CN112889213A - Motor control method, motor and movable platform - Google Patents

Motor control method, motor and movable platform Download PDF

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Publication number
CN112889213A
CN112889213A CN201980034234.9A CN201980034234A CN112889213A CN 112889213 A CN112889213 A CN 112889213A CN 201980034234 A CN201980034234 A CN 201980034234A CN 112889213 A CN112889213 A CN 112889213A
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rotor
angle value
electrical angle
preset
motor
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CN201980034234.9A
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CN112889213B (en
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陈旭
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

Abstract

The embodiment of the application provides a motor control method, a motor control device and motor control equipment, wherein a rotor of a motor is controlled to rotate in a first direction by first vector voltage from a preset target position, and when an nth signal edge generated by a code disc arranged on the rotor is detected, a first electric angle value of the current first vector voltage is recorded; after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a second direction by using second vector voltage, and recording the second electric angle value of the current second vector voltage when detecting that the code disc generates the nth signal edge; acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value; the method and the device have the advantages that the electric angle value of the current rotor is obtained according to the electric angle deviation value and the signal edge counting of the current code disc, the motor is controlled based on the electric angle value of the rotor, and the motor is started in a vector mode on the motor without absolute position information.

Description

Motor control method, motor and movable platform Technical Field
The embodiment of the application relates to the field of control, in particular to a motor control method, a motor and a movable platform.
Background
For motors equipped with absolute position sensors, vector control can be used for starting. For a motor without an absolute position, open-loop dragging starting is needed. The method depends on a vector voltage with higher amplitude to drag the motor rotor to rotate, and after the rotor reaches a certain speed, the method is switched to other methods (such as a back electromotive force observer) to acquire position information and carry out vector control. The method using the open-loop dragging has low open-loop dragging efficiency and needs larger starting power to ensure no step-out.
Therefore, it is an urgent problem to directly start a motor without an absolute position by using a vector control method.
Disclosure of Invention
The application provides a motor control method, a motor and a movable platform, which realize that the motor without an absolute position is started in a vector mode.
A first aspect of the present application provides a motor control method, including:
starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge; n is an odd number and is more than or equal to 1;
after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a second electric angle value of the current second vector voltage when detecting that the code disc generates an nth signal edge; wherein the first direction and the second direction are opposite directions;
acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor.
A second aspect of the present application provides a motor control method, applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor, including:
acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
acquiring a current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle deviation value of the rotor;
controlling the motor based on the electrical angle value of the rotor.
A third aspect of the present application provides a motor control method, applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor, including:
acquiring a signal edge count of the code disc, and acquiring a current electrical angle value of the rotor according to the signal edge count and a preset electrical angle deviation value of the rotor;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
and controlling the motor based on the corrected electric angle value.
A fourth aspect of the present application provides a motor control method applied to a motor, where the motor includes a rotor, a position sensor is disposed on the rotor, and the position sensor is configured to detect an absolute mechanical position of the rotor, including:
acquiring an absolute mechanical position of the rotor through the position sensor, and acquiring an electrical angle value of the rotor according to a preset corresponding relation between the absolute mechanical position of the rotor and the electrical angle value;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
a fifth aspect of the present application provides a motor control method, applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor, including the steps of:
controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
A sixth aspect of the present application provides a motor control apparatus comprising a processor and a memory; the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of the first aspect.
A seventh aspect of the present application provides a motor control apparatus including a processor and a memory; the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of the second aspect.
An eighth aspect of the present application provides a motor control apparatus including a processor and a memory; the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of the third aspect described above.
A ninth aspect of the present application provides a motor control apparatus, comprising a processor and a memory; the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of the fourth aspect described above.
A tenth aspect of the present application provides a motor control device including a processor and a memory; the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of the fifth aspect described above.
An eleventh aspect of the present application provides an electric motor including a rotor, a code wheel, a memory, and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
the memory stores one or more computer program instructions;
the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge; n is an odd number and is more than or equal to 1;
after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a second electric angle value of the current second vector voltage when detecting that the code disc generates an nth signal edge; wherein the first direction and the second direction are opposite directions;
acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor.
A twelfth aspect of the present application provides an electric motor including a rotor, a code wheel, a memory, and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
the memory stores one or more computer program instructions;
the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
acquiring a current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle deviation value of the rotor;
controlling the motor based on the electrical angle value of the rotor.
A thirteenth aspect of the present application provides an electric machine including a rotor, a code wheel, a memory, and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
the memory stores one or more computer program instructions;
the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
acquiring a signal edge count of the code disc, and acquiring a current electrical angle value of the rotor according to the signal edge count and a preset electrical angle deviation value of the rotor;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
and controlling the motor based on the corrected electric angle value.
A fourteenth aspect of the present application provides an electric machine comprising a rotor, a position sensor, a memory, and a processor; the position sensor is mounted on the rotor;
the memory stores one or more computer program instructions;
the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
acquiring an absolute mechanical position of the rotor through the position sensor, and acquiring an electrical angle value of the rotor according to a preset corresponding relation between the absolute mechanical position of the rotor and the electrical angle value;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
and controlling the motor based on the corrected electric angle value.
A fifteenth aspect of the present application provides an electric machine including a rotor, a code wheel, a memory, and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
the memory stores one or more computer program instructions;
the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
A fifteenth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the motor control method of any one of the first to fifth aspects described above.
A sixteenth aspect of the present application provides a movable platform, a fuselage;
the motor is arranged on the machine body and used for providing power;
a controller configured to execute the motor control method according to any one of the first to fifth aspects and control an operation of the motor.
