CN114696662A - Series motor control method and device, computer equipment and storage medium - Google Patents

Series motor control method and device, computer equipment and storage medium Download PDF

Info

Publication number
CN114696662A
CN114696662A CN202011453074.2A CN202011453074A CN114696662A CN 114696662 A CN114696662 A CN 114696662A CN 202011453074 A CN202011453074 A CN 202011453074A CN 114696662 A CN114696662 A CN 114696662A
Authority
CN
China
Prior art keywords
motor
current control
control period
speed
acceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011453074.2A
Other languages
Chinese (zh)
Inventor
刘乐书
周述宇
刘敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen H&T Intelligent Control Co Ltd
Original Assignee
Shenzhen H&T Intelligent Control Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen H&T Intelligent Control Co Ltd filed Critical Shenzhen H&T Intelligent Control Co Ltd
Priority to CN202011453074.2A priority Critical patent/CN114696662A/en
Publication of CN114696662A publication Critical patent/CN114696662A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/18—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual dc motor
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a method and a device for controlling a series motor, computer equipment and a storage medium, wherein the method comprises the following steps: determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and the acceleration threshold value; based on the comparison condition of the set speed of the motor and the expected speed of the motor in the current control period, adjusting the expected speed of the motor in the current control period; acquiring the running speed of a motor; according to a preset speed range in which the motor running speed is located, calling a set PID parameter corresponding to the preset speed range; performing incremental PID operation to obtain an operation result by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter; and taking the operation result as the driving voltage of the series motor to control the series motor. The invention can ensure the stable starting and smooth operation of the series motor in the soft starting process.

