WO2021056344A1

WO2021056344A1 - Detection method and apparatus, control method and apparatus, power component, movable platform and storage medium

Info

Publication number: WO2021056344A1
Application number: PCT/CN2019/108222
Authority: WO
Inventors: 陈旭; 杨阳; 陈鸿滨
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2021-04-01
Also published as: CN112956125A

Abstract

Disclosed are a detection method and apparatus, a control method and apparatus, a power component, a movable platform and a storage medium. The detection method comprises: determining measured value information of an electric motor at the current moment (S110); determining, according to the measured value information and historical rotation parameters of the electric motor, a target function with regard to a rotation parameter at the current moment (S120); and optimizing the target function, and determining the rotation parameter at the current moment (S130).

Description

Detection and control method and device, power assembly, movable platform and storage medium

Technical field

This specification relates to the field of motor technology, and in particular to a detection method and device, a control method and device, a power assembly, a movable platform, and a storage medium.

Background technique

In scenes such as vector control of permanent magnet synchronous motors, the speed and position of the rotor are necessary information. This information is provided by speed and position sensors such as encoders and Hall. Therefore, the accuracy of these sensors directly determines the accuracy of speed and position.

High-precision speed position sensors are usually expensive, so low-precision speed position sensors are often used in engineering to save costs. Low-precision sensors have inherent disadvantages. Taking the low-precision incremental code disc as an example, the collected original speed and position information has the following defects: low accuracy, the accuracy of the scale lines on the low-precision code disc is often very low, resulting in poor accuracy of the obtained speed and position information ; Low resolution, low precision, the number of code disc lines is small, resulting in low resolution of the position information provided; low update frequency, at low speed, the code disc reading head takes a long time to get a code disc pulse, resulting in low speed position update frequency .

Summary of the invention

Based on this, this manual provides a detection method and device, control method and device, power assembly, movable platform and storage medium, aiming to solve the poor accuracy of speed and position information obtained by the existing motor detection method, and the speed and position update Technical problems such as low frequency.

In the first aspect, this specification provides a detection method, including:

Determine the measured value information of the motor at the current moment;

Determining an objective function for the current rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor;

The objective function is optimized, and the rotation parameter at the current moment is determined.

In the second aspect, this specification provides a control method, including:

Determine the measured value information of the motor at the current moment;

The objective function is optimized, the rotation parameter at the current moment is determined, and the motor is controlled according to the rotation parameter at the current moment.

In the third aspect, this specification provides a detection device, including one or more processors, working individually or together, for executing:

Determine the measured value information of the motor at the current moment;

In the fourth aspect, this specification provides a control device, including one or more processors, working individually or together, for performing the following steps:

Determine the measured value information of the motor at the current moment;

In the fifth aspect, this specification provides a power assembly, including:

The motor includes a rotor and a stator, and the rotor can rotate relative to the stator;

The above-mentioned detection device is used to detect the motor.

In a sixth aspect, this specification provides a movable platform that includes a motor, the motor includes a rotor and a stator, and the rotor can rotate relative to the stator;

The movable platform also includes one or more processors, working individually or together, for the detection method described above.

In a seventh aspect, this specification provides a computer-readable storage medium that stores a computer program that can be executed by a processor to implement the above detection method and/or control method.

The embodiment of this specification provides a detection method and device, control method and device, power assembly, movable platform and storage medium. By determining the measured value information of the motor at the current moment, such as back electromotive force, according to the measured value information and the history of the motor The rotation parameter determines the objective function of the rotation parameter at the current moment, and optimizes the objective function to determine the rotation parameter of the motor at the current moment. The more accurate electrical position and electrical speed information provided by the measured value information can be used to make the detection more accurate; and because the sampling frequency of the measured value of the motor is higher, the motor rotation parameters can be updated at a higher frequency. Ensure that the motor responds in a timely manner. And because this method can use information other than the speed and position sensor information, such as measured value information for the calculation of rotation parameters such as the speed and position of the motor, the motor to which the detection method is applied may not include sensors, or include sensors with lower accuracy. , Or even if the speed and position sensor of the motor fails, the detection method can continue to calculate the rotation parameters to ensure that the motor can operate normally.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of this specification.