In the embodiment of the application, starting from a preset target position, a rotor of a motor is controlled to rotate in a preset first direction by a rotating first vector voltage, and when an nth signal edge generated by a code disc arranged on the rotor is detected, a first electric angle value of the current first vector voltage is recorded; after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a current second electric angle value of the second vector voltage when detecting that the code disc generates an nth signal edge; acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value; the current electric angle value of the rotor is obtained according to the electric angle deviation value and the current signal edge count of the code disc, the motor is controlled based on the electric angle value of the rotor, and the motor is started in a vector mode on the motor without an absolute position through the technical scheme of the embodiment of the application.
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 application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of an embodiment of a motor control method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a motor control method according to another embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a motor control method according to another embodiment of the present application;
fig. 4 is a schematic flow chart of a motor control method according to another embodiment of the present application;
fig. 5 is a schematic flow chart of a motor control method according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of an embodiment of a motor control apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an embodiment of a motor control apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an embodiment of a motor control apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an embodiment of a motor control apparatus according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of an embodiment of a motor control apparatus according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of an embodiment of an electric machine according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a further embodiment of an electric machine according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a further embodiment of an electric machine according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a further embodiment of an electric machine according to an embodiment of the present application;
fig. 15 is a schematic structural diagram of a further embodiment of an electric machine according to an embodiment of the present application;
fig. 16 is a schematic structural diagram of an embodiment of a movable platform according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The technical scheme of the embodiment of the application can be applied to a control scene of a permanent magnet synchronous motor (PMSM for short), and comprises the steps of starting and running the motor and the like. The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and the three-phase stator winding induces three-phase symmetrical current through armature reaction under the action of the rotating magnetic field.
The motor is controlled to acquire the position of the rotor, and a code disc, a rotary transformer, a Hall sensor and the like are commonly used sensors for detecting the position of the rotor at present.
To implement vector control for the motor, it is necessary to know the electrical angle of the rotor, wherein for the rotor, the electrical angle is also referred to as the electrical position, and the position of the rotor is described in terms of an angular concept in the following. Generally, the electrical angle is obtained by multiplying the mechanical angle, i.e. detected by the position sensor, by the number of poles of the motor pair. However, since the initial installation positions of the position sensors are different, there is a deviation between the actual electrical angle of the rotor and the electrical angle calculated in the above manner, which affects the vector control of the motor.
In order to realize effective and accurate control on the motor, the inventor provides the technical scheme of the application through a series of researches.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart of an embodiment of a method for controlling a motor, which may be a permanent magnet synchronous motor, according to an embodiment of the present disclosure, where the method may include a calibration step and a control step;
the calibration step comprises the following steps:
101: starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge, wherein n is an odd number and is more than or equal to 1.
In this embodiment, the position sensor disposed on the rotor of the motor is a code wheel, and the signal edge may be a pulse signal edge or a jump edge. Preferably, the code disc is an Incremental encoder (Incremental encoder).
Alternatively, the motor may be controlled, in particular with a rotating first vector voltage, to rotate in a preset first direction without loss of synchronism. For example, the occurrence of the step-out problem can be avoided by controlling the magnitude of the first vector voltage and the speed of rotation.
The first vector voltage can be selected to ensure that the rotor of the motor can rotate and the minimum vector voltage under the condition of no step-out can be selected, and the rotor can be controlled to slowly rotate at a preset rotating speed through the first vector voltage.
The first electrical angle value is a vector angle of the first vector voltage currently applied to the rotor.
The target position may be obtained by pre-positioning the rotor of the motor, and therefore, before the rotor of the motor is controlled by the first rotating vector voltage from the preset target position, the calibrating step may further include:
and controlling the rotor to rotate to the preset target position through a third vector voltage in a preset direction.
102: after the first electric angle value is recorded, the rotor of the motor is controlled to rotate in a preset second direction by the rotating second vector voltage, and when the nth signal edge generated by the code disc is detected, the current second electric angle value of the second vector voltage is recorded.
Wherein the second direction is opposite to the first direction.
Alternatively, the rotor of the electric machine may be controlled, in particular with a rotating second vector voltage, to rotate in the preset second direction without loss of synchronism. By the mode, the problem that the existing technology is easy to lose synchronism through open-loop dragging can be solved.
The second vector voltage can be selected to ensure that the rotor of the motor can rotate and the minimum vector voltage under the condition of no step-out can be obtained.
Optionally, after recording the first electrical angle value, before controlling the rotor of the motor to rotate in a preset second direction with a rotating second vector voltage, the method may further include:
and continuing to control the rotor to rotate in the first direction by the first vector voltage, and controlling the rotor to stop rotating in the first direction before the code wheel generates the next signal edge.
Through the steps, the scales of the same code disc passing through when the rotor rotates in the first direction can be ensured when the rotor rotates in the second direction.
103: and acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value.
Alternatively, the electrical angle offset value may be embodied as half of the sum of the first electrical angle value and the second electrical angle value, i.e. the electrical angle offset value is (first electrical angle value + second angle value)/2. In practice, the electrical angle offset value is the electrical angle value of (n +1)/2 th code disc scale in the first direction (i.e. the middle code disc scale that the rotor passes in the first or second direction) starting from the preset target position, which corresponds to the electrical angle value when the mechanical angle is zero.
