CN116846283A - Motor load self-adaptive torque closed-loop control method and device and intelligent equipment - Google Patents
Motor load self-adaptive torque closed-loop control method and device and intelligent equipment Download PDFInfo
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Classifications
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
Abstract
The invention discloses a motor load self-adaptive torque closed-loop control method, a device and intelligent equipment, wherein the control method comprises the following steps: collecting operation parameters of the motor; identifying a load of the motor based on an operating parameter of the motor; comparing the corresponding relation between the operation parameter and the load; wherein, before the step of collecting the operation parameters of the motor, the method further comprises: and acquiring the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load. According to the invention, by collecting the related parameters of the mower motor during operation, the actual condition of the load is identified, low-power and low-rotation-speed output is realized during low load, high-power and high-rotation-speed output is realized during high load, the motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole endurance capacity of the mower are achieved; the control method does not need manual participation, and the corresponding mower has high intelligent degree, easy operation and good safety performance.
Description
[ technical field ]
The invention relates to a motor load self-adaptive torque closed-loop control method and device and intelligent equipment.
[ background Art ]
Traditional lawn mowers are mainly backpack lawn mowers, portable lawn mowers, hand-push lawn mowers and the like, and are low in automation degree, low in working efficiency and high in labor intensity and strain degree of users. When aiming at the maintenance requirements of the lawn in a large area throughout the year, the riding mower has the advantages of long endurance time, flexible control, high working efficiency and the like, and avoids fatigue and even labor injury caused by long-time work of a user.
From the energy power type distinction, there are two main types of riding mowers today: gasoline engine type and lithium battery charging type. Compared with the gasoline engine type, the lithium battery charging type has the advantages of zero emission, zero oil consumption, low noise, simple maintenance and the like.
The main energy consumption of the riding mower in the working process is the energy consumed by the mowing motor for driving the cutter to mow in addition to the kinetic energy consumption of the driving wheel. The existing riding mower generally provides a plurality of adjusting gears for a user, the rotating speed of the cutter is set, the higher the rotating speed is, the higher the mowing efficiency is, and the higher the motor power and the energy consumption are. Especially lithium battery charging riding mower, the consumed energy consumption of the cutter influences the cruising ability and charging frequency of the mower.
In order to increase the mowing area in a word driving path, a riding mower is generally provided with a cutter on the left and right sides below a chassis of a whole mower body, and loads faced by cutters on the left and right sides are often different in actual mowing conditions. If the control requirements of the heavy-load cutters are uniformly used, the output torque is excessive for the light-load cutters, so that the capacity waste is formed; if the control requirements of the light-load cutting knife are unified, the output torque is insufficient for the heavy-load cutting knife, and some high-density grass cannot be cut off smoothly. On the other hand, in the actual mowing condition, the growth of grass in the area to be mowed is not necessarily uniform, the situation of uneven density exists, if a gear with higher rotating speed is always used, the waste of capacity is caused in the grass thinning area, and if a gear with lower rotating speed is used, the mowing failure is caused in the grass compacting area. If the user is through the mode of manual gear shifting, then need constantly manual judgement grass condition, operating mode, constantly adjust the gear simultaneously and realize the optimal combination of efficiency and duration, the technical difficulty is high, and the operation is too loaded down with trivial details, and leads to the safety problem easily because of the distraction of people.
The existing control method cannot accurately adjust the torque of the motor through load self-adaptive control so as to realize the adjustment of the output of the motor. In view of the foregoing, it is desirable to provide an improved motor load adaptive torque closed-loop control method, apparatus and intelligent device that overcomes the shortcomings of the prior art.
[ summary of the invention ]
Aiming at the defects of the prior art, the invention aims to provide a motor load self-adaptive torque closed-loop control method, a device and intelligent equipment for automatically adjusting output to promote endurance.
The technical scheme adopted for solving the problems in the prior art is as follows:
a motor load adaptive torque closed-loop control method, the control method being applied to a motor control device, comprising the steps of:
the control method is applied to a motor control device and comprises the following steps:
collecting operation parameters of the motor;
identifying a load of the motor based on an operating parameter of the motor;
comparing the corresponding relation between the operation parameter and the load, if the operation parameter is larger than the upper boundary threshold of the load, increasing the torque of the motor, and if the operation parameter is smaller than the lower boundary threshold of the load, decreasing the torque of the motor;
wherein, before the step of collecting the operation parameters of the motor, the method further comprises:
and acquiring the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load.