Description of the drawings

In order to explain the technical solutions of the embodiments of this specification more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of this specification. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic flowchart of a detection method provided by an embodiment of this specification;

FIG. 2 is a schematic diagram of a sub-flow of an embodiment of determining an objective function in FIG. 1; FIG.

FIG. 3 is a schematic diagram of a sub-flow of an embodiment of determining a second function in FIG. 2;

FIG. 4 is a schematic diagram of a sub-flow of another implementation manner for determining a second function in FIG. 2;

FIG. 5 is a schematic diagram of a sub-flow of another embodiment for determining a second function in FIG. 2; FIG.

FIG. 6 is a schematic flowchart of a control method provided by an embodiment of this specification;

FIG. 7 is a schematic block diagram of a detection device according to an embodiment of the present specification;

Fig. 8 is a schematic block diagram of a control device according to an embodiment of the present specification;

Fig. 9 is a schematic block diagram of a power assembly according to an embodiment of the present specification;

Fig. 10 is a schematic block diagram of a movable platform provided by an embodiment of the present specification.

detailed description

The technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this specification.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of this specification will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a detection method provided by an embodiment of this specification.

The exemplary detection method can be used in the detection device to realize the process of detecting the rotation parameters of the motor, such as the rotation speed, the rotor position, and the like.

Exemplarily, according to the detected rotation parameters of the motor, the drive control of the motor can be further realized according to the detected rotation parameters and/or the detection of some motions can be realized according to the detected rotation parameters, such as the movement of the pan-tilt axis driven by the motor. Steering angle etc.

Exemplarily, the motor may be a permanent magnet synchronous motor, an induction motor, or the like. The specific permanent magnet synchronous motor may be a permanent magnet synchronous motor with salient polarity or a permanent magnet synchronous motor without salient polarity, for example, it may be a surface mount permanent magnet synchronous motor.

As shown in FIG. 1, the detection method of this embodiment includes step S110 to step S130.

S110. Determine the measured value information of the motor at the current moment.

Exemplarily, some operating parameters of the motor can be measured when the motor is running, such as measuring the terminal voltage and winding current of the motor.

Exemplarily, other types of operating parameters that can characterize the motor may also be determined according to the measured operating parameters, such as determining the back electromotive force information, power consumption, output torque, etc. of the motor.

It can be understood that the measured value information includes information that can be directly measured and/or information that can be determined according to a known formula based on the measured information.

In some embodiments, the determining the measured value information of the motor at the current moment includes: determining the back-EMF information of the motor at the current moment.

Back-EMF information can include information about motor speed and motor position. For example, when the motor rotates at different speeds or the position of the rotor is different, the corresponding back electromotive force is also different.

Exemplarily, determine the α-axis back EMF and β-axis back EMF of the motor at the current moment. α-axis back-EMF and β-axis back-EMF can more accurately reflect the information of motor speed and motor position.

In some embodiments, the determining the measured value information of the motor at the current moment includes: determining the voltage information and/or current information of the motor at the current moment.

When the motor has different speeds or different rotor positions, the corresponding voltage information and current information will also be different, so the voltage information and/or current information can also reflect the information of the motor speed and the motor position.

Exemplarily, the determining the back-EMF information of the motor at the current moment includes: acquiring the voltage information and current information of the motor at the current moment, and determining the back-EMF information of the motor at the current moment according to the voltage information and the current information. Electromotive force information. For example, determine the α-axis back EMF and β-axis back EMF at the current moment.

Exemplarily, EMF _α represents the α-axis back EMF at the current moment, and EMF _β represents the β-axis back EMF at the current moment.

Represents the measured value of the α-axis back EMF,

Indicates the measured value of the β-axis back EMF.

Exemplarily, if the motor is a salient-free motor, such as a surface-mounted permanent magnet synchronous motor, the back EMF at the current moment is determined according to the following formula:

Among them, v _α represents the α-axis voltage, v _β represents the β-axis voltage, i _α represents the α-axis current, and i _β represents the β-axis current, and there are:

Among them, L _d: represents the d-axis inductance, and L _q: represents the q-axis inductance.

S120: Determine an objective function of the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor.

Before the current moment, some parameters of the motor have been measured or determined according to data processing, and these parameters are the historical rotation parameters of the motor.

