CN112956126A - Motor control method, device, equipment and storage medium - Google Patents
Motor control method, device, equipment and storage medium Download PDFInfo
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- CN112956126A CN112956126A CN202080005660.2A CN202080005660A CN112956126A CN 112956126 A CN112956126 A CN 112956126A CN 202080005660 A CN202080005660 A CN 202080005660A CN 112956126 A CN112956126 A CN 112956126A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
A control method, a control device, motor equipment and a storage medium of a motor, wherein the motor is free of a position sensor, and the method comprises the following steps: before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor (S101); if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero (S102). This scheme has improved the accurate reliability of motor control, and then has improved the security of equipment.
Description
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a motor.
Background
The permanent magnet motor is widely applied to the fields of unmanned aerial vehicles, electric automobiles, industrial frequency converters and the like, at present, the control of the running state of the motor mainly comprises two modes, one mode is control based on a position sensor, and the motor is controlled by using a position signal given by the position sensor and a rotating speed signal calculated by the position signal; the other is a position sensorless control.
For a motor without a position sensor, when the motor is started, the motor is in a high-speed and long-rotating state, and huge current impact can be generated by adopting a switch dragging or high-frequency injection method used in a common situation, so that motor equipment is damaged. And wait for the motor to stop the back restart by oneself, can consume certain time, can take place serious accident to specific scene, for example unmanned aerial vehicle's motor stall can directly lead to unmanned aerial vehicle crash.
Therefore, how to realize accurate and reliable control over the motor to improve the safety of equipment such as unmanned aerial vehicles becomes the problem to be solved urgently.
Disclosure of Invention
Based on this, the application provides a control method, device, equipment and storage medium of a motor, aiming at improving the accurate reliability of motor control and improving the safety of the equipment.
In a first aspect, the present application provides a method for controlling a motor, the motor having no position sensor, comprising:
before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor;
if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
In a second aspect, the present application further provides a control device of an electric motor, including a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor;
if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
In a third aspect, the present application also provides an electric machine apparatus including:
a housing;
the motor is arranged in the shell;
and the control device of the motor is in communication connection with the motor.
In a fourth aspect, the present application further provides a movable platform comprising:
a body;
the power system is arranged on the machine body and used for providing power for the movable platform, and the power system comprises a motor;
the one or more processors are used for acquiring the current electric angular speed of the motor by acquiring the current voltage of the motor before the motor is started; if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
In a fifth aspect, the present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the control method of the motor as described above.
The embodiment of the application provides a control method, a device, equipment and a storage medium of a motor, wherein the motor has no position sensor, when the motor is started, the current electric angular speed of the motor is obtained by collecting the current voltage of the motor, if the electric angular speed is greater than or equal to a first preset threshold value, namely the motor runs fast, the current electric angular speed of the motor is used as a feedback signal to carry out closed-loop control on the motor, and the motor is started without restarting the motor after stopping the motor, so that the motor deceleration, motor stopping, current impact and the like caused by open-loop control or dragging by using a high-frequency injection method are avoided, the motor in high-speed rotation is controlled fast, and the stopping and the current impact can not occur, therefore, the accurate reliability of motor control is improved, and the safety of the equipment is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic block diagram of a structure of an electric machine provided in an embodiment of the present application;
fig. 2 is a flowchart illustrating steps of a method for controlling a motor according to an embodiment of the present disclosure;
FIG. 3 is a flow diagram illustrating sub-steps of the motor control method of FIG. 1;
FIG. 4 is a flow diagram illustrating sub-steps of the motor control method of FIG. 1;
fig. 5 is a schematic block diagram of a control circuit of an electric motor apparatus according to an embodiment of the present application;
FIG. 6 is a flow chart illustrating steps of another method for controlling a motor according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of a motor start provided in an embodiment of the present application;
fig. 8 is a block diagram schematically illustrating a structure of a control apparatus for an electric motor according to an embodiment of the present disclosure;
fig. 9 is a block diagram schematically illustrating a structure of a movable platform according to an embodiment of the present disclosure.
Detailed Description
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, but not all, embodiments of the present application. 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.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
If the motor is in a high-speed rotation state when the microcontroller is started, and the permanent magnet motor controlled by a position sensor-free control algorithm is restarted by resetting the microcontroller, because a position signal provided by the position sensor is not available, PWM (pulse Width modulation) output of the microcontroller cannot be directly enabled, otherwise, an on-off tube and the motor are possibly caused to be over-current, and elements or equipment are damaged. Therefore, when the microcontroller is started, the control program cannot determine whether the motor rotates, the rotating speed of the motor is generally defaulted to be zero at the moment, open-loop control is directly performed or the motor is dragged to a certain rotating speed by using a high-frequency injection method, in the control mode, if the motor is actually in a high-speed running state, a higher rotor back electromotive force exists at the motor end, and then when the open-loop control is performed or the motor is dragged by using the high-frequency injection method, a very large impact current can be generated, so that the motor is rapidly decelerated, and even motor equipment is damaged.
For this situation, one solution is to wait for the motor to stop by itself and then restart the motor, however, the process of stopping and restarting the motor may take a long time in some occasions, such as several minutes to several hours, which is not allowed in some application scenarios, such as the crash of the motor of the drone may directly cause the crash of the drone.
