CN114337409A

CN114337409A - Motor control method, circuit, device and storage medium

Info

Publication number: CN114337409A
Application number: CN202011078769.7A
Authority: CN
Inventors: 郭新生
Original assignee: GD Midea Environment Appliances Manufacturing Co Ltd
Current assignee: GD Midea Environment Appliances Manufacturing Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2022-04-12
Anticipated expiration: 2040-10-10
Also published as: CN114337409B

Abstract

The embodiment of the application discloses a control method, a circuit, a device and a storage medium of a motor, wherein the motor is an N-phase P-beat motor, and the method comprises the following steps: taking continuous P beats as a period, and acquiring a half sine wave control signal of the ith phase; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase PWM control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

Description

Motor control method, circuit, device and storage medium

Technical Field

The present disclosure relates to the field of motor control technologies, and in particular, to a method, a circuit, an apparatus, and a storage medium for controlling a motor.

Background

In the related art, the stepping motors are controlled by square waves or sine waves. The square wave control circuit and the square wave control system are simple, but the motor has larger vibration and noise in the starting and running processes, particularly the oscillating motor of the fan is positioned at the top end of the support frame, and is easy to generate resonance when running at low speed, so that shaking or strong vibration feeling is easy to cause, and the use and experience of a user are influenced; by adopting sine wave control, the circuit and the control system are complex and the cost is high.

Disclosure of Invention

Embodiments of the present application are intended to provide a control method, a circuit, an apparatus, and a storage medium for a motor.

The technical scheme of the embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a method for controlling a motor, where the motor is an N-phase P-beat motor, and the method includes: taking continuous P beats as a period, and acquiring a half sine wave control signal of the ith phase; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal by a carrier signal with a preset frequency to obtain an ith-phase Pulse Width Modulation (PWM) control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

In a second aspect, an embodiment of the present application provides a control circuit for an electric motor, including: the driving circuit is electrically connected with the motor and used for driving the motor to rotate and stop; the controller is used for acquiring the half sine wave control signal of the ith phase by taking continuous P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase PWM control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

In a third aspect, an embodiment of the present application provides a control apparatus for a motor, including: the first acquisition module is used for acquiring the ith-phase half sine wave control signal by taking continuous P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; the first modulation module is used for modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase PWM control signal; and the first control module is used for controlling the i-th phase winding of the motor to be electrified or powered off according to the i-th phase PWM control signal.

In a fourth aspect, an embodiment of the present application provides a control device for an electric motor, including a memory and a processor, where the memory stores a computer program executable on the processor, and the processor implements the steps in the control method for the electric motor when executing the computer program.

In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the control method of the motor.

In the technical scheme provided by the embodiment of the application, continuous P beats are taken as a period to obtain the ith-phase half sine wave control signal; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase PWM control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase. The obtained half sine wave control signal of the ith phase is not a square wave control signal or a sine wave control signal and is only controlled in three continuous beats related to the ith phase, so that the energization or the de-energization of the winding of the ith phase of the motor is controlled through the PWM control signal of the ith phase, the current spike on the winding of the ith phase can be reduced, the jitter phenomenon of the motor at low speed or during starting is effectively reduced, meanwhile, the control is relatively simple, and the cost is relatively low.

Drawings

FIG. 1 is a schematic diagram of the driving control logic of a four-phase eight-beat stepping motor and the current waveform of an A-phase winding in the related art;

fig. 2 is a schematic flow chart illustrating an implementation of a control method for a motor according to an embodiment of the present disclosure;

fig. 3 is a schematic flow chart illustrating an implementation of another motor control method according to an embodiment of the present disclosure;

fig. 4 is a schematic implementation flow chart of another motor control method provided in the embodiment of the present application;

fig. 5 is a schematic flow chart illustrating an implementation of another motor control method according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a control circuit of a four-phase eight-beat stepping motor according to an embodiment of the present application;

fig. 7 is a schematic waveform diagram of a PWM control signal of a four-phase eight-beat stepping motor and a current on each phase winding according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a control device of a motor according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a control apparatus of a motor according to an embodiment of the present application.

Detailed Description

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described in detail with reference to the drawings and the embodiments, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

Where similar language of "first/second" appears in the specification, the following description is added, and where reference is made to the term "first \ second \ third" merely to distinguish between similar items and not to imply a particular ordering with respect to the items, it is to be understood that "first \ second \ third" may be interchanged with a particular sequence or order as permitted, to enable the embodiments of the application described herein to be performed in an order other than that illustrated or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

In the related art, a four-phase eight-beat stepping motor controls the motor by adopting a control signal of a square wave, and fig. 1 is a schematic diagram of a driving control logic of the four-phase eight-beat stepping motor and a current waveform of an a-phase winding in the related art; as shown in fig. 1, DA, a, AB, B, BC, C, CD and D are eight output beats of the four-phase eight-beat stepping motor, and waveforms a, B, C, D and CA respectively show PWM drive control waveforms of the a-phase winding, the B-phase winding, the C-phase winding, the D-phase winding and current waveforms on the a-phase winding in eight beats of DA, a, AB, B, BC, C and CD; in the DA beat, the waveform A and the waveform D are high level, other waveforms are low level, and the result shows that positive voltage is only loaded on two ends of the A-phase winding and the D-phase winding, and positive voltage is not loaded on two ends of other windings; in the A beat, only the waveform A is at a high level, and the other waveforms are at low levels, which means that positive voltage is loaded on two ends of the A-phase winding only, and positive voltage is not loaded on two ends of the other windings; in the AB beat, the waveform A and the waveform B are high level, other waveforms are low level, which means that only positive voltage is loaded on two ends of the phase A winding and the phase B winding, and positive voltage is not loaded on two ends of other windings; in the beat B, only the waveform B is at a high level, and the other waveforms are at low levels, which means that positive voltage is loaded only to two ends of the phase B winding, and positive voltage is not loaded to two ends of other windings; on a BC beat, the waveform B and the waveform C are high level, other waveforms are low level, which means that positive voltage is loaded on two ends of the phase B winding and the phase C winding, and positive voltage is not loaded on two ends of other windings; in the C beat, only the waveform C is high level, and other waveforms are low level, which means that only positive voltage is loaded to two ends of the C-phase winding, and no positive voltage is loaded to two ends of other windings; in the CD beat, the waveform C and the waveform D are high level, other waveforms are low level, which means that positive voltage is only loaded on two ends of the C-phase winding and the D-phase winding, and positive voltage is not loaded on two ends of other windings; on the beat D, only the waveform D is at a high level, and the other waveforms are at low levels, which means that only positive voltages are loaded on two ends of the winding of the phase D, and no positive voltage is loaded on two ends of the other windings.

When the motor runs at a low speed, the motor is controlled by the driving control logic shown in fig. 1, and the control logic is square wave control, so that current spikes on a motor winding are large at the moment of switching on and off of a switch, namely, vibration and noise of the motor are large in the starting and running processes. For the oscillating motor of the fan, because the oscillating motor is positioned at the top end of the support frame, when the oscillating motor runs at a low speed, resonance is easy to generate, shaking or strong vibration feeling is easy to cause, and the use and experience of a user are influenced.

In order to solve the above technical problem, in some embodiments of the present application, a method for controlling a motor is provided, where the motor is an N-phase P-beat motor, as shown in fig. 2, the process may include:

step S201: taking continuous P beats as a period, and acquiring a half sine wave control signal of the ith phase; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N.

Here, the motor is an N-phase P-beat motor; in one example, the motor may be a four-phase eight-beat stepper motor, correspondingly, eight beats being one cycle; the motor may also be a four-phase four-beat stepper motor, with four beats being one cycle, correspondingly.

In some possible embodiments, the half sine wave control signal of the i-th phase is obtained with consecutive P beats as one period, and the half sine wave control signals of the 1 st phase to the N-th phase are sequentially obtained with consecutive P beats as one period according to the sequence of the 1 st phase to the N-th phase; or continuous P beats may be taken as a period, and the half sine wave control signals of the 1 st phase to the nth phase within a preset time are simultaneously acquired, where the preset time may be one period or multiple periods, and may be specifically set according to requirements.

In one example, the obtaining of the i-th phase half sine wave control signal may be implemented by determining the i-th phase half sine wave control signal according to a smoothness requirement of a user on a current on a motor winding.

The implementation manner of the i-th phase half sine wave control signal is determined according to the smoothness requirement of a user on the current on the motor winding, and may be, for example, dividing the beat sequence of the i-th phase half sine wave control signal into a time period in which the control signal is gradually increased to a logic high level, a time period in which the control signal is kept at the logic high level, and a time period in which the control signal is gradually decreased from the logic high level, determining the control signal of each time period according to the smoothness requirement of the user on the current on the motor winding, and determining the overall control signal composed of the control signals of the time periods as the i-th phase half sine wave control signal.

In one example, the ith phase may be any one of a phase a, a phase B, a phase C, and a phase D. When the ith phase is the A phase, the acting beats of the half sine wave control signal of the A phase are DA, A and AB; when the ith phase is the B phase, the beat of the action of the half sine wave control signal of the B phase is AB, B and BC; under the condition that the ith phase is the C phase, the beat acted by the half sine wave control signal of the C phase is BC, C and CD; in the case where the i-th phase is the D-phase, the beats at which the half sine wave control signal of the D-phase acts are CD, D, and DA.

Step S202: and modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain the ith-phase PWM control signal.

Here, the preset frequency of the carrier signal is determined according to the operating frequency of the driving tube of the motor winding. In one example, the manner of determining the preset frequency of the carrier signal may be: firstly, determining the operable frequency range of the driving tube according to a selected manual of the driving tube; and then selecting the working frequency of the driving tube from the range of the working frequency of the driving tube according to the design requirement, and determining the working frequency of the driving tube as the frequency of the carrier signal. In one example, the carrier signal may have a frequency of 10 kilohertz (kHz), or 16 kHz.

In some possible embodiments, the ith phase PWM control signal may include the following three consecutive control signals: a first PWM control signal, a second PWM control signal, and a third PWM control signal; the first PWM control signal is a control signal with a duty ratio gradually increased; the second PWM control signal is a control signal for keeping high level; the third PWM control signal is a control signal whose duty ratio is gradually decreased.

In some possible embodiments, the i-th phase half sine wave control signal is modulated by a carrier signal with a preset frequency to obtain the i-th phase PWM control signal, and the i-th phase PWM control signal may be obtained by modulating a half sine wave control signal of any one of a phase, a phase B, a phase C or a phase D by a triangular signal with a preset frequency to obtain a PWM control signal of any one of a phase, a phase B, a phase C or a phase D with a variable duty ratio.

In one example, the PWM control signal of the phase a with the duty ratio varying may be obtained by obtaining the PWM control signal with the duty ratio gradually increasing in a period in which the control signal gradually increases to a logic high level in the beats DA, a, and AB to which the half sine wave control signal of the phase a is applied; in the period when the control signal is kept at the logic high level, a PWM signal with the duty ratio of 1 is obtained; in a period in which the control signal is gradually lowered from the logic high level, the PWM signal is obtained with the duty ratio gradually reduced from 1.

In one embodiment, the gradual increase in duty cycle may be from 0 or 1% duty cycle, increasing at a fixed or variable first duty cycle amplitude, up to 99% or 100%. Wherein the fixed first duty cycle amplitude may be 1% or 2%, for example. The duty cycle taper may also be from 100% or 99% duty cycle, decreasing by a fixed or variable second duty cycle magnitude, to 1% or 0. Wherein the fixed second duty cycle amplitude may be the same as the fixed first duty cycle amplitude, i.e. the fixed second duty cycle amplitude may also be 1% or 2%.

In another embodiment, the gradual increase in duty cycle may be from 0 or 1% duty cycle, increasing at a variable first duty cycle amplitude, up to 99% or 100%. The variable first duty cycle amplitude may correspond to different duty cycle amplitudes in different modulation periods, for example, the variable first duty cycle amplitude corresponding to the first modulation period may be 1%, and correspondingly, the variable first duty cycle amplitude corresponding to the second modulation period may be 2%. The duty cycle taper may also be from 100% or 99% duty cycle, decreasing by a variable second duty cycle magnitude, until decreasing to 1% or 0. For example, the variable second duty cycle amplitude for the third modulation period may be 1%, and correspondingly, the variable second duty cycle amplitude for the fourth modulation period may be 2%.

Here, the first modulation period, the second modulation period, the third modulation period, and the fourth modulation period may be the same, and may be determined by a signal frequency of the carrier wave. For example, in the case where the frequency of the carrier signal may be 10kHz, the first modulation period, the second modulation period, the third modulation period, and the fourth modulation period may be 0.1 milliseconds (ms).

In one possible embodiment, the fixed first duty ratio may be determined according to a slope change amplitude of the control signal corresponding to a period in which the control signal gradually increases to a logic high level in a beat on which the i-th phase half sine wave control signal acts; the fixed second duty ratio may be determined according to a slope change width of the control signal corresponding to a period in which the control signal is gradually decreased from the logic high level in a beat on which the i-th phase half sine wave control signal is applied.

Step S203: and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

In some possible embodiments, the i-th phase winding of the motor is controlled to be powered on or powered off according to the i-th phase PWM control signal, where the i-th phase winding of the motor is controlled to be powered on when the i-th phase PWM signal is at a logic high level, and the i-th phase winding of the motor is controlled to be powered off when the i-th phase PWM signal is at a logic low level. The logic low level and the logic high level are not specifically limited, and the logic low level may be a level with an amplitude of 0 or a level with a negative amplitude; the logic high level may be a level with an amplitude of 5 volts V or a level with an amplitude of 15V.

In one example, the energization of the ith phase winding of the motor is controlled by controlling the conduction of a driving tube corresponding to the ith phase winding; the power failure of the ith phase winding of the motor can be controlled by controlling the turn-off of the driving tube corresponding to the ith phase winding. The driving Transistor is not limited here, and may be a triode or a Metal Oxide Semiconductor Field Effect Transistor (MOSFET), and of course, the driving Transistor may be replaced by an integrated driving circuit.

In the technical scheme provided by the embodiment of the application, because the half sine wave control signal of the ith phase is not a square wave control signal, nor a sine wave control signal, and only controls in the continuous three beats related to the ith phase, therefore, the ith phase winding of the control motor is electrified or powered off through the PWM control signal of the ith phase, the current spike on the ith phase winding can be reduced, the jitter phenomenon of the motor at low speed or during starting is effectively reduced, meanwhile, the control is relatively simple, and the cost is relatively low.

In practical applications, the steps S201 to S203 may be implemented by a control Unit in a control Device of the motor, and the control Unit 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), an FPGA, a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor.

Fig. 3 is a schematic diagram of an implementation flow of another motor control method provided in an embodiment of the present application, and as shown in fig. 3, the flow may include:

step S301: taking continuous P beats as a period, and sequentially dividing three continuous beats related to the ith phase into a first power-on period, a second power-on period and a third power-on period according to a preset dividing rule; wherein the first energization period is a period in which an i-th phase winding of the motor gradually changes from a starting conduction state to a full conduction state; the second energization period is a period in which the i-th phase winding is continuously in the fully-on state; the third conduction period is a period in which the i-th phase winding gradually changes from the fully on state to an end on state.

Here, the preset division rule may be a division rule predetermined according to a requirement of a user for smoothness of a current on a winding of the motor, for example, the division rule may be a division rule in which three consecutive beats related to the ith phase are time-divided in a proportional relationship of 1:8:1, or a division rule in which three consecutive beats related to the ith phase are time-divided in a proportional relationship of 0.5:9: 0.5.

In one example, the starting on state of the i-th phase winding of the motor may be a state in which the duty ratio of the control signal in the carrier period is 0 or 0.01; the fully conducting state of the i-th phase winding of the motor can be a state that the duty ratio of a control signal in a carrier period is 1 or 0.99; the end on state may be the same state as the start on state, that is, the end on state may be a state in which the duty ratio of the control signal in the carrier period is 0 or 0.01.

In another example, the duty ratios of the control signals corresponding to the start conducting state, the full conducting state and the end conducting state of the i-th phase winding of the motor are related to the driving tube corresponding to the i-th phase winding of the motor. A fixed control duty cycle range may be determined for a particular type of drive tube and operating frequency. For example, for a model 1 drive tube and operating frequency of 10kHz, the determined control duty cycle range may be 80% to 90%, or 50% to 60%, and therefore the duty cycles of the control signals corresponding to the start conduction state, the full conduction state, and the end conduction state must be within a fixed duty cycle range.

In one example, the phase i winding of the motor gradually changes from the starting conducting state to the full conducting state, which can be a process that the duty ratio of the control signal gradually approaches 0.99 or 1 from 0 or 0.01 in fixed or variable steps; the gradual switching of the i-th phase winding from the full conduction state to the end conduction state can be a process of gradually approaching the duty ratio of the control signal from 1 or 0.99 to 0.01 or 0 in fixed or variable steps.

In some possible embodiments, the continuous P beats are taken as a cycle, and the continuous three beats related to the ith phase are sequentially divided into first to third energization periods according to a preset division rule, and the continuous DA, a and AB beats are divided into the first to third energization periods according to the preset division rule with the continuous P beats as a cycle; wherein the first energization period is a period in which an a-th phase winding of the motor gradually transits from a starting conductive state to a full conductive state; the second energization period is a period in which the a-phase winding is continuously in the fully-on state; the third conduction period is a period in which the a-phase winding gradually changes from the fully on state to an end on state.

In some possible embodiments, the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous three beats related to the ith phase are sequentially divided into first to third power-on periods, or the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous AB, B and BC beats are divided into first to third power-on periods; wherein the first power-on period is a period in which a phase B winding of the motor gradually changes from a starting conduction state to a full conduction state; the second energization period is a period in which the B-phase winding is continuously in the fully-on state; the third conduction period is a period in which the B-phase winding gradually changes from the fully on state to an end on state.

In some possible embodiments, the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous three beats related to the ith phase are sequentially divided into first to third power-on periods, or the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous BC, C and CD beats are divided into first to third power-on periods; wherein the first energization period is a period in which a phase C winding of the motor gradually changes from a starting conductive state to a full conductive state; the second energization period is a period in which the C-phase winding is continuously in the fully-on state; the third conduction period is a period in which the C-phase winding gradually changes from the fully-on state to an end-on state.

In some possible embodiments, the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous three beats related to the ith phase are sequentially divided into first to third power-on periods, or the continuous P beats are taken as a cycle, and according to a preset division rule, the continuous CD, D and DA beats are divided into first to third power-on periods; wherein the first energization period is a period in which a phase D winding of the motor gradually transits from a starting conduction state to a full conduction state; the second energization period is a period in which the D-phase winding is continuously in the fully-on state; the third conduction period is a period in which the D-phase winding gradually changes from the fully on state to an end on state.

Step S302: respectively acquiring a first control signal in the first power-on period, a second control signal in the second power-on period and a third control signal in the third power-on period.

In one example, the waveform of the first control signal is a curve with a slope increasing first and then decreasing; for example, the slope value gradually increases from 0.2 to 0.5, and then gradually decreases from 0.5 to a slope change of 0. Here, the slope value step of gradually increasing and decreasing is not limited, and the slope value step of gradually increasing or decreasing may be 0.01. The waveform of the second control signal is a straight line; the waveform of the third control signal is a curve that the voltage value decreases first and then increases according to the slope. For example, the slope value gradually decreases from 1 or-0.01 to-0.5, and then gradually increases from-0.5 to a slope change of 0. Here, the slope value step of gradually increasing and decreasing is not limited, and the slope value step of gradually increasing or decreasing may be 0.01.