Description

Series motor control method and device, computer equipment and storage medium
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a device for controlling a series excited motor, computer equipment and a storage medium.
Background
The series motor has the advantages of high rotating speed, small volume, light weight, convenient speed regulation and the like, so the series motor is widely applied to the electric tool industry. The effective control of the series motor is the premise of ensuring the good work of the electric tool.
The control mode of the series excited machine in the prior art has the following problems: and an incremental PID control mode is adopted, and PID parameters are manually adjusted. In the case of a low desired speed, the process of starting the motor to the desired speed is prone to overshoot after reaching the desired speed. In the case where the desired speed is high, the process of starting the motor to the desired speed is liable to cause a problem that the starting sound is loud.
How to better control the stable start and smooth operation of the series excited machine in the soft start process does not have an effective solution in the prior art.
Disclosure of Invention
The present invention is directed to the above problems, and provides a method and an apparatus for controlling a series motor, which can ensure stable start and smooth operation during a soft start process, and also provides a computer device and a storage medium capable of implementing the method.
The invention adopts a technical means that: provided is a series motor control method, including:
determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and the acceleration threshold value, wherein different control periods correspond to different acceleration set values;
under the condition that the acceleration set value of the current control period is increased or the current control period is the last control period, adjusting the motor expected speed of the current control period based on the comparison condition of the motor set speed and the motor expected speed of the current control period;
acquiring the running speed of a motor;
according to a preset speed range in which the motor running speed is located, calling a set PID parameter corresponding to the preset speed range, wherein different preset speed ranges correspond to different set PID parameters;
performing incremental PID operation to obtain an operation result by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter;
and controlling the series motor according to the operation result.
The invention adopts another technical means that: provided is a series motor control device including:
the first processing module is used for determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and an acceleration threshold value, and different control periods correspond to different acceleration set values;
the second processing module is used for adjusting the motor expected speed of the current control period based on the comparison condition of the motor set speed and the motor expected speed of the current control period under the condition that the acceleration set value of the current control period is increased or the current control period is the last control period;
the detection module is used for acquiring the running speed of the motor;
the third processing module is used for calling set PID parameters corresponding to the preset speed range according to the preset speed range where the motor running speed is located, wherein different preset speed ranges correspond to different set PID parameters;
the operation module is used for carrying out incremental PID operation by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter to obtain an operation result; and
and the control module is used for taking the operation result as the driving voltage of the series motor so as to control the series motor.
The invention adopts another technical means that: there is provided a computer device comprising:
a memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the series motor control method.
The invention adopts another technical means that: there is provided a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the series motor control method.
By adopting the technical scheme, the method, the device, the computer equipment and the storage medium for controlling the series excited motor can perform segmented adjustment on the set acceleration value aiming at a plurality of control cycles, can determine the speed range of the motor running speed and set the corresponding set PID parameter, realize PID segmented control, further provide smaller driving voltage for the series excited motor when the motor running speed is lower, provide larger driving voltage for the series excited motor when the motor running speed is higher, further control the series excited motor to realize stable starting and smooth running in the soft starting process, avoid sound mutation and jitter of the series excited motor, and achieve good control effect of the series excited motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart diagram of a method for controlling a series excited machine in one embodiment;
FIG. 2 is a schematic flow chart of step 10 in one embodiment;
FIG. 3 is a schematic flow chart of step 20 in one embodiment;
FIG. 4 is a flowchart illustrating a method of controlling a series motor according to one embodiment;
FIG. 5 is a block diagram showing the structure of a series motor control apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
In order to make the object, technical solution and technical effect of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In an embodiment, as shown in fig. 1, the method for controlling a series motor may include:
and step 10, determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and the acceleration threshold, wherein different control periods correspond to different acceleration set values.
Further, for each control period, when the acceleration setting value in the control period is smaller than the acceleration threshold value, the acceleration setting value is increased, and then step 20 is executed. If the acceleration set value in the control cycle is not less than the acceleration threshold, the acceleration set value in the next control cycle is compared with the acceleration threshold, and if the acceleration set value in the last control cycle is still not less than the acceleration threshold, step 20 is executed.
And 20, under the condition that the set value of the acceleration of the current control period is increased or the current control period is the last control period, adjusting the expected speed of the motor of the current control period based on the comparison condition of the set speed of the motor and the expected speed of the motor of the current control period.
And step 30, acquiring the running speed of the motor. In particular, the present operating speed of the series excited machine may be detected.