The traditional direct pre-positioning method can only obtain the relationship between a rough relative position and an absolute position, and the unidirectional dragging method is influenced by friction force, so that the accurate relationship between the relative position and the absolute position cannot be obtained. The drag method in the opposite direction can compensate the influence of the friction force, and obtain the relation between the precise relative position and the absolute position. Therefore, obtaining the electrical angle offset value through the operations of step 101 to step 103 can eliminate the influence of the friction force and improve the accuracy of the electrical angle offset value.
In addition, the corresponding relation between the mechanical position and the electrical position can be obtained by the slow dragging method, namely the relation between the relative mechanical position of the coded disc and the absolute electrical position of the motor is established. Therefore, based on this as feedback, the motor can be started by a vector control method.
In a preferred embodiment, n is 1, namely the rotor rotates in a first direction, and when the code disc generates a first signal edge, a first electric angle value of the current first vector voltage is recorded; the rotor rotates in a second direction, and when the code disc generates a first signal edge, a second electrical angle of a current second vector voltage is recorded.
The control step includes:
104: and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor.
In the above-described control step, the signal edge count may be set to a preset value to start counting, for example, to (n-1)/2.
Of course, the signal edge count may not be set to a preset value, the signal edge count after the calibration step is completed is recorded, and the recorded value is subtracted from the detected signal edge count, so that the signal edge count of the current code wheel can be obtained.
In addition, the signal count may be cleared, and the code wheel may be counted again when the calibration step is started.
The electric angle value of the rotor may be used as an angle feedback value to implement vector control on the motor.
In the embodiment, the electric angle value of the rotor is obtained by calculation based on the signal edge count of the code disc and the electric angle deviation value, and the electric angle deviation value can compensate deviation caused by the initial installation position of the position sensor, so that an accurate electric angle is obtained, and accurate control over the motor is realized. By implementing the embodiment of the invention, the electric angle of the rotor can be obtained on the motor without an absolute position as feedback, so that the starting is carried out by adopting a vector control mode.
In some embodiments, the obtaining of the current electrical angle value of the rotor according to the electrical angle offset value and the current edge count of the signal of the code wheel is specifically:
multiplying the current signal edge count of the code disc by a preset electrical angle resolution to obtain an initial electrical angle value;
and generating an electrical angle value of the rotor according to the initial electrical angle value and the electrical angle deviation value.
The electrical angle value of the rotor may be generated by adding an initial electrical angle value to the electrical angle offset value.
Specifically, the electrical angle value of the rotor can be calculated according to the following formula:
EleAngle＝Direction*Index*Resolution EleAngel+ ELEANGLE _ Offset-equation (1)
Where EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code wheel, ResolutionEleAngelIndicating the electrical angular resolution of the code wheel, EleAngle _ Offset indicates the electrical angular Offset value. Detection ± 1 indicates the rotation direction of the rotor.
The electric angle resolution of the code wheel is obtained by multiplying the number of opposite poles of the motor after the resolution of the code wheel is divided by the resolution of the code wheel by 360 degrees (degree). For example, for a 10-pair pole motor provided with a 40-wire code wheel, the electrical angular resolution is:
Figure PCTCN2019109635-APPB-000001
therefore, the initial electrical angle value is obtained by multiplying the current signal edge count of the code disc by the preset electrical angle resolution, namely the angle value obtained by multiplying the relative angle by the motor antipole number. In the prior art, the initial electric angle value is directly used as the electric angle value, the initial electric angle value is inaccurate due to factors such as deviation caused by the initial installation position of the position sensor, the initial electric angle value is corrected based on the electric angle deviation value in the embodiment of the application, the obtained electric angle value can correct the angle deviation, and the accuracy of the electric angle value is improved.
In addition, for a code wheel with low electrical angular resolution, such as a code wheel with an electrical angular resolution of 90 °, the electrical angular error range is (0 °, 90 ° ] or (-90 °, 0 °), and the lower limit of the motor torque is:
T min＝K T*I q*cos min(EleAngleError)＝K T*I qcos (90 °) 0 — formula (2)
Wherein, KTThe parameters used for calculating the output torque are related to the inherent characteristics of the motor; i isqThe current value corresponding to the q-axis of motor rotation is eleanglererror, which is the electrical angle error.
If the motor torque is 0Nm (Nm), the motor cannot be started.
In order to normally start the motor, as an alternative, the obtaining the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the code wheel may include:
acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
acquiring the current electrical angle value of the rotor according to the corrected signal edge count and the electrical angle deviation value;
controlling the motor based on the electrical angle value of the rotor.
Specifically, the electrical angle value may be calculated according to the following formula;
EleAngle＝Direction*(Index±α)*Resolution EleAngel+ EleAngle _ Offset- - -equation (3)
Where EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code wheel, ResolutionEleAngelIndicating the electrical angular resolution of the code wheel, EleAngle _ Offset indicates the electrical angular Offset value. The Direction ± 1 indicates the rotation Direction of the rotor, and α indicates a preset coefficient.
The preset coefficient may be greater than 0 and less than 1, and in a practical application, the preset coefficient may be one half.
After adding or subtracting a preset coefficient, assuming that the preset coefficient is one half, the angular error range of the code wheel becomes (-45 °, 45 °), and the lower limit of the motor torque is:
Figure PCTCN2019109635-APPB-000002
at this time, the motor can be driven at a normal torque T ═ KT*I qIs/are as follows
Figure PCTCN2019109635-APPB-000003
The double torque is used for starting, and starting can be realized. Therefore, in the present embodiment, the lower limit of the motor torque can be effectively optimized using the midpoints of the adjacent edges as the electrical angle feedback.