The implementation manner of obtaining the first control signal in the first power-on period, the second control signal in the second power-on period, and the third control signal in the third power-on period respectively may be, for example, obtaining the first control signal in the first power-on period, the second control signal in the second power-on period, and the third control signal in the third power-on period respectively according to a stability requirement of a user on a current on a motor winding.

Step S303: determining an overall control signal composed of the first control signal, the second control signal and the third control signal as a current i-th phase half-sine wave control signal, wherein the i-th phase half-sine wave control signal acts on three continuous beats related to the i-th phase in the continuous P beats; i is any integer from 1 to N.

In one possible embodiment, step S03 may be to sequentially correspond to the control signal forming a whole in the ith-phase-related consecutive three beats by the first to third control signals according to the order of the first to third energization periods, and determine the control signal forming the whole in the ith-phase-related consecutive three beats as the current ith-phase half sine wave control signal.

Step S304: and modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain the ith-phase PWM control signal.

Step S305: and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

Step S306: acquiring a half sine wave control signal of an i +1 phase; wherein the half sine wave control signal of the (i + 1) th phase acts on three continuous beats related to the (i + 1) th phase in the continuous P beats.

Here, the i +1 th phase indicates the phase next to the i-th phase. For example, in the case of a four-phase eight-beat motor, the i-th phase is the D-phase, and the i + 1-th phase is the a-phase. In one example, the implementation of acquiring the i +1 th phase half sine wave control signal is the same as the implementation of acquiring the i-th phase half sine wave control signal described above.

Step S307: and modulating the i +1 th phase half sine wave control signal through a carrier signal with preset frequency to obtain an i +1 th phase PWM control signal.

In some possible embodiments, the i +1 th phase half sine wave control signal is modulated by a carrier signal with a preset frequency to obtain an i +1 th phase PWM control signal, and the i +1 th phase half sine wave control signal may be a B phase PWM control signal with a variable duty ratio, which is obtained by modulating a B phase half sine wave control signal by a triangular wave signal with a preset frequency when the i-th phase is an a phase.

Step S308: and controlling the energization or the deenergization of the ith phase winding of the motor according to the PWM control signal of the ith phase in the beat in which the ith phase and the (i + 1) th phase are overlapped.

Here, the beat at which the ith phase and the (i + 1) th phase overlap indicates a beat at which the half sine wave control signal of the ith phase and the half sine wave control signal of the (i + 1) th phase act simultaneously. For example, the beat in which the ith phase and the (i + 1) th phase overlap may be any one of a DA beat, an AB beat, a BC beat, and a CD beat. The DA beat indicates a beat at which the half sine wave control signal of the D phase and the half sine wave control signal of the a phase act simultaneously.

Step S309: and controlling the i +1 phase winding of the motor to be powered on or powered off according to the PWM control signal of the i +1 phase.

In some possible embodiments, the i +1 th phase winding of the motor is controlled to be powered on or powered off according to the PWM control signal of the i +1 th phase, and the i +1 th phase winding of the motor is controlled to be powered on when the PWM signal of the i +1 th phase is at a logic high level, and the i +1 th phase winding of the motor is controlled to be powered off when the PWM signal of the i +1 th phase is at a logic low level.

In the embodiment of the application, according to a preset division rule, three continuous beats related to the ith phase are sequentially divided into first to third energization periods, the control signals of the first to third energization periods are respectively obtained to obtain the half sine wave control signal of the ith phase, and further the obtained PWM control signal of the ith phase, the PWM control signal of the first energization period is gradually increased in duty ratio, and the PWM control signal of the third energization period is gradually decreased in duty ratio, so that the energization or the power failure of the ith phase winding of the motor is controlled through the PWM control signal of the ith phase, the energization of the ith phase winding can be gradually performed in the first energization period, the power failure of the ith phase winding is gradually performed in the third energization period, which is beneficial to reducing current spikes on the ith phase winding of the motor, and effectively reduces the jitter phenomenon of the motor at low speed or during starting; meanwhile, the i-th phase winding and the i + 1-th phase winding of the motor can be simultaneously controlled to be powered on or powered off in a beat in which the i-th phase and the i + 1-th phase overlap.

In one embodiment, the control duration of the i-th phase half sine wave control signal may be determined according to the current rotation speed of the motor; and the control time length is the total time length of three continuous beats related to the ith phase in the continuous P beats.

Here, in the case where the i-th phase is the a-phase, the control period of the half sine wave control signal of the i-th phase may be the total period of three consecutive beats DA, a, and AB.

In one example, the implementation manner of determining the control time duration of the i-th phase half sine wave control signal according to the current rotation speed of the motor may be determining the current rotation speed of the motor, and determining the total time duration of three continuous beats, namely DA, a and AB, according to the current rotation speed of the motor. For example, in the case where the motor speed is 300 revolutions per minute, the total duration of three consecutive beats of DA, a, and AB is determined to be 4 microseconds; in the case of a motor speed of 150 revolutions per minute, the total duration of three successive beats DA, a and AB is determined to be 8 microseconds.

The embodiment of the application provides a control method of motor still, the motor includes four-phase eight claps step motor, the four-phase includes A looks, B looks, C looks and D looks, eight claps including first clapping to eighth clap, in proper order respectively for A claps, AB claps, B claps, BC claps, C claps, CD claps, D claps, DA claps. As shown in fig. 4, the process may include:

step S401: taking continuous eight beats as a period, and acquiring half sine wave control signals of an A phase, a B phase, a C phase and a D phase; wherein the A-phase half sine wave control signal acts on successive DA, A and AB beats; the B-phase half sine wave control signal acts on continuous AB, B and BC beats; the C-phase half sine wave control signal acts on continuous BC, C and CD beats; wherein the D-phase half-sine wave control signal acts on successive CD, D and DA beats.

Step S402: and respectively modulating the half sine wave control signals of the A phase, the B phase, the C phase and the D phase through carrier signals with preset frequency to obtain PWM control signals of the A phase, the B phase, the C phase and the D phase.

Here, the a-phase half sine wave control signal is modulated by a carrier signal with a preset frequency to obtain an a-phase PWM control signal; modulating the B-phase half sine wave control signal through a carrier signal with preset frequency to obtain a B-phase PWM control signal; modulating the C-phase half sine wave control signal through a carrier signal with preset frequency to obtain a C-phase PWM control signal; and modulating the D-phase half sine wave control signal through a carrier signal with preset frequency to obtain a D-phase PWM control signal.