In view of the above problems, the present specification provides a method, an apparatus, a device and a storage medium for controlling a motor, where the method for controlling a motor may be applied to a motor device, please refer to fig. 1, fig. 1 is a schematic block diagram of a structure of a motor device provided in an embodiment of the present application, and as shown in fig. 1, the motor device includes a housing 100, and a control apparatus 200, a motor control circuit 300 and a motor 400 of a motor provided in the housing 100, the motor 400 is used for providing power to the motor device, and the control apparatus 200 and the motor control circuit 300 of the motor are used for controlling the motor 400 to operate. The motor control circuit 300 includes a power supply (such as a dc power supply), an inverter circuit, a current sampling circuit, and a voltage sampling circuit, the inverter circuit includes a three-phase inverter bridge, the power supply is connected to the motor 400 through the three-phase inverter bridge, the motor 400 is connected to the current sampling circuit and the voltage sampling circuit, the current sampling circuit is used for collecting current of the motor, and the voltage sampling circuit is used for collecting voltage of the motor; the control device 200 of the motor may obtain the current electrical angular velocity of the motor through the current voltage of the motor, and if the electrical angular velocity is greater than or equal to the first preset threshold, perform closed-loop control on the motor by using the current electrical angular velocity of the motor as a feedback signal to start the motor. By the method, the situation that a large impact current is generated when the motor is dragged by open-loop control or a high-frequency injection method is avoided, and the motor does not need to be restarted after the motor stops rotating is avoided, so that the accurate reliability of motor control is improved, and the safety of motor equipment is further improved.
Wherein, electrical equipment includes electric automobile, electric ship, unmanned vehicle, mobile robot and unmanned aerial vehicle etc..
Taking the electromechanical device as an unmanned aerial vehicle, the unmanned aerial vehicle may have one or more propulsion units to allow the unmanned aerial vehicle to fly in the air. The one or more propulsion units may move the drone at one or more, two or more, three or more, four or more, five or more, six or more free angles. In some cases, the drone may rotate about one, two, three, or more axes of rotation. The axes of rotation may be perpendicular to each other. The axes of rotation may be maintained perpendicular to each other throughout the flight of the drone. The axis of rotation may include a pitch axis, a roll axis, and/or a yaw axis. The drone may be movable in one or more dimensions. For example, the drone can move upward due to the lift generated by one or more rotors. In some cases, the drone may be movable along a Z-axis (which may be upward with respect to the drone direction), an X-axis, and/or a Y-axis (which may be lateral). The drone is movable along one, two or three axes perpendicular to each other.
The drone may be a rotorcraft. In some cases, the drone may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotors may rotate to generate lift for the drone. The rotor may be a propulsion unit, allowing the drone to move freely in the air. The rotors may rotate at the same rate and/or may produce the same amount of lift or thrust. The rotor may rotate at will at different rates, generating different amounts of lift or thrust and/or allowing the drone to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten, or more rotors may be provided on the drone. The rotors may be arranged with their axes of rotation parallel to each other. In some cases, the axes of rotation of the rotors may be at any angle relative to each other, so that the motion of the drone may be affected.
The drone may have a plurality of rotors. The rotor may be connected to the body of the drone, which may contain a control unit, an Inertial Measurement Unit (IMU), a processor, a battery, a power source, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions that branch off from a central portion of the body. For example, one or more arms may extend radially from the central body of the drone and may have rotors at or near the ends of the arms.
It will be appreciated that the above-mentioned nomenclature for the components of the electromechanical device is for identification purposes only, and does not limit the embodiments of the present application accordingly.
The control method of the motor provided by the embodiment of the present application will be described in detail below based on a motor apparatus, a control device of the motor in the motor apparatus, and the motor in the motor apparatus. It should be noted that the motor device in fig. 1 does not constitute a limitation to the application scenario of the control method of the motor.
Referring to fig. 2, fig. 2 is a schematic flowchart of a control method of a motor according to an embodiment of the present application. The method can be used in the control device of the motor provided by the embodiment to improve the accurate reliability of motor control, thereby improving the safety of motor equipment.
As shown in fig. 2, the method for controlling the motor specifically includes steps S101 to S103.
S101, before the motor is started, acquiring the current electric angular speed of the motor by acquiring the current voltage of the motor.
Before the motor is started, a PWM signal for controlling the motor is not enabled or a power supply signal for driving the motor is not connected.
In one embodiment, the collected current electrical angular velocity of the motor is greater than 0, that is, the rotation speed of the motor before starting is not zero.
Wherein the current voltage of the motor corresponds to the voltage of a motor line of the motor, for example, the voltage of a coil of a rotor winding of the motor.
The motor is not provided with a position sensor, namely the rotating speed of the motor can not be calculated by collecting position signals through the position sensor, and then the motor is controlled, wherein the motor comprises but is not limited to a permanent magnet synchronous motor. When the motor is started, the current voltage of the motor is acquired at first. Optionally, the collected current voltage of the motor is a three-phase voltage.
The motor is connected, for example, to a voltage sampling circuit, by means of which the current voltage of the motor is detected, for example, the input lines of the rotor windings of the motor are connected to the voltage detection circuit in order to detect the voltage of the individual windings. Optionally, the voltage sampling circuit includes a resistor component and an analog-to-digital converter, the resistor component may acquire an analog signal of the current three-phase voltage of the motor, and the analog-to-digital converter may convert the current three-phase voltage of the analog signal into the current three-phase voltage of the digital signal.
In some embodiments, a three-phase inverter bridge is disposed on a motor control circuit between the motor and the dc power supply, and the acquiring of the current voltage of the motor includes: and controlling to disable a PWM (Pulse width modulation) signal of the three-phase inverter bridge, and respectively acquiring the voltage of a three-phase motor wire of the motor relative to the negative end of a direct-current bus of a direct-current power supply to obtain three-phase counter electromotive force.
In this embodiment, the power supply is a dc power supply, the motor is connected to the dc power supply through a three-phase motor line via a three-phase inverter bridge, and in order to acquire the current voltage of the motor, the PWM signal of the disabled three-phase inverter bridge is controlled, that is, the PWM signal of the three-phase inverter bridge is disabled, and then the voltages of the three-phase motor line of the motor relative to the negative terminal of the dc bus are respectively acquired, so as to acquire the three-phase back electromotive force of the motor, where the three-phase back electromotive force is the current three-phase voltage of the motor.
In other embodiments, the acquiring the current voltage of the motor includes: and acquiring line voltages between any two phases of motor lines in the three-phase motor lines of the motor to acquire the three line voltages.
