CN114337409B

CN114337409B - Motor control method, circuit, device and storage medium

Info

Publication number: CN114337409B
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: 2024-01-05
Anticipated expiration: 2040-10-10
Also published as: CN114337409A

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 a continuous P beat as a period to acquire a half sine wave control signal of an ith phase; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a PWM control signal of the ith phase; and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith 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, a device, and a storage medium for controlling a motor.

Background

In the related art, the stepper motor is controlled by a square wave or a sine wave. The square wave control circuit and system are simple, but the motor vibrates and noise is relatively large in the starting and running processes, particularly the oscillating motor of the fan is positioned at the top end of the support frame, resonance is relatively easy to generate during low-speed running, shaking or strong vibration feeling is easy to be caused, and the use and experience of a user are affected; by adopting sine wave control, the circuit and the control system are complex, and the cost is high.

Disclosure of Invention

The embodiment of the application expects to provide a control method, a circuit, a device and a storage medium of 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, including: taking a continuous P beat as a period to acquire a half sine wave control signal of an ith phase; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a pulse width modulation (Pulse Width Modulation, PWM) control signal of the ith phase; and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith phase.

In a second aspect, an embodiment of the present 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 a half sine wave control signal of an ith phase by taking a continuous P beat as a period; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a PWM control signal of the ith phase; and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith phase.

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

In a fourth aspect, an embodiment of the present application provides a control apparatus for a motor, including a memory and a processor, where the memory stores a computer program that can be run on the processor, and the processor implements steps in the control method for a motor described above when executing the computer program.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described method of controlling a motor.

In the technical scheme provided by the embodiment of the application, a continuous P beat is taken as a period to acquire a half sine wave control signal of an ith phase; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a PWM control signal of the ith phase; and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith phase. Because 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 controlled only in three continuous beats related to the ith phase, the current peak on the ith phase winding of the motor is reduced by controlling the power on or off of the ith phase winding of the motor through the PWM control signal of the ith phase, the jitter phenomenon of the motor at low speed or during starting is effectively reduced, and meanwhile, the control is relatively simple and the cost is relatively low.

Drawings

FIG. 1 is a schematic diagram of the drive control logic and current waveforms of the A-phase winding of a four-phase eight-beat stepper motor in the related art;

Fig. 2 is a schematic implementation flow chart of a control method of a motor according to an embodiment of the present application;

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

fig. 4 is a schematic implementation flow chart of a control method of another motor according to an embodiment of the present application;

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

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

fig. 7 is a schematic waveform diagram of PWM control signals of a four-phase eight-beat stepper motor and currents on windings of each phase according to an embodiment of the present application;

fig. 8 is a schematic diagram of a composition structure of a control device of a motor according to an embodiment of the present application;

fig. 9 is a schematic diagram of a composition structure of a control device for a motor according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application are further elaborated below in conjunction with the accompanying drawings and examples, which should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making inventive efforts are within the scope of protection 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 to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

If a similar description of "first/second" appears in the application document, the following description is added, in which the terms "first/second/third" merely distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first/second/third" may, where allowed, interchange a specific order or precedence, so that the embodiments of the application described herein may be implemented 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 present application.

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

When the motor operates at a low speed, the motor is controlled by the driving control logic shown in fig. 1, and because the control logic is square wave control, the current peak on the motor winding is larger at the on and off time of the switch, that is, the motor vibrates and noise is larger in the starting and operating processes. As the oscillating motor of the fan is positioned at the top end of the supporting frame, resonance is easy to generate when the fan runs at a low speed, shaking or strong vibration feeling is easy to be caused, and the use and experience of a user are affected.

In order to solve the above technical problems, 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 a continuous P beat as a period to acquire a half sine wave control signal of an ith phase; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; 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 can also be a four-phase four-beat stepping motor, and correspondingly, four beats are one period.

In some possible embodiments, the half sine wave control signals of the i-th phase are acquired with the continuous P-beat as one period, and the half sine wave control signals of the 1-th phase to the N-th phase are sequentially acquired with the continuous P-beat as one period according to the sequence of the 1-th phase to the N-th phase; the continuous P beats can be taken as one period, and half sine wave control signals of the 1 st phase to the N th phase in preset time can be obtained at the same time, wherein the preset time can be one period or a plurality of periods, and the specific setting can be carried out according to the requirement.

In one example, the implementation of obtaining the half sine wave control signal of the i-th phase may be to determine the half sine wave control signal of the i-th phase according to a user's requirement for smoothness of the current on the motor winding.