Exemplarily, the historical rotation parameters of the motor include: the electrical rotor position θ _n-1 , the rotor electrical speed ω _n-1 , and the rotor electrical acceleration β _{n-1 at the previous moment, such as at time n-1.} At least one of.

Exemplarily, the electrical position of the rotor, the electrical speed of the rotor, and the electrical acceleration of the rotor may be obtained by measurement or calculation, for example, optimized and determined according to the objective function.

Exemplarily, the electrical position of the rotor, the electrical speed of the rotor, the electrical acceleration of the rotor, etc. may be determined by at least one of a code disk, a switch Hall, a linear Hall, and a resolver. For example, the historical rotation parameters of the motor include the measured value of the electrical position of the rotor at the previous moment

The measured value of the rotor electrical speed at the previous moment

And the measured value of the electrical acceleration of the rotor at the previous moment

For example, when the motor is started, the measured value of the electrical position of the rotor at the initial moment is determined by at least one of the encoder, the switch hall, the linear hall, and the resolver.

Measured value of rotor electrical speed

And the measured value of the electrical acceleration of the rotor

Exemplarily, the electrical position of the rotor and the electrical speed of the rotor at the previous time are the rotation parameters determined by the optimization of the detection method of the embodiment of the present specification according to the objective function in the previous detection period. For example, the historical rotation parameters of the motor include the estimated value of the electrical position of the rotor at the previous moment

And the measured value of the rotor electrical speed at the previous moment

Exemplarily, the electrical acceleration of the rotor may be calculated after the torque output value of the motor is determined at each moment.

It can be understood that at the beginning of the current moment, the measured value information, such as the α-axis back EMF and the β-axis back EMF are known quantities, and the historical rotation parameters of the motor, such as the electrical position of the rotor at the previous time, the electrical speed of the rotor, The electrical acceleration of the rotor is also a known quantity. Therefore, there is known information (M, θ _n-1 , ω _n-1 , β _n-1 ), where M represents the measurement value information at the current moment. For example, there are:

Exemplarily, the determining the objective function of the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor includes: in the known (M, θ _n-1 , ω _n-1 , β _{n In} the case of -1), the most probable value of the rotation parameter at the current moment, such as the moment n, is obtained. For example, obtain the electrical rotor position θ _n and the rotor electrical speed ω _{n of the} motor at time n. It is understandable that θ _n and ω _n need to be taken so that the objective function can obtain the extreme value.

For example, the objective function represents the corresponding probability that the rotor electrical position θ _n and the rotor electrical speed ω _n _{are different values when the conditions (M, θ n-1} , ω _n-1 , β _{n-1) have occurred.}

Specifically, the objective function can be expressed as:

p(θ _n ,ω _n |M ^T ,θ _n-1 ,ω _n-1 ,β _n-1 )

Among them, the superscript T of M represents the transposition of the matrix M, and p() represents the objective function, for example, the conditional probability density function.

For example, the objective function represents the likelihood of occurrence of (M, θ _n-1 , ω _n-1 , β _n-1 _{) when the rotor electrical position θ n} and the rotor electrical speed ω _{n are different values.}

Specifically, the objective function can be expressed as:

p(M ^T ,θ _n-1 ,ω _n-1 ,β _n-1 |θ _n ,ω _n )

Among them, p() represents the objective function, such as the likelihood function.

Exemplarily, in addition to the conditional probability density function and the likelihood function, the objective function may also be expressed as an expected function of the sum of absolute values of errors or an expected function of the sum of squares of errors.

S130. The objective function is optimized, and the rotation parameter at the current moment is determined.

Exemplarily, the objective function further includes function parameters for constraining the relationship between the measured value information, the historical rotation parameters of the motor, and the current rotation parameters.

Exemplarily, the function parameters of the objective function may be derived from the physical model of the motor and/or the measured value information and the rotation parameters at different moments may be obtained as samples during the actual operation of the motor, and then the function parameters of the objective function may be determined according to the samples.

Exemplarily, the objective function is optimized through linear programming, quadratic programming, or nonlinear programming to obtain the optimal estimated value of the rotation parameter at the current moment, and the optimal estimated value is taken as the value of the rotation parameter at the current moment.

Exemplarily, the objective function is optimized to determine the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment.