Unlike the previous embodiment, in this embodiment, three line voltages of the motor are obtained by collecting line voltages between any two phase motor lines in three phase motor lines of the motor, and the three line voltages are used as the current voltage of the motor. Optionally, since the vector sum of the three-line voltages is zero, only any two line voltages in the three line voltages need to be collected, and the other line voltage is calculated according to the two collected line voltages.
For example, the three-phase motor lines of the motor include a first-phase motor line, a second-phase motor line and a third-phase motor line, a first line voltage between the first-phase motor line and the second-phase motor line and a second line voltage between the second-phase motor line and the third-phase motor line are collected, and a third line voltage is calculated according to the first line voltage and the second line voltage.
And then, acquiring the current electrical angular velocity of the motor according to the current voltage of the motor. Illustratively, as shown in fig. 3, the step S101 includes:
and S1011, acquiring a voltage amplitude corresponding to the current voltage of the motor.
Taking the example of obtaining the three-phase voltage of the motor, specifically, determining a voltage vector synthesized by the three-phase voltage according to the current three-phase voltage of the motor, and obtaining the amplitude and the phase of the voltage vector.
In some embodiments, after the acquiring the current voltage of the motor, the method further includes: and performing Clarke transformation on the three opposite electromotive forces to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
For example, the current three counter electromotive forces of the motor include a first counter electromotive force, a second counter electromotive force, and a third phase counter electromotive force, the first counter electromotive force, the second counter electromotive force, and the third phase counter electromotive force are input parameters, the first counter electromotive force, the second counter electromotive force, and the third phase counter electromotive force are subjected to Clarke (Clarke) conversion, corresponding voltage vectors are generated, and the voltage amplitude and the phase of the voltage vectors are obtained.
In other embodiments, after the acquiring the current voltage of the motor, the method further includes: and performing Clarke transformation on the three-line voltage to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
If the collected current voltage of the motor is the line voltage, for example, the collected current line voltage of the motor includes a first line voltage, a second line voltage and a third line voltage, the first line voltage, the second line voltage and the third line voltage are used as input parameters, Clarke (Clarke) transformation is performed on the first line voltage, the second line voltage and the third line voltage, corresponding voltage vectors are generated, and the voltage amplitude and the phase of the voltage vectors are obtained.
And S1012, calculating the electrical angular velocity according to the voltage amplitude.
In some embodiments, the electrical angular velocity of the motor is calculated based on a voltage magnitude corresponding to a current voltage of the motor. Specifically, the calculating the electrical angular velocity according to the voltage amplitude includes: acquiring flux linkage parameter values of the motor; and dividing the voltage amplitude by the flux linkage parameter value to calculate and obtain the electrical angular velocity.
The flux linkage parameter lambda f is a motor parameter and represents the magnetic flux of the motor, and the voltage amplitude corresponding to the current voltage of the motor and the flux linkage parameter value corresponding to the flux linkage parameter lambda f of the motor are obtained, and the voltage amplitude is divided by the flux linkage parameter value corresponding to the flux linkage parameter lambda f to calculate and obtain the electrical angular velocity of the motor.
In other embodiments, as shown in fig. 4, the step S101 includes:
and S1013, detecting the phase change value of the motor in a preset time.
And S1014, dividing the phase change value by the preset time length, and calculating to obtain the electrical angular velocity.
In this embodiment, it is not necessary to obtain a flux linkage parameter value corresponding to the flux linkage parameter λ f of the motor, but it is only necessary to detect a phase change value of the motor within a preset time period, and calculate and obtain the electrical angular velocity of the motor by dividing the phase change value by the preset time period. The preset duration may be set based on actual conditions, which is not specifically limited in the present application. For example, a first voltage of the motor is collected through the voltage sampling circuit, and a second voltage of the motor is collected through the voltage sampling circuit after a preset time period elapses, wherein a collection time point of the first voltage and a collection time point of the second voltage are separated by the preset time period.
Specifically, a first phase of the motor is determined according to the first voltage, namely a voltage vector generated after clark conversion is performed on the first three-phase voltage is determined, and the phase of the voltage vector is obtained and used as the first phase of the motor; determining a second phase of the motor according to the second three-phase voltage, namely determining a voltage vector generated after clark conversion is carried out on the second three-phase voltage, and acquiring the phase of the voltage vector as the second phase of the motor; and determining the phase change amount of the motor according to the first phase and the second phase, namely determining the difference value of the first phase and the second phase, and taking the difference value of the first phase and the second phase as the phase change amount of the motor. And then, the difference value of the first phase and the second phase is used as the phase variation of the motor to be divided by the preset time length, and the electric angular speed of the motor is obtained through calculation. In this way, the motor flux linkage parameter λ f does not need to be obtained, i.e., the workload of obtaining the electrical angular velocity of the motor is reduced.
S102, if the electrical angular velocity is larger than or equal to a first preset threshold value, performing closed-loop control on the motor by taking the electrical angular velocity as a feedback signal to start the motor; wherein the first preset threshold is greater than zero.
The method comprises the steps of presetting a first preset threshold corresponding to the electric angular speed of the motor for performing quick start control on the operation of the motor, comparing the electric angular speed with the first preset threshold after the current electric angular speed of the motor is obtained, and judging the sizes of the electric angular speed and the first preset threshold. If the current electrical angular velocity of the motor is greater than or equal to the first preset threshold value, namely the motor runs at a high speed, the electrical angular velocity of the motor is used as a feedback signal to carry out closed-loop control on the motor, and the motor is started.
