CN116853007A - Control method of miniature hub motor - Google Patents

Control method of miniature hub motor Download PDF

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Publication number
CN116853007A
CN116853007A CN202310633182.5A CN202310633182A CN116853007A CN 116853007 A CN116853007 A CN 116853007A CN 202310633182 A CN202310633182 A CN 202310633182A CN 116853007 A CN116853007 A CN 116853007A
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CN
China
Prior art keywords
speed
hub motor
motor
control
rotating speed
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
CN202310633182.5A
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Chinese (zh)
Inventor
徐浩桐
黄伯超
魏慧�
许诺
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Beijing Machinery Equipment Research Institute
Original Assignee
Beijing Machinery Equipment Research Institute
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 Beijing Machinery Equipment Research Institute filed Critical Beijing Machinery Equipment Research Institute
Priority to CN202310633182.5A priority Critical patent/CN116853007A/en
Publication of CN116853007A publication Critical patent/CN116853007A/en
Pending legal-status Critical Current

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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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The application discloses a miniature hub motor control method, which comprises the following steps: acquiring the rotating speed of a miniature hub motor; judging the speed state of the hub motor according to the rotating speed and a preset rotating speed range; selecting a control mode matched with the motor speed state according to the motor speed state; and controlling the hub motor according to the selected control mode of the controller. According to the application, the control mode adapted to the rotation speed of the miniature hub motor is selected to control the hub motor, so that the low-speed control difficulty of the miniature hub motor is reduced. The application selects the control mode matched with the rotating speed of the miniature hub motor to control the hub motor, reduces the low-speed control difficulty of the miniature hub motor, and is particularly suitable for controlling the miniature hub motor without a speed reducer and a brake.