For example, if under the condition of (M, θ _n-1 , ω _n-1 , β _n-1 ), the electrical position of the rotor θ _n takes the value

And the electrical speed of the rotor ω _n is taken as

The conditional probability of is the largest, if p(θ _n ,ω _n |M ^T ,θ _n-1 ,ω _n-1 ,β _n-1 ) is the largest, then

Determine the electrical position of the rotor at the current moment, and set

Determine the electrical speed of the rotor at the current moment.

Exemplarily, the electrical position of the rotor at the current moment and the electrical speed of the rotor at the current moment are determined according to the following formula:

For example, in the electrical position of the rotor θ _n takes the value

And the electrical speed of the rotor ω _n is taken as

When (M, θ _n-1 , ω _n-1 , β _n-1 ) has the greatest likelihood of occurrence, such as p(M ^T ,θ _n-1 ,ω _n-1 ,β _n-1 |θ _n ,ω _n ) is the largest, then

Determine the electrical position of the rotor at the current moment, and set

Determine the electrical speed of the rotor at the current moment.

Exemplarily, at time n+1, the optimal estimation

Assign the value of θ _(n+1)-1 and ω _(n+1)-1 , then assign the value of n+1 to n, and then return to step S110 to step S130.

In some embodiments, as shown in Fig. 2, step S120 determines the objective function of the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor, including step S121 to step S123.

S121: Determine a first function on the current rotation parameter at the current moment according to the historical rotation parameter of the motor.

In some embodiments, the target function _{_{p (θ n, ω n |}} M T, θ n-1, ω n-1, β n-1) can be represented by the following formula:

Since M ^T , θ _n-1 , ω _n-1 , and β _n-1 are definite quantities, the above formula can be further expressed as follows:

ηp(M ^T |θ _n ,ω _n )×p(θ _n ,ω _n |θ _n-1 ,ω _n-1 ,β _n-1 )=ηp _post p _prior

Among them, p _prior corresponds to the first function of the historical rotation parameter, p _post is the second function corresponding to the measured value information, η represents a constant, and its value does not change with the change _{of θ n} and ω _n.

Exemplarily, the first function of the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment is determined according to the historical rotation parameters.

Exemplarily, the first function includes a conditional probability density function, which indicates that the electrical position of the rotor θ _n and the electrical speed of the rotor ω _n are different _{under the condition that θ n-1} , ω _n-1 , and β _{n-1 have been determined at the current time.} The corresponding probability of the value.

Specifically, the first function can be expressed as:

p _prior = p(θ _n ,ω _n |θ _n-1 ,ω _n-1 ,β _n-1 )

_{For example, the prior probability density p prior} of the rotation speed and position of the current cycle is determined according to the acceleration, rotation speed and position of the motor in the previous cycle.

In permanent magnet synchronous motor control, at time n, θ _n-1 , ω _n-1 , β _n-1 have been determined, so p _prior _{is a function of θ n} , ω _n in the actual calculation, which means ( θ _n ,ω _n |θ _n-1 ,ω _n-1 ,β _n-1 ), that is, when θ _n-1 , ω _n-1 , and β _n-1 have already occurred, θ _{n will appear} , The probability of the _{ω n case.}

In other embodiments, in addition to the conditional probability density function, the first function may also include a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors, and the like.

Exemplarily, based on a preset prior probability model, the first function of the rotation parameter at the current moment is determined according to the historical rotation parameter.

Specifically, the prior probability model includes function parameters for constraining the relationship between the historical rotation parameters of the motor and the current rotation parameters.

The function parameters of the prior probability model can be derived according to the physical model of the motor and/or the rotation parameters obtained at different times during the actual operation of the motor are used as samples, and then the function parameters of the prior probability model can be determined according to the samples to obtain the preset Prior probability model.

Exemplarily, the prior probability model includes a normal distribution model. For example, when the electrical position of the rotor at the previous moment is θ _n-1 and the electrical speed of the rotor is ω _n-1 , the value of the rotor electrical position θ _n at the current moment conforms to the normal distribution of the first expected value, and the rotor electrical speed at the current moment The value of ω _n conforms to the normal distribution of the second expected value. The first expected value can be determined according to θ _n-1 and ω _n-1 , and the second expected value can be determined according to ω _n-1 .

Specifically, the parameters of the prior probability model at the current moment are determined according to the historical rotation parameters, and the first function on the rotation parameters at the current moment is obtained. That is, the historical rotation parameters are substituted into the prior probability model whose function parameters have been determined, and the first function of the rotation parameters at the current moment is obtained.

S122: Determine a second function of the rotation parameter at the current moment according to the measured value information.

Exemplarily, the second function of the electrical position of the rotor at the current time and/or the electrical speed of the rotor at the current time is determined according to the measured value information at the current time.

Exemplarily, the measured value information at the current moment is M. The second function includes a conditional probability density function, which represents the conditional probability that the electrical position of the rotor is θ _n and the electrical speed of the rotor is ω _{n under} the condition that the measured value information at the current moment is M.

Specifically, the second function can be expressed as:

p _post = p(M ^T |θ _n ,ω _n )

For example, according to the α-axis back EMF of the motor at the current moment

And β-axis back EMF

_{Determine the posterior probability density p post} of the rotation speed and position of the current period.

Exemplarily, since the α-axis back EMF and β-axis back EMF are independent of each other, there are:

In some embodiments, as shown in FIG. 3, the determining the second function of the rotation parameter at the current time according to the back-EMF information of the motor at the current time includes step S1221 to step S1223.

S1221. Determine a first conditional probability density function related to the rotation parameter at the current time according to the α-axis back electromotive force of the motor at the current time.

Specifically, the first conditional probability density function is

S1222: Determine a second conditional probability density function related to the rotation parameter at the current time according to the β-axis back electromotive force of the motor at the current time.

Specifically, the second conditional probability density function is

S1223. Determine a second function related to the rotation parameter at the current moment according to the first conditional probability density function and the second conditional probability density function.

Specifically, the second function of the rotation parameter at the current moment is determined according to the product of the first conditional probability density function and the second conditional probability density function.

In other embodiments, in addition to the conditional probability density function, the second function may also include a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors.

Exemplarily, based on a preset posterior probability model, the second function of the rotation parameter at the current time is determined according to the measured value of the back-EMF information of the motor at the current time.

Specifically, the posterior probability model includes function parameters for constraining the relationship between the back electromotive force information at the current moment and the rotation parameters at the current moment of the motor.

The functional parameters of the posterior probability model can be derived from the physical model of the motor and/or the back-EMF information and rotation parameters obtained at different times during the actual operation of the motor can be used as samples, and then the functional parameters of the posterior probability model can be determined according to the samples. Get the preset posterior probability model.

Exemplarily, the posterior probability model includes a uniform distribution model. For example, when the current back-EMF information of the motor is determined, the rotor electrical position θ _n at the current time has the same probability to obtain the corresponding value within the value range, and the current rotor electrical speed ω _n has the same probability to obtain the value within the value range. The corresponding value.

Specifically, the parameters of the posterior probability model at the current time are determined according to the back-EMF information at the current time, and the second function of the rotation parameter at the current time is obtained. That is, the back-EMF information is substituted into the posterior probability model whose function parameters have been determined, and the second function of the rotation parameters at the current moment is obtained.

S123. Determine the objective function of the rotation parameter at the current moment according to the first function and the second function.

Combining the first function corresponding to the historical rotation parameter and the second function corresponding to the measured value information can obtain the target function of the current rotation parameter, and the rotation parameter determined according to the target function is more accurate.

In some embodiments, the objective function with respect to the rotation parameter at the current moment is determined according to the product of the first function and the second function. Specifically, the objective function can be expressed as: ηp _post p _prior .

In some embodiments, the motor may not include devices capable of determining the measured value of the rotation parameter, such as an encoder, a switch Hall, a linear Hall, and a resolver, and the rotation parameter of the motor at each time can be determined according to the aforementioned detection method. The higher frequency posterior update of the rotation parameters can be achieved based on the measured value information with a higher sampling rate such as back electromotive force, voltage information, and current information. For example, the information of α back-EMF and β-axis back-EMF can be collected in every current control cycle, so as to ensure that the speed and position information of each current control cycle can be updated.

In other embodiments, the measured value of the rotation parameter may be determined by at least one of a code wheel, a switch Hall, a linear Hall, and a resolver. Therefore, the objective function can be updated posteriorly according to the measured value of the rotation parameter, and the accuracy of the motor rotation parameter detection can be improved.