The further improvement scheme is as follows: the operating parameters include duty cycle and/or rotational speed.
The further improvement scheme is as follows: when the operation parameter includes a duty cycle, the step of obtaining the correspondence between the operation parameter and the load and the upper and lower boundary thresholds of the load specifically includes:
step 10, presetting the duty ratio d of the motor 0 The torque characteristic curve corresponding to the motor is obtained;
step 20, presetting the duty ratio d of the motor 1 % and duty cycle variable Δd, and satisfies d 1 ＝d 0 +Δd, obtaining a torque characteristic curve corresponding to the motor;
step 30, repeating the step 20 until the duty ratio of the motor is 100%, and obtaining torque characteristic curves corresponding to the motor under all preset duty ratios;
step 40, mapping the torque-rotating speed characteristic curves under different duty ratio states to a torque-duty ratio coordinate system;
and 50, selecting rotating speed points or torque points in different duty ratio states, and fitting through a straight line or a curve.
The further improvement scheme is as follows: when the operation parameter includes the duty cycle, the method specifically includes the following steps:
step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load;
step 20, collecting operation parameters of the motor, including detecting the current rotation speed;
step 30, preprocessing the rotating speed, and identifying the load of the motor based on the operation parameters of the motor;
step 40, obtaining an optimal target duty cycle based on the rotating speed and the target torque;
step 50, judging whether the current duty ratio is in the duty ratio adjusting process of the motor, if yes, adjusting the current duty ratio and returning to step 20, if not, determining the working condition rotating speed and the upper and lower boundary thresholds of the duty ratio according to the current torque and going to step 60;
step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the duty ratio is larger than an upper boundary threshold value of the load or whether the rotating speed is smaller than a lower boundary threshold value of the load, if yes, increasing the torque of the motor and returning to step 20, and if not, going to step 70;
and step 70, judging whether the duty ratio is smaller than a lower boundary threshold of the load or whether the rotating speed is larger than the lower boundary threshold of the load, if so, reducing the torque of the motor and returning to step 20, and if not, returning to step 20.
The further improvement scheme is as follows: when the operation parameter includes a rotation speed, the step of obtaining the correspondence between the operation parameter and the load and the upper and lower boundary thresholds of the load specifically includes:
step 10, presetting the rotating speed n of the motor 0 The method comprises the steps of (1%) obtaining a torque-rotating speed efficiency MAP corresponding to the motor;
step 20, presetting the electricityRotational speed n of machine 1 % and rotational speed variable Δn, and satisfies n 1 ＝n 0 +Deltan, obtaining a torque-rotating speed efficiency MAP corresponding to the motor;
step 30, repeating the step 20 until the rotating speed of the motor is the highest rotating speed in the idle state, and acquiring torque-rotating speed efficiency MAP corresponding to the motor at all preset rotating speeds;
step 40, drawing a contour MAP of the torque-rotating speed efficiency MAP in different rotating speed states according to the efficiency to obtain a torque-rotating speed-efficiency MAP;
step 50, selecting a rotating speed or torque point, and selecting a power or torque point, and fitting through a straight line or a curve.
The further improvement scheme is as follows: when the operation parameter includes the rotation speed, the method specifically includes the following steps:
step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load;
step 20, collecting operation parameters of the motor, including detecting the current rotation speed and current;
step 30, preprocessing the rotating speed and the current, and identifying the load of the motor based on the operation parameters of the motor;
step 40, obtaining an optimal target current based on the rotating speed and the target torque;
step 50, judging whether the current is in the current regulation process of the motor, if yes, regulating the current and returning to step 20, if not, determining the working condition rotating speed and the upper and lower boundary thresholds of the current according to the current torque and going to step 60;
step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the current is larger than an upper boundary threshold value of the load or whether the rotating speed is smaller than a lower boundary threshold value of the load, if yes, increasing the torque of the motor and returning to step 20, and if not, going to step 70;
step 70, judging whether the current is smaller than the lower boundary threshold of the load or whether the rotation speed is larger than the lower boundary threshold of the load, if yes, reducing the torque of the motor and returning to step 20, and if not, returning to step 20.