Wherein, in some embodiments, when the motor is controlled based on the electrical angle value of the rotor, the direction of rotation of the rotor is a third direction; the obtaining of the signal edge count of the code wheel, and the generating of the corrected signal edge count after adding or subtracting a preset coefficient to the signal edge count specifically includes:
and when the first direction is opposite to the third direction, generating a corrected signal edge count after adding a preset coefficient to the signal edge count.
In some embodiments, when the motor is controlled based on the electric angle value of the rotor, the rotor rotates in a third direction; the obtaining of the signal edge count of the code wheel, and the generating of the corrected signal edge count after adding or subtracting a preset coefficient to the signal edge count specifically includes:
and when the first direction is the same as the third direction, subtracting a preset coefficient from the signal edge count to generate a corrected signal edge count.
As another alternative, the obtaining the current electrical angle value of the rotor according to the electrical angle offset value and the current edge count of the signal of the code wheel includes:
multiplying the current signal edge count of the code disc by a preset electrical angle resolution to obtain an initial electrical angle value;
and generating an electrical angle value of the rotor according to the initial electrical angle value, the electrical angle deviation value and a preset electrical angle compensation value.
Specifically, the electrical angle value may be calculated according to the following formula;
EleAngle＝Direction*Index*Resolution EleAngel+EleAngle Offset+EleAngle compensate- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Where EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code wheel, ResolutionEleAngelIndicating the electrical angular resolution of the code wheel, EleAngle _ Offset indicates the electrical angular Offset value. The Direction ± 1 represents the rotation Direction of the rotor, EleAnglecompensateIndicating the electrical angle compensation value.
The preset electrical angle compensation value is smaller than the electrical angle resolution of the code disc, for example, the electrical angle compensation value can be one half of the electrical angle resolution, the midpoint of the adjacent edges is used as electrical angle feedback, and the lower limit of the motor torque can be effectively optimized.
Alternatively, the initial electrical angle value and the electrical angle offset value may be added, or a preset electrical angle compensation value may be subtracted, to obtain the electrical angle value of the rotor.
Specifically, when the motor is controlled based on the rotor-based electrical angle value of the rotor, the direction of rotation of the rotor is a third direction;
preferably, when the first direction is opposite to the third direction, the preset electrical angle compensation value is added on the basis of the addition of the initial electrical angle value and the electrical angle offset value to obtain an electrical angle value of the rotor;
and when the first direction is the same as the third direction, subtracting the preset electrical angle compensation value on the basis of the addition of the initial electrical angle value and the electrical angle deviation value to obtain the electrical angle value of the rotor.
Fig. 2 is a flowchart of a motor control method according to another embodiment of the present application, where the method is applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor.
The method may comprise the steps of:
201: and acquiring the signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count.
202: and acquiring the current electric angle value of the rotor according to the corrected signal edge count and a preset electric angle deviation value of the rotor. Optionally, the obtaining the current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle offset value of the rotor may include:
multiplying the corrected signal edge count by a preset electrical angle resolution to obtain an initial electrical angle value;
and generating an electrical angle value of the rotor according to the initial electrical angle value and the electrical angle deviation value.
The electrical angle value of the rotor may be obtained by adding an initial electrical angle value to an electrical angle offset value. The specific calculation process can be described in detail in the above formula (3).
203: controlling the motor based on the electrical angle value of the rotor.
In this embodiment, for the code wheel with low electrical angular resolution, it can be known from the above description that the motor may not be normally started, and effective and accurate control over the motor may not be achieved, so that the correction signal edge count can be generated after a preset coefficient is added or subtracted from the signal edge count basis of the code wheel. The motor can be normally started by utilizing the electric angle value of the rotor obtained by counting the preset electric angle deviation value of the rotor along the modification signal, so that the effective control of the motor is realized, and the condition that the motor cannot be started due to too low electric angle resolution is avoided.
The electrical angle offset value may be pre-configured, but may also be obtained in other manners.
As an alternative, the method may further comprise:
controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
and taking the initial electrical angle value as an electrical angle offset value of the rotor.
The rotor is positioned to the target position in advance, and the initial electrical angle value corresponding to the target position is used as the electrical angle deviation value, so that the calibration step in the embodiment 1 can be omitted, and the motor can be started more quickly.
As another alternative, the method may further include:
starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge;
after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a second electric angle value of the current second vector voltage when detecting that the code disc generates an nth signal edge;
acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
that is, the electrical angle offset value is calculated by using the method in the embodiment shown in fig. 1, and the related contents have been described in detail in the embodiment shown in fig. 1, and will not be described again here.
In some embodiments, the obtaining the signal edge count of the code wheel, and adding or subtracting a preset coefficient to or from the signal edge count to generate a modified signal edge count specifically includes:
acquiring the signal edge count of the code disc;
when the direction of the rotor corresponding to the change of the electrical angle is positive, adding a preset coefficient to the signal edge count to generate a corrected signal edge count;
and when the direction of the rotor corresponding to the change of the electrical angle is negative, subtracting a preset coefficient from the signal edge count to generate a corrected signal edge count.
Fig. 3 is a flowchart of a motor control method according to another embodiment of the present application, where the method is applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor.
The method may comprise the steps of:
301: and acquiring the signal edge count of the code disc, and acquiring the current electric angle value of the rotor according to the signal edge count and a preset electric angle deviation value of the rotor.
Specifically, an initial electrical angle value is obtained by multiplying the signal edge count by a preset electrical angle resolution;
and generating an electrical angle value of the rotor according to the initial electrical angle value and the electrical angle deviation value.