And step 40, calling a set PID parameter corresponding to the preset speed range according to the preset speed range in which the motor running speed is located.
And different preset speed ranges correspond to different set PID parameters, and the set PID parameters corresponding to the preset speed ranges are correspondingly called when the running speed of the motor is in which preset speed range. The invention adopts a PID control mode for the series motor, which is a control mode integrating three links of proportion, integral and differential. The set PID parameters generally comprise a KP parameter, a KI parameter and a KD parameter, wherein the KP parameter represents a proportionality coefficient, the KI parameter represents an integral coefficient, and the KD parameter represents a differential coefficient. PID is as follows: abbreviations for proportionality, Integral, Differential.
And step 50, performing incremental PID operation by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter to obtain an operation result.
Specifically, the motor running speed, the motor expected speed of the current control cycle, and the called set PID parameter may be substituted into an incremental PID equation to obtain an incremental PID calculation result. The incremental PID equation may be Δ u [ n ] ═ KP { e [ n ] -e [ n-1] } + KIe [ n ] + KD { e [ n ] -2en-1+ en-2, where Δ un represents an operation result obtained by performing an incremental PID operation, which may be a driving voltage of the series-excited motor, KP represents a proportional coefficient, KI represents an integral coefficient, KD represents a differential coefficient, e [ n ] represents a deviation between a motor desired speed and a motor operating speed of a current control period, e [ n-1] represents a deviation between a motor desired speed and a motor operating speed of a previous control period of the current control period, e [ n-2] represents a deviation between a motor desired speed and a motor operating speed of the previous two control periods of the current control period, and n represents a control period.
And step 60, taking the operation result as the driving voltage of the series motor to control the series motor.
The embodiment may divide the soft start time into a plurality of control cycles according to the set speed of the motor in advance, and set the desired speed of the motor in different control cycles. The motor set speed is set by a user and is expected to be the speed which can be reached by the series motor after being processed by the series motor control method. The soft start time refers to the time between the static state of the series-wound motor and the stable set speed of the motor. The method comprises the steps that a motor expected speed is set in each control period, the motor expected speed in each control period is the speed which is expected to be reached by the series motor in the control period, the series motor in the control period is accelerated to run at a certain acceleration, the acceleration of the series motor can be adjusted through an acceleration set value, and the acceleration set value in each control period can be adjusted or not. The increase value of the acceleration set value means how much the acceleration set value is increased. Each control cycle is provided with an acceleration threshold which is used as a judgment basis and a reference basis for judging whether the acceleration set value of the current control cycle needs to be increased or not, if the acceleration set value of the current control cycle is smaller than the acceleration threshold of the current control cycle, the acceleration set value of the current control cycle is increased, and if the acceleration set value of the current control cycle is not smaller than the acceleration threshold, the acceleration set value of the current control cycle is not increased.
The method can adjust the set acceleration value in a segmented mode according to a plurality of control cycles, can determine the speed range of the motor running speed and set corresponding set PID parameters to achieve PID segmented control, can provide smaller driving voltage for the series excited motor when the motor running speed is low, and can provide larger driving voltage for the series excited motor when the motor running speed is high, so that the series excited motor can be controlled to achieve stable starting and smooth running in the soft starting process, sound mutation and shaking of the series excited motor are avoided, and a good control effect of the series excited motor can be achieved.
The series motor can be applied to the industry of electric tools, exemplarily, the power supply adopted by the series motor is commercial power, the driving voltage is 220V and 50Hz, stepless speed regulation is adopted for speed regulation, and the speed range is 5000-25000 RPM. For example, if the power tool is a bench drill, the soft start time of the series motor may be 2-3 s.
Compared with a mode of uniform acceleration, the problems of sudden starting sound change and overshoot caused by too large acceleration during low-speed starting and too long soft starting time caused by too small acceleration during high-speed starting are easy to occur.
In one embodiment, before the step of comparing the acceleration set point with the acceleration threshold according to the current control cycle, the method may further include:
dividing the soft start time into a preset number of control cycles according to the set speed of the motor in advance, and setting the expected speeds of the motor in different control cycles. The preset number may be 2 or more. The number of control cycles is preset based on the motor set speed and the soft start time, so that the series excited motor can achieve stable motor set speed in the soft start time.
Setting different acceleration thresholds based on the desired speed of the motor for different control periods. And setting the acceleration threshold value of each control period according to the expected speed of the motor in each control period, wherein the acceleration threshold values of the control periods are different, and the acceleration threshold values are correspondingly set according to the number of the control periods.
In one embodiment, as shown in fig. 2, the step of determining whether to increase the acceleration set value of the current control period according to the comparison between the acceleration set value of the current control period and the acceleration threshold value, and the step of determining the increased value of the acceleration set value, i.e. step 10, may include:
and step 10A, judging whether the acceleration set value of the current control period is smaller than the acceleration threshold value of the current control period. The current control period may be any one of the first control period to the last control period.
