CN114362621A - Motor control method and control system thereof - Google Patents
Motor control method and control system thereof Download PDFInfo
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- CN114362621A CN114362621A CN202111673053.6A CN202111673053A CN114362621A CN 114362621 A CN114362621 A CN 114362621A CN 202111673053 A CN202111673053 A CN 202111673053A CN 114362621 A CN114362621 A CN 114362621A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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Abstract
The invention discloses a motor control method and a control system thereof, wherein the motor control method comprises the steps of detecting starting; acquiring parameter information of a motor and initial position information of the motor; and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information. After the motor is detected to be started or connected with the motor again, the motor can be controlled to run to the target position according to the acquired parameter information, initial position information and target running information of the motor, and therefore the running of the motor can be controlled. Even if the motor of the mobile equipment is replaced and the parameter information of the replaced motor is changed, the parameter information and the initial position information of the current motor can be obtained again after the motor is replaced, so that the motor can be controlled to operate according to the parameter information of the replaced motor, the problem that one motor corresponds to one driving program is solved, and the self-adaptability of motor driving is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor driving, in particular to a motor control method and a motor control system.
Background
With the development of technology, mobile devices are increasingly widely used.
In the mobile device, a plurality of devices such as robots are driven by motors, each motor corresponds to a driving program, and the driving program is set according to parameter information of the motor when the driving program leaves a factory and cannot be changed subsequently. If the motor of the mobile equipment is damaged and replaced by other motors, when the parameter information of the replaced motor, such as size, pole pair number and the like, is changed, the set driving program cannot be suitable for the replaced new motor when leaving the factory, and then the mobile equipment cannot be driven.
Disclosure of Invention
The invention provides a motor control method and a motor control system, which aim to improve the self-adaptability of motor drive.
In a first aspect, an embodiment of the present invention provides a motor control method, which is applied to a mobile device including a motor, where the motor control method includes:
detecting starting or detecting reconnection with the motor;
acquiring parameter information of the motor and initial position information of the motor;
and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
Optionally, the acquiring initial position information of the motor includes:
the initial position information of the motor is determined through a magnetic field generated by a magnetic field generating module arranged on the motor.
Optionally, the parameter information at least includes a motor size, a number of motor pole pairs, and a PID parameter.
Optionally, before controlling the operation of the motor according to the parameter information of the motor, the initial position information of the motor, and the target operation information, the method further includes:
and verifying the parameter information of the motor, wherein the verification is passed.
Optionally, after controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor, and the target operation information, the method includes:
acquiring a rotation angle of the motor;
and controlling the motor to operate according to the rotation angle of the motor, the initial position information of the motor, the parameter information of the motor and the target operation information.
In a second aspect, an embodiment of the present invention further provides a motor control system, including a main controller and a motor; the main controller is electrically connected with the motor;
the main controller is used for acquiring parameter information of the motor and initial position information of the motor when the starting up is detected or the motor is detected to be connected again; and the motor is controlled to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
Optionally, the motor includes a motor main body and a magnetic woven plate; the magnetic encoding board is electrically connected with the main controller;
the magnetic encoding plate is used for storing parameter information of the motor and acquiring initial position information of the motor; the main controller is used for acquiring the parameter information of the motor and the initial position information of the motor from the magnetic encoding plate.
Optionally, the magnetic encoding plate comprises a chip and a single chip microcomputer which are electrically connected with each other; the single chip microcomputer is electrically connected with the main controller;
the chip is used for obtaining initial position information of the motor, and the single chip microcomputer is used for storing parameter information of the motor and reading the initial position information of the chip so as to enable the parameter information and the initial position information to be obtained by the main controller.
Optionally, the motor further comprises magnetic steel; the distance between the magnetic steel and the magnetic woven plate is smaller than a set distance.
Optionally, the motor main body is arranged on the tire, the magnetic steel is arranged at the position of the circle center of the hub of the tire, and the magnetic woven plate is arranged on one side, close to the motor main body, of the magnetic steel.