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

In one example, the i-th phase may be any one of a phase, B phase, C phase, and D phase. In the case that the i-th phase is the A phase, the beats of the half sine wave control signal action of the A phase are DA, A and AB; in the case that the i-th phase is the B phase, the beats of the half sine wave control signal action of the B phase are AB, B and BC; in the case that the i-th phase is the C phase, the beats of the half sine wave control signal of the C phase are BC, C and CD; in the case where the i-th phase is the D-phase, the beats of the half sine wave control signal of the D-phase are CD, D, and DA.

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

Here, the preset frequency of the carrier signal is determined based on the operating frequency of the drive tube of the motor winding. In one example, the manner of determining the preset frequency of the carrier signal may be: firstly, determining the working frequency range of a driving tube according to a selected manual of the driving tube; and then selecting the working frequency of the driving tube from the working frequency range of the driving tube according to design requirements, 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 16kHz.

In some possible embodiments, the PWM control signal of the i-th phase may include the following three consecutive control signals: the first PWM control signal, the second PWM control signal, and the third PWM control signal; the first PWM control signal is a control signal with gradually increased duty ratio; the second PWM control signal is a control signal which keeps a high level; the third PWM control signal is a control signal having a gradually decreasing duty ratio.

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

In one example, the PWM control signal of the a phase with a variable duty ratio is obtained, and in beats DA, a and AB of the half sine wave control signal of the a phase, the PWM control signal with a gradually increased duty ratio is obtained in a period when the control signal gradually increases to a logic high level; obtaining a PWM signal with a duty ratio of 1 in a period when the control signal is kept at a logic high level; in a period in which the control signal gradually decreases from the logic high level, a PWM signal having a duty ratio gradually decreasing from 1 is obtained.

In one embodiment, the gradual increase in duty cycle may be from a duty cycle of 0 or 1% with a fixed or variable first duty cycle magnitude increase until 99% or 100% increase. Wherein the fixed first duty cycle amplitude may be, for example, 1% or 2%. The gradual decrease of the duty cycle may also be from 100% or 99% of the duty cycle, decreasing with a fixed or variable second duty cycle amplitude, until decreasing 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 a duty cycle of 0 or 1% with a variable first duty cycle increase in magnitude until 99% or 100% is reached. 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 gradual decrease of the duty cycle may also be starting from 100% or 99% of the duty cycle and decreasing with a variable second duty cycle amplitude until decreasing to 1% or 0. For example, the variable second duty cycle amplitude corresponding to the third modulation period may be 1%, and correspondingly, the variable second duty cycle amplitude corresponding to 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 the 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 variation amplitude of the control signal corresponding to a period in which the control signal gradually increases to a logic high level in a beat in which the half sine wave control signal of the i-th phase acts; the fixed second duty ratio may be determined according to a slope variation amplitude of the control signal corresponding to a period in which the control signal gradually decreases from the logic high level in a beat in which the half sine wave control signal of the i-th phase acts.

Step S203: and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith 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 PWM control signal of the i-th phase, which may be that the i-th phase winding of the motor is controlled to be powered on when the PWM signal of the i-th phase is at a logic high level, and the i-th phase winding of the motor is controlled to be powered off when the PWM signal of the i-th phase is at a logic low level. The logic low level and the logic high level are not particularly limited, and the logic low level may be a level with an amplitude value of 0 or a level with an amplitude value of negative value; the logic high level may be a level of 5 volts V in magnitude or a level of 15V in magnitude.

In one example, the implementation manner of controlling the energization of the i-th phase winding of the motor may be to control the conduction of the driving tube corresponding to the i-th phase winding; the implementation mode of controlling the power failure of the i-th phase winding of the motor can be to control the turn-off of the driving tube corresponding to the i-th phase winding. The driving tube is not limited here, and may be a transistor, or may be an oxide semiconductor field effect transistor (Metal Oxide Semiconductor Field Effect Transistor, MOSFET), although the driving tube may be replaced by an integrated driving circuit.

In the technical scheme provided by the embodiment of the application, because 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, the current peak on the ith phase winding of the motor can be reduced by controlling the power on or power off of the ith phase winding of the motor through the PWM control signal of the ith phase, the jitter phenomenon of the motor at low speed or during starting can be effectively reduced, meanwhile, the control is relatively simple, and the cost is relatively low.