In order to solve the problems in the prior art, the invention also provides a motor control device, wherein the control device operates in an intelligent device and comprises:
the acquisition module is used for acquiring the operation parameters of the motor;
an identification module for identifying a load of the motor based on an operating parameter of the motor;
the control module is used for comparing the corresponding relation between the operation parameter and the load, increasing the torque of the motor if the operation parameter is larger than the upper boundary threshold of the load, and decreasing the torque of the motor if the operation parameter is smaller than the lower boundary threshold of the load;
and the storage module is used for pre-storing the corresponding relation between the operation parameters and the load change and the upper and lower boundary thresholds along with the load.
In order to solve the problems in the prior art, the invention also provides intelligent equipment, which comprises a cutting system, wherein the cutting system comprises the motor control device.
In order to solve the problems in the prior art, the invention also provides intelligent equipment, which comprises a memory and a processor;
the memory stores computer instructions;
the processor is connected with the memory and is used for acquiring and executing computer instructions from the memory to realize the control method.
To solve the problems in the prior art, the present invention also provides a computer-readable medium having a non-volatile program code executable by a processor, the program code causing the processor to execute the control method.
Compared with the prior art, the invention has the following beneficial effects: according to the motor load self-adaptive torque closed-loop control method, the actual condition of the load is identified by collecting the related parameters when the mowing motor runs, low-power and low-rotation-speed output is realized when the load is low, high-power and high-rotation-speed output is realized when the load is high, motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole-machine endurance capacity of the mowing machine are achieved; the control method does not need manual participation, and the corresponding mower has high intelligent degree, easy operation and good safety performance.
[ description of the drawings ]
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:
fig. 1 is a flowchart of a motor load adaptive torque closed-loop control method according to a first embodiment of the present invention;
FIG. 2 is a torque-duty cycle plot of a first embodiment of the present invention;
FIG. 3 is a graph of an optimal trajectory of actual torque as a function of duty cycle for a first embodiment of the present invention;
FIG. 4 is a torque-speed-efficiency MAP diagram for a first embodiment of the invention;
FIG. 5 is a graph of an optimal trajectory of actual torque as a function of rotational speed for a first embodiment of the present invention;
fig. 6 is a schematic diagram of a motor control device according to a second embodiment of the present invention.
Detailed description of the preferred embodiments
The invention will be described in further detail with reference to the drawings and embodiments.
The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The following words "first", "second", "third", etc. are merely for convenience in distinguishing and describing relevant parameters to which the present invention relates, and have no special meaning, and thus should not be construed as limiting the present invention.
Example 1
Aiming at the defects of the prior art, the invention aims to provide a motor load self-adaptive torque closed-loop control method which is applied to a motor control device and realizes automatic adjustment output so as to improve the cruising effect. As shown in fig. 1, the method comprises the steps of: collecting operation parameters of the motor; and further identifying a load of the motor based on the operating parameter of the motor; and finally, judging by comparing the corresponding relation between the operation parameters and the load, namely, comparing the relation coordinates of the operation parameters changing along with the load. Based on the operation parameter-load relation coordinates, the judging result comprises: and if the operation parameter is larger than the upper boundary threshold value of the load, increasing the torque of the motor, and if the operation parameter is smaller than the lower boundary threshold value of the load, decreasing the torque of the motor.
The step of collecting the operation parameters of the motor is used for obtaining the operation conditions of the motor in real time, including the duty ratio, the current, the power and the like of the motor; the step of identifying the motor load is used for acquiring the motor load conditions in real time, including high load, low load, load change and the like. Before the step of collecting the operation parameters of the motor, the control method of the embodiment further includes the following steps: and acquiring a corresponding relation between the operation parameter and the load, namely acquiring a relation coordinate of the operation parameter changing along with the load, and acquiring upper and lower boundary thresholds of the load, wherein the upper and lower boundary thresholds comprise the operation parameter changing along with the load.
The step of acquiring the corresponding relation between the operation parameter and the load and the upper and lower boundary threshold values of the load is performed before the motor works, and the relation coordinate and the boundary threshold values can be acquired through testing and calculation. And (3) regarding the steps of collecting the operation parameters of the motor, identifying the load of the motor, judging the relation coordinates of the operation parameters along with the change of the load, and the like, wherein the steps are performed when the motor works, the operation parameters, the load conditions and the judging process are performed in real time, and then the operation of the motor is fed back and controlled in real time. Specifically, the motor working condition refers to that the motor is driving the cutter to cut grass. According to the parameters and working conditions of the motor, the motor torque is controlled to be increased or decreased in real time according to the parameter-load relation coordinate judgment during working, and the output of the mowing motor is automatically adjusted to improve the cruising effect of the mower.