And step 10B, under the condition that the acceleration set value of the current control period is smaller than the acceleration threshold value of the current control period, increasing the acceleration set value of the current control period according to the acceleration added value corresponding to the current control period, and then executing step 20. The increment of the acceleration set value for different control periods may be different and set in advance.
And step 10C, taking the next control cycle of the current control cycle as the current control cycle, and returning to the step of judging whether the acceleration set value of the current control cycle is smaller than the acceleration threshold of the current control cycle, that is, returning to the step 10A to continue the execution, when the acceleration set value of the current control cycle is not smaller than the acceleration threshold of the current control cycle and the current control cycle is not the last control cycle.
In the case where the acceleration set value of the current control period is not less than the acceleration threshold value of the current control period and the current control period is the last control period, step 20 is executed.
That is, when the acceleration set value of any control period is increased or the current control period is the last control period, step 20 is executed.
This embodiment can be according to the control demand of series excited machine for example motor speed and soft start time etc. adjust each control cycle's acceleration change condition, and then can provide less driving voltage for the series excited machine when motor functioning speed is lower, provide great driving voltage for the series excited machine when motor functioning speed is higher, can avoid motor operation in-process speed variation unstable to and the motor shake that leads to from this and the problem of sound sudden change.
In one embodiment, the step of determining whether to increase the acceleration set value of the current control cycle according to the comparison between the acceleration set value of the current control cycle and the acceleration threshold is performed, that is, when step 10 is performed, the acceleration threshold of the next control cycle of the current control cycle is greater than the acceleration threshold of the current control cycle, and the acceleration increase value corresponding to the next control cycle of the current control cycle is greater than the acceleration increase value corresponding to the current control cycle. When the current control period is changed from the first control period to the last control period, the acceleration threshold values of different control periods are gradually increased, and the increment values of the acceleration set values of different control periods are gradually increased, so that the operation speed of the motor is gradually increased under control, and the condition that sound generated by the operation of the motor is suddenly changed is avoided. Specifically, in one embodiment, the acceleration threshold of the next control cycle of the current control cycle is 2 to 3 times the acceleration threshold of the current control cycle, and for example, assuming that the acceleration threshold of the nth control cycle is the nth acceleration threshold, and the acceleration threshold of the N +1 th control cycle is the N +1 th acceleration threshold, the N +1 th acceleration threshold is 2 to 3 times the nth acceleration threshold. In one embodiment, the acceleration increment value corresponding to the next control cycle of the current control cycle is 1 to 2 times the acceleration increment value of the current control cycle. For example, assuming that the acceleration setting value of the nth control period is increased by an nth increased value and the acceleration setting value of the (N + 1) th control period is increased by an (N + 1) th increased value, the (N + 1) th increased value is 1 to 2 times the nth increased value.
In one embodiment, as shown in fig. 3, the step of adjusting the desired motor speed of the current control cycle based on the comparison between the set motor speed and the desired motor speed of the current control cycle may include:
and step 20A, comparing the set speed of the motor with the expected speed of the motor in the current control period.
And 20B, if the motor expected speed of the current control period is less than the set motor speed, adjusting the motor expected speed of the current control period according to a comparison result of a target difference value and the motor expected speed of the current control period, wherein the target difference value is the difference value between the set motor speed and the set acceleration value. Step 30 is then performed.
And 20C, if the motor expected speed of the current control period is greater than the set motor speed, adjusting the motor expected speed of the current control period according to a comparison result of a target sum value and the motor expected speed of the current control period, wherein the target sum value is the sum of the set motor speed and the set acceleration value. Step 30 is then performed.
And 20D, if the expected speed of the motor in the current control period is equal to the set speed of the motor, configuring the expected speed of the motor in the current control period to be equal to the running speed of the motor. Step 30 is then performed.
In one embodiment, the adjusting the desired motor speed of the current control period according to the comparison result between the target difference and the desired motor speed of the current control period may include:
and if the target difference value is smaller than the motor expected speed of the current control period, configuring the motor expected speed of the current control period to be equal to the motor running speed. At this time, the motor expected speed of the adjusted current control period is equal to the motor operating speed.
And if the target difference value is not less than the motor expected speed of the current control period, increasing the motor expected speed of the current control period by the acceleration set value. At this time, the motor expected speed of the adjusted current control period is equal to the original motor expected speed plus the acceleration set value.
In one embodiment, the adjusting the desired motor speed for the current control period according to the comparison result of the target sum and the desired motor speed for the current control period may include:
and if the target sum value is larger than the motor expected speed of the current control period, configuring the motor expected speed of the current control period to be equal to the motor running speed. At this time, the motor expected speed of the adjusted current control period is equal to the motor operating speed.
And if the target sum value is not greater than the motor expected speed in the current control period, reducing the motor expected speed in the current control period by the acceleration set value. At this time, the motor expected speed of the adjusted current control period is equal to the original motor expected speed minus the acceleration set value.