Step S403: and respectively controlling the conduction or the closing of the driving tubes corresponding to the A-phase, B-phase, C-phase and D-phase windings according to the PWM control signals of the A-phase, B-phase, C-phase and D-phase.

The first driving tube corresponding to the A-phase winding is controlled to be switched on or off according to the PWM control signal of the A-phase, the second driving tube corresponding to the B-phase winding is controlled to be switched on or off according to the PWM control signal of the B-phase, the third driving tube corresponding to the C-phase winding is controlled to be switched on or off according to the PWM control signal of the C-phase, and the fourth driving tube corresponding to the D-phase winding is controlled to be switched on or off according to the PWM control signal of the D-phase.

The embodiment of the application provides a control method of another motor, the motor includes four-phase eight claps step motor, the four-phase includes A looks, B looks, C looks and D looks, eight claps including first clapping to the eighth clap, is A claps, AB claps, B claps, BC claps, C claps, CD claps, D claps, DA claps respectively in proper order. As shown in fig. 5, the process may include:

step S501: dividing continuous DA, A and AB beats into a first power-on period, a second power-on period and a third power-on period according to a preset division rule by taking continuous eight beats as a period; wherein the first energization period is a period in which an a-phase winding of the motor gradually changes from a starting conductive state to a fully conductive state; the second energization period is a period in which the a-phase winding is continuously in the fully-on state; the third conduction period is a period in which the a-phase winding gradually changes from the fully on state to an end on state.

Step S502: respectively acquiring a first control signal in the first power-on period, a second control signal in the second power-on period and a third control signal in the third power-on period.

Step S503: determining an overall control signal composed of the first control signal, the second control signal and the third control signal as a current A-phase half sine wave control signal; wherein the A-phase half-sine wave control signal acts on successive DA, A and AB beats.

Step S504: acquiring half sine wave control signals of a B phase, a C phase and a D phase; wherein the B-phase half sine wave control signal acts on successive AB, B and BC beats; the C-phase half sine wave control signal acts on continuous BC, C and CD beats; wherein the D-phase half-sine wave control signal acts on successive CD, D and DA beats.

In one example, the implementation of acquiring the half sine wave control signals for the B-phase, C-phase, and D-phase is similar to the implementation of acquiring the half sine wave control signal for the a-phase, see steps S501 to S503.

Step S505: and respectively modulating the half sine wave control signals of the A phase, the B phase, the C phase and the D phase through carrier signals with preset frequency to obtain PWM control signals of the A phase, the B phase, the C phase and the D phase.

Step S506: and respectively controlling the conduction or the closing of the driving tubes corresponding to the A-phase, B-phase, C-phase and D-phase windings according to the PWM control signals of the A-phase, B-phase, C-phase and D-phase.

Fig. 6 is a schematic diagram of a structure of a control circuit of a four-phase eight-beat stepping motor according to an embodiment of the present application, and as shown in fig. 6, the control circuit of the stepping motor includes: the driving circuit comprises a first voltage power supply VCC1, a grounded common terminal GND1, a grounded common terminal GND2, a control chip U1, a second voltage power supply VCC2, a first base resistor R1, a second base resistor R2, a third base resistor R3, a fourth base resistor R4, a first triode Q1, a second triode Q2, a third triode Q3, a fourth triode Q4 and a stepping motor M1.

In this embodiment, U1 is a Micro Controller Unit (MCU) for providing control electrical signals to Q1, Q2, Q3 and Q4, and U1 includes pin VDD, pin GND, pin A, pin B, pin C and pin D, etc., wherein pin VDD is a power input pin of U1, and pin VDD is connected to VCC1 for providing input power to U1; the pin GND is a grounding pin of U1 and is connected with the GND1 to form a conducting loop of a power supply; the pin A, the pin B, the pin C and the pin D are all PWM output pins of U1 and are respectively connected to one ends of R1, R2, R3 and R4, the other ends of R1, R2, R3 and R4 are respectively connected to bases of Q1, Q2, Q3 and Q4, and the bases of Q1, Q2, Q3 and Q4 are respectively provided with R1, R2, R3 and R4, so that the current magnitude of the bases of Q1, Q2, Q3 and Q4 can be limited, and the Q1, Q2, Q3 and Q4 are prevented from being burnt; emitters of Q1, Q2, Q3 and Q4 are all connected to GND 2; collectors of Q1, Q2, Q3 and Q4 are respectively connected with negative ends of power supplies of an A phase winding, a B phase winding, a C phase winding and a D phase winding of M1, and positive ends of the power supplies of the A phase winding, the B phase winding, the C phase winding and the D phase winding of M1 are all connected with VCC 2. When Q1, Q2, Q3, and Q4 are turned on, positive VCC2 is applied to both ends of the a-phase winding, the B-phase winding, the C-phase winding, and the D-phase winding, respectively.

Fig. 7 is a schematic waveform diagram of PWM control signals of a four-phase eight-beat stepping motor and currents on windings of respective phases, where, as shown in fig. 7, waveforms A, B, C and D are waveforms of PWM control signals of a phase, B phase, C phase and D phase, respectively; waveforms Ca, Cb, Cc, Cd are waveforms of currents on the a-phase, B-phase, C-phase, and D-phase windings, respectively.

The A-phase half sine control signal acts on the DA beat, the A beat and the AB beat, the pin A of the MCU U1 outputs a half sine wave, the T1, the T2 and the T3 are time periods obtained after the DA beat, the A beat and the AB beat are divided according to a preset division rule, the time lengths of the T1 and the T3 can be equal, and the proportion relation among the time lengths of the T1, the T2 and the T3 is 1:8: 1; correspondingly, the durations of T1 and T3 may be expressed as 0.1 (T1 duration + T2 duration + T3 duration), and the duration of T2 may be expressed as 0.8 (T1 duration + T2 duration + T3 duration). Meanwhile, in a period T1, the port A of the MCU U1 outputs a modulation wave with a continuously increased duty ratio of 1% to 99%; in practical application, the specific determination can be performed according to the actual working frequency range of the driving tube, for example, pin a of MCU U1 outputs a modulated wave with a duty ratio of 50% to 80% continuously increasing; in a period of T2, pin a of MCU U1 outputs a high level; in a T3 time period, pin A of the MCU U1 outputs a modulation wave with a continuously reduced duty ratio of 99% to 1%; in practical applications, the specific determination may be made according to the actual operating frequency range of the driving tube, for example, pin a of the MCU U1 outputs a modulated wave with a duty cycle continuously decreasing by 80% to 50%. It can be seen that, at T1, T2, and T3, the conduction and the shutdown of the driving tube corresponding to the a-phase winding are controlled by different modulation waves, respectively, and the current waveform flowing through the a-phase winding of the stepping motor can be obtained, see waveform Ca, that is, the current value on the a-phase winding of the four-phase eight-beat stepping motor can be gradually increased in the T1 period, and the impact of the pulsating current on the four-phase eight-beat stepping motor is reduced; in the T2 time period, the current value on the A-phase winding of the four-phase eight-beat stepping motor is stably output without influencing the performance of the motor; in the period of T3, the current value on the A-phase winding of the four-phase eight-beat stepping motor is gradually reduced, and the smooth transition is made to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or starting can be effectively reduced by forming a half sine wave current on the A-phase winding of the four-phase eight-beat stepping motor.

The B-phase half-sine control signal acts on AB, B and BC beats, a pin B of the MCU U1 outputs half-sine waves, T4, T5 and T6 are time periods obtained after the AB, B and BC beats are divided according to a preset division rule, wherein the time lengths of T4 and T5 can be equal, and the proportional relation of the time lengths of T4, T5 and T6 is 1:8: 1; correspondingly, the durations of T4 and T6 may be expressed as 0.1 (T4 duration + T5 duration + T6 duration), and the duration of T2 may be expressed as 0.8 (T4 duration + T5 duration + T6 duration). Meanwhile, in a period T4, a modulation wave with a duty ratio of 1% to 99% continuously increased is output; in practical application, the specific determination can be performed according to the actual working frequency range of the driving tube, for example, pin B of the MCU U1 outputs a modulated wave with a duty ratio of 50% to 80% that continuously increases; in a period of T5, pin a of MCU U1 outputs a high level; in a period T6, pin B of the MCU U1 outputs a modulation wave with a continuously reduced duty cycle of 99% to 1%; in practical applications, the specific determination may be made according to the actual operating frequency range of the driving tube, for example, pin B of the MCU U1 outputs a modulated wave with a duty cycle continuously decreasing by 80% to 50%. It can be seen that, at T4, T5, and T6, the on and off of the driving tube corresponding to the B-phase winding are controlled by different modulation waves, respectively, and the current waveform flowing through the B-phase winding of the stepping motor can be obtained, see waveform Cb, that is, the current value on the B-phase winding of the four-phase eight-beat stepping motor can be gradually increased in the T4 time period, and the impact of the pulsating current on the four-phase eight-beat stepping motor is reduced; in the T5 time period, the current value on the B-phase winding of the four-phase eight-beat stepping motor is stably output without influencing the performance of the motor; in the period of T6, the current value on the B-phase winding of the four-phase eight-beat stepping motor is gradually reduced, and the smooth transition is carried out to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or starting can be effectively reduced by forming a half sine wave current on the B-phase winding of the four-phase eight-beat stepping motor.

A C-phase half-sine control signal acts on BC, C and CD beats, a pin C of the MCU U1 outputs a half-sine wave, T7, T8 and T9 are time periods obtained by dividing the BC, C and CD beats according to a preset dividing rule, wherein the time lengths of T7 and T9 can be equal, and the proportional relation of the time lengths of T7, T8 and T9 is 1:8: 1; correspondingly, the durations of T7 and T9 may be expressed as 0.1 (T7 duration + T8 duration + T9 duration), and the duration of T2 may be expressed as 0.8 (T7 duration + T8 duration + T9 duration). Meanwhile, in a period T7, a modulation wave with a duty ratio of 1% to 99% continuously increased is output; in practical application, the specific determination can be performed according to the actual working frequency range of the driving tube, for example, pin C of the MCU U1 outputs a modulated wave with a duty ratio of 50% to 80% that is continuously increased; in the period of T8, pin C of MCU U1 outputs high level; in a period T6, pin C of the MCU U1 outputs a modulation wave with a continuously reduced duty cycle of 99% to 1%; in practical applications, the specific determination may be made according to the actual operating frequency range of the driving tube, for example, the pin C of the MCU U1 outputs a modulated wave with a duty cycle continuously decreasing by 80% to 50%. It can be seen that, at T7, T8, and T9, the on and off of the driving tube corresponding to the C-phase winding are controlled by different modulation waves, respectively, and the current waveform flowing through the C-phase winding of the stepping motor can be obtained, see waveform Cc, that is, the current value on the C-phase winding of the four-phase eight-beat stepping motor can be gradually increased in the T7 time period, and the impact of the pulsating current on the four-phase eight-beat stepping motor is reduced; in the T8 time period, the current value on the C-phase winding of the four-phase eight-beat stepping motor is stably output without influencing the performance of the motor; in the period of T9, the current value on the C-phase winding of the four-phase eight-beat stepping motor is gradually reduced, and the smooth transition is made to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or starting can be effectively reduced by forming a half sine wave current on the C-phase winding of the four-phase eight-beat stepping motor.

The D-phase half-sine control signal acts on the CD, D and DA beats, a pin D of the MCU U1 outputs a half-sine wave, T10, T11 and T12 are time periods obtained by dividing the CD, D and DA beats according to a preset division rule, wherein the time lengths of T10 and T12 can be equal, and the proportional relation of the time lengths of T10, T11 and T12 is 1:8: 1; correspondingly, the durations of T10 and T12 may be expressed as 0.1 (T10 duration + T11 duration + T12 duration), and the duration of T11 may be expressed as 0.8 (T10 duration + T11 duration + T12 duration). Meanwhile, in a period T10, a modulation wave with a duty ratio of 1% to 99% continuously increased is output; in practical application, the specific determination can be performed according to the actual working frequency range of the driving tube, for example, pin D of MCU U1 outputs a modulated wave with a duty ratio of 50% to 80% continuously increasing; in a period T11, pin D of MCU U1 outputs a high level; in a period T12, pin D of the MCU U1 outputs a modulation wave with a continuously reduced duty cycle of 99% to 1%; in practical applications, the specific determination may be made according to the actual operating frequency range of the driving tube, for example, the pin D of the MCU U1 outputs a modulated wave with a duty cycle continuously decreasing by 80% to 50%. It can be seen that, at T10, T11, and T12, the on and off of the driving tubes corresponding to the D-phase windings are controlled by different modulation waves, respectively, so that the current waveform flowing through the D-phase windings of the stepping motor can be obtained, see waveform Cd, that is, the current value on the D-phase windings of the four-phase eight-beat stepping motor can be gradually increased in the T10 period, and the impact of the pulsating current on the four-phase eight-beat stepping motor is reduced; in the T11 time period, the current value on the D-phase winding of the four-phase eight-beat stepping motor is stably output without influencing the performance of the motor; in the period of T12, the current value on the D-phase winding of the four-phase eight-beat stepping motor is gradually reduced, and the smooth transition is made to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or starting can be effectively reduced by forming a half sine wave current on the D-phase winding of the four-phase eight-beat stepping motor.

It can be seen that because the MCU has the output capability of a plurality of PWM ports and sufficient calculation capability, the PWM ports are used for modulating a half sine wave current to control the operation of the stepping motor, and the low-speed operation vibration and noise of the stepping motor are reduced on the basis of not increasing the cost.

Based on the foregoing embodiments, an embodiment of the present application provides a control device for a motor, and fig. 8 is a schematic structural diagram of the control device for a motor provided in the embodiment of the present application, and as shown in fig. 8, the device includes:

a first obtaining module 801, configured to obtain a half sine wave control signal of an i-th phase with consecutive P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N;

a first modulation module 802, configured to modulate the i-th phase half sine wave control signal by using a carrier signal with a preset frequency to obtain an i-th phase PWM control signal;

and the first control module 803 is used for controlling the i-th phase winding of the motor to be powered on or powered off according to the i-th phase PWM control signal.

In some embodiments, the first obtaining module 801 includes:

the dividing unit is used for sequentially dividing three continuous beats related to the ith phase into first to third power-on time periods according to a preset dividing rule; wherein the first energization period is a period in which an i-th phase winding of the motor gradually changes from a starting conduction state to a full conduction state; the second energization period is a period in which the i-th phase winding is continuously in the fully-on state; the third conduction period is a period in which the i-th phase winding gradually changes from the full conduction state to an end conduction state;

an acquisition unit configured to acquire a first control signal in the first energization period, a second control signal in the second energization period, and a third control signal in the third energization period, respectively;

and the determining unit is used for determining an overall control signal consisting of the first control signal, the second control signal and the third control signal as a current ith-phase half sine wave control signal.

In some embodiments, the waveform of the first control signal is a curve with a slope increasing first and then decreasing; the waveform of the second control signal is a straight line; the waveform of the third control signal is a curve with a slope which is smaller and then increased; the ith phase PWM control signal comprises the following three continuous control signals: first to third PWM control signals; the first PWM control signal is a control signal with a duty ratio gradually increased; the second PWM control signal is a control signal for keeping high level; the third PWM control signal is a control signal whose duty ratio is gradually decreased.

In some embodiments, the apparatus further comprises:

a second obtaining module 804, configured to obtain an i +1 th phase half sine wave control signal; wherein the half sine wave control signal of the (i + 1) th phase acts on three continuous beats related to the (i + 1) th phase in the continuous P beats;

a second modulation module 805, configured to modulate the i +1 th phase half sine wave control signal by using a carrier signal with a preset frequency to obtain an i +1 th phase PWM control signal;

the second control module 806 is configured to control an i-th phase winding of the motor to be powered on or powered off according to the i-th phase PWM control signal in a beat where the i-th phase and the i + 1-th phase overlap; and controlling the i +1 phase winding of the motor to be powered on or powered off according to the PWM control signal of the i +1 phase.

In some embodiments, the first determining module 807 is further configured to determine a control duration of the i-th phase half sine wave control signal according to a current rotation speed of the motor; and the control time length is the total time length of three continuous beats related to the ith phase in the continuous P beats.

In some embodiments, the motor comprises a four-phase eight-beat stepper motor, the four phases comprise an a phase, a B phase, a C phase, and a D phase, the eight beats comprise a first beat to an eighth beat, in which the first beat, the AB beat, the B beat, the BC beat, the C beat, the CD beat, the D beat, and the DA beat are respectively in turn; in a corresponding manner, the first and second electrodes are,

the first obtaining module 801 is configured to obtain half sine wave control signals of an a phase, a B phase, a C phase, and a D phase with continuous eight beats as one period; wherein the A-phase half sine wave control signal acts on successive DA, A and AB beats; the B-phase half sine wave control signal acts on continuous AB, B and BC beats; the C-phase half sine wave control signal acts on continuous BC, C and CD beats; wherein the D-phase half-sine wave control signal acts on successive CD, D and DA beats.

In some embodiments, the first obtaining module 801 is configured to divide the continuous DA, a, and AB beats into a first power-on period, a second power-on period, and a third power-on period according to a preset division rule; wherein the first energization period is a period in which an a-phase winding of the motor gradually changes from a starting conductive state to a fully conductive state; the second energization period is a period in which the a-phase winding is continuously in the fully-on state; the third conduction period is a period in which the phase-a winding gradually changes from the fully-on state to an end-on state; respectively acquiring a first control signal in the first power-on period, a second control signal in the second power-on period and a third control signal in the third power-on period; and determining an overall control signal composed of the first control signal, the second control signal and the third control signal as a current A-phase half sine wave control signal.

In some embodiments, the motor includes a four-phase eight-beat stepping motor, where the four phases include an a phase, a B phase, a C phase, and a D phase, and correspondingly, the first control module 803 is configured to control the first driving tube corresponding to the a-phase winding to be turned on or off according to the PWM control signal of the a phase; controlling the second driving tube corresponding to the winding of the phase B to be switched on or off according to the PWM control signal of the phase B; controlling the conduction or the closing of a third driving tube corresponding to the C-phase winding according to the PWM control signal of the C-phase; and controlling the fourth driving tube corresponding to the D-phase winding to be switched on or switched off according to the PWM control signal of the D-phase.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be noted that, in the embodiment of the present application, if the control method of the motor is implemented in the form of a software functional module and is sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or a part contributing to the related art may be embodied in the form of a software product stored in a storage medium, and including a plurality of instructions for enabling a computer device (which may be a mobile phone, a tablet computer, a desktop computer, a personal digital assistant, a navigator, a digital phone, a video phone, a television, a sensing device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

Correspondingly, an embodiment of the present application provides a control apparatus for a motor, fig. 9 is a schematic structural diagram of a composition of the control apparatus for a motor provided in the embodiment of the present application, and as shown in fig. 9, the control apparatus 900 for a motor includes: comprising a memory 901 and a processor 902, said memory 901 storing a computer program operable on the processor 902, said processor 902 implementing the steps in the control method of the motor provided in the above embodiments when executing said computer program.

The Memory 901 is configured to store instructions and applications executable by the processor 902, and may also buffer data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or already processed by each module in the control device of the motor and the processor 902, and may be implemented by a FLASH Memory (FLASH) or a Random Access Memory (RAM).

Correspondingly, the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps in the control method of the motor provided in the above-described embodiments.

Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

Correspondingly, the embodiment of the application provides a control circuit of a motor, including: the driving circuit is electrically connected with the motor and used for driving the motor to rotate and stop; the controller is used for acquiring the half sine wave control signal of the ith phase by taking continuous P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase PWM control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

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, for example, the division of the unit is only a logical functional 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 connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection 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; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, 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 realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or a part contributing to the related art may be embodied in the form of a software product stored in a storage medium, and including a plurality of instructions for enabling a computer device (which may be a mobile phone, a tablet computer, a desktop computer, a personal digital assistant, a navigator, a digital phone, a video phone, a television, a sensing device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments. Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict. The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.

The above description is only for the 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 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

1. A control method of a motor, wherein the motor is an N-phase P-beat motor, the method comprising:

taking continuous P beats as a period, and acquiring a half sine wave control signal of the ith phase; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N;

modulating the ith-phase half sine wave control signal through a carrier signal with a preset frequency to obtain an ith-phase Pulse Width Modulation (PWM) control signal;

and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

2. The method of claim 1, wherein said obtaining the i-th phase half sine wave control signal comprises:

sequentially dividing three continuous beats related to the ith phase into a first power-on period, a second power-on period and a third power-on period according to a preset dividing rule; wherein the first energization period is a period in which an i-th phase winding of the motor gradually changes from a starting conduction state to a full conduction state; the second energization period is a period in which the i-th phase winding is continuously in the fully-on state; the third conduction period is a period in which the i-th phase winding gradually changes from the full conduction state to an end conduction state;

respectively acquiring a first control signal in the first power-on period, a second control signal in the second power-on period and a third control signal in the third power-on period;

and determining an overall control signal composed of the first control signal, the second control signal and the third control signal as a current i-th phase half sine wave control signal.

3. The method of claim 2, wherein the first control signal has a waveform with an increasing slope and a decreasing slope; the waveform of the second control signal is a straight line; the waveform of the third control signal is a curve with the slope firstly decreasing and then increasing;

the ith phase PWM control signal comprises the following three continuous control signals: a first PWM control signal, a second PWM control signal, and a third PWM control signal; the first PWM control signal is a control signal with a duty ratio gradually increased; the second PWM control signal is a control signal for keeping high level; the third PWM control signal is a control signal whose duty ratio is gradually decreased.

4. The method of claim 1, further comprising:

acquiring a half sine wave control signal of an i +1 phase; wherein the half sine wave control signal of the (i + 1) th phase acts on three continuous beats related to the (i + 1) th phase in the continuous P beats;

modulating the i +1 th phase half sine wave control signal through a carrier signal with preset frequency to obtain an i +1 th phase PWM control signal;

in the beat in which the ith phase and the (i + 1) th phase are overlapped, controlling the energization or the deenergization of the ith phase winding of the motor according to the PWM control signal of the ith phase;

and controlling the i +1 phase winding of the motor to be powered on or powered off according to the PWM control signal of the i +1 phase.

5. The method of claim 1, further comprising:

determining the control duration of the ith-phase half sine wave control signal according to the current rotating speed of the motor; and the control time length is the total time length of three continuous beats related to the ith phase in the continuous P beats.

6. The method of claim 2, wherein the motor comprises a four-phase eight-beat stepper motor, the four phases comprising an a phase, a B phase, a C phase, and a D phase, the eight beats comprising a first beat to an eighth beat, in order being respectively an a beat, an AB beat, a B beat, a BC beat, a C beat, a CD beat, a D beat, and a DA beat;

correspondingly, the obtaining of the i-th phase half sine wave control signal with consecutive P beats as a period includes:

taking continuous eight beats as a period, and acquiring half sine wave control signals of an A phase, a B phase, a C phase and a D phase; wherein the A-phase half sine wave control signal acts on successive DA, A and AB beats; the B-phase half sine wave control signal acts on continuous AB, B and BC beats; the C-phase half sine wave control signal acts on continuous BC, C and CD beats; wherein the D-phase half-sine wave control signal acts on successive CD, D and DA beats.

7. The method of claim 6, wherein said obtaining a half sine wave control signal for phase A comprises:

according to a preset division rule, dividing continuous DA, A and AB beats into a first power-on period, a second power-on period and a third power-on period; wherein the first energization period is a period in which an a-phase winding of the motor gradually changes from a starting conductive state to a fully conductive state; the second energization period is a period in which the a-phase winding is continuously in the fully-on state; the third conduction period is a period in which the phase-a winding gradually changes from the fully-on state to an end-on state;

and determining an overall control signal composed of the first control signal, the second control signal and the third control signal as a current A-phase half sine wave control signal.

8. The method of claim 1, wherein the motor comprises a four-phase eight-beat stepper motor, the four phases comprising an A-phase, a B-phase, a C-phase, and a D-phase,

correspondingly, the controlling the i-th phase winding of the motor to be powered on or powered off according to the i-th phase PWM control signal comprises the following steps:

controlling the conduction or the closing of a first driving tube corresponding to the A-phase winding according to the PWM control signal of the A-phase;

controlling the second driving tube corresponding to the winding of the phase B to be switched on or off according to the PWM control signal of the phase B;

controlling the conduction or the closing of a third driving tube corresponding to the C-phase winding according to the PWM control signal of the C-phase;

and controlling the fourth driving tube corresponding to the D-phase winding to be switched on or switched off according to the PWM control signal of the D-phase.

9. A control circuit for an electric motor, comprising:

the driving circuit is electrically connected with the motor and used for driving the motor to rotate and stop;

the controller is used for acquiring the half sine wave control signal of the ith phase by taking continuous P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N; modulating the ith-phase half sine wave control signal through a carrier signal with a preset frequency to obtain an ith-phase Pulse Width Modulation (PWM) control signal; and controlling the i-th phase winding of the motor to be powered on or powered off according to the PWM control signal of the i-th phase.

10. A control device of an electric motor, characterized in that the device comprises:

the first acquisition module is used for acquiring the ith-phase half sine wave control signal by taking continuous P beats as a period; wherein the half sine wave control signal of the ith phase acts on three continuous beats related to the ith phase in the continuous P beats; i is any integer from 1 to N;

the first modulation module is used for modulating the ith-phase half sine wave control signal through a carrier signal with preset frequency to obtain an ith-phase Pulse Width Modulation (PWM) control signal;

and the first control module is used for controlling the i-th phase winding of the motor to be electrified or powered off according to the i-th phase PWM control signal.

11. A control device of an electric motor, comprising a memory and a processor, the memory storing a computer program operable on the processor, characterized in that the processor implements the steps in the control method of the electric motor according to any one of claims 1 to 8 when executing the computer program.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps in the method for controlling an electric machine according to any one of claims 1 to 8.