Specifically, as shown in fig. 5, a position observer, a rotational speed controller, a current controller, and an SVM (Support Vector Machine) are provided in the control device of the motor, and the current electrical angular velocity of the motor is set to be
Phase is
Angular velocity of handlebar
And phase
As an initial value assigned to the position observer, the position observer calculates the electrical angular velocity
As a reverseFeeding a signal to a rotational speed controller in combination with the electrical angular velocity
And input of control signals, e.g. speed commands w*The rotational speed controller outputs corresponding current signals
To the current controller, the current controller is based on
Outputs a corresponding voltage signal uαβAnd controlling the motor to be switched to the calculated position of the motor rotor and the calculated electrical angular velocity of the motor by the position observer and enabling the PWM signal of the three-phase inverter bridge through the SVM, and using the position observer to calculate the position of the motor rotor and the electrical angular velocity of the motor according to a back electromotive force method. The position of the motor rotor and the electrical angular velocity (or rotation speed) of the motor calculated according to the back emf method are well-established technical means, and are not described herein again.
In some embodiments, the electric angular velocity is used as a feedback signal, and the motor performs closed-loop control to start the motor specifically: and performing closed-loop control on the motor by taking the electrical angular velocity and the phase as feedback signals so as to start the motor.
The difference between this embodiment and the closed-loop control in the above embodiment is that the electric angular velocity and phase of the motor are used as feedback signals to perform closed-loop control on the motor to start the motor. In the specific closed-loop control process, reference may be made to a process of performing closed-loop control by using an electrical angular velocity of the motor as a feedback signal, and therefore, details are not described herein. In this embodiment, since the feedback signal includes the electrical angular velocity and phase of the motor, the reliability of the closed-loop control of the motor is further improved.
In some embodiments, the control method of the motor further includes: and collecting the current of the motor, and correcting the electrical angular velocity and the phase position through the current until the corrected electrical angular velocity and the corrected phase position float within a preset range.
In this embodiment, the current of the motor is collected through a current sampling circuit, for example, a current sensor is provided on the current sampling circuit, and the collecting of the current of the motor is specifically to collect the current of the motor through the current sensor.
And correcting the electrical angular speed and the phase of the motor according to the current of the motor by collecting the current of the motor until the corrected electrical angular speed and the corrected phase of the motor float within a preset range. It should be noted that the current voltage of the motor used for acquiring the electrical angular velocity of the motor is the collected and detected voltage, and at this time, the PWM signal of the three-phase inverter bridge is still not enabled. Specifically, for example, as shown in fig. 5, the current sampling circuit collects the current three-phase current of the motor, performs Clarke transformation using the three-phase current as an input parameter, and generates a corresponding current vector iαβAccording to the current vector iαβAnd correcting the electrical angular velocity and the phase of the motor until the corrected electrical angular velocity and the corrected phase of the motor float within a preset range.
For example, a first preset range corresponding to the electrical angular velocity of the motor and a second preset range corresponding to the phase are preset, the electrical angular velocity and the phase of the motor are continuously corrected based on the current of the motor by continuously collecting the current of the motor until the corrected electrical angular velocity of the motor floats in the first preset range and the phase floats in the second preset range. And then the corrected electrical angular velocity and phase of the motor are used as feedback signals to carry out closed-loop control on the motor to start the motor, namely, the stable electrical angular velocity and phase are used as feedback signals to carry out closed-loop control on the motor, so the reliability of the closed-loop control on the motor is further improved.
In some embodiments, as shown in fig. 6, after step S101, the method further includes:
s103, if the electrical angular velocity is smaller than the first preset threshold and larger than a second preset threshold, continuously collecting the electrical angular velocity until the electrical angular velocity is smaller than or equal to the second preset threshold.
The control of the motor is performed under the condition that the motor runs at a high speed, namely, the control of the motor is performed under the condition that the electrical angular speed of the motor is greater than a first preset threshold value. It should be noted that, since the current electrical angular velocity of the motor is greater than 0 and the control device of the motor does not apply (i.e., disable) the PWM signal of the three-phase inverter bridge, the current electrical angular velocity of the motor decreases with time. The control of the motor when the electrical angular velocity of the motor is less than the first preset threshold is described in detail below. In order to avoid generating a large impact current when the motor is dragged, a second preset threshold corresponding to the electrical angular velocity of the motor is also preset. Wherein the first preset threshold is greater than the second preset threshold. When the electrical angular velocity of the motor is smaller than a first preset threshold and larger than a second preset threshold, continuously collecting the current voltage of the motor, calculating and determining the electrical angular velocity of the motor according to the collected current voltage of the motor, and comparing the electrical angular velocity of the motor with the first preset threshold and the second preset threshold until the current latest electrical angular velocity of the motor is smaller than or equal to the second preset threshold.
And S104, when the electrical angular speed is less than or equal to the second preset threshold, operating the motor to a preset rotating speed by open loop control or a high-frequency injection method.
And when the electrical angular speed of the motor is less than or equal to a second preset threshold value, namely the electrical angular speed of the motor reaches the safe rotating speed, the motor is operated to the preset rotating speed in an open-loop control mode or a high-frequency injection method mode. The motor is dragged by adopting an open-loop control method or a high-frequency injection method, which is a conventional technology, and therefore, the details are not repeated herein. Or the specific value of the preset rotating speed can be flexibly set according to the actual situation, and is not limited herein.
And S105, when the motor runs to the preset rotating speed, controlling the motor by adopting closed-loop control again.
And after the motor is dragged to a preset rotating speed to operate, the motor is controlled by adopting closed-loop control. For example, the electrical angular velocity of the motor is obtained by a back electromotive force method, and the operation of the motor is closed-loop controlled by using the electrical angular velocity of the motor as a feedback signal.