Through the motor expected speed adjusting process of the current control period, when the motor running speed of the series motor is low, the motor expected speed can be increased stably, and after the motor running speed of the series motor rises, the speed regulation response of the motor expected speed is faster.
In one embodiment, before the step of retrieving the corresponding set PID parameters according to the different preset speed ranges in which the motor operating speed is located, i.e. step 40, the method may further include: and pre-storing the corresponding relation between the preset speed range and the set PID parameters. The step of calling corresponding set PID parameters according to different preset speed ranges where the motor operating speed is located, that is, step 40 may include: and confirming the preset speed range where the motor running speed is located, and calling a set PID parameter corresponding to the preset speed range.
The preset speed range and the set PID parameter may be obtained by debugging the controlled series excited motor in advance, exemplarily, the operation speed of the motor is in a certain preset speed range as a debugging condition, then the KP parameter, the KI parameter and the KD parameter in the PID parameters are respectively adjusted, the KP parameter, the KI parameter and the KD parameter are independently adjusted, that is, the KI parameter and the KD parameter remain unchanged when the KP parameter is performed, the KP parameter and the KD parameter remain unchanged when the KI parameter is performed, the KP parameter and the KD parameter remain unchanged when the KD parameter is performed, and when the KP parameter, the KI parameter and the KD parameter are adjusted until the sound change of the series excited motor meets the requirement, the KP parameter and the KD parameter are taken as the set PID parameter corresponding to the certain preset speed range when the KI parameter determined at present is performed.
This embodiment can be to the current operating speed adjustment PID parameter of series excited machine, and then change the driving voltage of series excited machine for the operation process of the more adaptation series excited machine of driving voltage's change is favorable to the control effect and the motor operation sound uniform variation of good assurance motor.
In one embodiment, fig. 4 is a flowchart illustrating a method for controlling a series motor in one embodiment, where ACC in fig. 4 represents an acceleration setting of the series motor. The preset number of the control cycles is 5, and the preset number of the control cycles is a first control cycle, a second control cycle, a third control cycle, a fourth control cycle and a fifth control cycle. The acceleration threshold values of the first control period to the fifth control period are respectively 10r/s2、20r/s2、50r/s2、100r/s2、300r/s2. The increment of the acceleration set value from the first control period to the fifth control period is 5r/s2、10r/s2、15r/s2、20r/s2、30r/s2. TV indicates the desired speed of the motor for the current control period, which may be any one of the first to fifth control periods. DV denotes the motor set speed. AV denotes a motor running speed. (0, SP1), [ SP1, SP2), [ SP2, SP3) each represent a preset speed range, which is a first preset speed range, a second preset speed range, and a third preset speed range, respectively. The first set PID parameter, the second set PID parameter and the third set PID parameter all represent set PID parameters, when the motor running speed AV is in a first preset speed range (0, SP1), the first set PID parameter is called, when the motor running speed AV is in a second preset speed range [ SP1, SP 2], the second set PID parameter is called, when the motor running speed AV is in a third preset speed range [ SP2, SP3 ], then PID operation is carried out based on the called set PID parameters, and the series excited motor is driven according to the PID operation result. The preset number of control cycles, the number of preset speed ranges, and the number of set PID parameters may all be adjusted according to the actual control requirements of the series excited machine, which is shown in fig. 4 for example only.
The present invention also provides a series motor control apparatus, which may include, in one embodiment, as shown in fig. 5: a first processing module 300, a second processing module 400, a detection module 500, a third processing module 600, an operation module 100 and a control module 200.
The first processing module 300 may be configured to determine whether to increase the acceleration setting value of the current control period according to a comparison between the acceleration setting value of the current control period and an acceleration threshold, where different control periods correspond to different acceleration setting values. The second processing module 400 may be configured to adjust the desired motor speed in the current control period based on a comparison between the set motor speed and the desired motor speed in the current control period when the acceleration set value in the current control period is increased or the current control period is the last control period. The detection module 500 may be used to obtain the operation speed of the motor, and further, the detection module 500 may be a hall sensor. The third processing module 600 may be configured to retrieve a set PID parameter corresponding to a preset speed range in which the motor operating speed is located, where different preset speed ranges correspond to different set PID parameters. The operation module 100 may be configured to perform incremental PID operation to obtain an operation result by using the motor running speed, the motor expected speed in the current control period, and the set PID parameter. The control module 200 may be configured to use the operation result as a driving voltage of the series motor to control the series motor.
The present invention also provides a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the series motor control method according to any of the embodiments described above.
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the series motor control method according to any of the embodiments described above.
FIG. 6 is a diagram illustrating an internal structure of a computer device in one embodiment. As shown in fig. 6, the computer device includes a processor, a memory, a detection module, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement the series-excited-motor control method. The internal memory can also store a computer program, when the computer program is executed by the processor, the processor can execute the series motor control method, and the detection module is used for acquiring the running speed of the motor. Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (10)