In practical applications, steps S201 to S203 may be implemented by a control unit in a control device of the motor, where the control unit may be at least one of an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a digital signal processing device (Digital Signal Processing Device, DSPD), a programmable logic device (Programmable Logic Device, PLD), an FPGA, a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, and a microprocessor.

Fig. 3 is a schematic implementation flow chart of another method for controlling a motor according to an embodiment of the present application, as shown in fig. 3, the flow may include:

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

Here, the preset dividing rule may be a dividing rule predetermined according to a requirement of a user on the smoothness of the current on the motor winding, for example, the dividing rule may be a time division of three consecutive beats related to the ith phase according to a ratio of 1:8:1, or a time division of three consecutive beats related to the ith phase according to a ratio 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 cycle of the control signal is 0 or 0.01 in the carrier period; the full on state of the i-th phase winding of the motor may be a state in which the duty cycle of the control signal in the carrier cycle 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 cycles of the control signals corresponding to the start conduction state, the full conduction state, and the end conduction state of the i-th phase winding of the motor are related to the drive tube corresponding to the i-th phase winding of the motor. A fixed control duty cycle range may be determined for a particular model 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-on state, the full-on state, and the end-on state must be within a fixed duty cycle range.

In one example, the i-th phase winding of the motor gradually changes from the start-on state to the full-on state, which may be a process in which the duty cycle of the control signal gradually approaches from 0 or 0.01 to 0.99 or 1 in fixed or variable steps; the gradual transition of the i-th phase winding from the full conduction state to the end conduction state may be a process in which the duty ratio of the control signal gradually approaches from 1 or 0.99 to 0.01 or 0 in a fixed or variable step.

In some possible embodiments, the continuous three beats related to the ith are sequentially divided into the first to third power-on periods according to a preset dividing rule with the continuous P beats as one period, and the continuous DA, a and AB beats are divided into the first to third power-on periods according to the preset dividing rule with the continuous P beats as one period; the first power-on period is a period when an A-phase winding of the motor is gradually changed from a starting conduction state to a full conduction state; the second energization period is a period in which the a-phase winding is continuously in the full conduction state; the third power-on period is a period in which the a-phase winding gradually changes from the full-conduction state to the end-conduction state.

In some possible embodiments, the continuous three beats related to the ith are sequentially divided into the first to third power-on periods according to a preset dividing rule by taking the continuous P beats as one period, or the continuous AB, B and BC beats are divided into the first to third power-on periods according to the preset dividing rule by taking the continuous P beats as one period; the first energizing period is a period when the B-phase winding of the motor is gradually changed from a starting conducting state to a full conducting state; the second energization period is a period in which the B-phase winding is continuously in the fully-on state; the third electric conduction period is a period in which the B-phase winding gradually changes from the full conduction state to the end conduction state.

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

In some possible embodiments, the continuous three beats related to the ith are sequentially divided into the first to third power-on periods according to a preset dividing rule by taking the continuous P beats as one period, or the continuous CD, D and DA beats are divided into the first to third power-on periods according to the preset dividing rule by taking the continuous P beats as one period; the first power-on period is a period when the D-phase winding of the motor is gradually changed 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 power-on period is a period in which the D-phase winding gradually changes from the full-conduction state to the end-conduction state.

Step S302: and 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 that increases and decreases; for example, the slope value gradually increases from 0.2 to 0.5 and gradually decreases from 0.5 to a slope change of 0. Here, the gradually increasing and gradually decreasing slope value step is not limited, and the gradually increasing or gradually decreasing slope value step 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 with the voltage value decreasing first and then increasing 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 gradually increasing and gradually decreasing slope value step is not limited, and the gradually increasing or gradually decreasing slope value step may be 0.01.

The implementation manner of respectively 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 may, for example, be to respectively obtain 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 according to the requirement of the user on the stability of the current on the 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 half sine wave control signal of the current 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.

In a possible implementation manner, step S03 may sequentially correspond to the first to third control signals according to the order of the first to third power-on periods, form an integral control signal in the three consecutive beats related to the i-th phase, and determine the integral control signal formed in the three consecutive beats related to the i-th phase as the half sine wave control signal of the current i-th phase.

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

Step S305: and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith phase.

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

Here, the i+1th phase represents the next phase to the i-th phase. For example, for 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 half sine wave control signal of the i+1th phase is the same as the aforementioned implementation of acquiring the half sine wave control signal of the i-th phase.

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

In some possible embodiments, the half sine wave control signal of the i+1th phase is modulated by a carrier signal with a preset frequency to obtain the PWM control signal of the i+1th phase, and in the case that the i phase is the a phase, the half sine wave control signal of the B phase is modulated by a triangular wave signal with a preset frequency to obtain the PWM control signal of the B phase with a variable duty ratio.

Step S308: and in the beat of overlapping the ith phase and the (i+1) th phase, controlling the power-on or power-off of an ith phase winding of the motor according to the PWM control signal of the ith phase.

Here, the beats in which the i-th phase and the i+1-th phase overlap represent beats in which the half-sine-wave control signal of the i-th phase and the half-sine-wave control signal of the i+1-th phase are simultaneously applied. For example, the beats of the i-th phase and the i+1-th phase overlap may be any one of DA beats, AB beats, BC beats, and CD beats. The DA beat represents a beat in 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 power on or power off of the winding of the (i+1) th phase of the motor according to the PWM control signal of the (i+1) th 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 i+1-th phase PWM control signal, which may be that the i+1-th phase winding of the motor is controlled to be powered on when the i+1-th phase PWM signal is at a logic high level, and the i+1-th phase winding of the motor is controlled to be powered off when the i+1-th phase PWM signal is at a logic low level.

In the embodiment of the present application, since the continuous three beats related to the ith phase are sequentially divided into the first to third power-on periods according to the preset dividing rule, the half sine wave control signals of the ith phase are obtained by respectively obtaining the control signals of the first to third power-on periods, so that the obtained PWM control signals of the ith phase are gradually increased in duty ratio, and gradually decreased in duty ratio, the ith phase winding of the motor is controlled to be powered on or off by the PWM control signals of the ith phase, and the ith phase winding of the motor is gradually powered off in the third power-on period, so that the current peak on the ith phase winding of the motor is reduced, and the jitter phenomenon of the motor at low speed or during starting is effectively reduced; meanwhile, in the beat that the ith phase and the (i+1) th phase are overlapped, the ith phase winding and the (i+1) th phase winding of the motor can be simultaneously controlled to be electrified or powered off.

In one embodiment, the control duration of the half sine wave control signal of the i-th phase can be determined according to the current rotating speed of the motor; the control duration is the total duration of three consecutive beats of the consecutive P beats associated with the ith phase.

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

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

The embodiment of the application provides a control method of a motor, the motor comprises a four-phase eight-beat stepping 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, and the eight beats are 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 in sequence. As shown in fig. 4, the process may include:

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

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

Here, modulating the half sine wave control signal of the phase a through a carrier signal with a preset frequency to obtain a PWM control signal of the phase a; modulating the half sine wave control signal of the B phase through a carrier signal with a preset frequency to obtain a PWM control signal of the B phase; modulating the half sine wave control signal of the C phase through a carrier signal with preset frequency to obtain a PWM control signal of the C phase; modulating the half sine wave control signal of the D phase through a carrier signal with a preset frequency to obtain a PWM control signal of the D phase.

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

Here, the first driving tube corresponding to the a-phase winding is controlled to be turned 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 turned 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 turned 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 turned on or off according to the PWM control signal of the D-phase.

The embodiment of the application provides a control method of a motor, the motor comprises a four-phase eight-beat stepping 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, and the eight beats are 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 in sequence. As shown in fig. 5, the process may include:

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

Step S502: and 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 half sine wave control signal of a current A phase; wherein the half sine wave control signal of the A phase acts in 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 half sine wave control signal of the phase B acts on continuous AB, B and BC beats; the half sine wave control signal of the phase C acts on continuous BC, C and CD beats; wherein the half sine wave control signal of the D phase acts in successive CD, D and DA beats.

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

Step S505: and modulating the half sine wave control signals of the A phase, the B phase, the C phase and the D phase respectively through carrier signals with preset frequencies 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 on or off of the driving tubes corresponding to the windings of the phase A, the phase B, the phase C and the phase D according to PWM control signals of the phase A, the phase B, the phase C and the phase D.

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

In the embodiment, U1 is a micro control unit (Microcontroller Unit; MCU) for providing control electric signals to Q1, Q2, Q3 and Q4, wherein U1 comprises a pin VDD, a pin GND, a pin A, a pin B, a pin C, a pin D and the like, the pin VDD is a power input pin of U1, and the pin VDD is connected to VCC1 to provide input power for 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; PWM output pins of which the pins A, B, C and D are U1 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 the bases of Q1, Q2, Q3 and Q4, and R1, R2, R3 and R4 are respectively arranged on the bases of Q1, Q2, Q3 and Q4 so as to limit the current on the bases of Q1, Q2, Q3 and Q4 and prevent the Q1, Q2, Q3 and Q4 from being burnt; the emitters of Q1, Q2, Q3 and Q4 are all connected to GND 2; the collectors of Q1, Q2, Q3 and Q4 are respectively connected to the power negative ends of the A phase winding, the B phase winding, the C phase winding and the D phase winding of M1, and the power positive ends of the A phase winding, the B phase winding, the C phase winding and the D phase winding of M1 are all connected to VCC2. When Q1, Q2, Q3 and Q4 are on, positive VCC2 is correspondingly loaded across the a-, B-, C-and D-phase windings.

Fig. 7 is a schematic diagram of the PWM control signals of the four-phase eight-beat stepper motor and the waveforms of the currents on the windings of each phase, as shown in fig. 7, waveforms A, B, C and D are the waveforms of the PWM control signals of the a phase, the B phase, the C phase and the D phase, respectively; waveform Ca, cb, cc, cd is the waveform of the current on the a, B, C and D phase windings, respectively.

The half sine control signal of the A phase acts on the DA, A and AB beats, the pin A of the MCU U1 outputs half sine waves, T1, T2 and T3 are time periods obtained by dividing the DA, A and AB beats according to a preset dividing rule, wherein the time periods of T1 and T3 can be equal, and the proportional relation of the time periods of T1, T2 and T3 is 1:8:1; correspondingly, the duration of T1 and T3 may be expressed as 0.1 x (t1 duration+t2 duration+t3 duration), and the duration of T2 may be expressed as 0.8 x (t1 duration+t2 duration+t3 duration). Meanwhile, in the period T1, the port A of the MCU U1 outputs a modulation wave with the duty ratio of 1% to 99% continuously increased; in practical application, the specific determination can be performed according to the actual operating frequency range of the driving tube, for example, the pin a of the MCU U1 outputs a modulated wave with a duty cycle continuously increased from 50% to 80%; in the period T2, the pin A of the MCU U1 outputs a high level; in the period of T3, the pin A of the MCU U1 outputs a modulated wave with the duty ratio of 99% to 1% continuously reduced; in practical applications, the specific determination may be performed according to the actual operating frequency range of the driving tube, for example, pin a of MCU U1 outputs a modulated wave with a duty cycle continuously decreasing from 80% to 50%. It can be seen that, at T1, T2 and T3, the corresponding drive tubes of the a-phase winding are controlled to be turned on and off respectively by different modulation waves, so that a current waveform of the a-phase winding flowing through the stepper motor can be obtained, and the current value of the a-phase winding of the four-phase eight-beat stepper motor can be gradually increased in the T1 period, thereby reducing the impact of the pulsating current on the four-phase eight-beat stepper motor; in the period T2, the current value on the A-phase winding of the four-phase eight-beat stepping motor is stably output, and the performance of the motor is not affected; in the period T3, the current value on the A-phase winding of the four-phase eight-beat stepping motor is gradually reduced and smoothly switched to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or during 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 half sine control signal of the phase B acts on the beats of the AB, the B and the BC, the pin B of the MCU U1 outputs half sine waves, T4, T5 and T6 are time periods obtained by dividing the beats of the AB, the B and the BC according to a preset dividing rule, the time periods of the T4 and the T5 can be equal, and the proportional relation of the time periods of the T4, the T5 and the T6 is also 1:8:1; correspondingly, the duration of T4 and T6 may be expressed as 0.1 x (t4 duration+t5 duration+t6 duration), and the duration of T2 may be expressed as 0.8 x (t4 duration+t5 duration+t6 duration). Meanwhile, in the period T4, outputting a modulated wave with a duty ratio continuously increased from 1% to 99%; in practical application, the specific determination can be performed according to the actual operating frequency range of the driving tube, for example, the pin B of the MCU U1 outputs a modulated wave with a duty cycle continuously increased from 50% to 80%; in the period T5, the pin A of the MCU U1 outputs a high level; in the period T6, the pin B of the MCU U1 outputs a modulated wave with the duty ratio of 99% to 1% continuously reduced; in practical applications, the specific determination may be performed according to the actual operating frequency range of the driving tube, for example, pin B of MCU U1 outputs a modulated wave with a duty cycle continuously decreasing from 80% to 50%. It can be seen that, at T4, T5 and T6, the corresponding driving tubes of the B-phase winding are controlled to be turned on and off respectively by different modulation waves, so that a current waveform of the B-phase winding flowing through the stepper motor can be obtained, see waveform Cb, that is, the current value on the B-phase winding of the four-phase eight-beat stepper motor can be gradually increased at the T4 period, and the impact of the pulsating current on the four-phase eight-beat stepper motor is reduced; in the period T5, the current value on the B-phase winding of the four-phase eight-beat stepping motor is stably output, and the performance of the motor is not affected; in the period T6, the current value on the B-phase winding of the four-phase eight-beat stepping motor is gradually reduced and smoothly switched to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or during 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.

The half sine control signal of the phase C acts on the BC, the C and the CD beats, the half sine wave is output by the pin C of the MCU U1, T7, T8 and T9 are time periods obtained by dividing the BC, the C and the CD beats according to a preset dividing rule, the time periods of the T7 and the T9 can be equal, and the proportional relation of the time periods of the T7, the T8 and the T9 is also 1:8:1; correspondingly, the duration of T7 and T9 may be expressed as 0.1 x (t7 duration+t8 duration+t9 duration), and the duration of T2 may be expressed as 0.8 x (t7 duration+t8 duration+t9 duration). Meanwhile, in the period T7, outputting a modulated wave with a duty ratio continuously increased from 1% to 99%; in practical application, the specific determination can be performed 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 increased from 50% to 80%; in the period T8, the pin C of the MCU U1 outputs a high level; in the period T6, the pin C of the MCU U1 outputs a modulated wave with the duty ratio of 99% to 1% continuously reduced; in practical applications, the specific determination may be performed according to the actual operating frequency range of the driving tube, for example, pin C of MCU U1 outputs a modulated wave with a duty cycle continuously decreasing from 80% to 50%. It can be seen that, at T7, T8 and T9, the corresponding driving tubes of the C-phase winding are controlled to be turned on and off respectively by different modulation waves, so that a current waveform of the C-phase winding flowing through the stepper motor can be obtained, see waveform Cc, that is, the current value on the C-phase winding of the four-phase eight-beat stepper motor can be gradually increased at the T7 period, and the impact of the pulsating current on the four-phase eight-beat stepper motor is reduced; in the period T8, the current value on the C-phase winding of the four-phase eight-beat stepping motor is stably output, and the performance of the motor is not affected; in the period T9, the current value on the C-phase winding of the four-phase eight-beat stepping motor is gradually reduced and smoothly switched to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or during 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 half sine control signal of the phase D acts on the CD, the D and the DA beats, the half sine wave is output by the pin D of the MCU U1, and the time periods obtained by dividing the CD, the D and the DA beats according to a preset dividing rule are T10, T11 and T12, wherein the time periods of the T10 and the T12 can be equal, and the proportional relation of the time periods of the T10, the T11 and the T12 is also 1:8:1; correspondingly, the duration of T10 and T12 may be expressed as 0.1 x (t10 duration+t11 duration+t12 duration), and the duration of T11 may be expressed as 0.8 x (t10 duration+t11 duration+t12 duration). Meanwhile, in the period T10, outputting a modulated wave with a duty ratio continuously increased from 1% to 99%; in practical application, the specific determination can be performed 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 increased from 50% to 80%; in the period T11, the pin D of the MCU U1 outputs a high level; in the period T12, the pin D of the MCU U1 outputs a modulated wave with the duty ratio of 99% to 1% continuously reduced; in practical applications, the specific determination may be performed according to the actual operating frequency range of the driving tube, for example, pin D of MCU U1 outputs a modulated wave with a duty cycle continuously decreasing from 80% to 50%. It can be seen that, at T10, T11 and T12, the corresponding driving tubes of the D-phase winding are controlled to be turned on and off respectively by different modulation waves, so that a current waveform of the D-phase winding flowing through the stepper motor can be obtained, which is referred to as waveform Cd, that is, a current value on the D-phase winding of the four-phase eight-beat stepper motor can be gradually increased in a T10 period, and impact of a pulsating current on the four-phase eight-beat stepper motor can be reduced; in the period T11, the current value on the D-phase winding of the four-phase eight-beat stepping motor is stably output, and the performance of the motor is not affected; in the period T12, the current value on the D-phase winding of the four-phase eight-beat stepping motor is gradually reduced and smoothly switched to the next beat, so that the jitter phenomenon of the four-phase eight-beat stepping motor at low speed or during 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, since the MCUs have the output capability of a plurality of PWM ports and have sufficient computing power, the operation of the stepping motor is controlled by modulating a half sine wave current through the PWM ports, 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, the present embodiment 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, as shown in fig. 8, where the device includes:

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

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

a first control module 803, configured to control energization or deenergization of an i-th phase winding of the motor according to the PWM control signal of the i-th phase.

In some embodiments, the first acquisition module 801 includes:

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

an acquisition unit configured to acquire 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, respectively;

and the determining unit is used for determining an integral control signal formed by the first control signal, the second control signal and the third control signal as a half sine wave control signal of the current i-th phase.

In some embodiments, the waveform of the first control signal is a curve with a slope that increases and decreases; the waveform of the second control signal is a straight line; the waveform of the third control signal is a curve with the smaller slope and the increased slope; the PWM control signal of the i-th phase includes the following three continuous control signals: first to third PWM control signals; the first PWM control signal is a control signal with gradually increased duty ratio; the second PWM control signal is a control signal which keeps a high level; the third PWM control signal is a control signal having a gradually decreasing duty ratio.

In some embodiments, the apparatus further comprises:

a second acquisition module 804, configured to acquire a half sine wave control signal of the (i+1) th phase; wherein the half sine wave control signal of the (i+1) -th phase acts on three consecutive beats related to the (i+1) -th phase in the consecutive P beats;

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

a second control module 806, configured to control, in a beat where the i-th phase and the i+1-th phase overlap, power on or power off of an i-th phase winding of the motor according to the PWM control signal of the i-th phase; and controlling the power on or power off of the winding of the (i+1) th phase of the motor according to the PWM control signal of the (i+1) th 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 rotational speed of the motor; the control duration is the total duration of three consecutive beats of the consecutive P beats associated with the ith phase.

In some embodiments, 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, a beat, an AB beat, a B beat, a BC beat, a C beat, a CD beat, a D beat, a DA beat; in a corresponding manner to the fact that,

The first obtaining module 801 is configured to obtain half sine wave control signals of a phase, B phase, C phase and D phase with continuous eight beats as a period; the half sine wave control signal of the phase A acts on continuous DA, A and AB beats; the half sine wave control signal of the phase B acts on continuous AB, B and BC beats; the half sine wave control signal of the phase C acts on continuous BC, C and CD beats; wherein the half sine wave control signal of the D phase acts in 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; the first power-on period is a period when the A-phase winding of the motor is gradually changed from a starting conduction state to a full conduction state; the second energization period is a period in which the a-phase winding is continuously in the full conduction state; the third power-on period is a period when the A-phase winding gradually changes from the full conduction state to the 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 half sine wave control signal of the current A phase.

In some embodiments, the motor includes a four-phase eight-beat stepper 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, according to a PWM control signal of the a phase, on or off of a first driving tube corresponding to the a phase winding; according to the PWM control signal of the phase B, the second driving tube corresponding to the phase B winding is controlled to be conducted or closed; according to the PWM control signal of the phase C, the third driving tube corresponding to the phase C winding is controlled to be conducted or closed; and controlling the fourth driving tube corresponding to the D phase winding to be conducted or closed according to the PWM control signal of the D phase.

The description of the apparatus embodiments above is similar to that of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

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 sold or used as a separate product, the control method of the motor 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 embodied in essence or a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing 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 perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

Correspondingly, the embodiment of the present application provides a control device for a motor, fig. 9 is a schematic structural diagram of the control device for a motor provided in the embodiment of the present application, as shown in fig. 9, where the control device 900 for a motor includes: comprising a memory 901 and a processor 902, said memory 901 storing a computer program executable on the processor 902, said processor 902 implementing the steps in the control method of the motor provided in the above-described embodiments when said computer program is executed.

The memory 901 is configured to store instructions and applications executable by the processor 902, and may also cache 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 (Random Access Memory, RAM).

Accordingly, the present embodiments provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the control method of the motor provided in the above embodiments.

It should be noted here that: the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus of the present application, please refer to the description of the method embodiments of the present application for understanding.

Correspondingly, the embodiment of the application provides a control circuit of a motor, which comprises: 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 a half sine wave control signal of an ith phase by taking a continuous P beat as a period; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a PWM control signal of the ith phase; and controlling the power on or power off of an ith phase winding of the motor according to the PWM control signal of the ith 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 various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages 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 one … …" 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 this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes. Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing 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 perform 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 removable storage device, a ROM, a magnetic disk, or an optical disk.

The methods disclosed in the several method embodiments provided in the present application may be arbitrarily combined without collision to obtain a new method embodiment. The features disclosed in the several product embodiments provided in the present application may be combined arbitrarily without conflict to obtain new product embodiments. The features disclosed in the several method or apparatus embodiments provided in the present application may be arbitrarily combined without conflict to obtain new method embodiments or apparatus embodiments.

The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection 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 method of controlling a motor, wherein the motor is an N-phase P-beat motor, the method comprising:

taking a continuous P beat as a period to acquire a half sine wave control signal of an ith phase; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N;

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

controlling the power-on or power-off of an ith phase winding of the motor according to the PWM control signal of the ith phase; wherein the acquiring the half sine wave control signal of the i-th phase includes:

dividing the continuous three beats related to the ith phase into a first electrifying period, a second electrifying period and a third electrifying period in sequence according to a preset dividing rule; the first energizing period is a period when an i-th phase winding of the motor is gradually changed from a starting conducting state to a full conducting state; the second energization period is a period in which the i-th phase winding is continuously in the full conduction state; the third power-on period is a period when the i-th phase winding gradually changes from the full conduction state to the 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 half sine wave control signal of the current i-th phase.

2. The method of claim 1, wherein the waveform of the first control signal is a curve having a slope that increases and decreases; the waveform of the second control signal is a straight line; the waveform of the third control signal is a curve with the slope decreasing first and then increasing second;

the PWM control signal of the i-th phase includes the following three continuous control signals: the first PWM control signal, the second PWM control signal, and the third PWM control signal; the first PWM control signal is a control signal with gradually increased duty ratio; the second PWM control signal is a control signal which keeps a high level; the third PWM control signal is a control signal having a gradually decreasing duty ratio.

3. The method according to claim 1, wherein the method further comprises:

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

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

in the overlapping beats of the ith phase and the (i+1) th phase, controlling the power-on or power-off of an ith phase winding of the motor according to the PWM control signal of the ith phase;

And controlling the power on or power off of the winding of the (i+1) th phase of the motor according to the PWM control signal of the (i+1) th phase.

4. The method according to claim 1, wherein the method further comprises:

determining the control duration of the half sine wave control signal of the ith phase according to the current rotating speed of the motor; the control duration is the total duration of three consecutive beats of the consecutive P beats associated with the ith phase.

5. 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, the eight beats comprising a first beat to an eighth beat, in order, an a-beat, an AB-beat, a B-beat, a BC-beat, a C-beat, a CD-beat, a D-beat, a DA-beat, respectively;

correspondingly, the step of obtaining the half sine wave control signal of the ith phase by taking the continuous P beats as one period comprises the following steps:

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

6. The method of claim 5, wherein the acquiring the half sine wave control signal of phase a comprises:

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

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

7. 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 power on or power off of the i-th phase winding of the motor according to the PWM control signal of the i-th phase includes:

according to the PWM control signal of the phase A, the first driving tube corresponding to the phase A winding is controlled to be conducted or closed;

according to the PWM control signal of the phase B, the second driving tube corresponding to the phase B winding is controlled to be conducted or closed;

according to the PWM control signal of the phase C, the third driving tube corresponding to the phase C winding is controlled to be conducted or closed;

and controlling the fourth driving tube corresponding to the D phase winding to be conducted or closed according to the PWM control signal of the D phase.

8. 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 a half sine wave control signal of an ith phase by taking a continuous P beat as a period; wherein the half sine wave control signal of the i-th phase acts on three consecutive beats of the consecutive P beats related to the i-th phase; i is any integer from 1 to N; modulating the half sine wave control signal of the ith phase through a carrier signal with preset frequency to obtain a Pulse Width Modulation (PWM) control signal of the ith phase; controlling the power-on or power-off of an ith phase winding of the motor according to the PWM control signal of the ith phase; the controller is used for dividing the continuous three beats related to the ith phase into a first power-on period, a second power-on period and a third power-on period in sequence according to a preset dividing rule; the first energizing period is a period when an i-th phase winding of the motor is gradually changed from a starting conducting state to a full conducting state; the second energization period is a period in which the i-th phase winding is continuously in the full conduction state; the third power-on period is a period when the i-th phase winding gradually changes from the full conduction state to the 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 half sine wave control signal of the current i-th phase.

9. A control device for an electric motor, the device comprising:

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

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

the first control module is used for controlling the power-on or power-off of the ith phase winding of the motor according to the PWM control signal of the ith phase; wherein, the first acquisition module includes:

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

10. A control device for an electric motor, comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the control method for an electric motor according to any one of claims 1 to 7.

11. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, realizes the steps in the control method of an electric motor according to any one of claims 1 to 7.