CN114123869A - Motor control method, device, electronic equipment and storage medium - Google Patents
Motor control method, device, electronic equipment and storage medium Download PDFInfo
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- CN114123869A CN114123869A CN202111308351.5A CN202111308351A CN114123869A CN 114123869 A CN114123869 A CN 114123869A CN 202111308351 A CN202111308351 A CN 202111308351A CN 114123869 A CN114123869 A CN 114123869A
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
Abstract
The embodiment of the application provides a motor control method, a motor control device, electronic equipment and a storage medium, wherein the method comprises the following steps: outputting a pulse width modulation signal; the pulse width modulation signal comprises a first pulse width modulation signal for driving the first motor and a second pulse width modulation signal for driving the second motor; detecting time difference information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used for indicating the rotation frequency of the motor; according to the time difference information, adjusting the duty ratio of the target pulse width modulation signal to enable the speed difference value of the first motor and the second motor to be smaller than or equal to a preset value; the target pulse width modulation signal includes a first pulse width modulation signal or a second pulse width modulation signal. Based on the motor control method provided by the application, the rotation speed synchronism of the motor in the motor set can be improved.
Description
Technical Field
The embodiment of the application relates to the technical field of electrical control, in particular to a motor control method and device, electronic equipment and a computer storage medium.
Background
In the related art, a Closed Loop Control (Closed Loop Control) strategy is adopted, and a uniform driving signal is adopted to Control the rotating speed of each motor (Electric motor) in the motor set to approach a given speed value, so as to realize the rotating speed synchronization of each motor in the motor set.
However, due to the consistency of the motors, in practical applications, different brushless dc motors have individual differences, and under the control of a unified driving signal, a speed deviation still exists between two motors in the motor set. Therefore, how to improve the rotation speed synchronism of the motors in the motor set becomes an important problem to be solved urgently.
Disclosure of Invention
The embodiment of the application provides a motor control method, a motor control device, electronic equipment and a computer storage medium, which can improve the rotation speed synchronism of a motor in a motor set.
The motor control method provided by the embodiment of the application comprises the following steps:
outputting a pulse width modulation signal; the pulse width modulation signal comprises a first pulse width modulation signal for driving a first motor and a second pulse width modulation signal for driving a second motor;
detecting time difference information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used for indicating the rotation frequency of the motor;
according to the time difference information, adjusting the duty ratio of a target pulse width modulation signal to enable the speed difference value of the first motor and the second motor to be smaller than or equal to a preset value; the target pulse width modulation signal comprises the first pulse width modulation signal or the second pulse width modulation signal.
In one implementation, the detecting information of a time difference between the feedback signal of the first motor and the feedback signal of the second motor includes:
determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0;
the adjusting the duty ratio of the target pulse width modulation signal according to the time difference information includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
In one implementation, the detecting information of a time difference between the feedback signal of the first motor and the feedback signal of the second motor includes:
determining a first time value indicative of a time difference of a feedback signal of the first motor and a feedback signal of the second motor within an ith control period of the target PWM signal;
determining a second time value, the first time value indicating a time difference of a feedback signal of the first motor and a feedback signal of the second motor in an i-1 control period of the target PWM signal;
the adjusting the duty ratio of the target pulse width modulation signal according to the time difference information includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the difference information of the first time value and the second time value.
In one implementation, the adjusting the duty ratio of the target pwm signal in the (i + 1) th control period includes:
determining that the time period of the feedback signal of the first motor is greater than the time period of the feedback signal of the second motor, and increasing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or, reducing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period;
determining that the time period of the feedback signal of the first motor is smaller than the time period of the feedback signal of the second motor, and reducing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or increasing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period.
In one implementation, the adjusting the duty cycle of the target pwm signal according to the time difference information includes:
determining a reference value of the duty ratio of the first pulse width modulation signal according to the duty ratio of the second pulse width modulation signal;
determining a compensation value of a reference value of the duty ratio of the first pulse width modulation signal according to the time difference information;
determining a target duty ratio of the first pulse width modulation signal according to the reference value and the compensation value; and adjusting the duty ratio of the first pulse width modulation signal according to the target duty ratio.
In one implementation, the adjusting the duty cycle of the target pwm signal according to the time difference information includes:
and determining that the time difference information is longer than a preset time length, and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information.
The embodiment of the application provides a motor control device, includes:
the output module is used for outputting a pulse width modulation signal; the pulse width modulated signals include a first pulse width modulated signal to drive the first motor and a second pulse width modulated signal to drive the second motor.
