CN113489425B - Driving motor locked-rotor control method, system and storage medium - Google Patents
Driving motor locked-rotor control method, system and storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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Abstract
本发明公开了一种驱动电机堵转控制方法、系统及存储介质，其方法包括：获取电机电流值和电机转速；当预设时间内电机电流值均大于等于堵转电流值、且电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间；若电机电流值大于电机持续堵转电流值，则根据绕组初始温度、进入堵转时间及映射表获取堵转最大时间和电机定子温度估算值；获取电机允许最大温度；当电机定子温度估算值大于等于电机允许最大温度或进入堵转时间大于等于堵转最大时间时，退出堵转保护，降低电机输出扭矩。本发明在不增加硬件成本的方式，通过一路定子温度采样，快速离线估算可以堵转的最长时间，发挥电机最大性能。
The invention discloses a method, a system and a storage medium for controlling the stalled rotor of a driving motor. The method includes: acquiring a motor current value and a motor rotational speed; when the motor current value is greater than or equal to the stalled rotor current value within a preset time, and the motor rotational speed is both equal When it is less than the preset locked-rotor speed, it is determined that the motor enters the locked-rotor condition, and the locked-rotor protection is performed to obtain the initial temperature of the winding and the time to enter the locked-rotor; Stall time and mapping table Obtain the maximum stall time and the estimated value of the motor stator temperature; obtain the maximum allowable temperature of the motor; when the estimated value of the motor stator temperature is greater than or equal to the maximum allowable temperature of the motor or the time into stall is greater than or equal to the maximum stall time, exit Locked-rotor protection reduces motor output torque. Without increasing hardware cost, the invention can quickly estimate off-line the longest time that can be stalled by means of one-way stator temperature sampling, and exert the maximum performance of the motor.
Description
技术领域technical field
本发明涉及汽车电机控制领域，具体是涉及一种驱动电机堵转控制方法、系统及存储介质。The invention relates to the field of automobile motor control, in particular to a method, a system and a storage medium for controlling a stalled rotor of a driving motor.
背景技术Background technique
整车正常驱动时，电机定子U/V/W三相温度平衡，电机系统采集布置于定子三相中某一相的1路定子温度传感器，实时监测电机定子温度，即可等效为三相最高温度，进行定子温度保护。When the whole vehicle is driven normally, the U/V/W three-phase temperature of the motor stator is balanced, and the motor system collects a stator temperature sensor arranged in one of the three phases of the stator, and monitors the temperature of the motor stator in real time, which can be equivalent to three-phase. The maximum temperature, the stator temperature protection is carried out.
整车进入堵转后，受限堵转角度和堵转相序的随机性，当堵转发生在没有温度采样的相序时，电控无法实时获取定子三相的真实最高温度，基于温度的保护策略无法触发，而导致处于真实堵转的相序温度快速上升，出现热失控风险。After the whole vehicle enters the locked-rotor, the randomness of the locked-rotor angle and the locked-rotor phase sequence is limited. When the locked-rotor occurs in the phase sequence without temperature sampling, the electronic control cannot obtain the real maximum temperature of the three phases of the stator in real time. The protection strategy cannot be triggered, resulting in a rapid rise in the temperature of the phase sequence in the real locked rotor, resulting in the risk of thermal runaway.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了克服上述背景技术的不足，提供一种驱动电机堵转控制方法、系统及存储介质，在不增加硬件成本的方式，通过一路定子温度采样，快速离线估算可以堵转的最长时间，保障驱动电机热安全的前提下，发挥电机最大性能。The purpose of the present invention is to overcome the above-mentioned deficiencies of the background technology, and to provide a method, system and storage medium for controlling the stalled rotor of a drive motor. In a manner that does not increase the hardware cost, through one channel of stator temperature sampling, it is possible to quickly estimate off-line the maximum possible stalled rotor. For a long time, under the premise of ensuring the thermal safety of the drive motor, the maximum performance of the motor can be exerted.
第一方面，提供一种驱动电机堵转控制方法，包括以下步骤：In a first aspect, a method for controlling a stalled rotor of a drive motor is provided, including the following steps:
获取电机电流值和电机转速；Get the motor current value and motor speed;
当预设时间内所述电机电流值均大于等于堵转电流值、且所述电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间；When the current value of the motor is greater than or equal to the locked-rotor current value within the preset time, and the motor speed is less than the preset locked-rotor speed, it is determined that the motor enters the locked-rotor condition, the locked-rotor protection is performed, and the initial winding temperature and Enter the stall time;
若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值；If the motor current value is greater than the motor continuous locked-rotor current value, the maximum locked-rotor time and the estimated value of the motor stator temperature are obtained according to the initial temperature of the winding, the entry-to-locked-rotor time and the corresponding mapping table, and the motor is continuously blocked. The rotor current value is greater than the locked rotor current value;
获取电机允许最大温度；Get the maximum allowable temperature of the motor;
当所述电机定子温度估算值大于等于所述电机允许最大温度或所述进入堵转时间大于等于所述堵转最大时间时，退出堵转保护，降低电机输出扭矩。When the estimated value of the stator temperature of the motor is greater than or equal to the maximum allowable temperature of the motor or the time of entering the locked rotor is greater than or equal to the maximum locked rotor time, the locked rotor protection is exited and the output torque of the motor is reduced.