According to the motor load self-adaptive torque closed-loop control method, the actual condition of the load is identified by collecting the related parameters when the mowing motor runs, low-power and low-rotation-speed output is realized when the load is low, high-power and high-rotation-speed output is realized when the load is high, motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole-machine endurance capacity of the mowing machine are achieved; the control method does not need manual participation, and the corresponding mower has high intelligent degree, easy operation and good safety performance.
Preferably, the operating parameter comprises a duty cycle or a rotational speed, or the operating parameter comprises both a duty cycle and a rotational speed.
Preferably, in order to obtain the optimal trajectory curve of the actual torque according to the duty cycle as shown in fig. 3, that is, when the operation parameter includes or includes only the duty cycle, in the step of obtaining the relation coordinate of the operation parameter according to the load change and the upper and lower boundary thresholds after the load change, measurement data may be controlled by using open loop PWM (pulse width modulation), please refer to fig. 2, specifically including: step 10, presetting the duty ratio d of the motor 0 The torque characteristic curve corresponding to the motor can be obtained by mapping; step 20, presetting the duty ratio d of the motor 1 % and duty cycle variable Δd, and satisfies d 1 ＝d 0 +Δd, measuring and drawing a torque characteristic curve corresponding to the motor; step 30, continuously repeating the step 20 until the duty ratio of the motor is 100%, and mapping a torque characteristic curve corresponding to the motor under all preset duty ratios; step 40, mapping the torque-rotating speed characteristic curves under different duty ratio states to a torque-duty ratio coordinate system; and 50, selecting rotating speed points or torque points (selecting principle: highest efficiency point) under different duty ratio states, and matching the torque required by the motor with the duty ratio (such as maximum torque is matched with the maximum duty ratio and minimum torque is matched with the minimum duty ratio) so as to anchor the two ends of the optimal control track and obtain the required load self-adaptive control track by using straight line or curve fitting. The Δd can be adjusted according to actual product requirements, measurement accuracy, main control chip resources and the like, the smaller the numerical value, the finer the curve fit is, the smoother the control track is excessively, and the larger the resource consumption is.
Preferably, in the motor load adaptive torque closed-loop control method of the present embodiment, when the operation parameter includes the duty ratio, the method specifically includes the following steps: step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load; step 20, collecting operation parameters of the motor, including detecting the current rotation speed; step 30, preprocessing the rotating speed, and identifying the load of the motor based on the operation parameters of the motor; step 40, obtaining an optimal target duty ratio after index analysis based on the rotating speed and the target torque; step 50, judging whether the current duty ratio (duty ratio ramp function) is adjusted and returning to step 20 if the current duty ratio is in the duty ratio adjusting process of the motor, if the current duty ratio is not in the duty ratio adjusting process, determining (linear interpolation calculation or direct function calculation after table lookup) the working condition rotating speed and the upper and lower (load increase and decrease) boundary thresholds of the duty ratio according to the current torque (if the current duty ratio is not in the duty ratio adjusting process), and proceeding to step 60; step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the duty ratio is greater than the upper boundary threshold of the load or whether the rotation speed is less than the lower boundary threshold of the load (i.e. the load becomes larger), if so, increasing the torque of the motor (setting new target torque) and returning to step 20, if not, going to step 70; step 70, determining whether the duty ratio is smaller than the lower boundary threshold of the load or whether the rotation speed is larger than the lower boundary threshold of the load (i.e. the load becomes smaller), if yes, reducing the torque of the motor (setting new target torque) and returning to step 20, if not, returning to step 20.
Preferably, in order to obtain the optimal trajectory curve of the actual torque according to the change of the rotation speed as shown in fig. 5, when the operation parameter includes or includes only the rotation speed, in the step of obtaining the relation coordinate of the operation parameter according to the change of the load and the upper and lower boundary thresholds after the change of the load, measurement data may be controlled by adopting a rotation speed closed loop, please refer to fig. 4, which specifically includes: step 10, presetting the rotating speed n of the motor 0 The torque-rotating speed efficiency MAP corresponding to the motor is measured and drawn; step 20, presetting the rotating speed n of the motor 1 % and rotational speed variable Δn, and satisfies n 1 ＝n 0 +Deltan, and drawing a torque-rotating speed efficiency MAP corresponding to the motor; step 30, repeating step 20 until the rotation speed of the motor is the highest rotation speed in the idle state, and mapping the motor pairs at all preset rotation speedsA corresponding torque-to-speed efficiency MAP; step 40, drawing a contour MAP of the torque-rotating speed efficiency MAP in different rotating speed states according to the efficiency to obtain a torque-rotating speed-efficiency MAP; and 50, selecting an optimal rotating speed or torque point, selecting a power or torque point (selecting a principle of selecting a highest efficiency point, a torque current optimal point MTPA and the like), matching the maximum torque required by the motor with the highest rotating speed and the highest efficiency, and matching the minimum torque with the lowest rotating speed and the highest efficiency so as to anchor two ends of an optimal control track and obtain the required load self-adaptive control track by using straight line or curve fitting. The delta n can be adjusted according to actual product requirements, measurement accuracy, main control chip resources and the like, the smaller the numerical value, the finer the curve fit is, the smoother the control track is excessively, and the larger the resource consumption is.
Preferably, in the motor load adaptive torque closed-loop control method of the present embodiment, when the operation parameter includes the rotation speed, the method specifically includes the following steps: step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load; step 20, collecting operation parameters of the motor, including detecting the current rotation speed and current; step 30, preprocessing the rotating speed and the current, and identifying the load of the motor based on the operation parameters of the motor; step 40, obtaining the optimal target current after index analysis based on the rotating speed and the target torque; step 50, judging whether the current is in the current regulation process of the motor, if yes, regulating the current (current PID regulation) and returning to step 20, if not, determining (linear interpolation calculation or direct function calculation after table lookup) the working condition rotating speed and the upper and lower (load increase and decrease) boundary thresholds of the current according to the current torque, and going to step 60; step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the current is greater than an upper boundary threshold of the load or whether the rotation speed is less than a lower boundary threshold of the load (i.e. the load becomes larger), if so, increasing the torque of the motor (setting new target torque) and returning to step 20, if not, going to step 70; step 70, determining whether the current is less than the lower boundary threshold of the load or whether the rotation speed is greater than the lower boundary threshold of the load (i.e. the load becomes smaller), if so, reducing the torque of the motor (setting a new target torque) and returning to step 20, if not, returning to step 20.
Example two
Referring to fig. 6, the present invention further provides a motor control device, the control device operates in a mower, and the motor control device comprises: the device comprises an acquisition module, an identification module, a control module and a storage module. The acquisition module is used for acquiring the operation parameters of the motor. And acquiring the operation parameters of the motor, wherein the operation parameters are used for acquiring the operation conditions of the motor in real time, including the duty ratio, the current, the power and the like of the motor. The identification module is used for identifying the load of the motor based on the operation parameters of the motor. And identifying the condition that the motor load is used for acquiring the motor load in real time, wherein the condition comprises high load, low load, load change and the like. The control module is used for comparing the corresponding relation between the operation parameters and the load. And if the operation parameter is larger than the upper boundary threshold value of the load, increasing the torque of the motor, and if the operation parameter is smaller than the lower boundary threshold value of the load, decreasing the torque of the motor. The storage module is used for pre-storing the corresponding relation between the operation parameters and the load change and the upper boundary threshold value and the lower boundary threshold value along with the load.
The motor control device provided by the invention is divided into the above modules only by way of example, wherein the acquisition module, the identification module, the control module and the storage module can be integrated into one module to realize numerical acquisition and motor control. Preferably, the acquisition module, the identification module, the control module and the storage module are integrated in a single chip Microcomputer (MCU).
According to the invention, by collecting the related parameters of the mower motor during operation, the actual condition of the load is identified, low-power and low-rotation-speed output is realized during low load, high-power and high-rotation-speed output is realized during high load, the motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole endurance capacity of the mower are achieved; the intelligent mower has the advantages of no need of manual participation, high intelligent degree, easy operation and good safety performance.
Example III
The invention also provides an intelligent device, in particular a riding mower, which comprises a cutting system. The cutting system is used for cutting grass and comprises the motor control device. It should be noted that the smart device also includes other systems, such as an energy source system, a frame system, a handling system, a driving system, a seat system, and the like. The energy system may include, for example, a battery pack, a charger, and the like; the steering system may include, for example, a joystick, a steering wheel, and the like; the drive system may include, for example, a drive motor and a drive wheel.
According to the invention, by collecting the related parameters of the mower motor during operation, the actual condition of the load is identified, low-power and low-rotation-speed output is realized during low load, high-power and high-rotation-speed output is realized during high load, the motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole endurance capacity of the mower are achieved; the mower has the advantages of no need of manual participation, high intelligent degree, easy operation and good safety performance.
Example IV
The invention also provides an intelligent device for realizing the control method according to the first embodiment, which comprises a memory and a processor; the memory stores computer instructions; the processor is connected with the memory and is used for acquiring and executing computer instructions from the memory to realize the control method.
According to the invention, by collecting the related parameters of the mower motor during operation, the actual condition of the load is identified, low-power and low-rotation-speed output is realized during low load, high-power and high-rotation-speed output is realized during high load, the motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole endurance capacity of the mower are achieved; the intelligent mower has the advantages of no need of manual participation, high intelligent degree, easy operation and good safety performance.
Example five
The present invention also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the aforementioned control method.
According to the invention, by collecting the related parameters of the mower motor during operation, the actual condition of the load is identified, low-power and low-rotation-speed output is realized during low load, high-power and high-rotation-speed output is realized during high load, the motor control and output adjustment are more accurate, and the effects of reducing the non-effective energy consumption and improving the whole endurance capacity of the mower are achieved; the intelligent mower has the advantages of no need of manual participation, high intelligent degree, easy operation and good safety performance.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are merely illustrative embodiments of the present invention, and not restrictive, and the scope of the invention is not limited thereto, although the invention has been described in detail with reference to the above embodiments, it will be understood by those skilled in the art that any modification or variation of the technical solutions described in the above embodiments or equivalent substitution of some technical features thereof may be easily contemplated by those skilled in the art within the scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The motor load self-adaptive torque closed-loop control method is characterized by being applied to a motor control device and comprising the following steps of:
collecting operation parameters of the motor;
identifying a load of the motor based on an operating parameter of the motor;
comparing the corresponding relation between the operation parameter and the load, if the operation parameter is larger than the upper boundary threshold of the load, increasing the torque of the motor, and if the operation parameter is smaller than the lower boundary threshold of the load, decreasing the torque of the motor;
wherein, before the step of collecting the operation parameters of the motor, the method further comprises:
and acquiring the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load.
2. The motor load adaptive torque closed-loop control method of claim 1, wherein the operating parameters include duty cycle and/or rotational speed.
3. The motor load adaptive torque closed-loop control method according to claim 2, wherein when the operation parameter includes a duty ratio, the step of acquiring the correspondence between the operation parameter and the load and the upper and lower boundary thresholds of the load specifically includes:
step 10, presetting the duty ratio d of the motor 0 The torque characteristic curve corresponding to the motor is obtained;
step 20, presetting the duty ratio d of the motor 1 % and duty cycle variable Δd, and satisfies d 1 ＝d 0 +Δd, obtaining a torque characteristic curve corresponding to the motor;
step 30, repeating the step 20 until the duty ratio of the motor is 100%, and obtaining torque characteristic curves corresponding to the motor under all preset duty ratios;
step 40, mapping the torque-rotating speed characteristic curves under different duty ratio states to a torque-duty ratio coordinate system;
and 50, selecting rotating speed points or torque points in different duty ratio states, and fitting through a straight line or a curve.
4. The motor load adaptive torque closed-loop control method according to claim 2, characterized in that when the operating parameter includes the duty cycle, it specifically includes the steps of:
step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load;
step 20, collecting operation parameters of the motor, including detecting the current rotation speed;
step 30, preprocessing the rotating speed, and identifying the load of the motor based on the operation parameters of the motor;
step 40, obtaining an optimal target duty cycle based on the rotating speed and the target torque;
step 50, judging whether the current duty ratio is in the duty ratio adjusting process of the motor, if yes, adjusting the current duty ratio and returning to step 20, if not, determining the working condition rotating speed and the upper and lower boundary thresholds of the duty ratio according to the current torque and going to step 60;
step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the duty ratio is larger than an upper boundary threshold value of the load or whether the rotating speed is smaller than a lower boundary threshold value of the load, if yes, increasing the torque of the motor and returning to step 20, and if not, going to step 70;
and step 70, judging whether the duty ratio is smaller than a lower boundary threshold of the load or whether the rotating speed is larger than the lower boundary threshold of the load, if so, reducing the torque of the motor and returning to step 20, and if not, returning to step 20.
5. The motor load adaptive torque closed-loop control method according to claim 2, wherein when the operation parameter includes a rotational speed, in the step of acquiring the correspondence between the operation parameter and the load and the upper and lower boundary thresholds of the load, specifically comprising:
step 10, presetting the rotating speed n of the motor 0 The method comprises the steps of (1%) obtaining a torque-rotating speed efficiency MAP corresponding to the motor;
step 20, presetting the rotating speed n of the motor 1 % and rotational speed variable Δn, and satisfies n 1 ＝n 0 +Deltan, obtaining a torque-rotating speed efficiency MAP corresponding to the motor;
step 30, repeating the step 20 until the rotating speed of the motor is the highest rotating speed in the idle state, and acquiring torque-rotating speed efficiency MAP corresponding to the motor at all preset rotating speeds;
step 40, drawing a contour MAP of the torque-rotating speed efficiency MAP in different rotating speed states according to the efficiency to obtain a torque-rotating speed-efficiency MAP;
step 50, selecting a rotating speed or torque point, and selecting a power or torque point, and fitting through a straight line or a curve.
6. The motor load adaptive torque closed-loop control method according to claim 2, characterized in that when the operation parameter includes the rotation speed, it specifically includes the steps of:
step 10, obtaining the corresponding relation between the operation parameters and the load and the upper and lower boundary thresholds of the load;
step 20, collecting operation parameters of the motor, including detecting the current rotation speed and current;
step 30, preprocessing the rotating speed and the current, and identifying the load of the motor based on the operation parameters of the motor;
step 40, obtaining an optimal target current based on the rotating speed and the target torque;
step 50, judging whether the current is in the current regulation process of the motor, if yes, regulating the current and returning to step 20, if not, determining the working condition rotating speed and the upper and lower boundary thresholds of the current according to the current torque and going to step 60;
step 60, comparing the corresponding relation between the operation parameter and the load, judging whether the current is larger than an upper boundary threshold value of the load or whether the rotating speed is smaller than a lower boundary threshold value of the load, if yes, increasing the torque of the motor and returning to step 20, and if not, going to step 70;
step 70, judging whether the current is smaller than the lower boundary threshold of the load or whether the rotation speed is larger than the lower boundary threshold of the load, if yes, reducing the torque of the motor and returning to step 20, and if not, returning to step 20.
7. A motor control device, wherein the control device operates in an intelligent device, comprising:
the acquisition module is used for acquiring the operation parameters of the motor;
an identification module for identifying a load of the motor based on an operating parameter of the motor;
the control module is used for comparing the corresponding relation between the operation parameter and the load, increasing the torque of the motor if the operation parameter is larger than the upper boundary threshold of the load, and decreasing the torque of the motor if the operation parameter is smaller than the lower boundary threshold of the load;
and the storage module is used for pre-storing the corresponding relation between the operation parameters and the load change and the upper and lower boundary thresholds along with the load.
8. An intelligent device comprising a cutting system comprising the motor control device of claim 7.
9. An intelligent device is characterized by comprising a memory and a processor;
the memory stores computer instructions;
the processor is connected to the memory for retrieving and executing computer instructions from the memory for implementing the control method according to any of claims 1-6.
10. A computer readable medium having a non-volatile program code executable by a processor, characterized in that the program code causes the processor to perform the control method according to any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117254745A (en) * | 2023-11-17 | 2023-12-19 | 深圳市精锐昌科技有限公司 | Operation control method, system and storage medium of motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117254745A (en) * | 2023-11-17 | 2023-12-19 | 深圳市精锐昌科技有限公司 | Operation control method, system and storage medium of motor |
| CN117254745B (en) * | 2023-11-17 | 2024-03-22 | 深圳市精锐昌科技有限公司 | Operation control method, system and storage medium of motor |
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