For example, as shown in fig. 7, the starting control process of the motor is specifically as follows:
after a motor system is initialized, firstly, the current voltage of the motor is acquired by disabling a PWM signal of a three-phase inverter bridge, the voltage amplitude and the phase corresponding to the current voltage of the motor are acquired, and the current electrical angular speed of the motor is determined according to the current voltage of the motor. And then judging whether the electrical angular velocity is greater than a first preset threshold value, namely judging whether the electrical angular velocity of the motor meets the requirement of quick starting of the motor, if so, assigning the electrical angular velocity and the phase of the motor as initial values to a position observer, directly serving as the output of the position observer, or correcting the electrical angular velocity and the phase calculated according to vector voltages through the position observer according to vector currents, outputting the final electrical angular velocity and the phase, enabling PWM (pulse width modulation) signals of a three-phase inverter bridge, and then switching the motor to the position of a motor rotor and the electrical angular velocity (or the rotating speed) of the motor calculated based on a back electromotive force method to perform closed-loop control on the motor. On the contrary, if the electrical angular velocity is smaller than the first preset threshold, that is, the electrical angular velocity of the motor does not reach the requirement of the rapid start of the motor, it is determined whether the electrical angular velocity of the motor is smaller than or equal to the second preset threshold, that is, whether the electrical angular velocity of the motor reaches the safe rotation speed, and if the electrical angular velocity of the motor is larger than the second preset threshold, that is, the electrical angular velocity of the motor does not reach the safe rotation speed, the electrical angular velocity of the motor is continuously acquired until the electrical angular velocity of the motor is smaller than or equal to the second preset threshold, that is, the electrical angular velocity of the motor reaches the safe rotation speed, at this time, the PWM signal of the three-phase inverter bridge is enabled, and then the position of the motor rotor is obtained by open-loop control or a high-. And then the motor is switched to the position of the motor rotor and the electrical angular speed (or rotating speed) of the motor calculated based on the back electromotive force method, and the motor is subjected to closed-loop control.
In some embodiments, the control method of the motor further includes: after the motor is started, the current electrical angular velocity of the motor is obtained by obtaining an actual output voltage signal for controlling the motor, and the electrical angular velocity is used as a feedback signal to control the motor.
After the motor is started by the above control method, an actual output voltage signal for controlling the motor is obtained, for example, a voltage signal u output by a current controller as shown in fig. 5αβAnd acquiring the current electrical angular speed of the motor based on the actual output voltage signal for controlling the motor. Specifically, still taking the example shown in fig. 5 as an example, the current controller outputs the voltage signal uαβTo a position observer based on the voltage signal uαβAnd acquiring the current electrical angular speed of the motor. And then, the operation of the motor is controlled in a closed loop mode by taking the electrical angular velocity of the motor as a feedback signal. The manner of obtaining the electrical angular velocity and the manner of performing the closed-loop control on the motor by using the electrical angular velocity of the motor as the feedback signal refer to the above operation in the starting process of the motor, and therefore, the details are not repeated herein. That is, after the motor is started, the closed-loop control is carried out by taking the electrical angular velocity of the motor as a feedback signal, so that the running reliability of the motor after the motor is started is improved.
In the control method for the motor provided by the embodiment, the motor has no position sensor, when the motor is started, the current electrical angular speed of the motor is obtained by collecting the current voltage of the motor, if the electrical angular speed is greater than or equal to the first preset threshold value, that is, when the motor runs fast, the current electrical angular speed of the motor is used as a feedback signal to perform closed-loop control on the motor, so as to start the motor, the motor does not need to be restarted after the motor stops, and a large impact current generated when the motor is dragged by performing open-loop control or using a high-frequency injection method is avoided.
Referring to fig. 8, fig. 8 is a block diagram schematically illustrating a structure of a control device of a motor according to an embodiment of the present disclosure. The motor control apparatus 800 includes a processor 801 and a memory 802, and the processor 801 and the memory 802 are connected by a bus 803, such as an I2C (Inter-integrated Circuit) bus. The control device 800 of the motor is applied to motor equipment, the motor equipment comprises a motor control circuit and a motor, the motor is used for providing power for the motor equipment, the control device 800 of the motor and the circuit control circuit are used for controlling the motor to run, the motor control circuit comprises a power supply (such as a direct current power supply), an inverter circuit, a current sampling circuit and a voltage sampling circuit, the inverter circuit comprises a three-phase inverter bridge, the power supply is connected with the motor through the three-phase inverter bridge, the motor is respectively connected with the current sampling circuit and the voltage sampling circuit, the current sampling circuit is used for collecting the current of the motor, and the voltage sampling circuit is used for collecting the voltage of the motor; the control device of the motor can acquire the current electrical angular velocity of the motor through the current voltage of the motor, and if the electrical angular velocity is larger than or equal to a first preset threshold value, the current electrical angular velocity of the motor is used as a feedback signal to perform closed-loop control on the motor so as to start the motor. By the method, the situation that a large impact current is generated when the motor is dragged by open-loop control or a high-frequency injection method is avoided, and the motor does not need to be restarted after the motor stops rotating is avoided, so that the accurate reliability of motor control is improved, and the safety of motor equipment is further improved.
Wherein, electrical equipment includes electric automobile, electric ship, unmanned vehicle, mobile robot and unmanned aerial vehicle etc..
Taking the electromechanical device as an unmanned aerial vehicle, the unmanned aerial vehicle may have one or more propulsion units to allow the unmanned aerial vehicle to fly in the air. The one or more propulsion units may move the drone at one or more, two or more, three or more, four or more, five or more, six or more free angles. In some cases, the drone may rotate about one, two, three, or more axes of rotation. The axes of rotation may be perpendicular to each other. The axes of rotation may be maintained perpendicular to each other throughout the flight of the drone. The axis of rotation may include a pitch axis, a roll axis, and/or a yaw axis. The drone may be movable in one or more dimensions. For example, the drone can move upward due to the lift generated by one or more rotors. In some cases, the drone may be movable along a Z-axis (which may be upward with respect to the drone direction), an X-axis, and/or a Y-axis (which may be lateral). The drone is movable along one, two or three axes perpendicular to each other.