根据第一方面，在第一方面的第一种可能的实现方式中，所述步骤“获取电机电流值”之前，包括以下步骤：According to the first aspect, in a first possible implementation manner of the first aspect, before the step "obtaining the motor current value", the following steps are included:
基于电控最大电流值控制电机处于最大堵转能力状态，获取电机的三相温度变化曲线；Based on the maximum current value of the electronic control, the motor is controlled to be in the state of the maximum locked-rotor capacity, and the three-phase temperature change curve of the motor is obtained;
根据所述电机允许最大温度和所述三相温度变化曲线，获取以不同温度升至所述电机允许最大温度对应的堵转时间，以及升温过程的温度变化曲线，并建立相应的映射表。According to the maximum allowable temperature of the motor and the three-phase temperature change curve, obtain the stall time corresponding to the maximum allowable temperature of the motor at different temperatures, and the temperature change curve of the heating process, and establish a corresponding mapping table.
根据第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，所述步骤“若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值”，包括以下步骤：According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step "if the motor current value is greater than the motor continuous locked-rotor current value, according to the winding The initial temperature, the time of entering the locked-rotor and the corresponding mapping table to obtain the maximum locked-rotor time and the estimated value of the motor stator temperature, and the continuous locked-rotor current value of the motor is greater than the locked-rotor current value, including the following steps:
若所述电机电流值大于电机持续堵转电流值，则获取堵转记录；If the motor current value is greater than the motor continuous locked-rotor current value, obtain a locked-rotor record;
若根据所述堵转记录判定为当前上电后首次进入最大堵转能力状态，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值；If it is determined according to the locked-rotor record that the state of the maximum locked-rotor capacity is entered for the first time after the current power-on, the maximum locked-rotor time and the motor stator temperature estimation are obtained according to the initial temperature of the winding, the time to enter the locked-rotor, and the corresponding mapping table. value;
若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值和修正系数；If it is determined according to the locked-rotor record that it is not the first time to enter the maximum locked-rotor capability state after the current power-on, obtain the calibration temperature difference value and the correction coefficient;
根据所述绕组初始温度、所述进入堵转时间、所述标定温差值、所述修正系数以及相应的映射表获取堵转最大时间和电机定子温度估算值。The maximum locked-rotor time and the estimated value of the motor stator temperature are obtained according to the initial temperature of the winding, the time to enter the locked-rotor, the calibration temperature difference value, the correction coefficient and the corresponding mapping table.
根据第一方面的第二种可能的实现方式，在第一方面的第三种可能的实现方式中，所述步骤“若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值和修正系数”之后，包括以下步骤：According to the second possible implementation manner of the first aspect, in the third possible implementation manner of the first aspect, the step "if it is determined according to the stalled rotor record that it is not the first time to enter the maximum stalled rotor after the current power-on Capability status, after obtaining the calibration temperature difference value and correction coefficient”, it includes the following steps:
若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值；If it is determined according to the locked-rotor record that it is not the first time to enter the state of the maximum locked-rotor capability after the current power-on, obtain the calibrated temperature difference value;
获取电机进入堵转工况时电机三相的电流值中的最大电流值和最小电流值；Obtain the maximum current value and the minimum current value among the three-phase current values of the motor when the motor enters the locked-rotor condition;
获取设有温度传感器的相电流值和电机最大性能电流值；Obtain the phase current value with temperature sensor and the maximum performance current value of the motor;
根据所述最大电流值、所述最小电流值、所述相电流值和所述电机最大性能电流值获取所述修正系数。The correction coefficient is obtained according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
根据第一方面的第三种可能的实现方式，在第一方面的第四种可能的实现方式中，所述步骤“若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值”之前，包括以下步骤：According to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the step "if it is determined according to the stalled rotor record that it is not the first time to enter the maximum stalled rotor after the current power-on The following steps are included before obtaining the calibrated temperature difference value”:
基于电机持续堵转电流值控制电机处于最大堵转能力状态，获取达到热平衡状态后电机的三相最大温差值为所述标定温差值。The motor is controlled to be in a state of maximum locked-rotor capability based on the continuous locked-rotor current value of the motor, and the three-phase maximum temperature difference value of the motor after reaching the thermal equilibrium state is obtained as the calibrated temperature difference value.
根据第一方面，在第一方面的第五种可能的实现方式中，所述步骤“当预设时间内所述电机电流值均大于等于堵转电流值、且所述电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间”之后，包括以下步骤：According to the first aspect, in a fifth possible implementation manner of the first aspect, the step "when the current value of the motor is greater than or equal to the stall current value within a preset time, and the rotational speed of the motor is less than the preset value When the speed is locked, it is determined that the motor enters the locked rotor condition, the locked rotor protection is performed, and the initial temperature of the winding and the time to enter the locked rotor are obtained. After that, the following steps are included:
若所述电机电流值小于等于电机持续堵转电流值，则获取所述电机持续堵转电流值对应的转矩限值；If the motor current value is less than or equal to the motor continuous locked rotor current value, obtain the torque limit value corresponding to the motor continuous locked rotor current value;
控制电机按照所述转矩限值输出。Control the output of the motor according to the torque limit.
根据第一方面的第五种可能的实现方式，在第一方面的第六种可能的实现方式中，所述步骤“控制电机按照所述转矩限值输出”之后，包括以下步骤：According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, after the step of "controlling the motor to output according to the torque limit value", the following steps are included:
当所述电机电流值小于堵转电流值时，判定电机退出堵转工况。When the motor current value is less than the locked rotor current value, it is determined that the motor exits the locked rotor condition.