The embodiment of the invention provides a motor control method and a control system thereof, wherein the motor control method comprises the steps of detecting starting; acquiring parameter information of a motor and initial position information of the motor; and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information. After the motor is detected to be started or the motor is detected to be connected with the motor again, the motor can be controlled to run to the target position according to the acquired parameter information, the initial position information and the target running information of the motor, and therefore the running of the motor can be controlled. Even if the motor of the mobile equipment is replaced and the parameter information of the replaced motor is changed, the parameter information and the initial position information of the current motor can be obtained again after the motor is replaced, so that the motor can be controlled to operate according to the parameter information of the replaced motor, the problem that one motor corresponds to one driving program is solved, and the self-adaptability of motor driving is improved.
Drawings
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method of controlling a motor according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method of controlling a motor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor control system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another motor control system provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another motor control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The present embodiment provides a motor control method, and fig. 1 is a flowchart of a motor control method provided in an embodiment of the present invention, where the motor control method is applied to a mobile device including a motor, and referring to fig. 1, the motor control method includes:
s101: detecting starting or detecting reconnection with the motor;
the mobile device may be a robot, the motor being applied to the robot, the mobile device comprising a main controller. After the mobile device is started, step S102 may be executed to acquire parameter information of the motor; or after the mobile device is started, the mobile device is kept in a starting state, and the motor is replaced by hot plugging (hot plugging), and after the main controller is connected with the motor again, the step S102 can be executed to acquire the parameter information of the motor.
S102: acquiring parameter information of a motor and initial position information of the motor;
the motor may be a brushless motor, and the parameter information of the motor is a parameter related to the target operation information in S103, such as a motor size. A zero position can be set in the motor, the motor can determine the position information of the motor according to the rotated angle by taking the zero position as a reference. The initial position information of the motor is the position information of the motor when the motor is started and is not controlled to operate, namely the motor does not rotate, or the initial position information of the motor is the position information of the motor when the motor is replaced and the replaced motor is not controlled to operate.
After the main controller is connected with the motor, the main controller can acquire parameter information of the motor and initial position information of the motor, so that the subsequent main controller can control the motor.
S103: and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
The target operational information may be a target speed of the mobile device. For example, taking a mobile device as a robot, the robot is driven by a motor to move, and the speed of the robot depends on the rotation speed of the motor, that is, the rotation speed of the motor corresponds to the speed of the robot one by one. The parameter information of each motor may be different, the parameter information of the motor and the initial position information of the motor can determine the rotating speed of the motor which enables the mobile device to move at the target speed, and then the main controller controls the motor according to the rotating speed of the motor. Therefore, after the motor is replaced, the parameter information and the initial position information of the replaced motor are obtained again, so that certain calculation is performed according to the obtained information, the motor is driven, a driving program for driving the motor to run has compatibility, and the motor can be driven without generating a new driving program even if the motor is replaced.
In the prior art, motors are bound with programs, a driver needs to be modified each time the motors are replaced, more unnecessary work is generated on the whole product iteration flow, and each driver change can generate a software version of a corresponding control board, for example, a driver of v1.0 is used for a first motor, but the driver needs to be modified to v2.0 when the first motor is replaced by a second motor, and the two first motors and the second motor cannot be compatible because the drivers of different parameters such as structures and the like are different, so that the versions can be increased along with the increase of the replaced motors, and great troubles and pressure are generated on software and hardware version management. And the motor is bound with the driver, and if the motor of the mobile device has a problem, the motor must be replaced by the same motor. In this embodiment, after the start-up is detected or the connection with the motor is detected to be established again, the motor can be controlled to operate to the target position according to the acquired parameter information, initial position information and target operation information of the motor, so as to control the operation of the motor. Even if the motor of the mobile device is replaced and the parameter information of the replaced motor is changed, the parameter information and the initial position information of the motor after the motor is replaced can be obtained again after the motor is replaced at every time and the connection with the replaced motor is established, so that the motor can be controlled to operate according to the parameter information of the replaced motor, the problem that one motor is bound with one driving program is solved, and the adaptability of motor driving is improved.
Fig. 2 is a flowchart of another motor control method according to an embodiment of the present invention, and referring to fig. 2, optionally, the motor control method includes:
s111: detecting starting or detecting reconnection with the motor;
s112: acquiring parameter information of a motor and initial position information of the motor;
optionally, the parameter information at least includes a motor size, a motor pole pair number and a PID parameter. Illustratively, the target operational information may be a target speed of the mobile device. After any one of the motor size, the number of pole pairs of the motor and the PID parameter information is changed, the rotating speed of the motor corresponding to the target speed of the mobile equipment is changed, so that after the motor is replaced, the rotating speed of the motor needs to be recalculated according to the parameter information of the replaced motor and the driving program so as to control the motor.