The drone may be a rotorcraft. In some cases, the drone may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotors may rotate to generate lift for the drone. The rotor may be a propulsion unit, allowing the drone to move freely in the air. The rotors may rotate at the same rate and/or may produce the same amount of lift or thrust. The rotor may rotate at will at different rates, generating different amounts of lift or thrust and/or allowing the drone to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten, or more rotors may be provided on the drone. The rotors may be arranged with their axes of rotation parallel to each other. In some cases, the axes of rotation of the rotors may be at any angle relative to each other, so that the motion of the drone may be affected.
The drone may have a plurality of rotors. The rotor may be connected to the body of the drone, which may contain a control unit, an Inertial Measurement Unit (IMU), a processor, a battery, a power source, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions that branch off from a central portion of the body. For example, one or more arms may extend radially from the central body of the drone and may have rotors at or near the ends of the arms.
Specifically, the Processor 801 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
Specifically, the Memory 802 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The processor 801 is configured to run a computer program stored in the memory 802, and when executing the computer program, implement the following steps:
before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor;
if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
In some embodiments, the processor, when implementing the obtaining of the current electrical angular velocity of the motor, specifically implements:
acquiring a voltage amplitude corresponding to the current voltage of the motor;
and calculating the electrical angular velocity according to the voltage amplitude.
In some embodiments, the motor is connected to a voltage sampling circuit, and when the processor is used to collect the current voltage of the motor, the following steps are specifically implemented:
and acquiring the current voltage of the motor through the voltage sampling circuit.
In some embodiments, a three-phase inverter bridge is disposed on a line between the motor and the power supply, and when the processor acquires the current voltage of the motor, the processor specifically implements:
and controlling the disabling of the PWM signal of the three-phase inverter bridge, and respectively acquiring the voltage of a three-phase motor wire of the motor relative to the negative end of the direct-current bus to obtain three-phase counter electromotive force.
In some embodiments, the processor, after implementing the acquiring the current voltage of the motor, further implements:
and performing Clarke transformation on the three opposite electromotive forces to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
In some embodiments, when the processor is configured to collect the current voltage of the motor, specifically:
and collecting the line voltage between any two phases of motor lines in the three-phase motor lines of the motor to obtain three-line voltage.
In some embodiments, the processor, after implementing the acquiring the current voltage of the motor, further implements:
and performing Clarke transformation on the three-line voltage to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
In some embodiments, the processor performs closed-loop control on the motor to start the motor while implementing the feedback signal of the electrical angular velocity; wherein, when the first preset threshold is greater than zero, the following is specifically implemented:
taking the electrical angular velocity and the phase as feedback signals, and carrying out closed-loop control on the motor to start the motor; wherein the first preset threshold is greater than zero.
In some embodiments, when the processor implements the calculating the electrical angular velocity according to the voltage amplitude, the following is specifically implemented:
acquiring flux linkage parameter values of the motor;
and dividing the voltage amplitude by the flux linkage parameter value to calculate and obtain the electrical angular velocity.
In some embodiments, the processor, when implementing the obtaining of the current electrical angular velocity of the motor, specifically implements:
detecting a phase change value of the motor within a preset time;
and dividing the phase change value by the preset time length to calculate and obtain the electrical angular velocity.
In some embodiments, the processor, when executing the computer program, further implements:
and collecting the current of the motor, and correcting the electrical angular velocity and the phase position through the current until the corrected electrical angular velocity and the corrected phase position float within a preset range.
In some embodiments, the motor is connected to a current sensor, and the processor, when implementing the acquiring of the current of the motor, specifically implements:
and acquiring the current of the motor through the current sensor.
In some embodiments, the processor, when executing the computer program, further implements:
after the motor is started, the current electrical angular velocity of the motor is obtained by obtaining an actual output voltage signal for controlling the motor, and the electrical angular velocity is used as a feedback signal to control the motor.
In some embodiments, a three-phase inverter bridge is disposed on a line between the motor and the power supply, and the processor further implements, after implementing the obtaining of the current electrical angular velocity of the motor:
when the motor is started, if the electrical angular velocity is smaller than the first preset threshold and larger than a second preset threshold, continuously collecting the electrical angular velocity until the electrical angular velocity is smaller than or equal to the second preset threshold;
when the electrical angular velocity is smaller than or equal to the second preset threshold value, the motor is operated to a preset rotating speed through open-loop control or by adopting a high-frequency injection method;
when the motor runs to the preset rotating speed, controlling the motor by adopting closed-loop control again;
wherein the first preset threshold is greater than the second preset threshold.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the control apparatus of the motor described above may refer to the corresponding process in the foregoing embodiment of the control method of the motor, and is not described herein again.
Embodiments of the present application also provide a movable platform, which may be a UAV 110 drone or the like. Referring to fig. 9, fig. 9 is a schematic block diagram of a structure of a movable platform according to an embodiment of the present disclosure, and as shown in fig. 9, the movable platform includes a body 901, a power system 902 disposed in the body 901, and one or more processors 903. Wherein the power system 902 is used for providing power for the movable platform, and the power system 902 comprises one or more motors; the one or more processors 903 are configured to, when starting a motor of the power system 902, acquire a current electrical angular velocity of the motor by collecting a current voltage of the motor, and if the electrical angular velocity is greater than or equal to a first preset threshold, perform closed-loop control on the motor by using the electrical angular velocity as a feedback signal to start the motor.
The movable platform may also illustratively communicate wirelessly with a remote control and a display device.
Specifically, taking the movable platform as the UAV 110 drone as an example, the UAV 110 drone further includes a flight control system and a frame. The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle lands.
The power system 902 may further include an electronic governor (abbreviated as an electric governor), and one or more propellers, where the one or more processors 903 may be disposed in the electronic governor, the one or more propellers correspond to one or more motors, the motors are connected between the electronic governor and the propellers, and the motors and the propellers are disposed on corresponding booms; the electronic speed regulator is used for receiving a driving signal generated by the flight control system and providing a driving current to the motor according to the driving signal so as to control the rotating speed of the motor. The motor is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110 drone, which enables the UAV 110 drone to achieve one or more degrees of freedom of motion. It should be understood that the motor may be a dc motor or an ac motor. In addition, the motor can be a brushless motor, and can also be a brush motor.