根据第一方面，在第一方面的第七种可能的实现方式中，所述步骤“若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值”之前，包括以下步骤：According to the first aspect, in a seventh possible implementation manner of the first aspect, the step "if the motor current value is greater than the motor continuous locked-rotor current value, according to the initial temperature of the winding, the entering locked-rotor Time and the corresponding mapping table to obtain the maximum locked-rotor time and the estimated value of the stator temperature of the motor, and before the motor's continuous locked-rotor current value is greater than the locked-rotor current value, the following steps are included:
调整标志位为堵转保护状态，并执行冷却操作。Adjust the flag bit to stall protection status and perform cooling operation.
第二方面，提供一种驱动电机堵转控制系统，包括：In a second aspect, a drive motor stall control system is provided, including:
电流获取模块，用于获取电机电流值和电机转速；The current acquisition module is used to acquire the motor current value and motor speed;
工况分析模块，与所述电流获取模块通讯连接，用于当预设时间内所述电机电流值均大于等于堵转电流值、且所述电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间；A working condition analysis module, connected in communication with the current acquisition module, for determining the motor when the current value of the motor is greater than or equal to the stall current value within a preset time, and the rotation speed of the motor is less than the preset stall rotation speed Enter the locked-rotor condition, carry out the locked-rotor protection, and obtain the initial temperature of the winding and the time to enter the locked-rotor;
堵转指标获取模块，与所述工况分析模块通讯连接，用于若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值；The locked-rotor index acquisition module is connected in communication with the working condition analysis module, and is used for, if the current value of the motor is greater than the continuous locked-rotor current value of the motor, according to the initial temperature of the winding, the time to enter the locked-rotor and the corresponding mapping The table obtains the maximum locked-rotor time and the estimated value of the stator temperature of the motor, and the continuous locked-rotor current value of the motor is greater than the locked-rotor current value;
温度获取模块，获取电机允许最大温度；The temperature acquisition module, to get the maximum allowable temperature of the motor;
堵转保护模块，与所述堵转指标获取模块和所述温度获取模块通讯连接，用于当所述电机定子温度估算值大于等于所述电机允许最大温度或所述进入堵转时间大于等于所述堵转最大时间时，退出堵转保护，降低电机输出扭矩。The locked-rotor protection module is connected in communication with the locked-rotor index acquisition module and the temperature acquisition module, and is used for when the estimated value of the stator temperature of the motor is greater than or equal to the maximum allowable temperature of the motor or the time of entering the locked-rotor is greater than or equal to all When the lock-rotor maximum time is exceeded, the lock-rotor protection is exited and the motor output torque is reduced.
第三方面，提供一种存储介质，其上存储有得到机程序，其特征在于，所述得到机程序被处理器执行时实现上述的制动踏板感自适应调节方法。In a third aspect, there is provided a storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the above-mentioned method for adaptive adjustment of brake pedal feel is implemented.
与现有技术相比，本发明在不增加硬件成本的方式，通过一路定子温度采样，快速离线估算可以堵转的最长时间，保障驱动电机热安全的前提下，发挥电机最大性能；同时考虑极限滥用工况下，比如频繁的进出堵转工况时的，电机自我热保护和离线估算的准确性。Compared with the prior art, the present invention exerts the maximum performance of the motor under the premise of ensuring the thermal safety of the drive motor by quickly estimating the longest time that can be stalled off-line through one-way stator temperature sampling without increasing the hardware cost; Under extreme abuse conditions, such as frequent entry and exit stall conditions, the accuracy of motor self-thermal protection and offline estimation.
附图说明Description of drawings
图1是本发明一实施例提供的一种驱动电机堵转控制方法的流程示意图；FIG. 1 is a schematic flowchart of a method for controlling a stalled rotor of a drive motor according to an embodiment of the present invention;
图2是本发明另一实施例提供的一种驱动电机堵转控制方法的流程示意图；FIG. 2 is a schematic flowchart of a method for controlling a stalled rotor of a drive motor provided by another embodiment of the present invention;
图3是本发明一实施例提供的堵转保护原理图；3 is a schematic diagram of a locked-rotor protection provided by an embodiment of the present invention;
图4是本发明一实施例提供的一种驱动电机堵转控制系统的结构示意图。FIG. 4 is a schematic structural diagram of a driving motor stall control system according to an embodiment of the present invention.
附图标记：Reference number:
100、驱动电机堵转控制系统；110、电流获取模块；120、工况分析模块；130、堵转指标获取模块；140、温度获取模块；150、堵转保护模块。100. A locked-rotor control system for a driving motor; 110. A current acquisition module; 120. A working condition analysis module; 130. A blocked-rotor index acquisition module; 140. A temperature acquisition module; 150. A blocked-rotor protection module.
具体实施方式Detailed ways
现在将详细参照本发明的具体实施例，在附图中例示了本发明的例子。尽管将结合具体实施例描述本发明，但将理解，不是想要将本发明限于所述的实施例。相反，想要覆盖由所附权利要求限定的在本发明的精神和范围内包括的变更、修改和等价物。应注意，这里描述的方法步骤都可以由任何功能块或功能布置来实现，且任何功能块或功能布置可被实现为物理实体或逻辑实体、或者两者的组合。Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with specific embodiments, it will be understood that the intention is not to limit the invention to the described embodiments. On the contrary, the intention is to cover changes, modifications and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may all be implemented by any functional block or arrangement of functions, and that any functional block or arrangement of functions may be implemented as physical or logical entities, or a combination of both.
为了使本领域技术人员更好地理解本发明，下面结合附图和具体实施方式对本发明作进一步详细说明。In order to make those skilled in the art better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
注意：接下来要介绍的示例仅是一个具体的例子，而不作为限制本发明的实施例必须为如下具体的步骤、数值、条件、数据、顺序等等。本领域技术人员可以通过阅读本说明书来运用本发明的构思来构造本说明书中未提到的更多实施例。Note: The example to be introduced next is only a specific example, and is not intended to limit the embodiments of the present invention. It must be the following specific steps, values, conditions, data, sequences, and the like. Those skilled in the art can use the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.