Description

Control method of miniature hub motor
Technical Field
The application relates to the technical field of motor control, in particular to a miniature hub motor control method.
Background
Aiming at a wheeled robot power system, in an application scene with strict requirements on the weight and the power density of a robot walking system, particularly in an application scene of a land-air amphibious micro-robot, a hub motor scheme relies on using a direct-drive brushless direct-current motor as a power core to directly drive. The miniature hub motor is affected by size and mainly consists of a stator, a rotor tyre, a bearing and a driving controller. Meanwhile, as a speed reducer and a brake are not arranged, the low-speed performance and the braking capability are finished in a mode of directly driving and controlling the motor by the driving control system, and higher requirements are put forward on the driving control system of the miniature hub motor. The target hub motor control method is designed for a speed reducer and a brake, and cannot reasonably control the low speed and the braking working condition of the hub motor, so that the control effect of the hub motor is not ideal.
Disclosure of Invention
Aiming at the problems existing in the prior art, the application aims to provide a micro wheel hub motor control method, a micro wheel hub motor control system, electronic equipment and a computer readable medium which are suitable for a micro wheel hub motor without a speed reducer and a brake and improve the control effect of the micro wheel hub motor.
In order to achieve the above object, a first aspect of the present application provides a control method for a micro in-wheel motor, comprising the steps of:
acquiring the rotating speed of a miniature hub motor;
judging the speed state of the hub motor according to the rotating speed and a preset rotating speed range;
selecting a control mode matched with the motor speed state according to the motor speed state;
and controlling the hub motor according to the selected control mode of the controller.
Further, the predetermined rotational speed range includes a first rotational speed range, a second rotational speed range, and a third rotational speed range; the judging of the speed state of the hub motor according to the rotating speed and the preset rotating speed range comprises the following steps:
judging that the hub motor is in a low-speed working state when the rotating speed falls into the first rotating speed range;
judging that the hub motor is in a medium-speed working state when the rotating speed falls into the second rotating speed range;
and judging that the hub motor is in a high-speed working state when the rotating speed falls into the third rotating speed range.
Further, selecting a control mode adapted to the motor speed state based on the motor speed state comprises:
when the hub motor is in a medium-speed or high-speed working state, selecting a dynamic PI controller in a speed ring mode;
when the hub motor is in a low-speed working state, selecting a PID controller in a position ring mode;
when braking the hub motor, a PI controller in a current loop mode is selected.
Further, controlling the in-wheel motor according to the selected controller control mode includes:
the control parameters Kp and Ki of the dynamic PI controller in the speed loop mode are divided in sections according to the speed domain of the hub motor, each section of speed domain corresponds to different control parameters Kp and Ki, and the dynamic PI controller controls the hub motor according to the current target speed switching control parameters Kp and Ki;
the PID controller in the position ring mode controls the hub motor by adopting fixed control parameters;
the PI controller in the current loop mode controls the hub motor by adopting fixed control parameters.
A second aspect of the present application provides a micro in-wheel motor control device, comprising:
an acquisition unit for acquiring the rotation speed of the miniature hub motor;
the judging unit is used for judging the speed state of the hub motor according to the rotating speed and the preset rotating speed range;
a selection unit for selecting a control mode adapted to the motor speed state according to the motor speed state;
and the control unit is used for controlling the hub motor according to the selected controller control mode.
A third aspect of the present application provides an electronic apparatus, comprising:
one or more processors; and
and a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method described above.
A fourth aspect of the application provides a computer readable medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the method described above.
The application selects the control mode matched with the rotating speed of the miniature hub motor to control the hub motor, reduces the low-speed control difficulty of the miniature hub motor, and is particularly suitable for controlling the miniature hub motor without a speed reducer and a brake.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling a micro in-wheel motor according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the control of the in-wheel motor in high and medium speed states according to an embodiment of the present application;
fig. 3 is a schematic diagram of controlling the in-wheel motor in a low-speed state according to an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
As shown in fig. 1, the method for controlling a micro in-wheel motor according to an embodiment of the present application includes the following steps:
step S110: acquiring the rotating speed of a miniature hub motor;
step S120: judging the speed state of the hub motor according to the rotating speed and a preset rotating speed range;
step S130: selecting a control mode matched with the motor speed state according to the motor speed state;
step S140: and controlling the hub motor according to the selected control mode of the controller.
In an embodiment of the present application, the predetermined rotation speed range includes a first rotation speed range, a second rotation speed range, and a third rotation speed range; the judging of the speed state of the hub motor according to the rotating speed and the preset rotating speed range comprises the following steps:
judging that the hub motor is in a low-speed working state when the rotating speed falls into the first rotating speed range;
judging that the hub motor is in a medium-speed working state when the rotating speed falls into the second rotating speed range;
and judging that the hub motor is in a high-speed working state when the rotating speed falls into the third rotating speed range.
In an embodiment of the present application, the step S120 of selecting a control mode adapted to the motor speed state according to the motor speed state includes:
when the hub motor is in a medium-speed or high-speed working state, selecting a dynamic PI controller in a speed ring mode; when the in-wheel motor is in a high-speed and medium-speed state, the control system will use a speed loop control mode, in which the control system does not enable the position loop, the motor speed input is directly used as an input command of the speed loop of the control system for control, and the control principle is shown in fig. 2. In the high-speed state of the motor, the optimal control parameters Kp and Ki of the speed ring are not greatly changed, and the optimal control parameters Kp and Ki are greatly increased along with the reduction of the speed. The segmentation of the dynamic PI controller of the speed ring can be used for parameter adjustment and optimization according to the characteristic, the control performance of the medium speed of the hub motor is improved, the specific parameter adjustment and optimization process is to detect a speed measurement curve of the step response of the hub motor, and Kp and Ki parameters are adjusted according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve to achieve the performance characteristics of the motor application scene concerned.
When the hub motor is in a low-speed working state, selecting a PID controller in a position ring mode; when the in-wheel motor is in a low speed state, the control system uses a position loop control mode, in which the control system inputs the position quantity obtained by virtual position estimation, and the position quantity is used as an input instruction of the control system for the position loop to control, and the control principle is shown in fig. 3.
When braking the hub motor, a PI controller in a current loop mode is selected.
In an embodiment of the present application, the step S130 of controlling the in-wheel motor according to the selected controller control mode includes:
the control parameters Kp and Ki of the dynamic PI controller in the speed loop mode are divided in sections according to the speed domain of the hub motor, each section of speed domain corresponds to different control parameters Kp and Ki, and the dynamic PI controller controls the hub motor according to the current target speed switching control parameters Kp and Ki;
the PID controller in the position loop mode controls the hub motor by adopting fixed control parameters, and the fixed control parameters can be adjusted and determined according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve;
the PI controller in the current loop mode controls the hub motor by adopting fixed control parameters which can be adjusted and determined according to the response time, overshoot amplitude and fluctuation characteristics of the measurement curve. In the mode, the control system controls the fixed current value as an input instruction of a current loop of the control system. The current value is optimized by parameter adjustment according to the robot system, so that the wheel hub motor can obtain high-efficiency braking capability without slipping.
The control method of the application consists of a current loop, a speed loop and a position loop which are connected in series. In the current loop, a PI controller with fixed parameters and a FOC driving method are used for realizing; in the speed ring, a dynamic PI controller is used for realizing, kp and Ki control parameters of the controller are divided in sections according to the speed domain of the hub motor, kp and Ki parameters are used for linear change in each section of speed domain, and the control system is used for switching the controllers Kp and Ki according to the current target speed; in the position loop, a fixed parameter PID controller is used.
The application also provides a miniature hub motor control device, which comprises:
an acquisition unit for acquiring the rotation speed of the miniature hub motor;
the judging unit is used for judging the speed state of the hub motor according to the rotating speed and the preset rotating speed range;
a selection unit for selecting a control mode adapted to the motor speed state according to the motor speed state;
and the control unit is used for controlling the hub motor according to the selected controller control mode.
The present application also provides an electronic device including:
one or more processors; and
and a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method described above.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU).
The present application also provides a computer readable medium having stored thereon a computer program which when executed by a processor implements the method described above.
The computer readable medium shown in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the sensorless flexible stay impedance control method as described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (7)

1. The miniature hub motor control method is characterized by comprising the following steps of:
acquiring the rotating speed of a miniature hub motor;
judging the speed state of the hub motor according to the rotating speed and a preset rotating speed range;
selecting a control mode matched with the motor speed state according to the motor speed state;
and controlling the hub motor according to the selected control mode of the controller.
2. The control method according to claim 1, wherein the predetermined rotational speed range includes a first rotational speed range, a second rotational speed range, and a third rotational speed range; the judging of the speed state of the hub motor according to the rotating speed and the preset rotating speed range comprises the following steps:
judging that the hub motor is in a low-speed working state when the rotating speed falls into the first rotating speed range;
judging that the hub motor is in a medium-speed working state when the rotating speed falls into the second rotating speed range;
and judging that the hub motor is in a high-speed working state when the rotating speed falls into the third rotating speed range.
3. The control method according to claim 2, wherein selecting a control mode adapted to the motor speed state according to the motor speed state comprises:
when the hub motor is in a medium-speed or high-speed working state, selecting a dynamic PI controller in a speed ring mode;
when the hub motor is in a low-speed working state, selecting a PID controller in a position ring mode;
when braking the hub motor, a PI controller in a current loop mode is selected.
4. A control method according to claim 3, wherein controlling the in-wheel motor according to the selected controller control mode comprises:
the control parameters Kp and Ki of the dynamic PI controller in the speed loop mode are divided in sections according to the speed domain of the hub motor, each section of speed domain corresponds to different control parameters Kp and Ki, and the dynamic PI controller controls the hub motor according to the current target speed switching control parameters Kp and Ki;
the PID controller in the position ring mode controls the hub motor by adopting fixed control parameters;
the PI controller in the current loop mode controls the hub motor by adopting fixed control parameters.
5. A miniature in-wheel motor control device, comprising:
an acquisition unit for acquiring the rotation speed of the miniature hub motor;
the judging unit is used for judging the speed state of the hub motor according to the rotating speed and the preset rotating speed range;
a selection unit for selecting a control mode adapted to the motor speed state according to the motor speed state;
and the control unit is used for controlling the hub motor according to the selected controller control mode.
6. An electronic device, comprising:
one or more processors; and
storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method of any of claims 1-4.
7. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-4.
CN202310633182.5A 2023-05-31 2023-05-31 Control method of miniature hub motor Pending CN116853007A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310633182.5A CN116853007A (en) 2023-05-31 2023-05-31 Control method of miniature hub motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310633182.5A CN116853007A (en) 2023-05-31 2023-05-31 Control method of miniature hub motor

Publications (1)

Publication Number Publication Date
CN116853007A true CN116853007A (en) 2023-10-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310633182.5A Pending CN116853007A (en) 2023-05-31 2023-05-31 Control method of miniature hub motor

Country Status (1)

Country Link
CN (1) CN116853007A (en)

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