The detection module is used for detecting time difference value information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used to indicate the rotational frequency of the motor.
The adjusting module is used for adjusting the duty ratio of a target pulse width modulation signal according to the time difference information, so that the speed difference value of the first motor and the second motor is smaller than or equal to a preset value; the target pulse width modulation signal comprises the first pulse width modulation signal or the second pulse width modulation signal.
In one implementation, the detecting module is configured to detect time difference information of a feedback signal of the first motor and a feedback signal of the second motor, and includes:
determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0;
the adjusting module is configured to adjust a duty ratio of a target pwm signal according to the time difference information, and includes: and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
In one implementation, the detecting module is configured to detect time difference information of a feedback signal of the first motor and a feedback signal of the second motor, and includes:
determining a first time value indicative of a time difference of a feedback signal of the first motor and a feedback signal of the second motor within an ith control period of the target PWM signal;
determining a second time value, the first time value indicating a time difference of a feedback signal of the first motor and a feedback signal of the second motor in an i-1 control period of the target PWM signal;
the adjusting module is configured to adjust a duty ratio of a target pwm signal according to the time difference information, and includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the difference information of the first time value and the second time value.
In one implementation, the adjusting module is configured to adjust a duty cycle of a target pwm signal, and includes:
determining that the time period of the feedback signal of the first motor is greater than the time period of the feedback signal of the second motor, and increasing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or, reducing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period;
determining that the time period of the feedback signal of the first motor is smaller than the time period of the feedback signal of the second motor, and reducing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or increasing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period.
In one implementation, the adjusting module is configured to adjust a duty cycle of a target pwm signal according to the time difference information, and includes:
determining a reference value of the duty ratio of the first pulse width modulation signal according to the duty ratio of the second pulse width modulation signal;
determining a compensation value of a reference value of the duty ratio of the first pulse width modulation signal according to the time difference information;
determining a target duty ratio of the first pulse width modulation signal according to the reference value and the compensation value; and adjusting the duty ratio of the first pulse width modulation signal according to the target duty ratio.
In one implementation, the adjusting module is configured to adjust a duty cycle of a target pwm signal according to the time difference information, and includes:
and determining that the time difference information is longer than a preset time length, and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information.
The embodiment of the present application provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the motor control method provided in one or more of the foregoing technical solutions is implemented.
The embodiment of the application provides a computer storage medium, wherein a computer program is stored in the computer storage medium; the computer program can implement the motor control method provided by one or more of the above technical solutions after being executed.
Based on the motor control method provided by the application, the pulse width modulation signal comprises a first pulse width modulation signal for driving the first motor and a second pulse width modulation signal for driving the second motor; time difference information of a feedback signal of the first motor and a feedback signal of the second motor is detected. The time difference information of the feedback signal is positively correlated with the speed difference between the motors, so that the speed difference between the motors can be inhibited when the duty ratio of the target pulse width modulation signal is adjusted according to the time difference information, the speed difference between the first motor and the second motor is gradually smaller than or equal to a preset value, and the rotating speed synchronism of the motors in the motor set is 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
Fig. 1 is a first application scenario diagram of a motor control method provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure;
fig. 3 is a waveform diagram of a feedback signal of a motor according to an embodiment of the present disclosure;
fig. 4 is a first schematic diagram of a speed variation curve of a motor according to an embodiment of the present disclosure;
fig. 5 is a second schematic diagram of a speed variation curve of the motor according to the embodiment of the present application;
fig. 6 is a first flowchart illustrating a process of adjusting a duty cycle of a target pwm signal according to an embodiment of the present disclosure;
fig. 7 is a second flowchart illustrating a process of adjusting the duty ratio of the target pwm signal according to an embodiment of the present application;
fig. 8 is a third schematic flowchart of a process of adjusting the duty ratio of the target pwm signal according to an embodiment of the present application;
fig. 9 is a schematic flowchart of another motor control method provided in the embodiment of the present application;
fig. 10 is a diagram of an application scenario of a motor control method according to an embodiment of the present application;
fig. 11 is a third application scenario diagram of the motor control method provided in the embodiment of the present application;
fig. 12 is a schematic diagram of a motor control apparatus according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the examples provided herein are merely illustrative of the present application and are not intended to limit the present application. In addition, the following examples are provided as partial examples for implementing the present application, not all examples for implementing the present application, and the technical solutions described in the examples of the present application may be implemented in any combination without conflict.