参见图1所示，本发明实施例提供一种驱动电机堵转控制方法，包括以下步骤：Referring to FIG. 1 , an embodiment of the present invention provides a method for controlling a stalled rotor of a drive motor, which includes the following steps:
获取电机电流值和电机转速；Get the motor current value and motor speed;
当预设时间内所述电机电流值均大于等于堵转电流值、且所述电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间；When the current value of the motor is greater than or equal to the locked-rotor current value within the preset time, and the motor speed is less than the preset locked-rotor speed, it is determined that the motor enters the locked-rotor condition, the locked-rotor protection is performed, and the initial winding temperature and Enter the stall time;
若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值；If the motor current value is greater than the motor continuous locked-rotor current value, the maximum locked-rotor time and the estimated value of the motor stator temperature are obtained according to the initial temperature of the winding, the entry-to-locked-rotor time and the corresponding mapping table, and the motor is continuously blocked. The rotor current value is greater than the locked rotor current value;
获取电机允许最大温度；Get the maximum allowable temperature of the motor;
当所述电机定子温度估算值大于等于所述电机允许最大温度或所述进入堵转时间大于等于所述堵转最大时间时，退出堵转保护，降低电机输出扭矩。When the estimated value of the stator temperature of the motor is greater than or equal to the maximum allowable temperature of the motor or the time of entering the locked rotor is greater than or equal to the maximum locked rotor time, the locked rotor protection is exited and the output torque of the motor is reduced.
具体的，本实施例中，获取电机电流值和电机转速，当预设时间内电机电流值均大于等于堵转电流值、且电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，对当前电机的状态进行检测，一遍及时采取相应的措施。获取绕组初始温度和进入堵转时间，其中获取进入堵转时间为了避免堵转时间过长，超出电机允许时间导致造成安全隐患。同时调整标志位为堵转保护状态，便于后续获取电机发生堵转的历史记录。执行冷却操作，例如打开水泵、风扇等。Specifically, in this embodiment, the motor current value and the motor speed are obtained, and when the motor current value is greater than or equal to the locked-rotor current value within the preset time, and the motor speed is less than the preset locked-rotor speed, it is determined that the motor enters the locked-rotor operation. If it is in any condition, perform stall protection, detect the current state of the motor, and take corresponding measures in time. Obtain the initial temperature of the winding and the time to enter the locked rotor, in which the time to enter the locked rotor is obtained in order to avoid the stalling time being too long and exceeding the allowable time of the motor, causing potential safety hazards. At the same time, adjust the flag bit to the locked-rotor protection state, so as to facilitate the subsequent acquisition of the historical record of the locked-rotor of the motor. Perform cooling operations such as turning on water pumps, fans, etc.
进一步判断，如果电机电流值大于电机持续堵转电流值，其中电机持续堵转电流值取决于电机的性能承受能力，则根据绕组初始温度、进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，电机持续堵转电流值大于堵转电流值。其中，电机定子温度估算值是不断获取的，每一时刻的电机定子温度估算值会进行变化，结合映射表获取的电机定子温度估算值为实时估算的当前时刻的堵转温度。It is further judged that if the motor current value is greater than the motor continuous locked rotor current value, where the motor continuous locked rotor current value depends on the performance capability of the motor, the maximum locked rotor time is obtained according to the initial winding temperature, the time to enter the locked rotor and the corresponding mapping table. And the estimated value of the stator temperature of the motor, the value of the motor's continuous locked rotor current is greater than the value of the locked rotor current. Among them, the estimated value of the motor stator temperature is continuously obtained, and the estimated value of the motor stator temperature at each moment will change, and the estimated value of the motor stator temperature obtained in combination with the mapping table is the real-time estimated stall temperature at the current moment.
获取电机允许最大温度，当某一时刻的电机定子温度估算值大于等于电机允许最大温度，或者进入堵转之后池逊的进入堵转时间大于等于堵转最大时间时，退出堵转保护，采取其他措施降低电机输出扭矩，从而降低电机的温度。当电机电流值小于堵转电流值时，判定电机退出堵转工况。Obtain the maximum allowable temperature of the motor. When the estimated value of the stator temperature of the motor at a certain time is greater than or equal to the maximum allowable temperature of the motor, or when the time of entering the locked rotor after entering the locked rotor is greater than or equal to the maximum locked rotor time, exit the locked rotor protection and take other measures. Measures to reduce the motor output torque, thereby reducing the temperature of the motor. When the motor current value is less than the locked rotor current value, it is determined that the motor exits the locked rotor condition.
本发明在不增加硬件成本的方式，通过一路定子温度采样，快速离线估算可以堵转的最长时间，保障驱动电机热安全的前提下，发挥电机最大性能；同时考虑极限滥用工况下，比如频繁的进出堵转工况时的，电机自我热保护和离线估算的准确性。In the method of not increasing the hardware cost, the invention can quickly estimate the longest time that can be stalled off-line and ensure the thermal safety of the drive motor through one-way stator temperature sampling, and give full play to the maximum performance of the motor; at the same time, considering the extreme abuse conditions, such as Accuracy of motor self-thermal protection and off-line estimation during frequent entry and exit locked-rotor conditions.
