CN118074590A

CN118074590A - Method and device for controlling starting of motor, electronic equipment and readable storage medium

Info

Publication number: CN118074590A
Application number: CN202410197860.2A
Authority: CN
Inventors: 童学志; 黄允东
Original assignee: Shanghai Yaoshan Electronic Technology Co ltd
Current assignee: Shanghai Yaoshan Electronic Technology Co ltd
Priority date: 2024-02-22
Filing date: 2024-02-22
Publication date: 2024-05-24

Abstract

The application provides a motor starting control method, a motor starting control device, electronic equipment and a readable storage medium, and relates to the field of motor control. In the method, an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed are obtained; gradually increasing the current value of the initial current according to the target current, and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed to control the increase of the initial angle so as to obtain the initial rotating angle; detecting and estimating the current in real time to obtain an estimated angle; performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, and controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle; and judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode according to the target rotating speed and the target rotating angle, and controlling the motor to start under the condition of converting into the common phase-locked loop mode. The full closed loop control can be performed, and the stable motor start is realized.

Description

Method and device for controlling starting of motor, electronic equipment and readable storage medium

Technical Field

The present application relates to the field of motor control technologies, and in particular, to a method and apparatus for controlling startup of a motor, an electronic device, and a readable storage medium.

Background

Motors are important devices for converting electric energy into kinetic energy, and various motors such as asynchronous motors, synchronous motors, permanent magnet motors and the like are widely applied to various industries. Wind power generation from milliwatt electric toothbrushes to megawatt, aircraft engines and the like, and the motor controller is a necessary device for motor transportation, and the control method and means are different for different motors. In sensorless motors, such as compressor motors, start-up control is a difficulty. In the related art, the motor is started by adopting direct current dragging and open loop starting technologies, and the open loop is converted into the closed loop under a certain condition, so that the motor is easy to stop and stable starting cannot be realized.

Disclosure of Invention

The application provides a motor starting control method, a motor starting control device, electronic equipment and a readable storage medium, which can perform full-closed loop control and realize stable motor starting.

The technical scheme of the embodiment of the application is as follows:

in a first aspect, an embodiment of the present application provides a method for controlling start of an electric motor, where the method includes:

Acquiring an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed, wherein the initial angle, the initial current and the initial rotating speed are all set to 0;

gradually increasing the current value of the initial current according to the target current, and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed so as to control the initial angle to increase and obtain an initial rotating angle;

detecting and estimating the current in real time to obtain an estimated angle;

Performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, and controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle;

And judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode according to the target rotating speed and the target rotating angle, and controlling the motor to start under the condition of converting into the common phase-locked loop mode.

In the technical scheme, an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed are obtained, wherein the initial angle, the initial current and the initial rotating speed are all set to 0; gradually increasing the current value of the initial current according to the target current and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed to control the initial angle to increase so as to obtain the initial rotating angle, and increasing the current, the rotating speed and the angle from 0 so as to avoid the shutdown problem caused by large-current starting; detecting and estimating the current in real time to obtain an estimated angle, and facilitating the subsequent angle adjustment by using the estimated angle through real-time detection, thereby increasing the accuracy; performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle, and avoiding oscillation and affecting accuracy by performing unique differential control; according to the target rotating speed and the target rotating angle, whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode or not is judged, under the condition that the intelligent phase-locked loop mode is converted into the common phase-locked loop mode, the motor is controlled to start, no open loop is converted into a closed loop, and the motor can be started stably by full closed loop.

In some embodiments of the present application, the performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle includes:

calculating the estimated angle and the initial rotation angle to obtain an angle error, wherein the estimated angle is larger than or equal to the initial rotation angle;

And carrying out difference value calculation on the angle error and a preset error feedback value to obtain the feedback angle.

In the technical scheme, the angle error is obtained by calculating the estimated angle and the initial rotation angle, and the feedback angle is obtained by calculating the angle error, so that the unique differential control is ensured, and the vibration is avoided.

In some embodiments of the present application, the controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle includes:

Estimating the sub-angle variation of the feedback angle to obtain an actual rotation angle;

And updating the initial rotation angle by using the actual rotation angle to obtain the target rotation angle.

In the technical scheme, the sub-angle variation is estimated according to the feedback angle, and the initial rotation angle can be adjusted, so that unique differential control is ensured, and the full-closed loop is opened, so that the motor is stably started.

