.
It should be understood that the user may test the motor according to each driving current to be calibrated to obtain the corresponding output torque of the motor. The motor driving current calibration equipment can receive each driving current to be calibrated and corresponding output torque input by a user through input equipment (such as a keyboard, a touch screen and the like); or the motor driving current calibration equipment reads the parameter document from the memory or the server to obtain each driving current to be calibrated and the corresponding output torque.
Step S20: dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated.
In order to ensure the comprehensiveness of data, the number of driving currents to be calibrated is usually large, so that the data size is large, and the data processing efficiency is low. Meanwhile, as the driving currents to be calibrated are different and the output torque is the same in practice, namely, the situation of data redundancy exists, the data is preprocessed in the embodiment to improve the calibration efficiency and effectiveness.
Dividing each driving current to be calibrated according to the calibration parameters refers to classifying each driving current to be calibrated according to preset rules. For example, taking vector current amplitude as a classification standard as an example, dividing driving currents to be calibrated with the same vector current amplitude into the same set; or taking the current power angle as a classification standard as an example, dividing the driving currents to be calibrated with the same current power angle into the same set. Of course, other manners may be used to divide the driving currents to be calibrated, which is not limited in this embodiment.
In addition, to further ensure the validity of the data, the present embodiment further includes, before step S20: obtaining the corresponding voltage utilization rate of each driving current to be calibrated; and taking the corresponding driving current to be calibrated, the voltage utilization rate of which is smaller than the first preset value, as a reference calibration driving current.
It should be noted that, according to the definition of the voltage limit circle, ud×ud+uq×uq is equal to or less than us×us, where Ud is a direct axis voltage, uq is an intersecting axis voltage, and Us is a vector voltage. In motor control, in order to ensure the running stability of the motor, the voltage utilization rate is generally required to be slightly less than 1. In this embodiment, the first preset value may be set to 1, and the to-be-calibrated driving current with the voltage utilization rate higher than the standard is removed to obtain the reference calibration driving current. Accordingly, the classification object in step S20 is the reference calibration driving current.
Step S30: and determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current.
It should be understood that each set of currents to be calibrated includes a plurality of driving currents to be calibrated, and each driving current to be calibrated has a corresponding output torque. Determining the maximum output torque corresponding to each current set to be calibrated by comparing the output torque corresponding to each current set to be calibrated; and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current.
Because the driving currents are different and the output torque is the same, in order to improve the driving efficiency of the current, the embodiment screens out the reference driving current corresponding to the maximum output torque from each current set to be calibrated. The reference driving current has higher driving efficiency, so that the effectiveness of a final calibration result is ensured.
Step S40: and determining a calibration curve according to the reference driving current and the maximum output torque, wherein the calibration curve is used for representing the relation between the driving current and the output torsion.
It should be noted that, determining the calibration curve according to the reference driving current and the maximum output torque may be fitting according to a correspondence between the reference driving current and the maximum output torque, so as to obtain a graph between the driving circuit and the output torque as the calibration curve. Furthermore, in order to improve the accuracy of fitting, the data can be further expanded by an interpolation function, and the step length of interpolation can be preset by a user.
In particular, the relationship between current and output twist can be specifically divided into a relationship between direct current and output twist and a relationship between quadrature current and output twist. When the data fitting is carried out, the reference driving current can be converted into a direct axis current component and an intersecting axis current component, and the direct axis current component and the intersecting axis current component are respectively fitted with the maximum output torque, so that two calibration curves are obtained.
In the first embodiment, the output torque of the motor is obtained when the motor operates under each driving current to be calibrated; dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated; determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current; and determining a calibration curve according to each reference driving current and the maximum output torque. According to the embodiment, the process of manually calibrating data is canceled, and the motor calibration efficiency is improved; meanwhile, the high driving efficiency of the calibrated driving current can be ensured, and the effectiveness of the calibration result is improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the motor driving current calibration method according to the present invention, and based on the first embodiment, the second embodiment of the motor driving current calibration method according to the present invention is proposed.
In the second embodiment, the calibration parameters include current amplitude and rotation speed, and step S20 specifically includes:
step S201: and respectively extracting the driving currents to be calibrated with the same rotating speed to obtain a plurality of current sets with the same rotating speed.
When the motor is in specific implementation, a certain rotating speed is further arranged when the motor is tested, the motor is tested in different rotating speed sections during passing, so that obtained data are more comprehensive, and the tested rotating speed sections of the motor generally cover all rotating speed sections of the motor.
The motor driving current calibration equipment can receive each driving current to be calibrated and corresponding rotating speed input by a user through input equipment (such as a keyboard, a touch screen and the like); or the motor driving current calibration equipment reads the parameter document from the memory or the server to obtain each driving current to be calibrated and the corresponding rotating speed.
It will be appreciated that testing taking rotational speed into account will typically result in the motor being tested at different rotational speeds with the same drive current, as the actual output torque will be different due to the different rotational speeds. The method includes dividing the driving currents to be calibrated with the same rotation speed into the same class, and distinguishing the output states of the motor at different rotation speeds.
Step S202: and respectively extracting the driving currents to be calibrated with the same current amplitude in each current set with the same rotation speed to obtain a plurality of current sets to be calibrated.
It should be understood that each set of current at the same rotational speed includes a plurality of driving currents to be calibrated, and the driving currents to be calibrated have different overall current characteristics but identical partial current characteristics. When the current characteristics of the driving currents to be calibrated are considered in terms of the current amplitude, the currents of the driving currents to be calibrated also have corresponding current power angles. Therefore, the driving currents to be calibrated in the same rotating speed current set may have the same current amplitude or the same current power angle.
In the embodiment, the current amplitude is used as a classification standard, and the driving current to be calibrated, which has the same current amplitude in each current set with the same rotation speed, is used as the same class. Therefore, a plurality of current sets to be calibrated are obtained, and all driving currents to be calibrated in all current sets to be calibrated have the same rotating speed and the same current amplitude. Of course, the current power angle can be used as a classification standard, so that each driving current to be calibrated in each current set to be calibrated has the same rotation speed and the same current power angle.
Based on the above classification strategy, the strategy for selecting the reference driving circuit and the maximum output torque in step S30 is also adjusted accordingly. Specifically, step S30 may be: judging whether the rotating speed corresponding to each current set to be calibrated is larger than a first preset rotating speed or not; when a first current set to be calibrated with the corresponding rotating speed being larger than a first preset rotating speed exists, the voltage utilization rate corresponding to each driving current to be calibrated in the first current set to be calibrated is obtained; taking the driving current to be calibrated corresponding to the maximum voltage utilization rate in the voltage utilization rates as the reference driving current corresponding to the first current set to be calibrated, and taking the output torque corresponding to the reference driving current as the maximum output torque; when a second current set to be calibrated with the corresponding rotating speed smaller than or equal to the first preset rotating speed exists, the output torque with the largest value in the output torques corresponding to the second current set to be calibrated is taken as the maximum output torque, and the driving current to be calibrated corresponding to the maximum output torque is taken as the reference driving current.
It should be noted that, the first preset rotation speed may be a base speed of the motor, when the rotation speed of the motor is higher than the base speed, under the same current amplitude, the to-be-calibrated driving current corresponding to the maximum voltage utilization rate point is the current point with the highest driving efficiency, and the output torque corresponding to the current point is the maximum output torque under the condition of ensuring the driving efficiency.
When the rotating speed of the motor is lower than or equal to the base speed, under the same current amplitude, the output torque with the largest value in the output torques corresponding to the driving currents to be calibrated is the optimal output under the current amplitude, the optimal output is taken as the maximum output torque, and the driving current to be calibrated corresponding to the optimal output is taken as the reference driving current.
By the above screening, the data finally obtained in the present embodiment can be reflected in the relationship between the drive current and the output torque on the premise that the motor is ensured to be driven at each rotation speed. Therefore, the calibration curve generated according to the data can be used for representing the relation between the driving current and the output torque at different rotating speeds, and the calibration curve can effectively improve the driving efficiency and the accuracy of the motor.
In the second embodiment, the driving currents to be calibrated are classified and screened based on the rotation speed and the current characteristics, so that the obtained calibration data can reflect the characteristic of high driving efficiency of the motor, and the finally-winning calibration curve has reference significance, and the driving efficiency and accuracy of the motor are effectively improved.
Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the motor driving current calibration method according to the present invention, and the third embodiment of the motor driving current calibration method according to the present invention is proposed based on the first embodiment and the second embodiment. The present embodiment is described based on the first embodiment.
In the third embodiment, before step S10, further includes:
step S01: and obtaining a current amplitude calibration value and a current power angle calibration value.
The current amplitude calibration value refers to a change start value, an end value and a change step length of the current amplitude; current power angle calibration value the change start value, end value and change step length of the current power angle. For example, the current amplitude has a change start value of 5A, an end value of 10A, and a change step size of 0.5A; the change start value of the current power angle is 0 degrees, the end value is 90 degrees, and the change step length is 5 degrees. Of course, the specific values of the current amplitude calibration value and the current power angle calibration value may be set according to the needs of the user, which is not limited in this embodiment.
Step S02: and generating a plurality of driving current requests according to the current amplitude calibration value and the current power angle calibration value.
It should be noted that, the generating the driving current request according to the current amplitude calibration value and the current power angle calibration value may be determining the current amplitude and the current power angle according to the current amplitude calibration value and the current power angle calibration value, generating the driving current request according to the determined current amplitude and current power angle, and sending the driving current request to the power supply control device to obtain the corresponding driving current.
The current amplitude and current power angle to which the drive current request relates should list all selectable ranges according to the current amplitude calibration value and the current power angle calibration value. For example, the current amplitude has a change start value of 5A, an end value of 10A, and a change step size of 0.5A; the corresponding selectable current magnitudes are 5A, 5.5A, … … 9.5A, 10A. In specific implementation, the same current amplitude can be made to correspond to different current power angles, or the same current power angle can be made to correspond to different current amplitudes to generate each driving current request.
In this embodiment, the current amplitude and the current power angle are used as calibration parameters, and the current amplitude and the current power angle can be converted from the direct-axis current and the quadrature-axis current, so that calibration of the direct-axis current and the quadrature-axis current can be reflected in this embodiment. The generating a driving current request according to the determined current amplitude and current power angle may be specifically: and determining corresponding direct-axis current parameters and quadrature-axis current parameters according to the current amplitude and the current power angle, and generating a driving current request according to the direct-axis current parameters and the quadrature-axis current parameters. The power supply control device can configure corresponding control software to control three power supplies, so that driving currents with corresponding direct-axis current parameters and quadrature-axis current parameters are output.
Step S03: and obtaining the driving current to be calibrated according to the driving current request so that the motor operates according to each driving current to be calibrated.
It should be understood that obtaining the driving current to be calibrated according to the driving current request, so that the motor operates according to each driving current to be calibrated means that the driving current obtained through the driving current request is used as the input current of the motor, and the motor operates. And after the running time reaches the preset time, the input current is adjusted to another driving current.
When the motor is in operation, the rotating speed of the dynamometer is fixed, so that the motor can test all driving currents at the same rotating speed. The motor is tested at different rotation speeds by adjusting the rotation speed of the dynamometer. The output of the motor can be obtained through monitoring equipment corresponding to the dynamometer. The principle of the dynamometer is mature technology, and the embodiment is not described in detail here.
Step S04: and recording the output torque of the motor when the motor runs under each driving current to be calibrated.
It should be noted that, in order to ensure the validity of the test data, the test time may be set, after the running time of the motor under each driving current to be calibrated reaches the test time, the current output torque of the motor is obtained from the dynamometer and recorded, and the test time may be set to 10S, 15S, and so on.
In addition, in order to further ensure the validity of the data and the safety of the test, the method further comprises the step of acquiring the motor temperature of the motor before the step S04; when the temperature of the motor is greater than a second preset value, determining the current driving current to be calibrated corresponding to the motor, and adjusting the current driving current to be calibrated to the preset driving current so as to reduce the temperature of the motor; when the reduced motor temperature is smaller than a third preset value, recovering the preset driving current to the current driving current to be calibrated; accordingly, step S04 includes: and recording the output torque of the motor when the motor operates under the current driving current to be calibrated.
It will be appreciated that after a long period of operation of the motor, there is a problem of temperature rise, and in the event of excessive temperature, the output state of the motor is affected, possibly resulting in a deviation in the output torque of the motor, with a safety risk.
It should be noted that, the second preset value is greater than the third preset value, and the specific value thereof may be set according to the user requirement. The present embodiment is not limited thereto. When the current driving current to be calibrated is adjusted to the preset driving current, the current driving current to be calibrated can be adjusted to the preset driving current according to the preset adjusting step length, so that the motor is prevented from being unloaded too fast and abnormal. Likewise, the preset driving current can be recovered to the current driving current to be calibrated according to the preset adjustment compensation.
In addition, to further ensure the validity of the data, before step S04, it may further include: acquiring real-time running current of a motor; determining a difference value between the real-time running current and the current driving current to be calibrated corresponding to the motor; and when the difference value is smaller than a fourth preset value, executing the step of recording the output torque of the motor when each driving current to be calibrated runs.
When the difference between the real-time running current and the current driving current to be calibrated corresponding to the motor is large, the actual current is not along with the request current, and the current driving current to be calibrated exceeds the controllable range and cannot be used as effective data. The specific value of the fourth preset value may be set according to the requirement, which is not limited in this embodiment.
In a third embodiment, a driving current request is generated according to a current amplitude calibration value and a current power angle calibration value to obtain a driving current, and the motor is operated under the driving current to collect calibration data such as output torque. Meanwhile, in the acquisition process, the temperature of the motor and the real-time current of the motor are monitored, and the effectiveness of data and the safety of testing are ensured.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a motor driving current calibration program, and the motor driving current calibration program realizes the steps of the motor driving current calibration method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
In addition, referring to fig. 5, fig. 5 is a block diagram of a first embodiment of a motor driving current calibration device according to the present invention.
In this embodiment, the motor drive current calibration device includes:
the parameter acquisition module 10 is used for acquiring output torque of the motor when the motor runs under each driving current to be calibrated, and different calibration parameters are arranged among the driving currents to be calibrated;
the preprocessing module 20 is used for dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated;
the calculating module 30 is configured to determine a maximum output torque corresponding to each current set to be calibrated, and take a driving current to be calibrated corresponding to the maximum output torque as a reference driving current;
the calibration module 40 is configured to determine a calibration curve based on the reference drive current and the maximum output torque, the calibration curve being configured to characterize a relationship between current and output torque.
In the embodiment, the output torque of the motor is obtained when the motor runs under each driving current to be calibrated; dividing each driving current to be calibrated according to calibration parameters to obtain a plurality of current sets to be calibrated; determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current; and determining a calibration curve according to the reference driving current and the maximum output torque. According to the embodiment, the process of manually calibrating data is canceled, and the motor calibration efficiency is improved; meanwhile, the high driving efficiency of the calibrated driving current can be ensured, and the effectiveness of the calibration result is improved.
In an embodiment, the calibration parameters include current amplitude and rotation speed, and the preprocessing module 20 is further configured to extract the driving currents to be calibrated with the same corresponding rotation speed respectively, so as to obtain a plurality of current sets with the same rotation speed; and respectively extracting the driving currents to be calibrated with the same current amplitude in each current set with the same rotation speed to obtain a plurality of current sets to be calibrated.
In an embodiment, the calculating module 30 is further configured to determine whether a rotation speed corresponding to each current set to be calibrated is greater than a first preset rotation speed; when a first current set to be calibrated with the corresponding rotating speed being larger than a first preset rotating speed exists, the voltage utilization rate corresponding to each driving current to be calibrated in the first current set to be calibrated is obtained; taking the driving current to be calibrated corresponding to the maximum voltage utilization rate in the voltage utilization rates as the reference driving current corresponding to the first current set to be calibrated, and taking the output torque corresponding to the reference driving current as the maximum output torque; when a second current set to be calibrated with the corresponding rotating speed smaller than or equal to the first preset rotating speed exists, the output torque with the largest value in the output torques corresponding to the second current set to be calibrated is taken as the maximum output torque, and the driving current to be calibrated corresponding to the maximum output torque is taken as the reference driving current.
In an embodiment, the motor driving current calibration device further comprises a screening module, wherein the screening module is used for obtaining the voltage utilization rate corresponding to each driving current to be calibrated; taking the corresponding driving current to be calibrated, the voltage utilization rate of which is smaller than a first preset value, as a reference calibration driving current; correspondingly, the preprocessing module 20 is further configured to divide each reference calibration driving current according to the calibration parameters, so as to obtain a plurality of current sets to be calibrated.
In an embodiment, the motor driving current calibration device further comprises a test module, wherein the test module is used for obtaining a current amplitude calibration value and a current power angle calibration value; generating a plurality of driving current requests according to the current amplitude calibration value and the current power angle calibration value; obtaining driving currents to be calibrated according to the driving current request so that the motor operates according to the driving currents to be calibrated; and recording the output torque of the motor when each driving current to be calibrated runs.
In an embodiment, the test module is further configured to obtain a motor temperature of the motor; when the temperature of the motor is greater than a second preset value, determining the current driving current to be calibrated corresponding to the motor, and adjusting the current driving current to be calibrated to the preset driving current so as to reduce the temperature of the motor; when the reduced motor temperature is smaller than a third preset value, recovering the preset driving current to the current driving current to be calibrated; correspondingly, the test module is also used for recording the output torque of the motor when the motor runs under the current driving current to be calibrated.
In an embodiment, the test module is further configured to obtain a real-time running current of the motor; determining a difference value between the real-time running current and the current driving current to be calibrated corresponding to the motor; and when the difference value is smaller than a fourth preset value, executing the step of recording the output torque of the motor when each driving current to be calibrated runs.
Other embodiments or specific implementation manners of the motor driving current calibration device of the present invention may refer to the above method embodiments, and are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
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 unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. do not denote any order, but rather the terms first, second, third, etc. are used to interpret the terms as names.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read only memory mirror (Read Only Memory image, ROM)/random access memory (Random Access Memory, RAM), magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The motor driving current calibration method is characterized by comprising the following steps of:
obtaining output torque of the motor when the motor runs under each driving current to be calibrated, wherein different calibration parameters are arranged between the driving currents to be calibrated;
dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated;
determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current;
determining a calibration curve according to each reference driving current and the maximum output torque, wherein the calibration curve is used for representing the relation between the driving current and the output torsion;
the determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current comprises the following steps:
judging whether the rotating speed corresponding to each current set to be calibrated is larger than a first preset rotating speed or not;
when a first current set to be calibrated with the corresponding rotating speed being larger than the first preset rotating speed exists, the voltage utilization rate corresponding to each driving current to be calibrated in the first current set to be calibrated is obtained;
taking the driving current to be calibrated corresponding to the maximum voltage utilization rate in the voltage utilization rates as the reference driving current corresponding to the first current set to be calibrated, and taking the output torque corresponding to the reference driving current as the maximum output torque;
when a second current set to be calibrated with the corresponding rotating speed smaller than or equal to the first preset rotating speed exists, taking the output torque with the largest numerical value in the output torques corresponding to the second current set to be calibrated as the maximum output torque, and taking the driving current to be calibrated corresponding to the maximum output torque as the reference driving current.
2. The motor drive current calibration method according to claim 1, wherein the calibration parameters include a current amplitude and a rotational speed;
dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated, including:
respectively extracting driving currents to be calibrated with the same rotating speed to obtain a plurality of current sets with the same rotating speed;
and respectively extracting the driving currents to be calibrated with the same current amplitude in each current set with the same rotation speed to obtain a plurality of current sets to be calibrated.
3. The method for calibrating a motor driving current according to any one of claims 1 or 2, wherein before dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated, the method further comprises:
obtaining the corresponding voltage utilization rate of each driving current to be calibrated;
taking the corresponding driving current to be calibrated, the voltage utilization rate of which is smaller than a first preset value, as a reference calibration driving current;
dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated, including:
dividing each reference calibration driving current according to the calibration parameters to obtain a plurality of current sets to be calibrated.
4. A motor drive current calibration method according to any one of claims 1 or 2, wherein the obtaining the output torque of the motor when operating at each drive current to be calibrated further comprises:
acquiring a current amplitude calibration value and a current power angle calibration value;
generating a plurality of driving current requests according to the current amplitude calibration value and the current power angle calibration value;
obtaining driving currents to be calibrated according to the driving current requests, so that the motor operates according to the driving currents to be calibrated;
and recording the output torque of the motor when the motor runs under each driving current to be calibrated.
5. The motor drive current calibration method according to claim 4, wherein the recording of the output torque of the motor at each drive current to be calibrated before operation further comprises:
acquiring the motor temperature of the motor;
when the temperature of the motor is greater than a second preset value, determining the current driving current to be calibrated corresponding to the motor, and adjusting the current driving current to be calibrated to the preset driving current so as to reduce the temperature of the motor;
when the reduced motor temperature is smaller than a third preset value, recovering the preset driving current to the current driving current to be calibrated;
the recording of the output torque of the motor when the motor operates under each driving current to be calibrated comprises the following steps:
and recording the output torque of the motor when the motor runs under the current driving current to be calibrated.
6. The motor drive current calibration method according to claim 4, wherein the recording of the output torque of the motor at each drive current to be calibrated before operation further comprises:
acquiring real-time running current of the motor;
determining a difference value between the real-time running current and the current driving current to be calibrated corresponding to the motor;
and when the difference value is smaller than a fourth preset value, executing the step of recording the output torque of the motor when each driving current to be calibrated runs.
7. The utility model provides a motor drive current calibration device which characterized in that, motor drive current calibration device includes:
the parameter acquisition module is used for acquiring the output torque of the motor when the motor runs under each driving current to be calibrated, and different calibration parameters are arranged among the driving currents to be calibrated;
the preprocessing module is used for dividing each driving current to be calibrated according to the calibration parameters to obtain a plurality of current sets to be calibrated;
the calculation module is used for determining the maximum output torque corresponding to each current set to be calibrated, and taking the driving current to be calibrated corresponding to the maximum output torque as a reference driving current;
the calibration module is used for determining a calibration curve according to the reference driving current and the maximum output torque, and the calibration curve is used for representing the relation between the current and the output torsion;
the calculation module is further used for judging whether the rotating speed corresponding to each current set to be calibrated is larger than a first preset rotating speed or not;
when a first current set to be calibrated with the corresponding rotating speed being larger than the first preset rotating speed exists, the voltage utilization rate corresponding to each driving current to be calibrated in the first current set to be calibrated is obtained;
taking the driving current to be calibrated corresponding to the maximum voltage utilization rate in the voltage utilization rates as the reference driving current corresponding to the first current set to be calibrated, and taking the output torque corresponding to the reference driving current as the maximum output torque;
when a second current set to be calibrated with the corresponding rotating speed smaller than or equal to the first preset rotating speed exists, taking the output torque with the largest numerical value in the output torques corresponding to the second current set to be calibrated as the maximum output torque, and taking the driving current to be calibrated corresponding to the maximum output torque as the reference driving current.
8. A motor drive current calibration apparatus, characterized in that the motor drive current calibration apparatus comprises: a memory, a processor and a motor drive current calibration program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the motor drive current calibration method of any one of claims 1 to 6.
9. A storage medium having stored thereon a motor drive current calibration program which when executed by a processor performs the steps of the motor drive current calibration method of any one of claims 1 to 6.
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