Fig. 1 shows an application scenario diagram of a motor control method provided in an embodiment of the present application. Referring to fig. 1, a first motor 101 and a second motor 102 are used for driving a lifting door, and the two motors are respectively provided with 1 gear, wherein a gear 103 is arranged on a rotating shaft of the first motor 101, and a gear 104 is arranged on a rotating shaft of the second motor 102.
In the example, the gear 103 and the gear 104 are identical in shape and size. A rack 105 is engaged between the gear 103 and the gear 104, and the rack 105 can be fixed on the lifting door.
It should be understood that the two motors are oppositely reversed, and when the speeds of the motor 101 and the motor 102 are synchronized, the forces exerted on the lifting door by the two motors reach moment equilibrium, and the lifting door is driven to ascend or descend together.
In an example, the brushless dc motor has a small volume, and when the motor is selected, the brushless dc motor may be used as the motor 101 or the motor 102. That is, two brushless dc motors are used to drive the lift gate.
In practical application, when two motors are adopted to drive the lifting door to ascend/descend, when the two motors have speed deviation in the working process, the situation that the power supplied to the lifting door is unbalanced occurs.
The motor control method provided by the embodiment of the application can be applied to an indoor unit of a cabinet air conditioner, the indoor unit is provided with a storage bin, and the motor control method is executed by a processor to realize control of a lifting door of the storage bin.
Fig. 2 shows a schematic flowchart of a motor control method provided in an embodiment of the present application. Referring to fig. 2, a motor control method provided in an embodiment of the present application may perform the following steps:
step A201: outputting a pulse width modulation signal; the pulse width modulated signals include a first pulse width modulated signal that drives the first motor and a second pulse width modulated signal that drives the second motor.
Here, the types of the first motor and the second motor may include any one of: step motor, brushless DC motor.
In the example, a Pulse Width Modulation (PWM) signal is output, and the first motor 101 and the second motor 102 are independently controlled by the first PWM signal and the second PWM signal, respectively.
It should be understood that the pwm signal is a periodic pulse signal with alternating high and low levels, and the rotation speed and the rotation direction of the motor can be controlled based on the duty ratio of the high level and the low level.
In practical applications, the pwm signal is a square wave signal, and in one period, the proportion of the high level period of the square wave signal to the whole period is the duty ratio. The larger the duty ratio of the pulse width modulation signal, the larger the rotational speed of the motor.
In an example, when the lift gate up/down procedure is performed, the two PWM waves respectively drive the first motor 101 and the second motor 102 to operate at a set speed.
It should be understood that during operation of the first and second motors 101, 102, the two motors may each output a feedback signal regarding the rotational speed of the motor.
Step A202: detecting time difference information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used to indicate the rotational frequency of the motor.
Here, the Feedback Signal may be a Feedback Signal (Feedback Signal) of the rotational speed of the motor. The frequency of the feedback signal is positively correlated with the rotational frequency of the motor.
In an example, the feedback signal of the motor is an orthogonal coding signal containing position information, the phase difference of the two signals is 90 degrees, and the frequency of the signals reflects the rotating speed of the motor.
In practical applications, the feedback signal of the motor may be a feedback signal sent by a rotary encoder of the motor through a digital-to-analog conversion card.
In an example, during the operation of the first motor 101 and the second motor 102, the time period T1 of the feedback signal of the first motor and the time period T2 of the feedback signal of the second motor are detected.
In an example, referring to fig. 3, in fig. 3, the abscissa is time in seconds (S); the ordinate is the feedback signal. Monitoring the time period T for each feedback signal output by the first motor 101 using a first timeriM1Monitoring the time period T of each feedback signal output by the second motor 102 using a second timeriM2。
In an example, time difference information of a feedback signal of a first motor and a feedback signal of a second motor is determined, where the time difference information of the ith control period feedback signal is denoted as Δ TiThen Δ Ti＝TiM2-TiM1。
It should be understood that monitoring the feedback signals of the two motors for "relative synchronization" allows one to determine the synchronicity of the two motors.
In an example, referring to fig. 4, in fig. 4, the abscissa is time in seconds (S); the ordinate is the speed in revolutions per minute (r/min). Wherein the velocity curve VM1、VM2Respectively used for indicating the rotating speed of the first motor M1 and the second motor M2.
Step A203: and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information, so that the speed difference value of the first motor and the second motor is smaller than or equal to a preset value.