In some embodiments of the present application, the determining whether the intelligent pll mode is converted into a preset normal pll mode according to the target rotation speed and the target rotation angle, and controlling the motor to start under the condition of converting into the normal pll mode includes:

performing format conversion on the target rotation angle to obtain an operation rotation speed corresponding to the target rotation angle;

calculating the target rotating speed and the operation rotating speed to obtain a calculation result;

Comparing the calculation result with a preset rotating speed threshold value, judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode, and controlling the motor to start under the condition of being converted into the common phase-locked loop mode.

In the technical scheme, the calculation can be performed by firstly converting the format to ensure the format consistency, then comparing the rotating speed threshold, and when the condition is met, converting the intelligent phase-locked loop mode into a preset common phase-locked loop mode to ensure the smooth starting of the motor.

In some embodiments of the present application, the comparing the calculation result with a preset rotation speed threshold value, determining whether the intelligent phase-locked loop mode is converted into a preset normal phase-locked loop mode, and controlling the motor to start under the condition of converting into the normal phase-locked loop mode includes:

under the condition that the calculation result is smaller than the rotating speed threshold value, converting the intelligent phase-locked loop mode into the common phase-locked loop mode, and starting a motor;

And continuously executing the steps of gradually increasing the current of the initial current according to the target current and gradually increasing the rotating speed of the initial rotating speed according to the target rotating speed so as to control the initial angle to increase and obtain the initial rotating angle under the condition that the calculated result is larger than or equal to the rotating speed threshold.

In the above technical scheme, under the condition that the calculation result is smaller than the rotation speed threshold, the intelligent phase-locked loop mode is converted into the common phase-locked loop mode within the range that the target rotation angle reaches the target rotation speed, and the motor is started, so that full closed-loop control is realized, and open-loop control is not realized. And under the condition that the calculation result is greater than or equal to the rotating speed threshold value, continuing to execute the steps of gradually increasing the current of the initial current according to the target current and gradually increasing the rotating speed of the initial rotating speed according to the target rotating speed so as to control the initial angle to increase and obtain the initial rotating angle until the target rotating angle reaches the range of the target rotating speed, starting the motor, and realizing the starting of the motor with large torque through smaller current.

In some embodiments of the present application, the detecting and estimating the current in real time to obtain the estimated angle includes:

three-phase current detection is carried out in real time to obtain a first detection current, a second detection current and a third detection current;

Converting the first detection current, the second detection current and the third detection current to obtain a direct-axis current and a quadrature-axis current;

and estimating the direct axis current and the quadrature axis current to obtain the estimated angle.

In the technical scheme, the current is detected in real time, the detected current is converted to obtain the straight-axis current and the quadrature-axis current, and the straight-axis current and the quadrature-axis current are estimated to obtain the estimated angle, so that the subsequent angle adjustment according to the estimated angle is facilitated, and the accuracy is improved. In addition, the current is detected in real time until the target rotation angle reaches the target rotation speed, the motor is started, and the motor with large torque is started through the smaller current.

In some embodiments of the present application, the converting the first detected current, the second detected current, and the third detected current to obtain a direct current and an quadrature current includes:

Decomposing the first detection current, the second detection current and the third detection current by using preset Clark transformation to obtain a first decomposition current and a second decomposition current;

And rotating the first decomposition current and the second decomposition current by using preset Park transformation to obtain the direct-axis current corresponding to the first decomposition current and the quadrature-axis current corresponding to the second decomposition current.

In the technical scheme, the Clark transformation is utilized to decompose the current, and then the Park transformation is utilized to perform rotation decomposition to obtain the direct-axis current and the quadrature-axis current, so that input data is provided for subsequent angle estimation.

In a second aspect, an embodiment of the present application provides a start control apparatus for an electric motor, the apparatus including:

The data acquisition module is used for acquiring an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed, wherein the initial angle, the initial current and the initial rotating speed are all set to 0;

The data increasing module is used for gradually increasing the current value of the initial current according to the target current and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed so as to control the initial angle to increase and obtain an initial rotating angle;

the data detection module is used for detecting the current in real time to obtain a detection current, and estimating the detection current to obtain an estimated angle;

The feedback calculation module is used for carrying out unique differential control on the initial rotation angle and the estimated angle by utilizing a preset intelligent phase-locked loop mode to obtain a feedback angle, and controlling the initial rotation angle by utilizing the feedback angle to obtain a target rotation angle;

And the judging and starting module is used for judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode according to the target rotating speed and the target rotating angle, and controlling the motor to start under the condition of being converted into the common phase-locked loop mode.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a user interface, and a network interface, where the memory is configured to store instructions, and the user interface and the network interface are configured to communicate with other devices, and the processor is configured to execute the instructions stored in the memory, so that the electronic device performs the method provided in any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing instructions that, when executed, perform the method of any one of the first aspects provided above.