1. A method of controlling a series excited machine, the method comprising:
determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and the acceleration threshold value, wherein different control periods correspond to different acceleration set values;
under the condition that the acceleration set value of the current control period is increased or the current control period is the last control period, adjusting the motor expected speed of the current control period based on the comparison condition of the motor set speed and the motor expected speed of the current control period;
acquiring the running speed of a motor;
according to a preset speed range in which the motor running speed is located, calling a set PID parameter corresponding to the preset speed range, wherein different preset speed ranges correspond to different set PID parameters;
performing incremental PID operation to obtain an operation result by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter;
and taking the operation result as the driving voltage of the series motor to control the series motor.
2. The method of claim 1, wherein the determining whether to increase the acceleration set value of the current control period according to the comparison of the acceleration set value of the current control period with the acceleration threshold value, and the determining the increase value of the acceleration set value comprises:
judging whether the acceleration set value of the current control period is smaller than the acceleration threshold value of the current control period;
under the condition that the acceleration set value of the current control period is smaller than the acceleration threshold value of the current control period, increasing the acceleration set value of the current control period according to the acceleration added value corresponding to the current control period;
and under the condition that the acceleration set value of the current control period is not less than the acceleration threshold value of the current control period and the current control period is not the last control period, taking the next control period of the current control period as the current control period, and returning to the step of judging whether the acceleration set value of the current control period is less than the acceleration threshold value of the current control period.
3. The method according to claim 2, wherein the acceleration threshold of the next control cycle of the current control cycle is greater than the acceleration threshold of the current control cycle, and the acceleration increment value corresponding to the next control cycle of the current control cycle is greater than the acceleration increment value corresponding to the current control cycle.
4. A series motor control method according to claim 3,
the acceleration threshold of the next control period of the current control period is 2 to 3 times of the acceleration threshold of the current control period;
and the acceleration increment value corresponding to the next control period of the current control period is 1 to 2 times of the acceleration increment value of the current control period.
5. The method of claim 1, wherein the step of adjusting the desired motor speed for the current control cycle based on the comparison of the set motor speed and the desired motor speed for the current control cycle comprises:
if the motor expected speed of the current control period is smaller than the motor set speed, adjusting the motor expected speed of the current control period according to a comparison result of a target difference value and the motor expected speed of the current control period, wherein the target difference value is the difference value between the motor set speed and the acceleration set value;
if the motor expected speed of the current control period is greater than the set motor speed, adjusting the motor expected speed of the current control period according to a comparison result of a target sum value and the motor expected speed of the current control period, wherein the target sum value is the sum of the set motor speed and the set acceleration value;
and if the expected speed of the motor in the current control period is equal to the set speed of the motor, configuring the expected speed of the motor in the current control period to be equal to the running speed of the motor.
6. The method of claim 5, wherein the adjusting the desired motor speed for the current control period according to the comparison of the target difference value and the desired motor speed for the current control period comprises:
if the target difference value is smaller than the motor expected speed of the current control period, configuring the motor expected speed of the current control period to be equal to the motor running speed;
and if the target difference value is not less than the motor expected speed of the current control period, increasing the motor expected speed of the current control period by the acceleration set value.
7. The method of claim 5, wherein the adjusting the desired motor speed for the current control period according to the comparison of the target sum and the desired motor speed for the current control period comprises:
if the target sum value is larger than the motor expected speed of the current control period, configuring the motor expected speed of the current control period to be equal to the motor running speed;
and if the target sum value is not greater than the motor expected speed of the current control period, reducing the motor expected speed of the current control period by the set acceleration value.
8. A series motor control apparatus, characterized in that the control apparatus comprises:
the first processing module is used for determining whether to increase the acceleration set value of the current control period according to the comparison condition of the acceleration set value of the current control period and an acceleration threshold value, wherein different control periods correspond to different acceleration set values;
the second processing module is used for adjusting the motor expected speed of the current control period based on the comparison condition of the motor set speed and the motor expected speed of the current control period when the acceleration set value of the current control period is increased or the current control period is the last control period;
the detection module is used for acquiring the running speed of the motor;
the third processing module is used for calling set PID parameters corresponding to the preset speed range according to the preset speed range where the motor running speed is located, wherein different preset speed ranges correspond to different set PID parameters;
the operation module is used for carrying out incremental PID operation by adopting the motor running speed, the motor expected speed of the current control period and the set PID parameter to obtain an operation result; and
and the control module is used for taking the operation result as the driving voltage of the series motor so as to control the series motor.
9. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the series motor control method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the series motor control method according to any one of claims 1 to 7.
CN202011453074.2A 2020-12-11 2020-12-11 Series motor control method and device, computer equipment and storage medium Pending CN114696662A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011453074.2A CN114696662A (en) 2020-12-11 2020-12-11 Series motor control method and device, computer equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011453074.2A CN114696662A (en) 2020-12-11 2020-12-11 Series motor control method and device, computer equipment and storage medium

