CN117792207A - Motor motion control method and device, electronic equipment and medium - Google Patents
Motor motion control method and device, electronic equipment and medium Download PDFInfo
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- CN117792207A CN117792207A CN202311844399.7A CN202311844399A CN117792207A CN 117792207 A CN117792207 A CN 117792207A CN 202311844399 A CN202311844399 A CN 202311844399A CN 117792207 A CN117792207 A CN 117792207A
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- 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
Abstract
The embodiment of the invention discloses a motor motion control method, a motor motion control device, electronic equipment and a medium, wherein the method comprises the following steps: acquiring a target input signal of a vehicle; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; and controlling the motor to move based on the corrected basic motor rotation speed. The embodiment can solve the problems that the zero learning time of the power-assisted cavity of the electronic power-assisted brake system is too long and the noise generated during zero learning is large in the prior art, and ensure that the speed of the piston of the power-assisted cavity of the electronic power-assisted brake system is high when the piston is far away from the shell, and the piston moves to the zero speed of the mechanical shell, so that the purpose of quickly learning zero without noise is achieved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a motor motion control method, a motor motion control device, electronic equipment and a motor motion control medium.
Background
The electronic power-assisted braking system can be composed of a motor, a gear rack, a worm and gear transmission system and a ball screw transmission system, and the power-assisted cavity initial position of the electronic power-assisted braking system can be normally assisted only after zero learning is completed, so that the braking requirement of a driver is met; if learning zero is not completed, the power assisting control is abnormal.
In the prior art, the zero position learning strategy of the initial position of the power-assisted cavity detects the zero position of the mechanical shell by moving the rotating speed of the wire control motor to the position of the shell, when the zero position of the shell is reached, the motor has a certain rotating speed, sound impacting the mechanical shell can be generated, the zero learning time required by the zero position learning of the mechanical shell is as short as possible, the sound impacting the shell is as small as possible, the zero learning speed needs to be improved if the zero learning time is short, and larger noise can be generated when the zero learning speed is high.
Therefore, how to control the motor to move so as to shorten the zero learning time and avoid generating larger noise is a urgent problem to be solved.
Disclosure of Invention
The embodiment of the invention provides a motor motion control method, a motor motion control device, electronic equipment and a motor motion control medium, which are used for solving the problems that in the prior art, the time for learning the power-assisted cavity of an electronic power-assisted brake system is too long and the noise generated during learning is large, ensuring that the speed of a piston of the power-assisted cavity of the electronic power-assisted brake system is high when the piston is far from a shell position, and the piston moves to the zero speed of a mechanical shell, so that the aim of quickly learning zero without noise is fulfilled.
In a first aspect, an embodiment of the present invention provides a motor motion control method, including:
acquiring a target input signal of a vehicle;
determining a basic rotating speed and a correction factor of the motor according to the target input signal;
determining a corrected motor base rotational speed based on the correction factor and the motor base rotational speed;
and controlling the motor to move based on the corrected basic motor rotation speed.
The determining the basic rotating speed and the correction factor of the motor according to the target input signal comprises the following steps:
determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to the target input signal;
determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and the motor angle storage value;
a correction factor is determined based on the grade signal and a vehicle speed signal.
The determining the corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed includes:
and multiplying the correction factor by the motor basic rotating speed, and determining the corrected motor basic rotating speed according to the product result.
After the motor is controlled to move based on the corrected basic motor rotation speed, the method further comprises:
determining whether a power assisting mode of the motor has a fault or not according to the target input signal, determining whether the motor periodically moves according to the corrected basic motor rotating speed under the condition that the power assisting mode of the motor does not have the fault, and determining that the motor is in a rapid zero learning state under the condition that the motor periodically moves according to the corrected basic motor rotating speed.
After the determining that the motor is in the fast zero learning state, further comprising:
determining a preset rotating speed, a motor control mode, a target torque and an actual torque of the motor according to the target input signal;
and determining the condition of successful motor zero-learning according to the basic motor rotating speed, the preset motor rotating speed, the motor control mode, the target torque and the actual torque.