In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. The method comprises the steps of gradually increasing the current value of initial current according to target current and gradually increasing the rotating speed value of initial rotating speed according to target rotating speed to control the increase of initial angle, obtaining initial rotating angle, detecting and estimating current in real time to obtain estimated angle, carrying out unique differential control by utilizing an intelligent phase-locked loop mode to avoid oscillation, and judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode according to the target rotating speed and the target rotating angle. Through setting up the undercurrent in the initial stage, gradually increase electric current, rotational speed and angle to utilize intelligent phase-locked loop to carry out uniqueness differential control, avoid the shake, judge again whether to convert intelligent phase-locked loop mode into ordinary phase-locked loop mode, realize that the full-closed loop opens, stable start motor.

2. And obtaining an accurate target rotation angle by updating the rotation angle so as to enable the motor to be started stably.

3. And detecting the current in real time until the target rotation angle reaches the target rotation speed, starting the motor, and realizing the motor starting with large torque through smaller current.

Drawings

Fig. 1 is a flow chart of a method for controlling start of a motor according to an embodiment of the present application;

FIG. 2 is a schematic flow chart showing a sub-step of step S300 in FIG. 1;

FIG. 3 is a schematic flow chart showing a sub-step of step S320 in FIG. 2;

FIG. 4 is a schematic flow chart of a sub-step of step S400 in FIG. 1;

FIG. 5 is a schematic flow chart of another substep of step S400 in FIG. 1;

FIG. 6 is a schematic flow chart showing a sub-step of step S500 in FIG. 1;

FIG. 7 is a schematic flow chart showing a sub-step of step S530 in FIG. 6;

fig. 8 is an overall flow chart of a method for controlling the start of a motor according to an embodiment of the present application;

fig. 9 is a schematic structural view of a start control device for a motor according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

In describing embodiments of the present application, words such as "for example" or "for example" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "such as" or "for example" in embodiments of the application should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "or" for example "is intended to present related concepts in a concrete fashion.

In the description of embodiments of the application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In the related art, the direct current dragging and open loop starting technology forcedly drags the rotor position to a predetermined angle through the direct current pulling technology, then uses a larger current, and the open loop gradually applies the current from 0-1000rpm (rpm means revolutions per minute, revolutions Per Minute) speed, increases the rotation speed, and when the rotation speed is increased to more than 1000rpm, the control is switched to the closed loop control. The method has the advantages of large dragging current, large open-loop starting current and easy out-of-step shutdown of the open-loop switching closed loop. The method can also adopt high-frequency injection and open-loop starting technology, find the initial position of the rotor by a high-frequency injection method, use larger current, gradually apply the current from 0-1000rpm in an open loop, increase the rotating speed, and switch to closed loop control when the rotating speed is increased to more than 1000 rpm. The method has the advantages of high-frequency injection noise, high open-loop starting current and easy out-of-step shutdown of the open-loop switching closed loop. The two methods are both large-current open-loop starting and then the open-loop is converted into closed-loop, so that the out-of-step shutdown is easy to cause.

Based on this, the embodiment of the application provides a method, a device, an electronic device and a readable storage medium for controlling the starting of a motor, wherein the method for controlling the starting of the motor firstly obtains an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed, wherein the initial angle, the initial current and the initial rotating speed are all set to 0; gradually increasing the current value of the initial current according to the target current and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed to control the initial angle to increase so as to obtain the initial rotating angle, and increasing the current, the rotating speed and the angle from 0 so as to avoid the shutdown problem caused by large-current starting; detecting and estimating the current in real time to obtain an estimated angle, and facilitating the subsequent angle adjustment by using the estimated angle through real-time detection, thereby increasing the accuracy; performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle, and avoiding oscillation and affecting accuracy by performing unique differential control; according to the target rotating speed and the target rotating angle, whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode or not is judged, under the condition that the intelligent phase-locked loop mode is converted into the common phase-locked loop mode, the motor is controlled to start, no open loop is converted into a closed loop, and the motor can be started stably by full closed loop.

It should be noted that, the method for controlling the start of the motor may be applied to a compressor motor, or may be applied to other motors controlled by a sensorless motor. And (3) performing stable starting of the sensorless controlled motor by a starting control method of the motor.

The technical scheme provided by the embodiment of the application is further described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a flowchart of a method for controlling start of a motor according to an embodiment of the present application. The motor start control method is applied to a motor start control device, and is executed by an electronic device or a processor in a readable storage medium, and includes steps S100, S200, S300, S400, and S500.

Step S100, obtaining an initial angle, an initial current, an initial rotating speed, a target current and a target rotating speed, wherein the initial angle, the initial current and the initial rotating speed are all set to 0.

In one embodiment, the initial angle, the initial current, the initial rotation speed, the target current and the target rotation speed are set for parameters when the motor is not started, and initial values of the initial angle, the initial current and the initial rotation speed are all set to be 0, namely, the initial angle is 0 degree, the initial current is 0 ampere, and the initial rotation speed is 0 hertz. The target current is a preset maximum current value allowed by starting, the preset maximum current is a preset coefficient multiplied by a protection current, the protection current is a rated current, generally 30 amperes, and the protection currents with different sizes are determined according to the motor types and are not described herein. Wherein the preset coefficient is 0.8; the target rotation speed is a preset rotation speed supported by the starting platform, the preset rotation speed is a preset coefficient multiplied by a maximum rotation speed, the maximum rotation speed is generally 120 Hz, different motor types have different supporting rotation speeds, and the motor type is determined according to the different motor types, and the details are omitted. Since the initial current is 0, the starting is small current, and the problem of current overshoot caused by large current can be avoided. And the initial angle, the initial current and the initial rotating speed are all increased from 0 so as to facilitate the follow-up realization of full-closed loop starting, and the motor is enabled to be started stably.

Step S200, gradually increasing the current value of the initial current according to the target current, and gradually increasing the rotation speed value of the initial rotation speed according to the target rotation speed, so as to control the initial angle to increase, and obtain the initial rotation angle.

In an embodiment, according to the method of step S100, the initial current is 0, and the initial current is gradually increased according to the target current, and the current value is increased with the target current as the target, so that the occurrence of a safety problem due to excessive current can be avoided. And gradually increasing the initial rotating speed according to the target rotating speed, and increasing the rotating speed value by taking the target rotating speed as a target, so that safe starting can be ensured. Because the current, the rotating speed and the angle have mutual corresponding relations, the current value and the rotating speed value are increased, so that the initial angle is increased, the initial angle is continuously increased, the initial rotating angle is obtained, the subsequent calculation is facilitated, the target rotating angle is obtained, and the calculation accuracy is improved. The initial rotation angle is an angle change amount that increases with respect to the initial angle, and since the initial angle is 0, the angle change amount that increases is equal to the initial rotation angle.

And step S300, detecting and estimating the current in real time to obtain an estimated angle.

In one embodiment, there may be an error in obtaining the initial rotation angle as the actual rotation angle because the initial angle is increased when the initial current and the initial rotation speed are increased. Thus, the current is detected in real time, and the current sensor can be used for detecting the current in real time, and then the detected current is estimated to obtain an estimated angle. The estimated angle is the theoretically increased current and increased rotational speed, and the increase angle that can be achieved. By obtaining the estimated angle, the accuracy of the angle is improved according to the estimated angle.

As shown in fig. 2, the current is detected and estimated in real time to obtain an estimated angle, including but not limited to the following steps:

step S310, three-phase current detection is performed in real time to obtain a first detection current, a second detection current and a third detection current.

In some embodiments of the present application, three-phase current sensors are used to monitor three-phase current of the motor in real time, and the three-phase current sensors include three current sensors, which can directly read values of the three-phase current to obtain a first detection current, a second detection current and a third detection current. The first detection current is represented as Ia, the second detection current is represented as Ib, and the third detection current is represented as Ic, and the estimated angle is obtained by performing three-phase current detection so as to perform current conversion subsequently.

Step S320, converting the first detection current, the second detection current and the third detection current to obtain a direct-axis current and a quadrature-axis current.

In some embodiments of the present application, in order to enable angle estimation, the first detected current Ia, the second detected current Ib, and the third detected current Ic obtained in step S310 are converted, that is, the currents are decomposed into an active component and a reactive component, to obtain a direct current and a quadrature current. The direct axis current is represented as Id, the quadrature axis current is represented as Iq, and the direct axis current and the quadrature axis current are obtained, so that subsequent estimation is facilitated, and an estimated angle is obtained.

As shown in fig. 3, the first detected current, the second detected current and the third detected current are converted to obtain a direct axis current and a quadrature axis current, which includes but is not limited to the following steps:

Step S321, decomposing the first detection current, the second detection current and the third detection current by using a preset Clark transformation to obtain a first decomposition current and a second decomposition current.