In an example, the target pulse width modulated signal comprises a first pulse width modulated signal or a second pulse width modulated signal.
In the example, in the ith control period, the time difference information Δ Ti＝TiM2-TiM1<0, indicates that the rotational speed of the first motor 101 is less than the rotational speed of the second motor 102.
In this case, when it is determined that the rotation speed of the first motor is relatively small based on the time difference information, the duty ratio of the first pulse width modulation signal is increased.
In an example, in the ith control period, the time difference information Δ Ti ═ TiM2-TiM1>0, indicates that the rotational speed of the first motor 101 is greater than the rotational speed of the second motor 102.
In this case, when it is determined that the rotational speed of the first motor is relatively large based on the time difference information, the duty ratio of the first pulse width modulation signal is decreased.
It will be appreciated that when two motors drive the lift gate simultaneously, the difference in speed that exists between the two motors is reduced, see fig. 5, such that the rotational speed V of the first motor is such thatM1And the rotational speed V of the second motorM2Satisfy | VM1-VM2|<a and a are preset values and gradually reach VM1＝VM2Improving the effect of two motors on the lifting doorThe balance of forces. Therefore, it is more important to improve the synchronization of the rotational speeds of the motors in the motor group than to reduce the deviation of the rotational speed of each motor from a given speed.
In the above aspect, the pulse width modulation signal includes a first pulse width modulation signal that drives the first motor and a second pulse width modulation signal that drives the second motor; time difference information of a feedback signal of the first motor and a feedback signal of the second motor is detected. The time difference information of the feedback signal is positively correlated with the speed difference between the motors, so that the speed difference between the motors can be inhibited when the duty ratio of the target pulse width modulation signal is adjusted according to the time difference information, the speed difference between the first motor and the second motor is gradually smaller than or equal to a preset value, and the rotating speed synchronism of the motors in the motor set is improved.
In practical applications, the steps a201 to a203 may be implemented by a Processor, and the Processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor.
In one implementation, time difference information of a feedback signal of a first motor and a feedback signal of a second motor is detected; adjusting the duty cycle of the target pwm signal based on the time difference information, see fig. 6, may perform the following steps:
step A601: determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0.
In an example, referring to fig. 3, during the ith control period, a first timer is used to monitor the time period T during which the first motor 101 outputs each feedback signaliM1Using a second timer to monitorThe time period T for each feedback signal output by the two motors 102iM2。
In an example, time difference information of a feedback signal of a first motor and a feedback signal of a second motor is obtained. Here, the time difference information of the ith control period feedback signal is denoted as Δ TiThen Δ Ti＝TiM2-TiM1。
Step A602: and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
Here, the (i + 1) th control period may be the next control period after the end of the (i) th control period.
In the example, if the time difference information Δ Ti ═ TiM2-TiM1<0, indicates that the rotational speed of the second motor 102 is greater than the rotational speed of the first motor 101.
In this case, the duty ratio of the second pulse width modulation signal, that is, the PWM duty ratio of the second motor 102 may be decreased to decrease the rotation speed of the second motor 102.
In the example, if the time difference information Δ Ti ═ TiM2-TiM1>0, which indicates that the rotational speed of the second motor 102 is less than the rotational speed of the first motor 101.
In this case, the duty ratio of the second pulse width modulation signal, that is, the PWM duty ratio of the second motor 102 may be increased to increase the rotation speed of the second motor 102.
In the example, if the time difference information Δ Ti ═ TiM2-TiM1The second motor 102 and the first motor 101 are operated at the same speed, which is 0. In this case, the PWM duty of the first motor 101 and the PWM duty of the second motor 102 can be maintained.
In the above scheme, the control period of the motor is divided into the ith control period and the (i + 1) th control period, and the duty ratio of the target pulse width modulation signal in the (i + 1) th control period is adjusted according to the time difference information of the feedback signal in the ith control period, so that the speed difference between the motors can be dynamically adjusted, and the real-time adjustment of the rotation speed of the motor is realized.
In one implementation, time difference information of a feedback signal of a first motor and a feedback signal of a second motor is detected; adjusting the duty cycle of the target pwm signal based on the time difference information, see fig. 7, may perform the following steps:
step A701: a first time value is determined, the first time value indicating a time difference between a feedback signal of the first motor and a feedback signal of the second motor during an ith control period of the target pulse width modulated signal.
As to how to obtain the first time value, see step a601 above.
Step A702: a second time value is determined, the first time value indicating a time difference between a feedback signal of the first motor and a feedback signal of the second motor during an i-1 th control period of the target pwm signal.
In an example, referring to fig. 3, during the i-1 control period, the time period T1 during which the first motor 101 outputs each feedback signal is monitored using a first timer, and the time period T2 during which the second motor 102 outputs each feedback signal is monitored using a second timer.
In an example, time difference information of a feedback signal of a first motor and a feedback signal of a second motor is obtained. Here, the time difference information of the feedback signal of the i-1 th control cycle is denoted as Δ Ti-1Then Δ Ti-1＝Ti-1M2-Ti-1M1。
Step A703: and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the difference information of the first time value and the second time value.
Here, the difference information between the first time value and the second time value may be expressed as Δ T ═ Δ Ti-ΔTi-1＝(TiM2-TiM1)-(Ti-1M2-Ti-1M1). At Ti-1M2＝Ti-1M1In the case of (1), Δ T is Δ Ti-ΔTi-1＝TiM2-TiM1。
In an example, if Δ T ═ Δ Ti-ΔTi-1<0, illustrating two controls in successionSystem period Ti-1、TiThe time period of the feedback signal of the second motor 102 is smaller than the time period of the feedback signal of the first motor 101, and the rotational frequency of the second motor 102 is greater than the rotational frequency of the first motor 101. In this case, the PWM duty of the second motor 102 may be reduced to reduce the rotation speed of the second motor 102.
In an example, if Δ T ═ Δ Ti-ΔTi-1>0, illustrating two successive control periods Ti-1、TiThe time period of the feedback signal of the second motor 102 is longer than the time period of the feedback signal of the first motor 101, and the rotation frequency of the second motor 102 is lower than the rotation frequency of the first motor 101. In this case, the PWM duty of the second motor 102 may be increased to increase the rotation speed of the second motor 102.
In an example, if Δ T ═ Δ Ti-ΔTi-1When the control period T is two consecutive control periods T, 0 is describedi-1、TiThe time period of the feedback signal of the second motor 102 is equal to the time period of the feedback signal of the first motor 101, and the rotational frequency of the second motor 102 is equal to the rotational frequency of the first motor 101. In this case, the PWM duty of the first motor 101 and the PWM duty of the second motor 102 can be maintained.
In practical applications, the two motors cannot determine the rotor position at the moment of starting, and therefore, the time synchronization of the first feedback signals output by the two motors respectively cannot be ensured, i.e., T cannot be detected1M1＝T1M2. Here, T1M1、T1M2The 1 st control cycle, the time cycle of the feedback signal of the motor M1, and the time cycle of the feedback signal of the motor M2, respectively.
In this case, it is more accurate to determine the variation of the ith control period Δ Ti-1 and the ith control period Δ Ti.
In the above scheme, the difference information between the first time value and the second time value can accurately reflect the time difference of the feedback signals of the i-1 th control period and the i-th control period. Therefore, when the duty ratio of the target pulse width modulation signal in the (i + 1) th control period is adjusted according to the difference information of the first time value and the second time value, the rotation speed synchronism of the motors in the motor set can be improved.
In one implementation, adjusting the duty cycle of the target pwm signal may perform the following steps:
determining that the time period of the feedback signal of the first motor is greater than the time period of the feedback signal of the second motor, and increasing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or, the duty ratio of the second pulse width modulation signal in the (i + 1) th control period is reduced.
In one implementation, adjusting the duty cycle of the target pwm signal may perform the following steps:
determining that the time period of the feedback signal of the first motor is smaller than the time period of the feedback signal of the second motor, and reducing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or increasing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period.
In one implementation, the duty cycle of the target pwm signal is adjusted according to the time difference information, and referring to fig. 8, the following steps may be performed:
step A801: and determining a reference value of the duty ratio of the first pulse width modulation signal according to the duty ratio of the second pulse width modulation signal.
Here, the reference value of the duty ratio of the first pulse width modulation signal is denoted by γ0。
Step A802: and determining a compensation value of the reference value of the duty ratio of the first pulse width modulation signal according to the time difference information.
Here, a reference value of the duty ratio of the first pulse width modulation signal is denoted by Δ γ.
In an example, the time difference information Δ T of the feedback signal according to the ith control cyclei＝TiM2-TiM1Determining a compensation value delta gamma of the reference value as delta TiK. Here, K may be an empirical parameter.