可选的，如图2所示，在本发明另外的实施例中，所述步骤“获取电机电流值”之前，包括以下步骤：Optionally, as shown in FIG. 2 , in another embodiment of the present invention, before the step "obtaining the motor current value", the following steps are included:
基于电控最大电流值控制电机处于最大堵转能力状态，获取电机的三相温度变化曲线；Based on the maximum current value of the electronic control, the motor is controlled to be in the state of the maximum locked-rotor capacity, and the three-phase temperature change curve of the motor is obtained;
根据所述电机允许最大温度和所述三相温度变化曲线，获取以不同温度升至所述电机允许最大温度对应的堵转时间，以及升温过程的温度变化曲线，并建立相应的映射表。According to the maximum allowable temperature of the motor and the three-phase temperature change curve, obtain the stall time corresponding to the maximum allowable temperature of the motor at different temperatures, and the temperature change curve of the heating process, and establish a corresponding mapping table.
具体的，本实施例中，基于量产电机进行改制，电机的三相均埋置定子温度传感器；按照驱动电机控制器可以热平衡的电控最大电流值进行堵转台架测试，电控最大电流值为电机的控制器允许的最大电流值，电控最大电流值大于电机持续堵转电流值，并记录在该电控最大电流值对应的扭矩段内的三相温度值，获取电机的三相温度变化曲线，三相温度变化曲线记录了每一相中温度随时间变化的状态，因此也能从中读取由某一温度上升至另一温度所需要的时间。Specifically, in this embodiment, based on the mass production of the motor, the stator temperature sensor is embedded in the three phases of the motor; the locked-rotor bench test is performed according to the maximum electric current value that can be thermally balanced by the drive motor controller, and the maximum electric current is controlled. The value is the maximum current value allowed by the controller of the motor. The maximum current value of the electronic control is greater than the continuous stall current value of the motor, and the three-phase temperature value in the torque section corresponding to the maximum current value of the electronic control is recorded to obtain the three-phase temperature value of the motor. The temperature change curve, the three-phase temperature change curve records the state of the temperature change with time in each phase, so it can also read the time required to rise from a certain temperature to another temperature.
根据电机允许最大温度和三相温度变化曲线，获取以不同温度升至电机允许最大温度对应的堵转时间，以及升温过程的温度变化曲线，并建立相应的映射表。According to the maximum allowable temperature of the motor and the three-phase temperature change curve, obtain the stall time corresponding to the maximum allowable temperature of the motor at different temperatures, as well as the temperature change curve during the heating process, and establish a corresponding mapping table.
本发明通过在电机的三相均埋置定子温度传感器，然后以电控的最大性能允许的电控最大电流值进行堵转台架测试，从而确定可以堵转的最长时间，提高电机自我热保护和离线估算的准确性。In the invention, the stator temperature sensor is embedded in the three phases of the motor, and then the locked-rotor bench test is carried out with the maximum current value of the electronic control allowed by the maximum performance of the electronic control, so as to determine the longest time that can be blocked and improve the self-heating of the motor. Accuracy of protection and offline estimation.
可选的，在本发明另外的实施例中，所述步骤“若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值”，包括以下步骤：Optionally, in another embodiment of the present invention, in the step "if the motor current value is greater than the motor continuous locked-rotor current value, then according to the initial temperature of the winding, the time to enter the locked-rotor and the corresponding mapping table. Obtain the maximum time of stall and the estimated value of the stator temperature of the motor, the continuous stall current value of the motor is greater than the stall current value", including the following steps:
若所述电机电流值大于电机持续堵转电流值，则获取堵转记录；If the motor current value is greater than the motor continuous locked-rotor current value, obtain a locked-rotor record;
若根据所述堵转记录判定为当前上电后首次进入最大堵转能力状态，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值；If it is determined according to the locked-rotor record that the state of the maximum locked-rotor capacity is entered for the first time after the current power-on, the maximum locked-rotor time and the motor stator temperature estimation are obtained according to the initial temperature of the winding, the time to enter the locked-rotor, and the corresponding mapping table. value;
若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值和修正系数；If it is determined according to the locked-rotor record that it is not the first time to enter the maximum locked-rotor capability state after the current power-on, obtain the calibration temperature difference value and the correction coefficient;
根据所述绕组初始温度、所述进入堵转时间、所述标定温差值、所述修正系数以及相应的映射表获取堵转最大时间和电机定子温度估算值。The maximum locked-rotor time and the estimated value of the motor stator temperature are obtained according to the initial temperature of the winding, the time to enter the locked-rotor, the calibration temperature difference value, the correction coefficient and the corresponding mapping table.
具体的，本实施例中，如果判定电机进入最大堵转能力状态，且电机电流值大于电机持续堵转电流值，则获取堵转记录，判断当前上电后进入最大堵转能力状态的次数。如果此次堵转为当前上电后首次进入最大堵转能力状态，则根据绕组初始温度、进入堵转时间以及相应的映射表直接获取堵转最大时间和电机定子温度估算值。其中，映射表中包含温度随时间变化的温度变化曲线，因此根据绕组初始温度确定初始时间节点，根据电机允许最大温度确定对应的终止时间节点，初始时间节点和终止时间节点的时间差为堵转最大时间。根据进入堵转时间和初始时间节点可以确定当前时刻的电机定子温度估算值。Specifically, in this embodiment, if it is determined that the motor enters the state of maximum locked-rotor capability, and the motor current value is greater than the value of the motor's continuous locked-rotor current value, the locked-rotor record is obtained to determine the number of times that the motor enters the state of maximum locked-rotor capability after the current power-on. If this locked rotor is the first time to enter the maximum locked rotor capacity state after the current power-on, the maximum locked rotor time and the estimated value of the motor stator temperature are directly obtained according to the initial winding temperature, the time to enter the locked rotor and the corresponding mapping table. Among them, the mapping table contains the temperature change curve of temperature over time, so the initial time node is determined according to the initial temperature of the winding, and the corresponding termination time node is determined according to the maximum allowable temperature of the motor. The time difference between the initial time node and the termination time node is the maximum stalled rotor. time. The estimated value of the stator temperature of the motor at the current moment can be determined according to the time of entering the stall and the initial time node.
如果此次堵转不是当前上电后首次进入最大堵转能力状态，为了避免之前出现堵转带来的误差，需要基于当前电机的状态进行修正。因此获取标定温差值和修正系数，根据绕组初始温度、进入堵转时间、标定温差值、修正系数以及相应的映射表获取堵转最大时间和电机定子温度估算值。If this stall is not the first time to enter the maximum stall capability state after the current power-on, in order to avoid errors caused by the stall before, it needs to be corrected based on the current state of the motor. Therefore, the calibrated temperature difference value and correction coefficient are obtained, and the maximum locked-rotor time and the estimated value of the motor stator temperature are obtained according to the initial temperature of the winding, the time to enter the locked rotor, the calibrated temperature difference value, the correction coefficient and the corresponding mapping table.
可选的，在本发明另外的实施例中，所述步骤“若根据所述堵转记录判定为当前非上电后首次进入最大堵转能力状态，则获取标定温差值和修正系数”之后，包括以下步骤：Optionally, in another embodiment of the present invention, after the step of "if it is determined according to the locked-rotor record that it is the first time to enter the maximum locked-rotor capacity state after the current non-power-on, then the calibration temperature difference value and the correction coefficient are obtained", Include the following steps:
若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值；If it is determined according to the locked-rotor record that it is not the first time to enter the state of the maximum locked-rotor capability after the current power-on, obtain the calibrated temperature difference value;
获取电机进入堵转工况时电机三相的电流值中的最大电流值和最小电流值；Obtain the maximum current value and the minimum current value among the three-phase current values of the motor when the motor enters the locked-rotor condition;
获取设有温度传感器的相电流值和电机最大性能电流值；Obtain the phase current value with temperature sensor and the maximum performance current value of the motor;
根据所述最大电流值、所述最小电流值、所述相电流值和所述电机最大性能电流值获取所述修正系数。The correction coefficient is obtained according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
具体的，本实施例中，如果此次堵转不是当前上电后首次进入最大堵转能力状态，则获取标定温差值，标定温差值为标定值，为确定的定值。获取电机进入堵转工况时电机三相的所有电流值，识别其中的最大电流值和最小电流值。本实施例适用于电机三相电路中仅一项设有温度传感器的电机，获取设有温度传感器的相电流值和电机最大性能电流值，电机最大性能电流值为根据电机的性能参数判定电机达到最大性能对应的电流值。根据最大电流值、最小电流值、相电流值和电机最大性能电流值获取修正系数。Specifically, in this embodiment, if the locked rotor is not the first time to enter the maximum locked rotor capability state after the current power-on, the calibration temperature difference value is obtained, and the calibration temperature difference value is the calibration value, which is a determined fixed value. Obtain all the current values of the three phases of the motor when the motor enters the locked-rotor condition, and identify the maximum current value and the minimum current value. This embodiment is applicable to a motor with only one of the three-phase circuits of the motor provided with a temperature sensor. The phase current value provided with the temperature sensor and the maximum performance current value of the motor are obtained. The maximum performance current value of the motor is determined according to the performance parameters of the motor. The current value corresponding to the maximum performance. The correction factor is obtained based on the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor.
获取绕组初始温度TS0(首次检测值)，计算出温度查表值TS0+k△T；k值根据三相电流幅值关系确定(上电后第一次堵转时k＝0，第二次及以上则k＝(|Imax|-|Iv|)/(|Imax|-|Imin|))；其中Iv为具备绕组温度传感器的相电流，Imax和Imin为电机三相中最大和最小电流值，该值可通过控制器内置的电流霍尔采集；通过k值的定义，对堵转进入的初始温度TS进行估算。Obtain the initial winding temperature TS0 (the first detection value), and calculate the temperature look-up table value TS0+k△T; the k value is determined according to the relationship between the three-phase current amplitudes (k=0 when the rotor is locked for the first time after power-on, and the second time and above, k=(|Imax|-|Iv|)/(|Imax|-|Imin|)); where Iv is the phase current with the winding temperature sensor, and Imax and Imin are the maximum and minimum current values in the three phases of the motor , the value can be collected by the built-in current Hall of the controller; through the definition of k value, the initial temperature TS entering the locked rotor is estimated.
可选的，在本发明另外的实施例中，所述步骤“若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值”之前，包括以下步骤：Optionally, in another embodiment of the present invention, before the step "if it is determined according to the locked-rotor record that it is not the first time to enter the maximum locked-rotor capability state after the current power-on, obtain the calibrated temperature difference value", the following steps are included. :
基于电机持续堵转电流值控制电机处于最大堵转能力状态，获取达到热平衡状态后电机的三相最大温差值为所述标定温差值。The motor is controlled to be in a state of maximum locked-rotor capability based on the continuous locked-rotor current value of the motor, and the three-phase maximum temperature difference value of the motor after reaching the thermal equilibrium state is obtained as the calibrated temperature difference value.
具体的，本实施例中，电机在额定扭矩即电机持续堵转电流值下，长时堵转，三相温度稳定达到热平衡状态后，各角度下三相温差最大即为标定温差值。Specifically, in this embodiment, when the motor is locked for a long time at the rated torque, that is, the motor continuously locked rotor current value, after the three-phase temperature stably reaches the thermal equilibrium state, the maximum three-phase temperature difference at each angle is the calibrated temperature difference value.
可选的，在本发明另外的实施例中，所述步骤“当预设时间内所述电机电流值均大于等于堵转电流值时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间”之后，包括以下步骤：Optionally, in another embodiment of the present invention, the step "when the current value of the motor is greater than or equal to the locked-rotor current value within the preset time, determine that the motor enters the locked-rotor working condition, perform the locked-rotor protection, and obtain the After winding initial temperature and entering stall time", the following steps are included:
若所述电机电流值小于等于电机持续堵转电流值，则获取所述电机持续堵转电流值对应的转矩限值；If the motor current value is less than or equal to the motor continuous locked rotor current value, obtain the torque limit value corresponding to the motor continuous locked rotor current value;
控制电机按照所述转矩限值输出。Control the output of the motor according to the torque limit.
具体的，本实施例中，当判定电机处于最大堵转能力状态时，如果进一步判定电机电流值小于等于电机持续堵转电流值，说明电机虽然发生堵转，但是处于电机允许的范围之内，不需要进行额外的操作。获取电机持续堵转电流值对应的转矩限值，控制电机按照转矩限值输出，限制电机的输出不超过转矩限值，电机可以长期处于当前状态下。Specifically, in this embodiment, when it is determined that the motor is in the state of maximum locked-rotor capability, if it is further determined that the current value of the motor is less than or equal to the current value of the motor's continuous locked-rotor, it means that although the motor is locked, it is within the allowable range of the motor. No additional action is required. Obtain the torque limit corresponding to the motor's continuous stall current value, control the motor to output according to the torque limit, limit the output of the motor not to exceed the torque limit, and the motor can be in the current state for a long time.
其中，堵转保护原理图如图3所示，t1时间段表示输出电流上限降到I1的时间，其中I1为控制器可持续堵转的电流(电控最大电流值)；t2时间段根据绕组温度初始检测值Ts0计算，通过查表可得；t3时间段为输出电流上限降到TRQstall_limit(转矩限值)所对应电流{电机持续堵转电流值)的时间，可通过标定确定；t4时间段表示TRQstall_limit所对应电流的维持时间；t5时间段表示退出堵转保护功能的判断时间，通过标定确定；t6＝COUNT_DELAY_MAX，表示退出堵转保护功能后的延迟时间；t7表示输出电流上限升到实际能输出的Imax(电机最大性能电流值)所需时间，该值应尽可能短。Among them, the schematic diagram of the locked-rotor protection is shown in Figure 3. The t1 time period represents the time when the upper limit of the output current drops to I1, where I1 is the current that the controller can continuously block the rotor (the maximum current value of the electronic control); the t2 time period is based on the winding The initial temperature detection value Ts0 is calculated, which can be obtained by looking up the table; the time period t3 is the time when the upper limit of the output current drops to the current corresponding to the TRQstall_limit (torque limit) (the current value of the motor continuously stalled), which can be determined by calibration; time t4 The segment represents the maintenance time of the current corresponding to TRQstall_limit; the t5 time segment represents the judgment time for exiting the stall protection function, which is determined by calibration; t6=COUNT_DELAY_MAX, which means the delay time after exiting the stall protection function; t7 means that the output current upper limit rises to the actual value The time required for the output Imax (the maximum performance current value of the motor) should be as short as possible.
如图4所示，本发明提供一种驱动电机堵转控制系统100，包括：As shown in FIG. 4, the present invention provides a drive motor stall control system 100, including:
电流获取模块110，用于获取电机电流值和电机转速；a current acquisition module 110, configured to acquire the motor current value and the motor speed;
工况分析模块120，与所述电流获取模块110通讯连接，用于当预设时间内所述电机电流值均大于等于堵转电流值、且所述电机转速均小于预设堵转转速时，判定电机进入堵转工况，进行堵转保护，获取绕组初始温度和进入堵转时间；调整标志位为堵转保护状态，并执行冷却操作。The working condition analysis module 120 is connected in communication with the current acquisition module 110, and is configured to, when the current value of the motor is greater than or equal to the stall current value within a preset time, and the rotational speed of the motor is less than the preset stall rotational speed, It is determined that the motor is in the locked-rotor condition, and the locked-rotor protection is performed to obtain the initial temperature of the winding and the locked-rotor time; adjust the flag bit to the locked-rotor protection state, and perform the cooling operation.
堵转指标获取模块130，与所述工况分析模块120通讯连接，用于若所述电机电流值大于电机持续堵转电流值，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值，所述电机持续堵转电流值大于所述堵转电流值；若所述电机电流值大于电机持续堵转电流值，则获取堵转记录；若根据所述堵转记录判定为当前上电后首次进入最大堵转能力状态，则根据所述绕组初始温度、所述进入堵转时间以及相应的映射表获取堵转最大时间和电机定子温度估算值；若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值和修正系数；根据所述绕组初始温度、所述进入堵转时间、所述标定温差值、所述修正系数以及相应的映射表获取堵转最大时间和电机定子温度估算值。若根据所述堵转记录判定为当前上电后非首次进入最大堵转能力状态，则获取标定温差值；获取电机进入堵转工况时电机三相的电流值中的最大电流值和最小电流值；获取设有温度传感器的相电流值和电机最大性能电流值；根据所述最大电流值、所述最小电流值、所述相电流值和所述电机最大性能电流值获取所述修正系数。基于电机持续堵转电流值控制电机处于最大堵转能力状态，获取达到热平衡状态后电机的三相最大温差值为所述标定温差值。基于电控最大电流值控制电机处于最大堵转能力状态，获取电机的三相温度变化曲线；根据所述电机允许最大温度和所述三相温度变化曲线，获取以不同温度升至所述电机允许最大温度对应的堵转时间，以及升温过程的温度变化曲线，并建立相应的映射表。The locked-rotor index acquisition module 130 is connected in communication with the working condition analysis module 120, and is used for, if the current value of the motor is greater than the continuous locked-rotor current value of the motor, according to the initial temperature of the winding, the time to enter the locked-rotor and the corresponding The mapping table for obtaining the maximum locked rotor time and the estimated value of the motor stator temperature, the motor continuous locked rotor current value is greater than the locked rotor current value; if the motor current value is greater than the motor continuous locked rotor current value, then obtain the locked rotor record ; If it is determined according to the locked-rotor record that it enters the maximum locked-rotor capacity state for the first time after the current power-on, the maximum locked-rotor time and the motor stator temperature are obtained according to the initial temperature of the winding, the time to enter the locked-rotor and the corresponding mapping table. Estimated value; if it is determined according to the locked-rotor record that it is not the first time to enter the maximum locked-rotor capacity state after the current power-on, the calibrated temperature difference value and correction coefficient are obtained; The calibrated temperature difference value, the correction coefficient and the corresponding mapping table obtain the maximum stall time and the estimated value of the motor stator temperature. If it is determined according to the locked-rotor record that it is not the first time to enter the maximum locked-rotor capacity state after the current power-on, the calibrated temperature difference value is obtained; the maximum current value and the minimum current of the three-phase current values of the motor when the motor enters the locked-rotor working condition are obtained. obtain the phase current value provided with the temperature sensor and the maximum performance current value of the motor; obtain the correction coefficient according to the maximum current value, the minimum current value, the phase current value and the maximum performance current value of the motor. The motor is controlled to be in a state of maximum locked-rotor capability based on the continuous locked-rotor current value of the motor, and the three-phase maximum temperature difference value of the motor after reaching the thermal equilibrium state is obtained as the calibrated temperature difference value. Based on the maximum electric current value, the motor is controlled to be in the state of maximum locked-rotor capacity, and the three-phase temperature change curve of the motor is obtained; according to the maximum allowable temperature of the motor and the three-phase temperature change curve, the temperature rising to the allowable temperature of the motor at different temperatures is obtained. The locked-rotor time corresponding to the maximum temperature, and the temperature change curve of the heating process, and a corresponding mapping table is established.
温度获取模块140，获取电机允许最大温度；The temperature obtaining module 140 obtains the maximum allowable temperature of the motor;
堵转保护模块150，与所述堵转指标获取模块130和所述温度获取模块140通讯连接，用于当所述电机定子温度估算值大于等于所述电机允许最大温度或所述进入堵转时间大于等于所述堵转最大时间时，退出堵转保护，降低电机输出扭矩。若所述电机电流值小于等于电机持续堵转电流值，则获取所述电机持续堵转电流值对应的转矩限值；控制电机按照所述转矩限值输出。当所述电机电流值小于堵转电流值时，判定电机退出堵转工况。The locked-rotor protection module 150 is connected in communication with the locked-rotor index obtaining module 130 and the temperature obtaining module 140, and is used for when the estimated value of the stator temperature of the motor is greater than or equal to the maximum allowable temperature of the motor or the time for entering the locked-rotor When it is greater than or equal to the maximum locked-rotor time, the locked-rotor protection is exited and the output torque of the motor is reduced. If the motor current value is less than or equal to the motor continuous locked-rotor current value, obtain the torque limit value corresponding to the motor continuous locked-rotor current value; control the motor to output according to the torque limit value. When the motor current value is less than the locked rotor current value, it is determined that the motor exits the locked rotor condition.
具体的，本实施例中各个模块的实现方式在上述对应的方法实施例中已经进行了详细阐述，因此不再进行一一说明。Specifically, the implementation manner of each module in this embodiment has been described in detail in the corresponding method embodiment above, and thus will not be described one by one.
基于同一发明构思，本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述方法的所有方法步骤或部分方法步骤。Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, all or part of the method steps of the above method are implemented.
本发明实现上述方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，计算机程序包括计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读介质可以包括：能够携带计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，RandomAccess Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。The present invention realizes all or part of the process in the above method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can realize The steps of each of the above method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate forms, and the like. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in computer-readable media may be appropriately increased or decreased in accordance with the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include Electrical carrier signals and telecommunication signals.
基于同一发明构思，本申请实施例还提供一种电子设备，包括存储器和处理器，存储器上储存有在处理器上运行的计算机程序，处理器执行计算机程序时实现上述方法中的所有方法步骤或部分方法步骤。Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, where a computer program running on the processor is stored in the memory, and when the processor executes the computer program, all the method steps in the above method or Some method steps.
所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，处理器是计算机装置的控制中心，利用各种接口和线路连接整个计算机装置的各个部分。The processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf processors Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.
存储器可用于存储计算机程序和/或模块，处理器通过运行或执行存储在存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现计算机装置的各种功能。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(例如声音播放功能、图像播放功能等)；存储数据区可存储根据手机的使用所创建的数据(例如音频数据、视频数据等)。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(SmartMedia Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory can be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory can mainly include a stored program area and a stored data area, wherein the stored program area can store the operating system and the application program required for at least one function (such as sound playback function, image playback function, etc.); Use the created data (eg audio data, video data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、服务器或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.
本发明是参照根据本发明实施例的方法、设备(系统)、服务器和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.
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