In some embodiments of the present application, the preset Clark transformation is a method for converting a three-phase ac signal into a two-phase signal, and the first detection current, the second detection current, and the third detection current are decomposed by using the preset Clark transformation, and the currents are decomposed into an active component and a reactive component, which can be decomposed by using a trigonometric function or a complex operation, to obtain a first decomposition current and a second decomposition current. The specific Clark transformation is not described here in detail for three-phase current decomposition.

Step S322, rotating the first decomposition current and the second decomposition current by using preset Park transformation to obtain a direct-axis current corresponding to the first decomposition current and a quadrature-axis current corresponding to the second decomposition current.

In some embodiments of the present application, the first decomposition current and the second decomposition current obtained in step S321 are values of a coordinate axis, and then the first decomposition current and the second decomposition current are decomposed onto a rotating dq coordinate axis by using a preset Park, so as to obtain a d-axis current and a q-axis current, where the d-axis current is a direct-axis current corresponding to the first decomposition current, and the q-axis current is an intersecting-axis current corresponding to the second decomposition current. Input data is provided for subsequent angle estimation by deriving a direct current and an quadrature current.

In step S330, the direct current and the quadrature current are estimated to obtain an estimated angle.

In some embodiments of the present application, the direct current and the quadrature current obtained in step S320 are estimated by using the FOC control to obtain an estimated angle, which is beneficial to improving the accuracy of the rotation angle according to the estimated angle. Specifically, the direct current Id may be regarded as a sine signal, the quadrature current Iq may be regarded as a cosine signal, and the direct current and the quadrature current may be estimated by using an inverse trigonometric function to obtain an estimated angle.

Step S400, performing unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, and controlling the initial rotation angle by using the feedback angle to obtain a target rotation angle.

In an embodiment, the preset intelligent phase-locked loop mode is feedback control of the phase-locked loop, and the unique differential control indicates that the angle is increased according to one direction, so that vibration caused by reverse direction can be avoided. The initial rotation angle and the estimated angle are input, the initial rotation angle and the estimated angle are subjected to unique differential control by utilizing an intelligent phase-locked loop mode, the feedback angle is obtained, and the oscillation problem can be avoided through the unique differential control. And then controlling the initial rotation angle according to the feedback angle, so that the rotation angle approaches to the estimated angle, and obtaining the target rotation angle.

As shown in fig. 4, the initial rotation angle and the estimated angle are subjected to unique differential control by using a preset intelligent phase-locked loop mode to obtain a feedback angle, which includes but is not limited to the following steps:

In step S410, the estimated angle and the initial rotation angle are calculated to obtain an angle error, wherein the estimated angle is greater than or equal to the initial rotation angle.

In some embodiments of the present application, the estimated angle and the initial rotation angle are calculated, specifically, the estimated angle minus the initial rotation angle is used to obtain an angle difference as an angle error. In practical situations, the initial rotation angle is an angle with larger error, the estimated angle is an angle in an ideal state, the error is smaller, and the estimated angle is larger than or equal to the initial rotation angle. The initial rotation angle approaches the estimated angle, and the accuracy of the rotation angle is improved.

Step S420, carrying out difference calculation on the angle error and a preset error feedback value to obtain a feedback angle.

In some embodiments of the present application, the preset error feedback value is a value set by a professional according to needs, and is used for adjusting the angle error and improving the accuracy of the rotation angle. And carrying out difference calculation on the angle error and a preset error feedback value, namely subtracting the error feedback value from the angle error to obtain a feedback angle, so that the follow-up rotation angle control by using the feedback angle is facilitated, and the target rotation angle is obtained.

For example, the preset error feedback value is 0, and since the estimated angle is greater than or equal to the initial rotation angle, the angle error obtained by subtracting the initial rotation angle from the estimated angle is greater than or equal to 0, so that the initial angle can be increased in one direction when the initial angle is increased gradually, and the vibration problem caused by the reverse increase is avoided.

As shown in fig. 5, the initial rotation angle is controlled by the feedback angle to obtain the target rotation angle, including but not limited to the following steps:

Step S430, sub-angle variation estimation is performed on the feedback angle, and an actual rotation angle is obtained.