Step A803: determining a target duty ratio of the first pulse width modulation signal according to the reference value and the compensation value; and adjusting the duty ratio of the first pulse width modulation signal according to the target duty ratio.
In the example, the reference value γ is used0And the compensation value delta gamma is delta TiK, determining a target duty cycle gamma of the first PWM signali+1＝γ0+ΔTi*K。
In one implementation, adjusting the duty cycle of the target pwm signal according to the time difference information includes:
and determining that the time difference information is greater than the preset time length, and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information.
Based on the same technical concept of the foregoing embodiments, referring to fig. 9, the motor control method provided in the embodiments of the present application may perform the following steps:
step A901: the PWM control signal of the motor M1 and the PWM control signal of the motor M2 are output.
Step A902: the feedback signal of the motor M1 and the feedback signal of the motor M2 are detected.
Step A903: the time period T1 of the feedback signal of motor M1 and the time period T2 of the feedback signal of motor M2 are determined.
Step A904: calculating time difference information of the ith control period feedback signal: Δ Ti ═ T1-T2.
Step A905: the magnitude relation between the Δ Ti and the Δ Ti-1 was judged.
Step A906: Δ Ti-1< Δ Ti, it is determined that the rotational speed of motor M2 is greater than the rotational speed of motor M1.
Step A907: the PWM duty of the motor M2 is reduced to reduce the rotational speed of the motor M2.
Step A908: Δ Ti-1> Δ Ti, it is determined that the rotational speed of motor M1 is greater than the rotational speed of motor M2.
Step A909: the PWM duty of the motor M1 is reduced to reduce the rotational speed of the motor M1.
Step A910: and determining the rotation speed synchronization of the motor M1 and the motor M2 by taking the delta Ti-1 as the delta Ti.
Step A911: the PWM duty of the motor M1 and the PWM duty of the motor M2 are maintained.
Based on the same technical concept of the previous embodiment, referring to fig. 10, the motor control method provided by the embodiment of the present application is suitable for a cabinet air conditioner with a long-stroke lifting door. The cabinet air conditioner comprises a main machine 1001 and a sub machine 1002, wherein the main machine 1001 is used as a main body of an air conditioner indoor unit to realize air conditioning functions such as refrigeration, heating and the like. The slave unit 1002 can be charged in a storage compartment of the master unit 1001 as a portable device, or can be moved in a cruising manner in an indoor space where the master unit 1001 is located.
In an example, the main unit 1001 may be an indoor unit of a cabinet air conditioner, and implements basic functions of cooling and heating, a storage compartment is disposed in a lower half space of the main unit 1001, and an outlet of the storage compartment is provided with a lifting door.
In an example, referring to fig. 11, a lifting door is arranged in front of the storage compartment of the main unit 1001, sliding rails 1101 are arranged on two sides of the lifting door, and when the lifting door is opened, the sub-unit 1002 can enter and exit the storage compartment of the main unit 1001. Here, in the opening process of the lift door, the lift door is driven to perform a lifting motion using the motor M1 and the motor M2.
In an example, when the sub-machine 1002 executes a task, it may leave the main machine 1001, perform a cruising movement in the indoor space where the main machine 1001 is located, and reach a specified position of the indoor space where the main machine 1001 is located. Here, during the closing of the lift door, the lift door is driven to perform a lowering motion using the motor M1 and the motor M2.
It should be understood that when the stroke of the lifting door is long when the lifting door is opened or closed, a relatively long waiting time is required for driving the lifting door by using the stepping motor, and for this reason, the lifting door can be driven by using the brushless direct current motor.
Based on the same technical concept of the foregoing embodiments, referring to fig. 12, the motor control apparatus provided in the embodiments of the present application may include:
an output module 1201, configured to output a pulse width modulation signal; the pulse width modulated signals include a first pulse width modulated signal to drive the first motor and a second pulse width modulated signal to drive the second motor.
A detection module 1202, configured to detect time difference information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used to indicate the rotational frequency of the motor.
An adjusting module 1203, configured to adjust a duty ratio of a target pwm signal according to the time difference information, so that a speed difference between the first motor and the second motor is smaller than or equal to a preset value; the target pulse width modulation signal comprises the first pulse width modulation signal or the second pulse width modulation signal.
In one implementation, the detecting module 1202 is configured to detect time difference information of the feedback signal of the first motor and the feedback signal of the second motor, and includes:
determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0;
the adjusting module 1203 is configured to adjust a duty ratio of the target pwm signal according to the time difference information, and includes: and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
In one implementation, the detecting module 1202 is configured to detect time difference information of the feedback signal of the first motor and the feedback signal of the second motor, and includes:
determining a first time value indicative of a time difference of a feedback signal of the first motor and a feedback signal of the second motor within an ith control period of the target PWM signal;
determining a second time value, the first time value indicating a time difference of a feedback signal of the first motor and a feedback signal of the second motor in an i-1 control period of the target PWM signal;
the adjusting module 1203 is configured to adjust a duty ratio of the target pwm signal according to the time difference information, and includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the difference information of the first time value and the second time value.
In one implementation, the adjusting module 1203 is configured to adjust a duty cycle of a target pwm signal, and includes:
determining that the time period of the feedback signal of the first motor is greater than the time period of the feedback signal of the second motor, and increasing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or, reducing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period;
determining that the time period of the feedback signal of the first motor is smaller than the time period of the feedback signal of the second motor, and reducing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or increasing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period.
In one implementation, the adjusting module 1203 is configured to adjust a duty ratio of a target pwm signal according to the time difference information, and includes:
determining a reference value of the duty ratio of the first pulse width modulation signal according to the duty ratio of the second pulse width modulation signal;
determining a compensation value of a reference value of the duty ratio of the first pulse width modulation signal according to the time difference information;
determining a target duty ratio of the first pulse width modulation signal according to the reference value and the compensation value; and adjusting the duty ratio of the first pulse width modulation signal according to the target duty ratio.
In one implementation, the adjusting module 1203 is configured to adjust a duty ratio of a target pwm signal according to the time difference information, and includes:
and determining that the time difference information is longer than a preset time length, and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information.
In practical applications, the output module 1201, the detection module 1202, and the adjustment module 1203 may be implemented by a processor of an electronic device, where the processor may be at least one of an ASIC, a DSP, a DSPD, a PLD, an FPGA, a CPU, a controller, a microcontroller, and a microprocessor, and the embodiment of the present application is not limited thereto.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present application may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
Based on the same technical concept as the foregoing embodiment, referring to fig. 13, an electronic device 1300 provided in an embodiment of the present application may include: memory 1310 and processor 1320; wherein the content of the first and second substances,
a memory 1310 for storing computer programs and data;
a processor 1320 for executing a computer program stored in the memory to implement any one of the motor control methods in the foregoing embodiments.
In practical applications, the memory 1310 may be a volatile memory (volatile memory), such as RAM; or a non-volatile memory (non-volatile memory), illustratively a ROM, a flash memory, a Hard Disk Drive (HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories. The memory 1310 may provide instructions and data to the processor 1320.
The foregoing descriptions of the various embodiments are intended to highlight different aspects of the various embodiments, which have the same or similar aspects, and thus, for brevity, detailed descriptions thereof are omitted
The methods disclosed in the method embodiments provided by the present application can be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in various product embodiments provided by the application can be combined arbitrarily to obtain new product embodiments without conflict.
The features disclosed in the various method or apparatus embodiments provided herein may be combined in any combination to arrive at new method or apparatus embodiments without conflict.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, and for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication between the components shown or discussed may be through some interfaces, and the indirect coupling or communication between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of grid units; some or all of the units can be selected according to actual conditions to achieve the purpose of the scheme of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing module, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A motor control method, comprising:
outputting a pulse width modulation signal; the pulse width modulation signal comprises a first pulse width modulation signal for driving a first motor and a second pulse width modulation signal for driving a second motor;
detecting time difference information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used for indicating the rotation frequency of the motor;
according to the time difference information, adjusting the duty ratio of a target pulse width modulation signal to enable the speed difference value of the first motor and the second motor to be smaller than or equal to a preset value; the target pulse width modulation signal comprises the first pulse width modulation signal or the second pulse width modulation signal.
2. The method of claim 1, wherein detecting time difference information of the feedback signal of the first motor and the feedback signal of the second motor comprises:
determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0;
the adjusting the duty ratio of the target pulse width modulation signal according to the time difference information includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
3. The method of claim 1, wherein detecting time difference information of the feedback signal of the first motor and the feedback signal of the second motor comprises:
determining a first time value indicative of a time difference of a feedback signal of the first motor and a feedback signal of the second motor within an ith control period of the target PWM signal;
determining a second time value, the first time value indicating a time difference of a feedback signal of the first motor and a feedback signal of the second motor in an i-1 control period of the target PWM signal;
the adjusting the duty ratio of the target pulse width modulation signal according to the time difference information includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the difference information of the first time value and the second time value.
4. The method according to claim 2 or 3, wherein the adjusting the duty ratio of the target PWM signal in the (i + 1) th control period comprises:
determining that the time period of the feedback signal of the first motor is greater than the time period of the feedback signal of the second motor, and increasing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or, reducing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period;
determining that the time period of the feedback signal of the first motor is smaller than the time period of the feedback signal of the second motor, and reducing the duty ratio of the first pulse width modulation signal in the (i + 1) th control period; or increasing the duty ratio of the second pulse width modulation signal in the (i + 1) th control period.
5. The method of claim 1, wherein the adjusting the duty cycle of the target pwm signal based on the time difference information comprises:
determining a reference value of the duty ratio of the first pulse width modulation signal according to the duty ratio of the second pulse width modulation signal;
determining a compensation value of a reference value of the duty ratio of the first pulse width modulation signal according to the time difference information;
determining a target duty ratio of the first pulse width modulation signal according to the reference value and the compensation value; and adjusting the duty ratio of the first pulse width modulation signal according to the target duty ratio.
6. The method of claim 1, wherein the adjusting the duty cycle of the target pwm signal based on the time difference information comprises:
and determining that the time difference information is longer than a preset time length, and adjusting the duty ratio of the target pulse width modulation signal according to the time difference information.
7. A motor control apparatus, comprising:
the output module is used for outputting a pulse width modulation signal; the pulse width modulation signal comprises a first pulse width modulation signal for driving a first motor and a second pulse width modulation signal for driving a second motor;
the detection module is used for detecting time difference value information of a feedback signal of the first motor and a feedback signal of the second motor; the feedback signal is used for indicating the rotation frequency of the motor;
the adjusting module is used for adjusting the duty ratio of a target pulse width modulation signal according to the time difference information, so that the speed difference value of the first motor and the second motor is smaller than or equal to a preset value; the target pulse width modulation signal comprises the first pulse width modulation signal or the second pulse width modulation signal.
8. The apparatus of claim 7, wherein the detecting module is configured to detect time difference information of the feedback signal of the first motor and the feedback signal of the second motor; the method comprises the following steps:
determining time difference information of a feedback signal of the first motor and a feedback signal of the second motor in an ith control period of the target pulse width modulation signal; i is an integer greater than 0;
the adjusting module is configured to adjust a duty ratio of a target pwm signal according to the time difference information, and includes:
and adjusting the duty ratio of the target pulse width modulation signal in the (i + 1) th control period according to the time difference information.
9. An electronic device, characterized in that the electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the motor control method of any one of claims 1 to 6 when executing the program.
10. A computer storage medium storing a computer program; characterized in that the computer program is executable to implement the motor control method of any one of claims 1 to 6.
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| CN202111308351.5A CN114123869A (en) | 2021-11-05 | 2021-11-05 | Motor control method, device, electronic equipment and storage medium |
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| CN202111308351.5A CN114123869A (en) | 2021-11-05 | 2021-11-05 | Motor control method, device, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114992768A (en) * | 2022-05-20 | 2022-09-02 | 宁波奥克斯电气股份有限公司 | PWM modulation method and device, air conditioner and readable storage medium |
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| CN104767427A (en) * | 2015-04-20 | 2015-07-08 | 赛诺威盛科技（北京）有限公司 | Synchronous control system and method for multiple motors in CT machine |
| CN107908127A (en) * | 2017-10-23 | 2018-04-13 | 广州视源电子科技股份有限公司 | Electric wheelchair control method, device and computer-readable recording medium |
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| JPH03289387A (en) * | 1990-03-31 | 1991-12-19 | Sanyo Electric Co Ltd | Motor servo circuit |
| CN104767427A (en) * | 2015-04-20 | 2015-07-08 | 赛诺威盛科技（北京）有限公司 | Synchronous control system and method for multiple motors in CT machine |
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| CN114992768A (en) * | 2022-05-20 | 2022-09-02 | 宁波奥克斯电气股份有限公司 | PWM modulation method and device, air conditioner and readable storage medium |
| CN114992768B (en) * | 2022-05-20 | 2023-08-04 | 宁波奥克斯电气股份有限公司 | PWM modulation method and device, air conditioner and readable storage medium |
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