In the present embodiment, a description will be given taking a relationship between the size of the motor and the rotation speed of the motor as an example. When the motors corresponding to the four-inch motor and the five-inch motor rotate for one circle, the moving distance of the mobile device is different, and the larger the size of the motor is, the larger the moving distance of the corresponding mobile device is. For the motor, only the number of turns of the motor can be acquired, but the travel distance of the motor cannot be acquired, so the size of the motor needs to be converted. When the motor rotates for one circle, the moving distance L corresponding to the mobile equipment is A n S, wherein n is the size of the motor, n is a positive integer larger than zero, S is the rotating speed of the motor, and A is a fixed coefficient which is a fixed value. In this example, a is 79.76, the rotation speed of the motor is set to 1r/s, and the distance moved by the moving device when the motor makes one turn is 319.04mm, and the distance moved by the moving device when the motor makes one turn is 398.80mm, as can be seen by referring to the calculation formula of the moving distance of the moving device when the motor makes one turn. Illustratively, the motor on the mobile device before the motor is replaced is a four-inch motor, various parameters of a driving program corresponding to the four-inch motor are set, after the motor is replaced, the motor on the mobile device is changed from a 4-inch motor to a 5-inch motor, the speed of the corresponding mobile device is changed from 319.04mm/s to 398.80mm/s, and if the rotating speed of the motor is kept unchanged under the condition that the driving program and the motor are bound one to one, the speed of the mobile device is disturbed, and accurate control of the mobile device cannot be realized. In this embodiment, various parameters in the driving program of the motor are not set in advance, and only a necessary conversion relationship is set in the driving program, for example, the speed V of the mobile device is a × n × S, where a is a fixed coefficient, n is a motor size, and S is a motor rotation speed, so that after the target speed of the mobile device is set, the corresponding rotation speed of the replaced motor can be calculated according to the obtained size of the replaced motor, and further, the operation of the motor is controlled according to the rotation speed of the motor, so that the driving program in the driving controller can be applied to multiple motors, a new software version generated after one-time motor replacement is avoided for control, and the workload of the whole product iteration flow is saved.
For the number of pole pairs of the motor, the number of pole pairs of the motor is related to a driving mode of the motor, and after the number of pole pairs of the motor is changed, the driving mode of the motor is also changed, so that after the motor is replaced, the number of pole pairs of the motor also needs to be acquired again so as to control the motor.
The PID parameter is a corresponding parameter in a PID algorithm in a driving program, the PID parameter determines a speed curve of the motor, the PID algorithm is a classical motor driving algorithm, for example, if the speed of the motor is required to be increased from 0 to 2m/s, the speed of the motor at 2m/s is definitely infeasible to be given in a moment, the speed of the motor is required to be stably increased from a static state to the speed of 2m/s, and the PID algorithm is to enable the motor to make speed change with a stable and smooth speed curve. If the difference between the structure and the principle of the motor is small, the difference of the PID parameters is small, and the PID parameters of the motor before replacement can be used when the replaced motor is controlled. However, in order to drive different motors more accurately, the PID parameters need to be modified correspondingly according to the different motors.
S113: checking the parameter information of the motor, and the checking is passed;
the size of the motor, the number of pole pairs of the motor and PID parameter information of the motor are checked respectively to determine whether the size is reasonable or not, illustratively, the size of the motor corresponds to a maximum value, the maximum size of the motor is set to be a first set value, and when the size of the motor is smaller than or equal to the first set value, the size of the motor is determined to meet requirements. And when the size of the motor, the number of pole pairs of the motor and the PID parameter information of the motor are determined reasonably, the verification is passed. After the verification is determined to be passed, the motor is in a power-on state, and the current position information of the motor can be acquired in real time, wherein before the motor does not run, the current position information is initial position information.
The parameter information of the motor is verified, so that the condition that the motor is still controlled when the parameter information of the motor is obtained in error can be avoided, and the accuracy of subsequently controlling the motor is ensured.
S114: and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
After the mobile equipment is started or reconnected with the motor, the motor can be controlled to run to the target position according to the acquired parameter information, initial position information and target running information of the motor, so that the running of the motor can be controlled. Even if the motor of the mobile equipment is replaced and the parameter information of the replaced motor is changed, the parameter information and the initial position information of the current motor can be obtained again after the motor is replaced, so that the motor driving system can control the motor to operate according to the parameter information of the replaced motor, the problem that one motor corresponds to one driving program is solved, and the self-adaptability of motor driving is improved. Before the motor is controlled, the parameter information of the motor is verified, the motor can be controlled after the verification, the situation that the motor is still controlled when the parameter information of the motor is obtained in error can be avoided, and the accuracy of controlling the motor subsequently is ensured.
Fig. 3 is a flowchart of another motor control method according to an embodiment of the present invention, and referring to fig. 3, optionally, the motor control method includes:
s121: detecting starting or detecting reconnection with the motor;
s122: acquiring parameter information of a motor and initial position information of the motor;
s123: checking the parameter information of the motor, and the checking is passed;
s124: controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information;
s125: acquiring a rotation angle of a motor;
after the motor runs, the motor continuously rotates to obtain the rotation angle of the motor in real time.
S126: and controlling the motor to operate according to the rotation angle of the motor, the initial position information of the motor, the parameter information of the motor and the target operation information.
And determining the current position information of the motor according to the rotation angle of the motor and the initial position information of the motor acquired in real time. Illustratively, the target operation information is a target speed of the mobile device, and an expected rotation speed of the corresponding motor is determined according to the target speed of the mobile device and the parameter information of the motor. The time required for the motor to run from the initial position to the current position can be determined according to the initial position information and the current position information of the motor. And determining the current rotating speed of the motor according to the rotating angle of the motor and the time of the motor from the initial position to the current position, and further determining whether the current rotating speed of the motor is the expected rotating speed. And if the current rotating speed of the motor meets the requirement, the motor is continuously controlled to operate. And if the current rotating speed of the motor does not meet the expected rotating speed, the rotating speed of the motor is adjusted again. And continuously repeating the process until the current rotating speed of the motor is determined to be the expected rotating speed.
In this embodiment, after the motor is controlled to operate, the rotation angle of the motor is obtained in real time to determine whether the current operation of the motor corresponds to the target operation information. And when the current running condition of the motor does not correspond to the target running information, the control of the motor is adjusted until the running of the motor corresponds to the target running information, so that the continuous adjustment of the control of the motor is realized, and the control of the motor is more accurate.
Fig. 4 is a schematic structural diagram of a motor control system according to an embodiment of the present invention, and referring to fig. 4, the motor control system includes a main controller 10 and a motor 11; the main controller 10 is electrically connected with the motor 11;
the main controller 10 is configured to obtain parameter information of the motor 11 and initial position information of the motor 11 when detecting that the motor is started or detecting that the motor is reconnected; and controls the operation of the motor 11 based on parameter information of the motor 11, initial position information of the motor 11, and target operation information.
After the main controller detects that the motor is started or is connected with the motor again, the main controller can control the motor to run to a target position according to the acquired parameter information, initial position information and target running information of the motor, so that the running of the motor is controlled. Even if the motor of the mobile equipment is replaced and the parameter information of the replaced motor is changed, the parameter information and the initial position information of the current motor can be obtained again after the motor is replaced, so that the main controller can control the motor to operate according to the parameter information of the replaced motor, the problem that one motor corresponds to one driving program is solved, and the self-adaptability of motor driving is improved.
With continued reference to fig. 4, optionally, the motor 11 includes a motor body 111 and a magnetic braid 112; the magnetic encoding board 112 is electrically connected with the main controller 10;
the magnetic encoding board 112 stores parameter information of the motor 11, and the magnetic encoding board 112 is further used for acquiring initial position information of the motor 11; the main controller 10 is used for acquiring parameter information of the motor 11 and initial position information of the motor 11 from the magnetic encoding board 112.
Fig. 5 is a schematic structural diagram of another motor control system according to an embodiment of the present invention, and referring to fig. 5, the magnetic braid 112 includes a chip 1121 and a single chip 1122 that are electrically connected to each other; the single chip 1122 is electrically connected with the main controller 10;
the chip is used for obtaining initial position information of the motor, and the single chip microcomputer is used for storing parameter information of the motor and also used for reading the initial position information of the chip so as to enable the parameter information and the initial position information to be obtained by the main controller.
Optionally, the motor further comprises magnetic steel; the distance between the magnetic steel and the magnetic encoding plate is less than the set distance.
The magnetic steel can generate a magnetic field, and the magnetic steel is used for generating the change of the magnetic field along with the rotation of the motor. The chip is used for determining the initial position information of the motor according to the magnetic field generated by the magnetic steel before the motor rotates, and is also used for acquiring the rotation angle of the motor according to the magnetic field generated by the magnetic steel when the motor rotates.
The chip includes a TLE5012B angle sensor, and the TLE5012B angle sensor can detect 360 ° change of a magnetic field parallel to the package surface based on a magnetoresistance effect (magnetoresistance effect refers to a phenomenon in which a conductor or a semiconductor changes its resistance value under the action of a magnetic field). The TLE5012B angle sensor is internally integrated with an angle calculation module, can output an absolute angle after digitally processing an original value, is internally integrated with automatic calibration and temperature compensation functions, and can reach the accuracy of 1 degree in a temperature range and a service life. The TLE5012B angle sensor has extremely accurate angle resolution (15bit), fast signal processing capability and short delay or update rate, is suitable for accurately determining the rotor position in high dynamic applications, and simultaneously, the TLE5012B angle sensor has advanced diagnostic function and safety characteristics, so that high reliability of products is ensured.
The sensing material of the TLE5012B angle sensor mainly has 3 layers: a reference layer, a normal layer, and a free layer. The reference layer has a fixed magnetization direction, and the direction of the reference layer is not influenced by the direction of an external magnetic field; the common layer is a non-magnetic material film layer which separates two magnetic material film layers; the direction of the free layer magnetic field changes along with the change of the direction of the external parallel magnetic field. The resistance of the giant magnetoresistance is determined by the angle between the magnetization directions of the free layer and the reference layer, and is the smallest when the magnetization directions of the free layer and the reference layer are the same. Conversely, when the magnetization directions of the free layer and the reference layer are opposite, the resistance of the giant magnetoresistance is the largest. In this embodiment, the TLE5012B angle sensor includes a giant magnetoresistance angle sensor sensing unit, which is composed of two sets of wheatstone bridges, and is a giant magnetoresistance sensing unit reflecting cosine change of the external magnetic field and a giant magnetoresistance sensing unit reflecting sine change of the external magnetic field. The giant magnetoresistance sensing unit reflecting the cosine change of the external magnetic field is similar to the giant magnetoresistance sensing unit reflecting the sine change of the external magnetic field, and only the magnetization directions of the reference layer are different. The advantage of using a full bridge configuration is that twice the signal amplitude can be obtained and the temperature effect effects eliminated. The magnetic steel is arranged on a rotating shaft of the motor and rotates along with the rotation of the motor. When the magnetic steel arranged on the rotating shaft rotates along with the rotating shaft, the giant magnetoresistance sensing unit reflecting the cosine change of the external magnetic field and the giant magnetoresistance sensing unit reflecting the sine change of the external magnetic field can detect the change of the external magnetic field parallel to the surface of the magnetic steel, and respectively output cosine and sine signals. The magnetic field signal is subjected to A/D conversion, the arctangent calculation is carried out through a calculation module in the sensor to obtain a required angle value, and finally information such as the angle is output through different signal protocols.
The TLE5012B angle sensor is used in a motor rotor position detection scheme and can be used to replace a photoelectric encoder, a rotary encoder, or a hall switch. TLE5012B angle sensor circuit and mechanical structure are simple, with low costs, the space is little, compare photoelectric encoder, are difficult for receiving pollution such as dust, greasy dirt. The TLE5012B angle sensor based on the giant magnetoresistance principle has higher accuracy than the magnetic angle sensor based on the hall principle.
In order to reduce extra system errors caused by installation or production, radial runout of a rotating shaft and other factors, magnetic steel with a larger diameter is selected as much as possible, and the center of the magnetic steel is opposite to a giant magnetoresistance sensing area of the center of the TLE5012B angle sensor as much as possible during installation.
If the distance between the magnetic steel and the chip is too large, the chip is possibly insensitive to the information of the magnetic field, the rotation angle of the motor and the position information of the motor cannot be determined according to the information of the magnetic field, or the strength of the magnetic field generated by the magnetic steel sensed by the chip is too weak, so that the calculated angle error is too large. The distance between the magnetic steel and the magnetic encoding plate is smaller than the set distance, specifically, the distance between the magnetic steel and the chip is smaller than the set distance, so that the chip can determine the rotation angle of the motor and the position information of the motor according to the information of the magnetic field generated by the magnetic steel. After the motor of the mobile device is replaced, the parameter information of the current motor is stored in the single chip microcomputer to be acquired by the main controller, and after the motor is replaced each time, the main controller can acquire the parameter information again to control the driving program to drive the motor to operate.
Fig. 6 is a schematic structural diagram of another motor control system according to an embodiment of the present invention, referring to fig. 6, optionally, a motor main body 111 is disposed on the tire 12, a magnetic steel 113 is disposed at a center of a wheel hub of the tire 12, and a magnetic encoding plate 112 is disposed on a side of the magnetic steel 113 close to the motor main body 111.
The motor control system can be applied to mobile equipment, such as a mobile robot. The magnetic steel 113 is disposed at the center of the wheel of the tire 12 of the robot, and the rotating shaft of the motor is also disposed at the center of the wheel, that is, the magnetic steel 113 is assembled on the rotating shaft of the motor. The magnetic encoding board 112 is disposed on one side of the magnetic steel 113 close to the motor main body 111, and the magnetic encoding board does not rotate along with the rotation of the motor. When the chip comprises the TLE5012B angle sensor, the center of the magnetic steel is required to be just opposite to the giant magnetoresistance sensing area in the center of the TLE5012B angle sensor, so that the chip can sense the angle by detecting the included angle between the direction of the magnetic field generated by the magnetic steel and the magnetization direction of the reference layer of the giant magnetoresistance sensing unit in the chip.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A motor control method applied to a mobile device including a motor, the motor control method comprising:
detecting starting or detecting reconnection with the motor;
acquiring parameter information of the motor and initial position information of the motor;
and controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
2. The motor control method according to claim 1, wherein acquiring initial position information of the motor includes:
the initial position information of the motor is determined through a magnetic field generated by a magnetic field generating module arranged on the motor.
3. The motor control method of claim 1, wherein the parameter information includes at least a motor size, a motor pole pair number, and a PID parameter.
4. The motor control method according to claim 1, further comprising, before controlling the operation of the motor based on the parameter information of the motor, the initial position information of the motor, and the target operation information:
and verifying the parameter information of the motor, wherein the verification is passed.
5. The motor control method according to claim 4, wherein controlling the motor to operate according to the parameter information of the motor, the initial position information of the motor, and the target operation information comprises:
acquiring a rotation angle of the motor;
and controlling the motor to operate according to the rotation angle of the motor, the initial position information of the motor, the parameter information of the motor and the target operation information.
6. A motor control system is characterized by comprising a main controller and a motor; the main controller is electrically connected with the motor;
the main controller is used for acquiring parameter information of the motor and initial position information of the motor when the starting up is detected or the motor is detected to be connected again; and the motor is controlled to operate according to the parameter information of the motor, the initial position information of the motor and the target operation information.
7. The motor control system of claim 6, wherein the motor comprises a motor body and a magnetic braid; the magnetic encoding board is electrically connected with the main controller;
the magnetic encoding plate is used for storing parameter information of the motor and acquiring initial position information of the motor; the main controller is used for acquiring the parameter information of the motor and the initial position information of the motor from the magnetic encoding plate.
8. The motor control system of claim 7, wherein the magnetic braid comprises a chip and a single chip electrically connected to each other; the single chip microcomputer is electrically connected with the main controller;
the chip is used for obtaining initial position information of the motor, and the single chip microcomputer is used for storing parameter information of the motor and reading the initial position information of the chip so as to enable the parameter information and the initial position information to be obtained by the main controller.
9. The motor control system of claim 8, wherein the motor further comprises magnetic steel; the distance between the magnetic steel and the magnetic woven plate is smaller than a set distance.
10. The motor control system of claim 9, wherein the motor body is disposed on a tire, the magnetic steel is disposed at a center of a wheel hub of the tire, and the magnetic braid is disposed on a side of the magnetic steel close to the motor body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111673053.6A CN114362621A (en) | 2021-12-31 | 2021-12-31 | Motor control method and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111673053.6A CN114362621A (en) | 2021-12-31 | 2021-12-31 | Motor control method and control system thereof |
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| CN114362621A true CN114362621A (en) | 2022-04-15 |
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