In some embodiments of the present application, according to the feedback angle obtained in step S420, the angle variation of the feedback angle estimation operator is utilized, and since the rotation angle is rotated towards an angle through unique differential control, the feedback angle is a value greater than or equal to 0, and if the feedback angle is greater than or equal to 0, it indicates that the initial rotation angle does not reach the estimated angle, and an increase angle needs to be adjusted, and a low-pass filter may be used to estimate the sub-angle variation of the feedback angle, so as to obtain the estimated angle increase. And adding the initial angle and the estimated angle increment to obtain an actual rotation angle, so that the subsequent angle updating according to the actual rotation angle is facilitated. The actual rotation angle is an angle adjusted through unique differential control of the intelligent phase-locked loop, and accuracy is high.

In other embodiments of the present application, when the feedback angle is smaller than 0, it indicates that the initial rotation angle exceeds the estimated angle, and the angle needs to be adjusted to be reduced, or a low-pass filter may be used to estimate the variation of the sub-angle of the feedback angle, so as to obtain the estimated angle reduction, so as to ensure the unique differential control function of the intelligent phase-locked loop.

In step S440, the initial rotation angle is updated by using the actual rotation angle to obtain the target rotation angle.

In some embodiments of the present application, according to the actual rotation angle obtained in step S430, the actual rotation angle is an angle adjusted by the intelligent phase-locked loop, which ensures unique differential control and also ensures accuracy. The initial rotation angle is updated by using the actual rotation angle, specifically, the actual rotation angle is used for replacing the initial rotation angle, the actual rotation angle is used as the initial rotation angle, and on the basis, the angle is continuously increased, so that the target rotation angle is obtained. And the method is beneficial to determining whether the motor is started or not according to the target rotation angle.

And S500, judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode according to the target rotating speed and the target rotating angle, and controlling the motor to start under the condition of converting into the common phase-locked loop mode.

In an embodiment, calculating a target rotating speed and a target rotating angle, judging whether the intelligent phase-locked loop mode is converted into a common phase-locked loop mode according to a calculation result, and controlling a motor to start under the condition that the intelligent phase-locked loop mode is converted into the common phase-locked loop mode; and under the condition that the intelligent phase-locked loop mode is not converted into the common phase-locked loop mode, indicating that the motor starting condition is not reached, and continuing to control the intelligent phase-locked loop mode.

As shown in fig. 6, according to the target rotation speed and the target rotation angle, it is determined whether the intelligent phase-locked loop mode is converted into a preset normal phase-locked loop mode, and in the case of converting into the normal phase-locked loop mode, the motor is controlled to start, including but not limited to the following steps:

Step S510, performing format conversion on the target rotation angle to obtain the operation rotation speed corresponding to the target rotation angle.

In some embodiments of the present application, the comparison calculation cannot be directly performed because the target conversion is different from the target rotation angle in units. Then, the target rotation angle is first subjected to format conversion, and converted into data with the same data format as the target rotation speed, and the calculation rotation speed corresponding to the target rotation angle is obtained for subsequent calculation from the calculation rotation speed. And dividing the target rotation angle by the time to obtain a data format consistent with the target rotation speed. The angle and the rotation speed can be mutually converted, and the description is omitted here.

In other embodiments of the present application, the target rotation speed may be converted into data consistent with the data format of the target rotation angle, so as to obtain an operation angle corresponding to the target rotation speed, so as to perform subsequent calculation according to the operation angle. The following steps are described by taking the case of performing format conversion on the target rotation angle to obtain the calculated rotation speed as an example, and the step of performing format conversion on the target rotation speed is similar to that of performing format conversion on the target rotation angle, and will not be repeated here.

Step S520, calculating the target rotating speed and the calculated rotating speed to obtain a calculation result.

In some embodiments of the present application, the difference between the target rotation speed and the operation rotation speed is calculated, and the operation rotation speed may be subtracted from the target rotation speed, or the operation rotation speed may be subtracted from the operation rotation speed to obtain a calculation result. It should be noted that, the obtained calculation result should be a positive number, when the calculated difference value is a negative value, the calculated difference value is taken as an absolute value, and the result after the absolute value is taken as the calculation result, which is favorable for comparing the calculation result with a preset rotation speed threshold value subsequently, so as to judge whether to perform mode conversion.

Step S530, comparing the calculated result with a preset rotation speed threshold value, judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode, and controlling the motor to start under the condition of converting into the common phase-locked loop mode.

In some embodiments of the present application, the preset rotation speed threshold is a preset coefficient multiplied by the maximum rotation speed supported by the platform, and the preset coefficient may be 0.01 or may be adjusted according to the requirement, which is not described herein. And comparing the calculation result with a rotating speed threshold value, and judging whether to control the motor to start or not according to the comparison result.

As shown in fig. 7, comparing the calculation result with a preset rotation speed threshold value, determining whether the intelligent phase-locked loop mode is converted into a preset normal phase-locked loop mode, and controlling the motor to start under the condition of converting into the normal phase-locked loop mode, including but not limited to the following steps:

And step S531, converting the intelligent phase-locked loop mode into a common phase-locked loop mode and starting the motor under the condition that the calculation result is smaller than the rotating speed threshold value.

In some embodiments of the present application, when the calculation result is smaller than the rotation speed threshold, it indicates that the rotation speed at this time has reached the condition of motor start, and the intelligent phase-locked loop mode is converted into the normal phase-locked loop mode, and the proportional-integral PI control mode is entered, so that the motor is stably started.

Step S532, when the calculation result is greater than or equal to the rotation speed threshold value, continuing to execute the steps of gradually increasing the current of the initial current according to the target current and gradually increasing the rotation speed of the initial rotation speed according to the target rotation speed to control the initial angle to increase so as to obtain the initial rotation angle.

In some embodiments of the present application, in the case that the calculation result is greater than or equal to the rotation speed threshold, it indicates that the rotation speed at this time has not reached the motor start condition, then, the current and the rotation speed continue to be increased, the current according to the target current is gradually increased, and the rotation speed of the initial rotation speed is gradually increased according to the target rotation speed, so as to control the initial angle increase, and the step of obtaining the initial rotation angle is performed until the condition of mode conversion is reached, and the motor start is performed.

As shown in fig. 8, fig. 8 shows an overall flow diagram of a motor start control method provided by the embodiment of the application, firstly, an initial angle, an initial current and an initial rotation speed are obtained, the initial angle, the initial current and the initial rotation speed are all set to 0, the current of the initial current is gradually increased according to a target current, and the rotation speed of the initial rotation speed is gradually increased according to a target rotation speed, so as to control the initial angle to increase to obtain an initial rotation angle, the current is detected in real time, an estimated angle is estimated, the estimated angle and the initial rotation angle are calculated by using an intelligent phase-locked loop mode, so that the angle is increased according to one direction, a target rotation angle is obtained, format conversion is performed on the target rotation angle, an operation rotation speed corresponding to the target rotation angle is obtained, so that the format is consistent, then the operation speed is calculated with the target rotation speed, the calculation result is compared with a preset rotation speed threshold, and under the condition that the calculation result is smaller than the rotation speed threshold, the intelligent phase-locked loop mode is converted into a common phase-locked loop mode, and the motor is started; and continuously executing the steps of gradually increasing the current of the initial current according to the target current and gradually increasing the rotating speed of the initial rotating speed according to the target rotating speed to control the initial angle to increase so as to obtain the initial rotating angle under the condition that the calculation result is larger than or equal to the rotating speed threshold value. Through setting up the undercurrent in the initial stage, gradually increase electric current, rotational speed and angle to utilize intelligent phase-locked loop to carry out uniqueness differential control, avoid the shake, judge again whether to convert intelligent phase-locked loop mode into ordinary phase-locked loop mode, realize that the full-closed loop opens, stable start motor.

As shown in fig. 9, an embodiment of the present application provides a start control device for a motor, where the start control device 100 for a motor obtains an initial angle, an initial current, an initial rotation speed, a target current, and a target rotation speed through a data obtaining module 110, where the initial angle, the initial current, and the initial rotation speed are all set to 0; the data increasing module 120 is used for gradually increasing the current value of the initial current according to the target current and gradually increasing the rotating speed value of the initial rotating speed according to the target rotating speed so as to control the initial angle to increase, obtain the initial rotating angle, and increase the current, the rotating speed and the angle from 0 so as to avoid the shutdown problem caused by large-current starting; the data detection module 130 is used for detecting the current in real time to obtain a detection current, and estimating the detection current to obtain an estimated angle, so that the subsequent angle adjustment by using the estimated angle is facilitated, and the accuracy is improved; the feedback calculation module 140 performs unique differential control on the initial rotation angle and the estimated angle by using a preset intelligent phase-locked loop mode to obtain a feedback angle, the initial rotation angle is controlled by using the feedback angle to obtain a target rotation angle, and vibration is avoided and accuracy is influenced by performing unique differential control; and finally, judging whether the intelligent phase-locked loop mode is converted into a preset common phase-locked loop mode or not by adopting the judging starting module 150 according to the target rotating speed and the target rotating angle, and controlling the motor to start under the condition of converting into the common phase-locked loop mode, wherein no open loop is converted into a closed loop, and the motor can be started in a full closed loop mode.

It should be noted that, the data acquisition module 110 is connected to the data addition module 120, the data addition module 120 is connected to the data detection module 130, the data detection module 130 is connected to the feedback calculation module 140, and the feedback calculation module 140 is connected to the judgment starting module 150. The motor start control method is applied to the motor start control device 100, the motor start control device 100 gradually increases current, rotating speed and angle by setting small current initially, and utilizes the intelligent phase-locked loop to perform unique differential control, so as to avoid jitter, and then judges whether to convert the intelligent phase-locked loop mode into a common phase-locked loop mode, so that full-closed loop start is realized, and the motor is started stably.

Also to be described is: in the device provided in the above embodiment, when implementing the functions thereof, only the division of the above functional modules is used as an example, in practical application, the above functional allocation may be implemented by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the embodiments of the apparatus and the method provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the embodiments of the method are detailed in the method embodiments, which are not repeated herein.

The application also discloses electronic equipment. Referring to fig. 10, fig. 10 is a schematic structural diagram of an electronic device according to the disclosure in an embodiment of the present application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, at least one communication bus 502.

Wherein a communication bus 502 is used to enable connected communications between these components.

The user interface 503 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 503 may further include a standard wired interface and a standard wireless interface.

The network interface 504 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.

Wherein the processor 501 may include one or more processing cores. The processor 501 connects various parts throughout the server using various interfaces and lines, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and invoking data stored in the memory 505. Alternatively, the processor 501 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 501 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 501 and may be implemented by a single chip.

The Memory 505 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 505 comprises a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 505 may be used to store instructions, programs, code sets, or instruction sets. The memory 505 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described various method embodiments, etc.; the storage data area may store data or the like involved in the above respective method embodiments. The memory 505 may also optionally be at least one storage device located remotely from the processor 501. Referring to fig. 10, an operating system, a network communication module, a user interface module, and an application program of a start control method of a motor may be included in a memory 505 as a kind of computer storage medium.

In the electronic device 500 shown in fig. 10, the user interface 503 is mainly used for providing an input interface for a user, and acquiring data input by the user; and the processor 501 may be configured to invoke an application program in the memory 505 that stores a method of controlling the start-up of a motor, which when executed by the one or more processors 501, causes the electronic device 500 to perform the method as in one or more of the embodiments described above. It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all of the preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or 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 service interface, device or unit indirect coupling or communication connection, electrical or otherwise.

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 over 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 of this embodiment.

In addition, each functional unit in the embodiments 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 integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.

The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure.

This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.

Claims

1. A start-up control method of an electric motor, characterized by comprising:

detecting and estimating the current in real time to obtain an estimated angle;

2. The method of claim 1, wherein the performing unique differential control on the initial rotation angle and the estimated angle using a preset intelligent phase-locked loop mode to obtain a feedback angle comprises:

3. The method of claim 1, wherein said controlling the initial rotation angle using the feedback angle results in a target rotation angle, comprising:

4. The method according to claim 1, wherein the determining whether the intelligent phase-locked loop mode is converted into a preset normal phase-locked loop mode according to the target rotation speed and the target rotation angle, and controlling the motor to start if the intelligent phase-locked loop mode is converted into the normal phase-locked loop mode, includes:

5. The method according to claim 4, wherein comparing the calculation result with a preset rotation speed threshold value, determining whether the intelligent phase-locked loop mode is converted into a preset normal phase-locked loop mode, and controlling the motor to start if the intelligent phase-locked loop mode is converted into the normal phase-locked loop mode, includes:

6. The method of claim 1, wherein detecting and estimating the current in real time results in an estimated angle, comprising:

7. The method of claim 6, wherein converting the first sensed current, the second sensed current, and the third sensed current to obtain a direct current and a quadrature current comprises:

8. A start-up control device for an electric motor, the device comprising:

9. An electronic device comprising a processor (501), a memory (505), a user interface (503), a communication bus (502) and a network interface (504), the processor (501), the memory (505), the user interface (503) and the network interface (504) being respectively connected to the communication bus (502), the memory (505) being adapted to store instructions, the user interface (503) and the network interface (504) being adapted to communicate to other devices, the processor (501) being adapted to execute the instructions stored in the memory (505) to cause the electronic device (500) to perform the method according to any of claims 1-7.

10. A computer readable storage medium storing instructions which, when executed, perform the method of any one of claims 1-7.