The electrical angle value of the rotor may be generated by adding an initial electrical angle value to the electrical angle offset value.
Specifically, the electrical angle value of the rotor can be calculated according to the following formula:
EleAngle＝Direction*Index*Resolution EleAngel+ ELEANGLE _ Offset-equation (1)
Where EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code wheel, ResolutionEleAngelIndicating the electrical angular resolution of the code wheel, EleAngle _ Offset indicates the electrical angular Offset value. The Direction ± 1 indicates the rotation Direction of the rotor.
302: and adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value.
303: and controlling the motor based on the corrected electric angle value.
In this embodiment, for the code wheel with low electrical angular resolution, it can be known from the above description that the motor may not be normally started, and effective and accurate control over the motor may not be realized.
The angle compensation value is smaller than the electrical angular resolution of the code wheel.
In some embodiments, the generating a correction electrical angle value by adding or subtracting a preset angle compensation value to or from the electrical angle value of the rotor may include:
when the Direction of the rotor corresponding to the electric angle is positive, namely the Direction is positive, adding a preset angle compensation value to the electric angle value of the rotor to generate a positive correction angle value;
and when the Direction of the rotor corresponding to the electric angle change is negative, namely the Direction is negative, subtracting a preset angle compensation value from the electric angle value of the rotor to generate a positive correction angle value.
The electrical angle offset value may be pre-configured, but may also be obtained in other manners.
As an alternative, the method may further comprise:
controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
and taking the initial electrical angle value as an electrical angle offset value of the rotor.
The rotor is positioned to the target position in advance, and the target position corresponds to the initial electrical angle value as the electrical angle offset value, so that the calibration step in the above embodiment 1 can be omitted, which enables the motor to be started more quickly.
As another alternative, the method may further include:
starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge;
after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a current second electric angle value of the second vector voltage when detecting that the code disc generates an nth signal edge;
acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
that is, the electrical angle offset value is calculated by using the method in the embodiment shown in fig. 1, and the related contents have been described in detail in the embodiment shown in fig. 1, and will not be described again here.
For a position sensor which can acquire an absolute position but has low precision, the absolute position detected by the position sensor can be corrected through a preset angle compensation value, so that the problem that the position sensor cannot be started due to low precision is avoided.
Fig. 4 is a flowchart of a further embodiment of a motor control method provided by an embodiment of the present application, where the method is applied to a motor, where the motor includes a rotor, and a position sensor is disposed on the rotor, and the position sensor is used for detecting an absolute mechanical position of the rotor.
The method may comprise the steps of:
401: and acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electric angle value of the rotor according to the preset corresponding relation between the absolute mechanical position of the rotor and the electric angle value.
402: and adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value.
403: and controlling the motor based on the corrected electric angle value.
If the position sensor can detect the absolute mechanical position, but the resolution ratio of the position sensor is low, the compensation can be carried out through the angle compensation value at the moment, so that the motor can be started, and the effective control on the motor is realized.
In the above embodiment, the angle compensation value can be used for correction to obtain the corrected electric angle value of the rotor, so as to avoid the situation that the motor cannot be started.
In some embodiments, the obtaining the absolute mechanical position of the rotor by the position sensor, and the obtaining the electrical angle value of the rotor according to a preset corresponding relationship between the absolute mechanical position of the rotor and the electrical angle value may include:
and acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electrical angle value of the rotor according to the absolute mechanical position of the rotor and a preset electrical angle deviation value.
Alternatively, the absolute mechanical position may be multiplied by the number of motor pole pairs, and the preset electrical angle offset value may be added to obtain the electrical angle value of the rotor.
The preset electrical angle offset value may be preset according to actual application.
Fig. 5 is a flowchart of a further embodiment of a method for controlling a motor according to an embodiment of the present application, where the method is applied to a motor, where the motor includes a rotor, and a code wheel is disposed on the rotor, and the method may include the following steps:
501: controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; and the target position is correspondingly provided with a preset initial electric angle value.
Preferably, the initial electrical angle value can be set by a user or automatically by the system.
502: and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
Specifically, the electrical angle value of the rotor may be calculated according to the following formula:
EleAngle＝Direction*Index*Resolution EleAngel+EleAngle_initial；
where EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code wheel, ResolutionEleAngelIndicating the electrical angle resolution of the code wheel, EleAngle _ initial indicates the initial electrical angle value, and Direction ± 1 indicates the rotation Direction of the rotor.
In this embodiment, the rotor is positioned to the target position in advance, and the initial electrical angle value corresponding to the target position is used as the electrical angle offset value, so that the calibration step in embodiment 1 can be omitted, which enables the motor to be started more quickly. It should be noted that, since the electrical angle offset value is set by the user, there is a certain error, and the eleanglererror in formula (2) is the corresponding electrical angle error range between two scale edges of the code wheel, for example, the code wheel with the electrical angle resolution of 90 °, and the range of eleanglererror is (0 °, 90 ° ] or (-90 °, 0 °).
Fig. 6 is a schematic structural diagram of an embodiment of a motor control apparatus provided in an embodiment of the present application, including a memory 601 and a processor 602;
the memory 601 stores one or more computer program instructions;
the processor 602 is configured to execute the one or more computer program instructions to perform the motor control method of any of claims 1-10.
The motor control apparatus shown in fig. 6 may specifically execute the motor control method described in the embodiment shown in fig. 1, and the implementation principle and the technical effect are not repeated.
Fig. 7 is a schematic structural diagram of another embodiment of a motor control apparatus provided in an embodiment of the present application, where the apparatus may include a memory 701 and a processor 702;
the memory 701 stores one or more computer program instructions;
the processor 702 conditions the one or more computer program instructions to perform the motor control method of any of claims 11-13 above.
The motor control apparatus shown in fig. 7 can execute the motor control method shown in the embodiment shown in fig. 2, and the implementation principle and the technical effect are not described again.
Fig. 8 is a schematic structural diagram of another embodiment of a motor control apparatus provided in an embodiment of the present application, where the apparatus may include a memory 801 and a processor 802;
the memory 801 stores one or more computer program instructions;
the processor 802 conditions the one or more computer program instructions to perform the motor control method of any of claims 14-16 above.
The motor control apparatus shown in fig. 8 can execute the motor control method shown in the embodiment shown in fig. 3, and the implementation principle and the technical effect are not described again.
Fig. 9 is a schematic structural diagram of another embodiment of a motor control apparatus provided in an embodiment of the present application, where the apparatus may include a memory 901 and a processor 902;
the memory stores one or more computer program instructions;
the processor adjusts the one or more computer program instructions to perform the motor control method of any of claims 17-18 above.
The motor control apparatus shown in fig. 9 can execute the motor control method shown in the embodiment shown in fig. 4, and the implementation principle and the technical effect are not described again.
Fig. 10 is a schematic structural diagram of another embodiment of a motor control apparatus provided in this embodiment of the present application, where the apparatus may include a memory 1001 and a processor 1002;
the memory 1001 stores one or more computer program instructions;
the processor 1002 adjusts the one or more computer program instructions to perform the motor control method of claim 19 above.
The motor control apparatus shown in fig. 10 can execute the motor control method shown in the embodiment shown in fig. 5, and the implementation principle and the technical effect are not described again.
In addition, an electric machine is provided in the embodiment of the present application, as shown in fig. 11, the electric machine may include a rotor 1101, a code wheel 1102, a memory 1103, and a processor 1104; wherein the code wheel 1102 is mounted on the rotor 1101 and rotates along with the rotor 1101;
the memory 1103 stores one or more computer program instructions;
the processor 1104 is configured to invoke and execute the one or more computer program instructions to perform the steps of:
starting from a preset target position, a rotor 1201 of a motor is controlled to rotate in a preset first direction by a rotating first vector voltage, and when detecting that an nth signal edge is generated on a code disc 1202 arranged on the rotor 1201, a first electric angle value of the current first vector voltage is recorded; n is an odd number and is more than or equal to 1;
after the first electrical angle value is recorded, the rotor 1201 of the motor is controlled to rotate in a preset second direction by a rotating second vector voltage, and when the nth signal edge generated by the code disc 1202 is detected, the current second electrical angle value of the second vector voltage is recorded; wherein the first direction and the second direction are opposite directions;
acquiring an electrical angle deviation value of the rotor 1201 according to the first electrical angle value and the second electrical angle value;
and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor.
The embodiment of the present application further provides a motor, as shown in fig. 12, the motor may include a rotor 1201, a code wheel 1202, a memory 1203, and a processor 1204; wherein the code wheel 1202 is mounted on the rotor 1201 and rotates along with the rotor 1201;
the memory 1203 stores one or more computer program instructions;
the processor 1204 is configured to invoke and execute the one or more computer program instructions to perform the steps of:
acquiring a signal edge count of the code wheel 1202, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
acquiring a current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle deviation value of the rotor 1201;
the motor is controlled based on the electrical angle value of the rotor 1201.
An embodiment of the present application further provides an electric machine, as shown in fig. 13, the electric machine may include a rotor 1301, a code wheel 1302, a memory 1303, and a processor 1304; wherein, the code disc 1302 is installed on the rotor 1301 and rotates along with the rotor 1301;
the memory 1303 stores one or more computer program instructions;
the processor 1304 is configured to invoke and execute the one or more computer program instructions to perform the steps of:
acquiring a signal edge count of the code disc 1302, and acquiring a current electrical angle value of the rotor 1301 according to the signal edge count and a preset electrical angle deviation value of the rotor;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor 1301 to generate a correction electric angle value;
and controlling the motor based on the corrected electric angle value.
Embodiments of the present application also provide a motor, as shown in fig. 14, which may include a rotor 1401, a position sensor 1402, a memory 1403, and a processor 1404; wherein the position sensor 1402 is mounted on the rotor 1401 and rotates following the rotor 1401;
the memory 1403 stores one or more computer program instructions;
the processor 1404 is configured to invoke and execute the one or more computer program instructions to perform the following steps:
acquiring an absolute mechanical position of the rotor through the position sensor 1402, and acquiring an electrical angle value of the rotor according to a preset corresponding relation between the absolute mechanical position of the rotor and the electrical angle value;
adding or subtracting a preset angle compensation value to the electric angle value of the rotor 1401 to generate a corrected electric angle value;
and controlling the motor based on the corrected electric angle value.
Embodiments of the present application also provide a motor, as shown in fig. 15, the motor may include a rotor 1501, a code wheel 1502, a memory 1503, and a processor 1504; wherein the code wheel 1502 is installed on the rotor 1501 and rotates along with the rotor 1501;
controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
It will be appreciated that the above description relates to the motor necessarily including other necessary components for performing the function of the motor, such as the stator.
The processor mentioned above may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and is configured to perform the above method.
The memory is configured to store various types of data to support the corresponding operations. The memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In addition, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a computer, implements the motor control method as described in any one of the embodiments shown in fig. 1 to 6.
In addition, the present embodiment also provides a movable platform, as shown in fig. 16, which may include a body 1601;
a motor 1602 mounted on the body for providing power;
the controller 1603 executes the motor control method described in any one of the embodiments of fig. 1 to 5 to control the operation of the motor.
The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (31)

  1. A motor control method, comprising:
    starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge; n is an odd number and is more than or equal to 1;
    after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a second electric angle value of the current second vector voltage when detecting that the code disc generates an nth signal edge; wherein the first direction and the second direction are opposite directions;
    acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
    and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor.
  2. The method according to claim 1, wherein the obtaining of the current electrical angle value of the rotor according to the electrical angle offset value and the current edge count of the signal of the code wheel is specifically:
    multiplying the current signal edge count of the code disc by a preset electrical angle resolution to obtain an initial electrical angle value;
    and generating an electrical angle value of the rotor according to the initial electrical angle value and the electrical angle deviation value.
  3. The method of claim 1, wherein said obtaining a current electrical angle value of said rotor based on said electrical angle offset value and a current edge count of said encoder disk comprises:
    acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
    acquiring the current electrical angle value of the rotor according to the corrected signal edge count and the electrical angle deviation value;
    controlling the motor based on the electrical angle value of the rotor.
  4. The method of claim 3, wherein the direction of rotation of the rotor is a third direction when the motor is controlled based on the electrical angle value of the rotor; the obtaining of the signal edge count of the code wheel, and the generating of the corrected signal edge count after adding or subtracting a preset coefficient to the signal edge count specifically includes:
    and when the first direction is opposite to the third direction, generating a corrected signal edge count after adding a preset coefficient to the signal edge count.
  5. The method of claim 3, wherein the rotor rotates in a third direction when the motor is controlled based on the rotor-based electrical angle value of the rotor; the obtaining of the signal edge count of the code wheel, and the generating of the corrected signal edge count after adding or subtracting a preset coefficient to the signal edge count specifically includes:
    and when the first direction is the same as the third direction, subtracting a preset coefficient from the signal edge count to generate a corrected signal edge count.
  6. The method according to claim 3, wherein the obtaining of the current electrical angle value of the rotor from the modified signal edge count and the electrical angle offset value is specifically:
    multiplying the corrected signal edge count by a preset electrical angle resolution to obtain an initial electrical angle value;
    and generating an electrical angle value of the rotor according to the initial electrical angle value and the electrical angle deviation value.
  7. The method of claim 1, wherein said obtaining a current electrical angle value of said rotor based on said electrical angle offset value and a current edge count of said encoder disk comprises:
    and multiplying the current signal edge count of the code disc by a preset electrical angle resolution to obtain an initial electrical angle value, and generating the electrical angle value of the rotor according to the initial electrical angle value, the electrical angle deviation value and a preset electrical angle compensation value.
  8. The method of claim 1, wherein prior to controlling the rotor of the electric machine with the rotating first vector voltage starting from the preset target position, further comprising:
    and controlling the rotor to rotate to the preset target position through a third vector voltage in a preset direction.
  9. The method of claim 1, wherein controlling the rotor of the rotating first vector voltage controlled motor to rotate in a preset first direction comprises:
    controlling the motor to rotate in a preset first direction under the condition of no step-out by using the rotating first vector voltage;
    the controlling the rotor of the motor to rotate in a preset second direction by the rotating second vector voltage comprises:
    and controlling the rotor of the motor to rotate in a preset second direction under the condition of no step-out by using the rotating second vector voltage.
  10. The method of claim 1 wherein continuing to control the rotor to rotate in the first direction at the first vectorial voltage and stopping rotation of the rotor in the first direction until the next signal edge is generated by the code wheel comprises:
    and continuously controlling the rotor to rotate in the first direction under the condition of no step loss by using the first vector voltage, and controlling the rotor to stop rotating in the first direction before the code wheel generates the next signal edge.
  11. A motor control method is characterized in that the motor control method is applied to a motor, the motor comprises a rotor, a coded disc is arranged on the rotor, and the method comprises the following steps:
    acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
    acquiring a current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle deviation value of the rotor;
    controlling the motor based on the electrical angle value of the rotor.
  12. The method of claim 1, further comprising:
    controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
    and taking the initial electrical angle value as an electrical angle offset value of the rotor.
  13. The method of claim 12, wherein said obtaining a signal edge count of said code wheel, and adding or subtracting a predetermined coefficient to or from said signal edge count to generate a modified signal edge count is further characterized by:
    acquiring the signal edge count of the code disc;
    when the direction of the rotor corresponding to the change of the electrical angle is positive, adding a preset coefficient to the signal edge count to generate a corrected signal edge count;
    and when the direction of the rotor corresponding to the change of the electrical angle is negative, subtracting a preset coefficient from the signal edge count to generate a corrected signal edge count.
  14. A motor control method is characterized in that the motor control method is applied to a motor, the motor comprises a rotor, a coded disc is arranged on the rotor, and the method comprises the following steps:
    acquiring a signal edge count of the code disc, and acquiring a current electrical angle value of the rotor according to the signal edge count and a preset electrical angle deviation value of the rotor;
    adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
    and controlling the motor based on the corrected electric angle value.
  15. The method of claim 14, further comprising:
    controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
    and taking the initial electrical angle value as an electrical angle offset value of the rotor.
  16. The method of claim 14, wherein generating a corrected electrical angle value by adding or subtracting a preset angle compensation value to the electrical angle value of the rotor comprises:
    when the direction of the rotor corresponding to the electric angle change is positive, adding a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
    and when the direction of the rotor corresponding to the electric angle change is negative, subtracting a preset angle compensation value from the electric angle value of the rotor to generate a correction electric angle value.
  17. A method of controlling a motor, the method being applied to a motor including a rotor, the rotor having a position sensor disposed thereon, the position sensor being configured to detect an absolute mechanical position of the rotor, the method comprising:
    acquiring an absolute mechanical position of the rotor through the position sensor, and acquiring an electrical angle value of the rotor according to a preset corresponding relation between the absolute mechanical position of the rotor and the electrical angle value;
    adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
    and controlling the motor based on the corrected electric angle value.
  18. The method of claim 17, wherein the obtaining the absolute mechanical position of the rotor by the position sensor and the obtaining the electrical angle value of the rotor according to the preset corresponding relationship between the absolute mechanical position of the rotor and the electrical angle value comprises:
    and acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electrical angle value of the rotor according to the absolute mechanical position of the rotor and a preset electrical angle deviation value.
  19. A motor control method is characterized in that the motor control method is applied to a motor, the motor comprises a rotor, a coded disc is arranged on the rotor, and the method comprises the following steps:
    controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
    and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
  20. A motor control apparatus comprising a processor and a memory;
    the memory stores one or more computer program instructions;
    the processor adjusts the one or more computer program instructions to perform the motor control method of any of claims 1-10 above.
  21. A motor control apparatus comprising a processor and a memory;
    the memory stores one or more computer program instructions;
    the processor adjusts the one or more computer program instructions to perform the motor control method of any of claims 11-13 above.
  22. A motor control apparatus comprising a processor and a memory;
    the memory stores one or more computer program instructions;
    the processor adjusts the one or more computer program instructions to perform the motor control method of any of claims 14-16 above.
  23. A motor control apparatus comprising a processor and a memory;
    the memory stores one or more computer program instructions;
    the processor adjusts the one or more computer program instructions to perform the motor control method of any of claims 17-18 above.
  24. A motor control apparatus comprising a processor and a memory;
    the memory stores one or more computer program instructions;
    the processor adjusts the one or more computer program instructions to perform the motor control method of claim 19 above.
  25. The motor is characterized by comprising a rotor, a coded disc, a memory and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
    the memory stores one or more computer program instructions;
    the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
    starting from a preset target position, controlling a rotor of a motor to rotate in a preset first direction by using a rotating first vector voltage, and recording a first electric angle value of the current first vector voltage when detecting that a code disc arranged on the rotor generates an nth signal edge; n is an odd number and is more than or equal to 1;
    after the first electric angle value is recorded, controlling a rotor of the motor to rotate in a preset second direction by using a rotating second vector voltage, and recording a second electric angle value of the current second vector voltage when detecting that the code disc generates an nth signal edge; wherein the first direction and the second direction are opposite directions;
    acquiring an electrical angle deviation value of the rotor according to the first electrical angle value and the second electrical angle value;
    and acquiring the current electrical angle value of the rotor according to the electrical angle deviation value and the current signal edge count of the code disc, and controlling the motor based on the electrical angle value of the rotor. .
  26. The motor is characterized by comprising a rotor, a coded disc, a memory and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
    the memory stores one or more computer program instructions;
    the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
    acquiring a signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate a corrected signal edge count;
    acquiring a current electrical angle value of the rotor according to the corrected signal edge count and a preset electrical angle deviation value of the rotor;
    controlling the motor based on the electrical angle value of the rotor.
  27. The motor is characterized by comprising a rotor, a coded disc, a memory and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
    the memory stores one or more computer program instructions;
    the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
    acquiring a signal edge count of the code disc, and acquiring a current electrical angle value of the rotor according to the signal edge count and a preset electrical angle deviation value of the rotor;
    adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
    and controlling the motor based on the corrected electric angle value.
  28. An electric machine comprising a rotor, a position sensor, a memory, and a processor; the position sensor is mounted on the rotor;
    the memory stores one or more computer program instructions;
    the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
    acquiring an absolute mechanical position of the rotor through the position sensor, and acquiring an electrical angle value of the rotor according to a preset corresponding relation between the absolute mechanical position of the rotor and the electrical angle value;
    adding or subtracting a preset angle compensation value to the electric angle value of the rotor to generate a correction electric angle value;
    and controlling the motor based on the corrected electric angle value.
  29. The motor is characterized by comprising a rotor, a coded disc, a memory and a processor; the coded disc is arranged on the rotor and rotates along with the rotor;
    the memory stores one or more computer program instructions;
    the processor is configured to invoke and execute the one or more computer program instructions to perform the steps of:
    controlling the rotor to rotate to a preset target position through vector voltage in a preset direction; the target position is correspondingly provided with a preset initial electric angle value;
    and starting from the target position, acquiring the current electric angle value of the rotor according to the initial electric angle value and the current signal edge count of the code disc, and controlling the motor based on the electric angle value of the rotor.
  30. A computer-readable storage medium, characterized in that a computer program is stored, which when executed by a computer implements a motor control method according to any one of claims 1 to 19.
  31. A movable platform comprising a body;
    the motor is arranged on the machine body and used for providing power;
    a controller for performing the motor control method of any one of claims 1 to 19, controlling operation of the motor.
CN201980034234.9A 2019-09-30 2019-09-30 Motor control method, motor and movable platform Expired - Fee Related CN112889213B (en)

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