In a second aspect, an embodiment of the present invention provides a motor motion control apparatus, including: the acquisition module is used for acquiring a target input signal of the vehicle;
the determining module is used for determining the basic rotating speed and the correction factor of the motor according to the target input signal;
the correction module is used for determining the corrected motor basic rotating speed based on the correction factor and the motor basic rotating speed;
and the control module is used for controlling the motor to move based on the corrected basic motor rotating speed.
The determining module is specifically configured to:
determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to the target input signal;
determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and the motor angle storage value;
a correction factor is determined based on the grade signal and a vehicle speed signal.
The correction module is specifically configured to:
and multiplying the correction factor by the motor basic rotating speed, and determining the corrected motor basic rotating speed according to the product result.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the motor motion control method according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention provide a computer readable medium comprising a computer program which, when executed by a processor, implements a motor motion control method according to any of the embodiments of the present invention.
According to the technical scheme, the target input signal of the vehicle is obtained; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; the motor is controlled to move based on the corrected basic motor rotation speed, so that the problem that the zero learning time of the power-assisted cavity of the electronic power-assisted brake system is overlong and the noise generated during zero learning is large in the prior art can be solved, the zero learning time is shortened, and the large noise is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a motor motion control method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of another motor motion control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motor motion control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a motor motion control method according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling motor motion, and the method may be performed by a motor motion control device according to an embodiment of the present invention, where the device may be implemented in software and/or hardware and integrated into an electronic device. As shown in fig. 1, the method specifically includes the following operations:
s110, acquiring a target input signal of the vehicle.
The target input signal may be a signal generated during braking of an electronic power-assisted braking system of a vehicle, including, but not limited to, an abnormal power down indicator (bl_abnorpowerofen), a brake demand pressure of a driver (BrkTargetPress), a motor position (motorposition_mm), a motor angle (motorangel_rad), a motor angle stored value (motorangel_ram), an actual motor speed (motorspeed_radps), an actual motor torque (motortorque_nm), a power assist mode of a motor (MotorError), a vehicle speed signal (VehSpeed), a ramp signal (imu_ax), and the like.
The motor angle storage value can be zero learning according to a preset speed when the electronic power-assisted braking system is in production and offline, and the motor angle of the mechanical shell is required to be stored when zero learning is completed, and can be read when the electronic power-assisted braking system is electrified again.
S120, determining the basic rotating speed of the motor and the correction factor according to the target input signal.
Wherein, the basic rotating speed (TargetSpeed_Base) of the motor can be the basic target speed of the piston movement of the power-assisted cavity of the electronic power-assisted braking system; the correction factor (targetspeed_cor) may be a coefficient that corrects the motor base rotation speed.
Illustratively, determining the motor base speed and the correction factor from the target input signal may include: determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to a target input signal; determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and a motor angle storage value; a correction factor is determined based on the grade signal and the vehicle speed signal.
In a specific implementation, the basic motor speed of the piston motion of the power-assisted cavity of the electronic power-assisted braking system can be determined through the current motor angle, the stored motor angle value and the maximum motor speed, and specifically, the basic motor speed can be calculated according to the following formula:
fixed maximum motor speed (P1) -fixed maximum motor speed (P1) ×cos (current motor angle) (motorangel_rad) -motor angle storage value (motorangel_ram).
In one specific implementation, a table look-up may be performed by the vehicle speed signal (vehseed) and the grade signal (imu_ax), and the correction factor (P2) may be output based on the table look-up result.
Specifically, as an example, a vehicle speed signal may be input to the X-axis {0,1,5,10,30} kmph, and a gradient signal may be input to the Y-axis {0,0.5,1,3,5} m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the The Z-axis of the output value is {0.1,0.2,0.1,0.25,0.3,1,0.1,0.2,0.1,0.3,0.4,1,0.2,0.3,0.4,0.4,0.5,1,0.25,0.35,0.55,0.6,0.6,1,0.3,0.45,0.6,0.8,0.7,1}, and the correction factor (P2) of the lookup table output can be [0.1,2 ]]。
The correction factor may decrease as the vehicle speed signal increases, and may increase as the gradient signal increases.
S130, determining the corrected motor basic rotating speed based on the correction factor and the motor basic rotating speed.
The corrected basic motor rotation speed can be used for correcting and adjusting the basic motor rotation speed.
Illustratively, determining the corrected motor base speed based on the correction factor and the motor base speed may include: and multiplying the correction factor by the basic motor rotating speed, and determining the corrected basic motor rotating speed according to the multiplication result.
In one specific implementation, the corrected motor base speed may be calculated according to the following formula: corrected motor basic rotation speed (targetspeed_cor) =motor basic rotation speed (targetspeed_base) ×correction factor (P2).
And S140, controlling the motor to move based on the corrected basic motor rotation speed.
In the embodiment, the motor is controlled to move according to the corrected basic motor rotation speed, so that the speed of the piston of the power-assisted cavity of the electronic power-assisted brake system is higher when the piston is far away from the shell, and the piston moves to the zero speed of the mechanical shell, thereby achieving the purpose of quickly learning zero without noise.
According to the technical scheme, the target input signal of the vehicle is obtained; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; the motor is controlled to move based on the corrected basic motor rotation speed, so that the problem that the zero learning time of the power-assisted cavity of the electronic power-assisted brake system is overlong and the noise generated during zero learning in the prior art is large can be solved, the speed of the piston of the power-assisted cavity of the electronic power-assisted brake system is high when the piston is far away from the shell, and the piston moves to the zero speed of the mechanical shell, so that the purpose of quickly learning zero without noise is achieved.
Example two
Fig. 2 is a flowchart of another motor motion control method according to the second embodiment of the present invention, where the steps are as follows: after "determining that the motor is in the fast zero state", further comprising: determining whether a power assisting mode of the motor has a fault or not according to a target input signal, determining whether the motor periodically moves according to the corrected basic motor rotating speed under the condition that the power assisting mode of the motor does not have the fault, and determining that the motor is in a rapid zero learning state under the condition that the motor periodically moves according to the corrected basic motor rotating speed. Wherein the explanation of the same or corresponding terms as those of the above embodiments is not repeated herein. As shown in fig. 2, the method specifically comprises the following steps:
s210, acquiring a target input signal of the vehicle.
S220, determining the basic rotating speed of the motor and the correction factor according to the target input signal.
S230, determining the corrected motor basic rotating speed based on the correction factor and the motor basic rotating speed.
And S240, controlling the motor to move based on the corrected basic motor rotation speed.
S250, determining whether a power assisting mode of the motor has a fault or not according to a target input signal, determining whether the motor periodically moves according to the corrected basic motor rotating speed under the condition that the fault does not exist, and determining that the motor is in a rapid zero learning state under the condition that the motor periodically moves according to the corrected basic motor rotating speed.
In a specific implementation, whether the motor can normally rotate according to the power-assisted mode is determined according to the target input signal, and if the motor can normally rotate according to the power-assisted mode, the power-assisted mode of the motor is indicated to have no fault; further judging whether the motor can perform periodic cosine wave motion according to the corrected basic motor rotation speed, and determining that the motor is in a rapid zero learning state under the condition that the motor performs periodic motion according to the corrected basic motor rotation speed.
And S260, determining the preset rotating speed, the motor control mode, the target torque and the actual torque of the motor according to the target input signal.
Wherein, the preset motor rotating speed (P3) can be set according to the actual motor rotating speed and the maximum motor rotating speed; the motor control mode can comprise a speed control mode and a torque control mode, wherein the speed control mode occurs in the zero learning process of the electronic power-assisted braking system, and when the electronic power-assisted braking system detects that the motor reaches the position of the shell, the motor speed is achieved, and the motor can be switched to the torque control mode; the target torque may be a set target torque; the actual torque may be an actual torque required for rotation of the motor.
S270, determining the condition of successful electromechanical zero according to the basic rotating speed of the motor, the preset rotating speed of the motor, the motor control mode, the target torque and the actual torque.
In a specific implementation, when the calculated basic motor speed is smaller than the preset motor speed (P3), and the detected actual motor speed (motorspeed_radps) is 0, and the actual motor speed continues for the preset time (P4), the motor control mode is switched from the speed control mode to the torque control mode, and the target torque (P5) in the torque control mode gradually increases to a preset value according to a preset gradient (P6), and the actual torque reaches the target torque for the preset time (P7) to confirm that zero learning is completed.
According to the technical scheme, the target input signal of the vehicle is obtained; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; the motor is controlled to move based on the corrected basic motor rotation speed, the zero learning state of the motor is determined, whether the motor successfully learns zero or not is judged, the problems that in the prior art, the zero learning time of a power assisting cavity of an electronic power assisting brake system is overlong, and the noise generated when learning zero is large can be solved, the zero learning time is shortened, the generation of large noise is avoided, and meanwhile, safety accidents caused by vehicles are avoided.
Example III
Fig. 3 is a schematic structural diagram of a motor motion control device according to a third embodiment of the present invention, where the device includes: the system comprises an acquisition module 310, a determination module 320, a correction module 330 and a control module 340.
Wherein, the acquiring module 310 is configured to acquire a target input signal of the vehicle;
a determining module 320, configured to determine a basic rotation speed and a correction factor of the motor according to the target input signal;
a correction module 330 for determining a corrected motor base rotational speed based on the correction factor and the motor base rotational speed;
and the control module 340 is used for controlling the motor to move based on the corrected motor basic rotating speed.
The embodiment obtains a target input signal of the vehicle; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; the motor is controlled to move based on the corrected basic motor rotation speed, so that the problem that the zero learning time of the power-assisted cavity of the electronic power-assisted brake system is overlong and the noise generated during zero learning is large in the prior art can be solved, the zero learning time is shortened, and the large noise is avoided.
Optionally, the determining module 320 is specifically configured to:
determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to the target input signal;
determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and the motor angle storage value;
a correction factor is determined based on the grade signal and a vehicle speed signal.
Optionally, the correction module 330 is specifically configured to:
and multiplying the correction factor by the motor basic rotating speed, and determining the corrected motor basic rotating speed according to the product result.
Optionally, the apparatus may further include:
the fault judging module is used for determining whether a power assisting mode of the motor has a fault or not according to the target input signal after the motor is controlled to move based on the corrected basic motor rotating speed, determining whether the motor periodically moves according to the corrected basic motor rotating speed under the condition that the fault does not exist, and determining that the motor is in a rapid zero learning state under the condition that the motor periodically moves according to the corrected basic motor rotating speed.
Optionally, the apparatus may further include:
the motor zero success condition determining module is used for determining the preset rotating speed, the motor control mode, the target torque and the actual torque of the motor according to the target input signal after the motor is determined to be in a rapid zero learning state; and determining the condition of successful motor zero-learning according to the basic motor rotating speed, the preset motor rotating speed, the motor control mode, the target torque and the actual torque.
The device can execute the motor motion control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the method provided by any embodiment of the present invention.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 4 illustrates a block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the invention. The electronic device 412 shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the invention.
As shown in fig. 4, the electronic device 412 is in the form of a general purpose computing device. Components of electronic device 412 may include, but are not limited to: one or more processors 416, a memory 428, a bus 418 that connects the various system components (including the memory 428 and the processor 416).
Bus 418 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 412 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 412 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 428 is used to store instructions. Memory 428 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 430 and/or cache memory 432. The electronic device 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 434 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 418 via one or more data medium interfaces. Memory 428 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored in, for example, memory 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 442 generally perform the functions and/or methodologies in the described embodiments of the invention.
The electronic device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), one or more devices that enable a user to interact with the electronic device 412, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 412 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 422. Also, the electronic device 412 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through the network adapter 420. As shown, network adapter 420 communicates with other modules of electronic device 412 over bus 418. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in connection with electronic device 412, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processor 416 executes instructions stored in the memory 428 to perform various functional applications and data processing, such as implementing a motor motion control method provided by embodiments of the present invention, including: acquiring a target input signal of a vehicle; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; and controlling the motor to move based on the corrected basic motor rotation speed.
Example five
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a motor motion control method as provided by all inventive embodiments of the present application, comprising: acquiring a target input signal of a vehicle; determining a basic rotating speed and a correction factor of the motor according to the target input signal; determining a corrected motor basic rotation speed based on the correction factor and the motor basic rotation speed; and controlling the motor to move based on the corrected basic motor rotation speed.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. 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 (a non-exhaustive list) of the computer-readable storage medium would include the following: 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 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.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. 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, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A motor motion control method, comprising:
acquiring a target input signal of a vehicle;
determining a basic rotating speed and a correction factor of the motor according to the target input signal;
determining a corrected motor base rotational speed based on the correction factor and the motor base rotational speed;
and controlling the motor to move based on the corrected basic motor rotation speed.
2. The method of claim 1, wherein said determining a motor base speed and a correction factor from said target input signal comprises:
determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to the target input signal;
determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and the motor angle storage value;
a correction factor is determined based on the grade signal and a vehicle speed signal.
3. The method of claim 1, wherein said determining a corrected motor base speed based on said correction factor and said motor base speed comprises:
and multiplying the correction factor by the motor basic rotating speed, and determining the corrected motor basic rotating speed according to the product result.
4. The method of claim 1, further comprising, after said controlling the motor to move based on said modified motor base speed:
determining whether a power assisting mode of the motor has a fault or not according to the target input signal, determining whether the motor periodically moves according to the corrected basic motor rotating speed under the condition that the power assisting mode of the motor does not have the fault, and determining that the motor is in a rapid zero learning state under the condition that the motor periodically moves according to the corrected basic motor rotating speed.
5. The method of claim 4, further comprising, after said determining that the motor is in a fast zero state:
determining a preset rotating speed, a motor control mode, a target torque and an actual torque of the motor according to the target input signal;
and determining the condition of successful motor zero-learning according to the basic motor rotating speed, the preset motor rotating speed, the motor control mode, the target torque and the actual torque.
6. A motor motion control apparatus, comprising:
the acquisition module is used for acquiring a target input signal of the vehicle;
the determining module is used for determining the basic rotating speed and the correction factor of the motor according to the target input signal;
the correction module is used for determining the corrected motor basic rotating speed based on the correction factor and the motor basic rotating speed;
and the control module is used for controlling the motor to move based on the corrected basic motor rotating speed.
7. The apparatus of claim 6, wherein the determining module is specifically configured to:
determining a current motor angle, a motor angle storage value, a maximum motor rotating speed, a gradient signal and a vehicle speed signal according to the target input signal;
determining a basic motor rotation speed according to the current motor angle, the maximum motor rotation speed and the motor angle storage value;
a correction factor is determined based on the grade signal and a vehicle speed signal.
8. The apparatus of claim 6, wherein the correction module is specifically configured to:
and multiplying the correction factor by the motor basic rotating speed, and determining the corrected motor basic rotating speed according to the product result.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the motor movement method of any one of claims 1-5.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the motor movement method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311844399.7A CN117792207A (en) | 2023-12-28 | 2023-12-28 | Motor motion control method and device, electronic equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311844399.7A CN117792207A (en) | 2023-12-28 | 2023-12-28 | Motor motion control method and device, electronic equipment and medium |
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| CN117792207A true CN117792207A (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311844399.7A Pending CN117792207A (en) | 2023-12-28 | 2023-12-28 | Motor motion control method and device, electronic equipment and medium |
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| Country | Link |
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| CN (1) | CN117792207A (en) |
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2023
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