It should be noted that, for convenience and brevity of description, for a specific working process of the motor in the movable platform, reference may be made to a corresponding process in the foregoing embodiment of the control method for the motor, and details are not described here again.
The voltage sampling circuit corresponding to the motor is arranged and used for collecting the voltage of the motor, when the motor needs to be restarted due to signal interference and other reasons in the process of flying movable platforms such as an unmanned aerial vehicle in the air, all PWM signals of the inverter bridge are disabled firstly, the current voltage of the motor is collected through the voltage sampling circuit to obtain the current electrical angular velocity of the motor, and when the electrical angular velocity is larger than or equal to a first preset threshold value, namely the motor runs fast at a high speed, the current electrical angular velocity of the motor is used as a feedback signal to carry out closed-loop control on the motor, the motor is started, and the motor does not need to be restarted after the motor stops, so that the condition that the movable platforms such as the unmanned aerial vehicle and the like fall due to the motor stop is avoided; and, also avoided directly carrying on the open loop control or directly using the high frequency injection method to produce the current impact and cause the problem that movable platforms such as unmanned aerial vehicle damage when dragging the motor in the quick start-up process of motor, can realize that the permanent-magnet machine in the high-speed rotation is controlled fast. Therefore, the safety and the stability of the flight of movable platforms such as unmanned planes are improved.
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method for controlling a motor provided in the foregoing embodiments.
The computer readable storage medium may be an internal storage unit of the motor device or the control device of the motor or the mobile platform according to any of the foregoing embodiments, for example, a hard disk or a memory of the motor device or the control device of the motor or the mobile platform. The computer readable storage medium may also be an external storage device of the motor apparatus or the control device of the motor or the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the control device of the motor apparatus or the motor or the removable platform.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (31)
1. A control method of a motor, the motor being free of a position sensor, the control method comprising:
before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor;
if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
2. The method of claim 1, wherein said obtaining a current electrical angular velocity of said motor comprises:
acquiring a voltage amplitude corresponding to the current voltage of the motor;
and calculating the electrical angular velocity according to the voltage amplitude.
3. The method of claim 1, wherein the motor is connected to a voltage sampling circuit, and wherein the step of collecting the current voltage of the motor comprises:
and acquiring the current voltage of the motor through the voltage sampling circuit.
4. The method according to claim 1, wherein a three-phase inverter bridge is provided in a line between the motor and the dc power supply, and the acquiring of the current voltage of the motor comprises:
and controlling the disabling of the PWM signal of the three-phase inverter bridge, and respectively acquiring the voltage of a three-phase motor wire of the motor relative to the negative end of a direct-current bus of the direct-current power supply to obtain three-phase back electromotive force.
5. The method of claim 4, wherein after collecting the current voltage of the motor, further comprising:
and performing Clarke transformation on the three opposite electromotive forces to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
6. The method of claim 1, wherein said collecting a present voltage of said motor comprises:
and acquiring line voltages between any two phases of motor lines in the three-phase motor lines of the motor to acquire the three line voltages.
7. The method of claim 6, wherein after collecting the current voltage of the motor, further comprising:
and performing Clarke transformation on the three line voltages to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
8. The method according to claim 5 or 7, wherein said closed-loop controlling said motor with said electrical angular velocity as a feedback signal to start said motor is specifically:
and performing closed-loop control on the motor by taking the electrical angular velocity and the phase as feedback signals so as to start the motor.
9. The method of claim 2, wherein said calculating said electrical angular velocity from said voltage magnitude comprises:
acquiring flux linkage parameter values of the motor;
and dividing the voltage amplitude by the flux linkage parameter value to calculate and obtain the electrical angular velocity.
10. The method of claim 1, wherein said obtaining a current electrical angular velocity of said motor comprises:
detecting a phase change value of the motor within a preset time;
and dividing the phase change value by the preset time length to calculate and obtain the electrical angular velocity.
11. The method of claim 8, further comprising:
and collecting the current of the motor, and correcting the electrical angular velocity and the phase position through the current until the corrected electrical angular velocity and the corrected phase position float within a preset range.
12. The method according to claim 11, wherein the motor is connected to a current sensor, and the step of acquiring the current of the motor specifically comprises:
and acquiring the current of the motor through the current sensor.
13. The method of claim 1, further comprising:
and when the motor is started, acquiring the electrical angular velocity by acquiring an actual output voltage signal for controlling the motor, and controlling the motor by taking the electrical angular velocity as a feedback signal.
14. The method of claim 1, wherein after obtaining the current electrical angular velocity of the motor, further comprising:
before the motor is started, if the electrical angular velocity is smaller than the first preset threshold and larger than a second preset threshold, continuously acquiring the electrical angular velocity until the electrical angular velocity is smaller than or equal to the second preset threshold;
when the electrical angular velocity is smaller than or equal to the second preset threshold value, the motor is operated to a preset rotating speed through open-loop control or by adopting a high-frequency injection method;
when the motor runs to the preset rotating speed, controlling the motor by adopting closed-loop control again;
wherein the first preset threshold is greater than the second preset threshold.
15. A control device of an electric motor, characterized in that the control device of the electric motor comprises a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
before the motor is started, acquiring the current electrical angular speed of the motor by acquiring the current voltage of the motor;
if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
16. The apparatus of claim 15, wherein the processor, in implementing the obtaining of the current electrical angular velocity of the motor, implements:
acquiring a voltage amplitude corresponding to the current voltage of the motor;
and calculating the electrical angular velocity according to the voltage amplitude.
17. The apparatus of claim 15, wherein the motor is connected to a voltage sampling circuit, and the processor, when implementing the collecting of the current voltage of the motor, implements:
and acquiring the current voltage of the motor through the voltage sampling circuit.
18. The apparatus according to claim 15, wherein a three-phase inverter bridge is provided on a line between the motor and the dc power supply, and the processor implements the following specifically when implementing the acquisition of the current voltage of the motor:
and controlling the disabling of the PWM signal of the three-phase inverter bridge, and respectively acquiring the voltage of a three-phase motor wire of the motor relative to the negative end of a direct-current bus of the direct-current power supply to obtain three-phase back electromotive force.
19. The apparatus of claim 18, wherein the processor, after effecting the acquiring the current voltage of the motor, further effects:
and performing Clarke transformation on the three opposite electromotive forces to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
20. The apparatus of claim 15, wherein the processor, when implementing the acquiring of the current voltage of the motor, implements:
and acquiring line voltages between any two phases of motor lines in the three-phase motor lines of the motor to acquire the three line voltages.
21. The apparatus of claim 20, wherein the processor, after effecting the acquiring the current voltage of the motor, further effects:
and performing Clarke transformation on the three line voltages to generate a voltage vector, and obtaining the voltage amplitude and the phase of the voltage vector.
22. The apparatus according to claim 19 or 21, wherein the processor performs closed-loop control on the motor to start the motor by implementing the feedback signal of the electrical angular velocity, and specifically implements:
and performing closed-loop control on the motor by taking the electrical angular velocity and the phase as feedback signals so as to start the motor.
23. The apparatus of claim 16, wherein the processor, in implementing the calculating the electrical angular velocity based on the voltage magnitude, implements:
acquiring flux linkage parameter values of the motor;
and dividing the voltage amplitude by the flux linkage parameter value to calculate and obtain the electrical angular velocity.
24. The apparatus of claim 15, wherein the processor, in implementing the obtaining of the current electrical angular velocity of the motor, implements:
detecting a phase change value of the motor within a preset time;
and dividing the phase change value by the preset time length to calculate and obtain the electrical angular velocity.
25. The apparatus of claim 22, wherein the processor, when executing the computer program, further implements:
and collecting the current of the motor, and correcting the electrical angular velocity and the phase position through the current until the corrected electrical angular velocity and the corrected phase position float within a preset range.
26. The device of claim 25, wherein the motor is connected to a current sensor, and the processor, when implementing the collecting of the current of the motor, implements:
and acquiring the current of the motor through the current sensor.
27. The apparatus of claim 15, wherein the processor, when executing the computer program, further implements:
after the motor is started, the current electrical angular velocity of the motor is obtained by obtaining an actual output voltage signal for controlling the motor, and the electrical angular velocity is used as a feedback signal to control the motor.
28. The apparatus of claim 15, wherein the processor, after effecting the obtaining of the current electrical angular velocity of the motor, further effects:
when the motor is started, if the electrical angular velocity is smaller than the first preset threshold and larger than a second preset threshold, continuously collecting the electrical angular velocity until the electrical angular velocity is smaller than or equal to the second preset threshold;
when the electrical angular velocity is smaller than or equal to the second preset threshold value, the motor is operated to a preset rotating speed through open-loop control or by adopting a high-frequency injection method;
when the motor runs to the preset rotating speed, controlling the motor by adopting closed-loop control again;
wherein the first preset threshold is greater than the second preset threshold.
29. An electric machine device, characterized by comprising:
a housing;
the motor is arranged in the shell;
and a control device for an electric machine as claimed in any one of claims 15 to 28, communicatively connected to the electric machine.
30. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power for the movable platform, and the power system comprises a motor;
the one or more processors are used for acquiring the current electric angular speed of the motor by acquiring the current voltage of the motor before the motor is started; if the electrical angular velocity is greater than or equal to a first preset threshold value, the electrical angular velocity is used as a feedback signal to carry out closed-loop control on the motor so as to start the motor; wherein the first preset threshold is greater than zero.
31. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the control method of an electric motor according to any one of claims 1 to 14.
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| PCT/CN2020/086870 WO2021212520A1 (en) | 2020-04-24 | 2020-04-24 | Control method and apparatus for motor, device, and storage medium |
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| CN113859554A (en) * | 2021-09-22 | 2021-12-31 | 北京三快在线科技有限公司 | Unmanned equipment control method and device, storage medium and electronic equipment |
| CN115580173A (en) * | 2022-10-25 | 2023-01-06 | 亿航智能设备（广州）有限公司 | Motor control method, device, equipment and storage medium |
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| CN205384727U (en) * | 2015-11-25 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Remote controller, movable platform , movable platform system and unmanned vehicles |
| US20180183367A1 (en) * | 2016-11-29 | 2018-06-28 | Autel Robotics Co., Ltd. | Starting method and apparatus for permanent magnet synchronous motor, power system, and unmanned aerial vehicle |
| CN109981018A (en) * | 2017-12-27 | 2019-07-05 | 上海大郡动力控制技术有限公司 | The starting of position-sensor-free permanent magnet synchronous motor and vector control method |
| CN110601613A (en) * | 2019-10-28 | 2019-12-20 | 广东华芯微特集成电路有限公司 | BLDCM closed-loop starting method and device without position sensor and BLDCM control equipment |
| CN110971166A (en) * | 2019-12-06 | 2020-04-07 | 长沙奥托自动化技术有限公司 | Method for acquiring rotor position of permanent magnet synchronous generator and control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859554A (en) * | 2021-09-22 | 2021-12-31 | 北京三快在线科技有限公司 | Unmanned equipment control method and device, storage medium and electronic equipment |
| CN113859554B (en) * | 2021-09-22 | 2022-12-09 | 北京三快在线科技有限公司 | Unmanned equipment control method and device, storage medium and electronic equipment |
| CN115580173A (en) * | 2022-10-25 | 2023-01-06 | 亿航智能设备（广州）有限公司 | Motor control method, device, equipment and storage medium |
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| WO2021212520A1 (en) | 2021-10-28 |
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