Publications (1)

Publication Number Publication Date
CN114696662A true CN114696662A (en) 2022-07-01

Family

ID=82129045

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011453074.2A Pending CN114696662A (en) 2020-12-11 2020-12-11 Series motor control method and device, computer equipment and storage medium

Country Status (1)

Country Link
CN (1) CN114696662A (en)

Similar Documents

Publication Publication Date Title
US9910426B2 (en) Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis
JP6290619B2 (en) Motor control device
CN107300893B (en) Numerical controller
US10209697B2 (en) Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis
US11452233B2 (en) Method and apparatus for controlling fan speed
CN111123838B (en) Servo motor control method and system
CN106802637B (en) The numerical control device of control feed speed is loaded according to main shaft
CN114253219A (en) Grinding force self-adaptive control method and system based on end face grinding
CN110569767B (en) Motion parameter identification method, system, equipment and computer readable storage medium
CN114696662A (en) Series motor control method and device, computer equipment and storage medium
CN112460059B (en) Fan noise control method and device, terminal equipment and storage medium
EP0566747B1 (en) Method of controlling servomotors
CN110696811A (en) Vehicle control method and device, vehicle and storage medium
CN114604139B (en) Battery current control method and terminal
US10359761B2 (en) Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis
CN114103947B (en) Vehicle torque control method, device and computer readable storage medium
CN109252970A (en) A kind of control method for engine speed, engine and vehicle
CN108427327B (en) Control method and device for wire take-up motor of wire drawing machine, computer equipment and storage medium
CN114138031A (en) Method, device, storage medium, and program for controlling heating of oxygen sensor
JP3372262B2 (en) Speed control method in repetitive control
CN113296390A (en) Position-based PID control method and terminal
US10012973B2 (en) Numerical controller
JP7283875B2 (en) Numerical controller
JPH08116688A (en) Detecting method for oscillation of servomotor and adjusting method for speed gain of servomotor
CN113619561B (en) Start-up and shutdown optimization method and system for range extender and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination