CN117578916A - Method and device for braking motor, storage medium and electronic device - Google Patents
Method and device for braking motor, storage medium and electronic device 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
Abstract
The application provides a braking method and device of a motor, a storage medium and an electronic device, wherein the method comprises the following steps: responding to the acquired braking instruction corresponding to a target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes; and adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotating speed so as to perform braking treatment on the target motor.
Description
[ field of technology ]
The present application relates to the field of motor control technologies, and in particular, to a method and apparatus for braking a motor, a storage medium, and an electronic apparatus.
[ background Art ]
At present, an electronic device provided with a motor is generally driven to operate by the motor, and the electronic device is started and stopped by controlling the operation of the motor, so that the motor which needs to rotate completely stops rotating in order to realize the braking of the motor. The faster the motor speed, the longer it takes to stop the rotation, and the lower the braking efficiency.
Therefore, the braking method of the motor in the related art has the problem of low braking efficiency.
[ invention ]
The invention aims to provide a braking method and device of a motor, a storage medium and an electronic device, so as to at least solve the problem that the braking efficiency of the braking method of the motor in the related art is low.
The purpose of the application is realized through the following technical scheme:
according to an aspect of an embodiment of the present application, there is provided a braking method of an electric motor, including: responding to the acquired braking instruction corresponding to a target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes; and adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotating speed so as to perform braking treatment on the target motor.
According to another aspect of the embodiments of the present application, there is also provided a braking device of an electric motor, including: the first acquisition unit is used for responding to the acquired braking instruction corresponding to the target motor to acquire the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes; and the adjusting unit is used for adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotating speed so as to perform braking treatment on the target motor.
According to yet another aspect of the embodiments of the present application, there is also provided a computer readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the braking method of the motor as described above when run.
According to still another aspect of the embodiments of the present application, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the braking method of the motor through the computer program.
In the embodiment of the application, a mode of adjusting the upper and lower bridge MOS tube switches by combining the motor rotation speed is adopted, and the current rotation speed of a target motor is obtained in response to an obtained brake instruction corresponding to the target motor, wherein the target motor is a three-phase motor comprising three upper bridge MOS tubes and three lower bridge MOS tubes; the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotating speed so as to brake the target motor, and the MOS tubes are adjusted by combining the current rotating speed of the target motor, so that the deceleration efficiency of the target motor can be adjusted through the switching states of the MOS tubes while the influence of rapid braking on the target motor when the rotating speed is too high is avoided, the technical effect of improving the braking efficiency is achieved, and the problem that the braking efficiency is lower in the braking method of the motor in the related art is solved.
[ description of the drawings ]
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic illustration of a hardware environment of an alternative motor braking method according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative method of braking an electric motor according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative motor braking circuit according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a braking circuit of an alternative electric motor according to an embodiment of the present application;
FIG. 5 is a schematic illustration of an alternative motor braking method according to an embodiment of the present application;
FIG. 6 is a flow chart of an alternative method of braking an electric motor according to an embodiment of the present application;
FIG. 7 is a block diagram of an alternative motor brake apparatus according to an embodiment of the present application;
fig. 8 is a block diagram of an alternative electronic device according to an embodiment of the present application.
[ detailed description ] of the invention
The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
According to one aspect of an embodiment of the present application, a method of braking a motor is provided. Alternatively, in the present embodiment, the braking method of the motor described above may be applied to a hardware environment including the terminal device 102 and the server 104 as shown in fig. 1.
The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared. Terminal equipment 102 may include, but is not limited to, cleaners, floor washers, and the like that incorporate a three-phase permanent magnet synchronous motor.
The braking method of the motor in the embodiment of the present application may be performed by the terminal device 102 or the server 104 alone, or may be performed by the terminal device 102 and the server 104 together. Taking the example that the terminal device 102 performs the braking method of the motor in this embodiment, fig. 2 is a schematic flow chart of an alternative braking method of the motor according to an embodiment of the present application, as shown in fig. 2, the flow of the method may include the following steps:
step S202, responding to the acquired braking instruction corresponding to the target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes.
The braking method of the motor in the embodiment can be applied to a scene of braking a three-phase motor, and the three-phase motor can be the three-phase permanent magnet synchronous motor. Braking of the motor may refer to braking of the motor, i.e. stopping the rotating motor.
The three-phase permanent magnet synchronous motor mainly drives the rotor to rotate through the induced electromotive force generated on the magnetic core when three-phase current passes through the coil. When the motor in operation is stopped, the rotor of the motor in a rotating state needs a certain time to stop rotating completely due to the inertia effect.
In order to reduce the time for the motor to go from a rotating state to a stationary state and to improve the braking efficiency of the motor, in this embodiment, the rotating state of the motor may be controlled by a circuit including three upper bridge MOS (Metal-Oxide-Semiconductor), i.e., metal-Oxide Semiconductor field effect transistor) transistors and three lower bridge MOS transistors. Through opening lower bridge MOS pipe, closing upper bridge MOS pipe for the voltage that is used for the brake increases, and the winding of motor generates heat, and the inside energy of motor consumes through the mode that the winding generates heat to reduce motor rotor's rotational speed, reach the technological effect that improves motor braking efficiency.
It should be noted that, the closing of the MOS transistor in this embodiment refers to that the switch of the MOS is closed, and when the switch is closed, the MOS transistor is in an off state, and the channel resistance is higher. The MOS tube is opened, namely the switch of the MOS is opened, and when the switch is opened, the MOS tube is in a conducting state, and the channel resistance is smaller.
As shown in FIG. 3, S a 、S b 、S c Upper bridge driving signals respectively corresponding to upper bridge MOS tubes S a 、S b 、S c Respectively corresponding to the lower bridge driving signals of the lower bridge MOS tube. In SPMSM (Surface Permanent Magnetic Synchronized Motor, surface permanent magnet synchronous motor), a resistor R is included s And shunt resistor (R) shunt ) Inductance L s Back electromotive force e of motor a 、e b 、e c . The upper bridge driving signal is responsible for generating forward voltage, the lower bridge driving signal is responsible for generating reverse voltage, and the power output voltage is regulated by controlling the on-off states of the MOS tubes.
In this embodiment, for the target motor in a rotating state, braking of the target motor may be achieved by a braking instruction. The target motor is a three-phase motor comprising three upper bridge MOS tubes and three lower bridge MOS tubes. The braking instruction, that is, the stopping instruction, may be an instruction triggered manually, or may be an instruction triggered by the device in which the target motor is located in the running process, which is not limited in this embodiment.
Considering that under the condition that the rotation speed of the target motor is higher, the lower bridge MOS tube is directly opened to reduce the rotation speed of the motor, the situation that the speed is reduced too fast in a short time possibly occurs, so that the phase current of the motor is too high or the motor is subjected to strong vibration occurs, and further the problems of damage of the motor MOS tube or motor operation faults and the like are caused are solved.
The current rotation speed of the target motor may be determined by an observer corresponding to the target motor, and as shown in fig. 4, the position and speed estimator may obtain the angular speed of the current rotor of the target motor in real time, thereby determining the current rotation speed of the target motor. In FIG. 4, N REF (N is the rotation speed, REF is the Reference, i.e. the Reference rotation speed of the motor), I QREF Is set value of current on Q axis, I DREF Is at the D-axis current set point, i a 、i b Sampling currents of phase A and phase B respectively, and three-phase current i a 、i b Through Clark (Clark transformation, namely converting time domain components of a three-phase system in an abc coordinate system into two components in an orthogonal static alpha beta coordinate system) transformation to obtain i α 、i β Then, the two components in the alpha beta coordinate system are converted into an orthogonal rotation dq coordinate system through Park (Park transformation) transformation to obtain i q 、i d Substituting the Q-axis current error value into the Q-axis current PI (Power Inverter) loop to calculate V q Substituting the D-axis current error value into the D-axis current PI ring to calculate V d The voltage transformation is similar to the current transformation, and the description of this embodiment is omitted here.
Step S204, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotation speed so as to perform braking treatment on the target motor.
After the current rotating speed is obtained, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be adjusted based on the current rotating speed so as to perform braking treatment on the target motor, namely, whether MOS is turned on or turned off is determined according to the current rotating speed.
Alternatively, when the current speed is large, the free stop process of the current target motor may not be interfered, that is, the rotor of the target motor is free to stop rotating. The switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors may be all off.
Through the steps S202 to S204, the current rotation speed of the target motor is obtained in response to the obtained braking instruction corresponding to the target motor, wherein the target motor is a three-phase motor comprising three upper bridge MOS transistors and three lower bridge MOS transistors; the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotation speed so as to brake the target motor, so that the problem of low braking efficiency of a braking method of the motor in the related art is solved, and the braking efficiency of the motor is improved.
In an exemplary embodiment, adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotation speed includes:
S11, closing the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the current rotating speed is larger than or equal to a preset rotating speed threshold value.
After the current rotational speed is obtained, it may be determined whether the current rotational speed is greater than or equal to a preset rotational speed threshold. And under the condition that the current rotating speed is greater than or equal to a preset rotating speed threshold value, the three upper bridge MOS tubes and the three lower bridge MOS tubes can be closed.
As shown in the circuit of fig. 3, under the condition of closing the three upper bridge MOS transistors and the three lower bridge MOS transistors, the three upper bridge MOS transistors and the three lower bridge MOS transistors are in the off state, and the rotor of the target motor will gradually reduce the rotation speed.
Through the embodiment, under the condition that the current rotating speed is greater than or equal to the preset rotating speed threshold value, the three upper bridge MOS tubes and the three lower bridge MOS tubes are closed, free reduction of the rotating speed of the target motor is achieved, and the safety of motor braking can be improved.
Optionally, after the three upper bridge MOS transistors and the three lower bridge MOS transistors are turned off, the method further includes:
and continuously detecting the rotating speed of the target motor until the rotating speed of the target motor is detected to be smaller than a preset rotating speed threshold value.
Considering that depending on automatic deceleration of the motor when the rotation speed of the target motor is too high, it takes a long time to complete braking of the target motor, in this embodiment, after the three upper bridge MOS tubes and the three lower bridge MOS tubes are turned off due to detection that the current rotation speed is greater than or equal to the preset rotation speed threshold, the rotation speed of the target motor may be continuously detected until the rotation speed of the target motor is detected to be less than the preset rotation speed threshold.
Optionally, before detecting that the rotation speed of the target motor is less than the preset rotation speed threshold, the three upper bridge MOS tubes and the three lower bridge MOS tubes may be kept in the closed state all the time. After detecting that the rotating speed of the target motor is smaller than the preset rotating speed threshold value, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be readjusted.
Through the embodiment, when the current rotating speed is detected to be greater than or equal to the preset rotating speed threshold value, all MOS tubes are closed, the rotating speed is continuously detected, and the on-off state of the MOS tube of the target motor can be timely adjusted when the rotating speed is less than the preset rotating speed threshold value, so that the braking safety is ensured, and meanwhile, the braking efficiency is improved.
In an exemplary embodiment, the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors are adjusted based on the current rotation speed, and further including:
s21, determining the voltage change rate of a bus of the target motor under the condition that the current rotating speed is smaller than a preset rotating speed threshold value;
s22, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the voltage change rate so as to perform braking treatment on the target motor.
Under the condition that the current rotating speed is determined to be smaller than the preset rotating speed threshold value, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be adjusted in a mode different from the mode of closing the three upper bridge MOS tubes and the three lower bridge MOS tubes, so that the rotating speed dropping speed of the target motor is improved.
Considering that when the voltage change rate of the bus of the target motor is too high, the MOS tube is opened again to easily cause bus voltage rising to influence the operation faults of the motor and equipment where the motor is located, in the embodiment, under the condition that the current rotating speed is smaller than the preset rotating speed threshold value, the voltage change rate of the bus of the target motor can be determined first, and the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the voltage change rate so as to brake the target motor.
Optionally, after the three upper bridge MOS tubes and the three lower bridge MOS tubes are closed, by continuously detecting the rotation speed of the target motor, the voltage change rate of the bus of the target motor can be determined first and then the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be adjusted based on the voltage change rate when the rotation speed of the target motor is detected to be smaller than the preset rotation speed threshold.
According to the embodiment, when the current rotating speed is smaller than the preset rotating speed threshold value, the on-off state of the MOS tube of the motor is adjusted according to the voltage change rate of the bus of the target motor, so that the operation safety of the motor and equipment where the motor is located can be improved.
In one exemplary embodiment, adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the voltage change rate includes:
S31, under the condition that the voltage change rate is greater than or equal to a voltage change rate threshold value, acquiring state information in three upper bridge MOS tubes and three lower bridge MOS tubes, wherein the state information comprises an off state and an on state;
s32, closing the target MOS tube in the on state.
Under the condition that the voltage change rate is detected to be greater than or equal to a preset voltage change rate threshold, as the change rate of the target voltage is in a higher state, in order to prevent the busbar voltage from rising, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be all in a closed state, so that the voltage change rate is prevented from rising again when the lower bridge MOS tubes are opened, and the operation of a motor is further influenced.
In this embodiment, when the voltage change rate is greater than or equal to the preset voltage change rate threshold, and the three upper bridge MOS transistors and the three lower bridge MOS transistors are not all turned off, the target MOS transistor in the on state, that is, the MOS transistor that is not turned off in the three upper bridge MOS transistors and the three lower bridge MOS transistors, may be turned off based on the obtained state information in the three upper bridge MOS transistors and the three lower bridge MOS transistors. Here, the voltage change rate is greater than or equal to the preset voltage change rate threshold, and the three upper bridge MOS tubes and the three lower bridge MOS tubes are not all closed, so that the determined rotation speed is smaller than the preset rotation speed threshold in the initial stage of braking, and at this time, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are all states in the motor running state, and the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be directly adjusted according to the voltage change rate.
According to the embodiment, the on-off state of the MOS tube of the motor is adjusted according to the voltage change rate of the bus of the target motor, so that the running stability of the motor can be ensured as much as possible.
Optionally, after the three upper bridge MOS transistors and the three lower bridge MOS transistors are turned off, the method further includes:
the voltage change rate of the bus bar of the target motor is continuously detected until the voltage change rate of the bus bar of the target motor is detected to be smaller than the voltage change rate threshold value.
Considering that when the rotation speed of the target motor is too high, depending on automatic deceleration of the motor, a long time is required to complete braking of the target motor, in this embodiment, after the three upper bridge MOS tubes and the three lower bridge MOS tubes are turned off due to the fact that the voltage change rate is detected to be greater than or equal to the voltage change rate threshold, the voltage change rate of the bus of the target motor can be continuously detected until the voltage change rate of the bus of the target motor is detected to be less than the voltage change rate threshold.
Optionally, before detecting that the voltage change rate of the bus of the target motor is smaller than the voltage change rate threshold, the three upper bridge MOS transistors and the three lower bridge MOS transistors may be kept in the off state all the time. When the voltage change rate of the bus of the target motor is detected to be smaller than the voltage change rate threshold, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes can be readjusted.
Through the embodiment, when the voltage change rate is detected to be greater than or equal to the voltage change rate threshold, all MOS tubes are closed, the voltage change rate is continuously detected, and the on-off state of the MOS tube of the target motor can be timely adjusted when the voltage change rate is smaller than the voltage change rate threshold, so that the running stability of the motor is ensured, and meanwhile, the braking efficiency is improved.
In an exemplary embodiment, the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors are adjusted based on the voltage change rate, further comprising:
s41, opening three lower bridge MOS tubes according to a target Pulse Width Modulation (PWM) wave and closing three upper bridge MOS tubes according to a complementary PWM wave, wherein the target PWM wave is a PWM wave with an increasing duty ratio, and the complementary PWM wave is a PWM wave with a waveform complementary to the target PWM wave.
Under the condition that the voltage change rate is detected to be smaller than the voltage change rate threshold value, the free reduction of the rotating speed of the target motor can be interfered so as to improve the braking efficiency of the target motor. In this embodiment, the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors may be controlled based on a target PWM (Pulse Width Modulation, i.e., pulse width modulation) wave.
Optionally, the lower bridge MOS transistor may be turned on when the target PWM wave is at a high level, and turned off when the target PWM wave is at a low level. Correspondingly, the switching state of the upper bridge MOS tube can be opposite to the switching state of the lower bridge MOS tube.
Because the PWM wave is a pulse waveform with a variable duty ratio, when the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are controlled based on the target PWM wave, the three lower bridge MOS tubes can be opened and the three upper bridge MOS tubes can be closed according to the target PWM wave with the gradually increased duty ratio until the three lower bridge MOS tubes are completely opened and the three upper bridge MOS tubes are closed.
As shown in fig. 5, the percentage of the time that the modulated signal is in the high-level state in the total period of the target PWM wave with the increasing duty ratio may be increased by 25%, 50% and 75% in sequence, and 25%, 50% and 75% in fig. 7 are the duty ratio values at different moments.
When the duty ratio is increased to 100%, the target PWM wave is at a high level in one period, and the three lower bridge MOS tubes are always in an open state in the period, namely, the three lower bridge MOS tubes are completely opened. Correspondingly, when the target PWM waves are all high level in one period, the three upper bridge MOS tubes are always in a closed state in the period, namely, the three lower bridge MOS tubes are completely closed.
The PWM wave complementary to the target PWM wave may be a PWM wave completely opposite to the high-low level of the target PWM wave, that is, when the target PWM wave is at the high level, the PWM wave complementary to the target PWM wave is at the low level, and when the target PWM wave is at the low level, the PWM wave complementary to the target PWM wave is at the high level.
Through this embodiment, according to the target PWM wave that duty cycle is increased, open three lower bridge MOS pipe and close three upper bridge MOS pipe, can make the brake voltage that gives the motor increase gradually, the brake dynamics increases gradually to make the braking process more mild.
In an exemplary embodiment, after adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotation speed, the method further includes:
s51, acquiring the braking duration of the target motor, wherein the braking duration is the duration from the moment of the acquired braking instruction to the current moment;
s52, under the condition that the braking duration is greater than or equal to a preset duration threshold value, acquiring state information in three upper bridge MOS tubes and three lower bridge MOS tubes, wherein the state information comprises an off state and an on state;
s53, closing the target MOS tube in the on state.
In order to avoid the occurrence of faults in time before the target motor breaks down and improve the operation safety of the target motor, in the embodiment, the braking time of the target motor can be recorded in real time in the process of braking the target motor.
After the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotation speed, the brake duration of the target motor can be obtained. The braking duration here may be a duration from the time of the received braking instruction to the current time.
Under the condition that the braking time is greater than or equal to a preset duration threshold value, the normal running state of the target motor in the braking process can be determined, but the braking efficiency is lower, at the moment, state information in the three upper bridge MOS tubes and the three lower bridge MOS tubes can be acquired to determine whether the three upper bridge MOS tubes and the three lower bridge MOS tubes are in a closed state or an open state, and if the three upper bridge MOS tubes and the three lower bridge MOS tubes are not all closed, the target MOS tubes in the open state can be directly closed. The preset duration threshold may be a preset duration required for the target motor to complete braking.
Optionally, after acquiring the braking duration of the target motor, the method further includes:
and under the condition that the braking duration is smaller than a preset duration threshold, executing the adjustment operation of the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes, which are matched with the obtained voltage change rate of the bus of the target motor.
Under the condition that the braking duration is smaller than the preset duration threshold, if the current braking of the target motor is not finished, in order to prevent the condition that the voltage change rate of the bus of the target motor is overlarge and the voltage rises, the voltage change rate of the bus of the target motor can be continuously obtained, and the adjustment operation of the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes, which are matched with the obtained voltage change rate of the bus of the target motor, is executed.
When the obtained voltage change rate of the bus of the target motor is smaller than the relevant voltage change threshold, the normal running state of the target motor in the braking process can be determined, and if the current braking of the target motor is not finished, the switching states of the three lower bridge MOS tubes and the three upper bridge MOS tubes can be controlled according to the rotating speed of the target motor and/or the target PWM waves still according to the mode in the embodiment.
When the obtained voltage change rate of the bus of the target motor is greater than or equal to the related voltage change threshold, the voltage of the target motor can be determined to be pumped up, and whether the current braking of the target motor is not finished or not, the three upper bridge MOS tubes and the three lower bridge MOS tubes can be closed.
According to the embodiment, whether the voltage change rate needs to be acquired again or not is determined according to the acquired braking duration of the motor, and the switching state of the MOS tube is adjusted, so that the running safety of the motor can be improved.
In an exemplary embodiment, after adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotation speed, the method further includes:
s61, acquiring the running state of the target motor;
s62, under the condition that the running state represents that the target motor is in a stop state, the three lower bridge MOS tubes are closed.
After the target motor has stopped, it may be determined that braking of the target motor is completed. Here, the target motor having stopped may mean that the rotation speed of the target motor is zero, that is, the rotor of the target motor stops rotating.
In order to prevent accidents such as secondary rotation of a rotor of the target motor caused by the fact that part of the MOS tubes are in an open state, the target motor can be determined to be stopped when the running state represents that the target motor is in a stop state according to the acquired running state of the target motor, and the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are all adjusted to be in a closed state.
Through this embodiment, close three upper bridge MOS pipe and three lower bridge MOS pipe after the motor has stopped, can avoid the motor brake incomplete, improve the security of motor.
The following explains a braking method of the motor in the embodiment of the present application with reference to an alternative example. In this alternative example, the preset rotation speed threshold is M, and the voltage change rate threshold is N.
This alternative example provides a braking strategy based on a three-phase permanent magnet synchronous motor, and the flow of the braking method of the motor in this alternative example may be as shown in fig. 6, and may include the following steps:
Step S602, judging whether to brake, if yes, executing step S604, otherwise, executing step S606.
After hardware initialization, it is determined whether the motor is braked.
Step S604, braking is started.
Step S606, another procedure is performed.
Step S608, determining whether the rotation speed is less than M, if yes, executing step S610, otherwise executing step S612.
Step S610, determining whether the bus voltage change rate is smaller than a certain value N, if yes, executing step S614, otherwise executing step S612.
Step S612, turning off 6 MOS, and the motor is free to slow down.
And S614, opening the lower bridge 3 MOS tubes with an increasing duty ratio, and simultaneously opening the upper bridge 3 MOS tubes with a waveform complementary to the lower bridge.
Step S616, record the braking time.
Step S618 is executed to determine whether the braking duration is longer than the predetermined braking time, if yes, step S620 is executed, otherwise step S610 is executed.
In step S620, all the MOSs are turned off.
Through the alternative example, when a shutdown instruction is received, the speed of the motor is firstly determined, all MOS are closed when the speed is larger, when the speed is reduced to a certain value, the change rate of the bus voltage of the motor at the moment is firstly determined, when the voltage change rate is smaller than a value, the lower bridge is opened with an increasing PWM duty ratio to close the upper bridge, and braking is performed, otherwise, when the voltage change rate is larger than a value, all MOS are closed, so that the running safety of the motor can be ensured, and the braking efficiency of the motor can be improved.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided a braking device of a motor for implementing the above detection method. Fig. 7 is a block diagram of an alternative motor braking device according to an embodiment of the present application, and as shown in fig. 7, the device may include:
a first obtaining unit 702, configured to obtain a current rotation speed of a target motor in response to an obtained braking instruction corresponding to the target motor, where the target motor is a three-phase motor including three upper bridge MOS transistors and three lower bridge MOS transistors;
the adjusting unit 704 is connected to the first obtaining unit 702, and is configured to adjust the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotation speed, so as to perform braking processing on the target motor.
It should be noted that, the first obtaining unit 702 in this embodiment may be used to perform the step S202 described above, and the adjusting unit 704 in this embodiment may be used to perform the step S204 described above.
The method comprises the steps that through the modules, the current rotating speed of a target motor is obtained in response to an obtained braking instruction corresponding to the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes; the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotation speed so as to brake the target motor, so that the problem of low braking efficiency of a braking method of the motor in the related art is solved, and the braking efficiency of the motor is improved.
In one exemplary embodiment, the adjusting unit includes:
and the closing module is used for closing the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the current rotating speed is greater than or equal to a preset rotating speed threshold value.
In an exemplary embodiment, the adjusting unit further comprises:
the determining module is used for determining the voltage change rate of the bus of the target motor under the condition that the current rotating speed is smaller than a preset rotating speed threshold value;
the adjusting module is used for adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the voltage change rate so as to brake the target motor.
In one exemplary embodiment, the adjustment module includes:
the acquisition submodule is used for acquiring state information in the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the voltage change rate is greater than or equal to the voltage change rate threshold value, wherein the state information comprises an off state and an on state;
and the closing submodule is used for closing the target MOS tube in the on state.
In one exemplary embodiment, the adjustment module further comprises:
the execution submodule is used for opening three lower bridge MOS tubes according to the target pulse width modulation PWM wave and closing three upper bridge MOS tubes according to the complementary PWM wave under the condition that the voltage change rate is smaller than the voltage change rate threshold, wherein the target PWM wave is a PWM wave with the gradually increased duty ratio, and the complementary PWM wave is a PWM wave with the waveform complementary to the target PWM wave.
In an exemplary embodiment, the above apparatus further includes:
the second obtaining unit is used for obtaining the braking duration of the target motor after the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotating speed, wherein the braking duration is from the moment of a received braking instruction to the current moment;
the third acquisition unit is used for acquiring state information in the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the braking duration is greater than or equal to a preset duration threshold value, wherein the state information comprises an off state and an on state;
and the first closing unit is used for closing the target MOS tube in the on state.
In an exemplary embodiment, the above apparatus further includes:
a fourth obtaining unit, configured to obtain an operation state of the target motor after adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotation speed;
and the second closing unit is used for closing the three lower bridge MOS tubes under the condition that the running state represents that the target motor is in a stop state.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
According to yet another aspect of embodiments of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the storage medium may be used to execute the program code of the braking method of the electric motor according to any one of the foregoing embodiments of the present application.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
s1, responding to an acquired braking instruction corresponding to a target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes;
s2, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotating speed so as to perform braking treatment on the target motor.
Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the braking method of the above-mentioned motor, which may be a server, a terminal, or a combination thereof.
Fig. 8 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 802, a communication interface 804, a memory 806, and a communication bus 808, as shown in fig. 8, wherein the processor 802, the communication interface 804, and the memory 806 communicate with each other via the communication bus 808, wherein,
a memory 806 for storing a computer program;
the processor 802, when executing the computer program stored on the memory 806, performs the following steps:
s1, responding to an acquired braking instruction corresponding to a target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes;
s2, the switching states of the three upper bridge MOS tubes and the three lower bridge MOS tubes are adjusted based on the current rotating speed so as to perform braking treatment on the target motor.
Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.
The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, the memory 806 may include, but is not limited to, the first acquiring unit 702 and the adjusting unit 704 in the braking apparatus including the motor. In addition, other module units in the braking device of the motor may be included, but are not limited to, and are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be understood by those skilled in the art that the structure shown in fig. 8 is only schematic, and the device implementing the braking method of the motor may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 8 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 8, or have a different configuration than shown in FIG. 8.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method of braking an electric machine, comprising:
responding to the acquired braking instruction corresponding to a target motor, and acquiring the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes;
and adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotating speed so as to perform braking treatment on the target motor.
2. The method of claim 1, wherein the adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotational speed comprises:
And closing the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the current rotating speed is greater than or equal to a preset rotating speed threshold value.
3. The method of claim 1, wherein the adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotational speed further comprises:
determining the voltage change rate of the bus of the target motor under the condition that the current rotating speed is smaller than a preset rotating speed threshold value;
and adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the voltage change rate so as to perform braking treatment on the target motor.
4. The method of claim 3, wherein the adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the voltage change rate comprises:
acquiring state information in the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the voltage change rate is larger than or equal to a voltage change rate threshold, wherein the state information comprises an off state and an on state;
and closing the target MOS tube in the on state.
5. The method of claim 3, wherein the adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the voltage change rate comprises:
And under the condition that the voltage change rate is smaller than a voltage change rate threshold, opening the three lower bridge MOS tubes according to a target Pulse Width Modulation (PWM) wave and closing the three upper bridge MOS tubes according to a complementary PWM wave, wherein the target PWM wave is a PWM wave with an increasing duty ratio, and the complementary PWM wave is a PWM wave with a waveform complementary to the target PWM wave.
6. The method of claim 1, wherein after said adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotational speed, the method further comprises:
acquiring the braking duration of the target motor, wherein the braking duration is from the acquired moment of the braking instruction to the current moment;
acquiring state information in the three upper bridge MOS tubes and the three lower bridge MOS tubes under the condition that the brake time length is greater than or equal to a preset time length threshold, wherein the state information comprises an off state and an on state;
and closing the target MOS tube in the on state.
7. The method according to any one of claims 5, wherein after said adjusting the switching states of the three upper bridge MOS transistors and the three lower bridge MOS transistors based on the current rotational speed, the method further comprises:
Acquiring the running state of the target motor;
and under the condition that the running state represents that the target motor is in a stop state, closing the three lower bridge MOS tubes.
8. A braking device for an electric motor, comprising:
the first acquisition unit is used for responding to the acquired braking instruction corresponding to the target motor to acquire the current rotating speed of the target motor, wherein the target motor is a three-phase motor comprising three upper bridge metal oxide semiconductor MOS tubes and three lower bridge MOS tubes;
and the adjusting unit is used for adjusting the switch states of the three upper bridge MOS tubes and the three lower bridge MOS tubes based on the current rotating speed so as to perform braking treatment on the target motor.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 8.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311523848.8A CN117578916A (en) | 2023-11-15 | 2023-11-15 | Method and device for braking motor, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311523848.8A CN117578916A (en) | 2023-11-15 | 2023-11-15 | Method and device for braking motor, storage medium and electronic device |
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| CN117578916A true CN117578916A (en) | 2024-02-20 |
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| CN202311523848.8A Pending CN117578916A (en) | 2023-11-15 | 2023-11-15 | Method and device for braking motor, storage medium and electronic device |
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| Country | Link |
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| CN (1) | CN117578916A (en) |
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- 2023-11-15 CN CN202311523848.8A patent/CN117578916A/en active Pending
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