Exemplarily, the determining the measured value information of the motor at the current moment includes: determining the measured value of the rotation parameter. For example, the measured value of the rotation parameter is determined by at least one of a code wheel, a switch Hall, a linear Hall, and a resolver. For example, to determine the measured value of the electrical position of the rotor at a certain moment

And/or the measured value of the electrical speed of the rotor

Exemplarily, M represents the measurement value information at the current moment, including:

Afterwards, in combination with the foregoing description, an objective function about the current rotation parameter can be determined according to the measured value information M and the historical rotation parameter of the motor, and the objective function can be optimized to determine the current rotation parameter.

In some embodiments, as shown in FIG. 4, the determining the second function of the rotation parameter at the current moment according to the measured value M of the rotation parameter includes step S1224 to step S1226.

S1224. Determine a third conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the electrical position of the rotor.

Specifically, the third conditional probability density function is

S1225. Determine a fourth conditional probability density function related to the rotation parameter at the current moment according to the measured value of the electrical rotation speed of the rotor.

Specifically, the fourth conditional probability density function is

S1226. Determine a second function related to the rotation parameter at the current moment according to the third conditional probability density function and the fourth conditional probability density function.

Specifically, since the measured value of the electrical position of the rotor and the measured value of the electrical speed of the rotor are independent of the measured value of the electrical speed of the rotor, the second function can be expressed as:

In some other embodiments, each current control cycle can collect back-EMF, voltage information, current information and other high-sampling measurement value information. In part of the current control cycle, it can also pass code disk, switch hall, linear At least one of the Hall and the resolver collects the measured value of the rotation parameter.

Exemplarily, information such as back electromotive force, voltage information, current information, etc. is collected in each current control cycle, and the speed position sensor is queried whether there is a new rotor electrical position and/or rotor electrical speed return.

Exemplarily, if there is no return of the electrical position of the rotor and the electrical speed of the rotor in the current cycle, the measured value information at the current moment includes the α-axis back electromotive force

And β-axis back EMF

If the electrical position of the rotor and the electrical speed of the rotor return in the current cycle, the measured value information at the current time includes the α-axis back EMF

And β-axis back EMF

And the newly added measurement value of the rotor electrical position

And/or the measured value of the electrical speed of the rotor

Exemplarily, the determining the measured value information of the motor at the current moment includes determining the measured value of the electrical position of the rotor and the measured value of the electrical rotational speed of the rotor.

Exemplarily, at a certain time n, determine the α-axis back EMF of the motor at the current time

And β-axis back EMF

Also collected the new measurement value of the rotor electrical position

And/or the measured value of the electrical speed of the rotor

For example, there are:

Then, an objective function about the rotation parameter at the current moment may be determined according to the measured value information and the historical rotation parameter of the motor, and the objective function may be optimized to determine the rotation parameter at the current moment.

Exemplarily, at the beginning of the current time, the measured value information is the measured value of the α-axis back EMF, the β-axis back EMF, and the electrical position of the rotor

And the measured value of the rotor electrical speed

It is a known quantity. The historical rotation parameters of the motor, such as the rotor electrical position, rotor electrical speed, and rotor electrical acceleration at the previous moment, are also known quantities. Therefore, there is known information (M, θ _n-1 , ω _n-1 , β _n-1 ).

Specifically, the objective function can be expressed as:

p(θ _n ,ω _n |M ^T ,θ _n-1 ,ω _n-1 ,β _n-1 )

Exemplarily, the determining the objective function regarding the current moment rotation parameter according to the measured value information and the historical rotation parameter of the motor includes: determining the first function regarding the current moment rotation parameter according to the historical rotation parameter of the motor Determine the second function about the rotation parameter at the current moment according to the measured value information; determine the objective function about the rotation parameter at the current moment according to the first function and the second function.

Exemplarily, the second function of the rotation parameter at the current moment is determined according to the back electromotive force information of the motor at the current moment and the measured value of the rotation parameter.

Exemplarily, the second function includes a conditional probability density function, which represents the corresponding probability _{that the rotor electrical position θ n} and the rotor electrical speed ω _{n are different values under the condition that the measured value information at the current moment is M.}

Specifically, the second function can be expressed as:

p _post = p(M ^T |θ _n ,ω _n )

Exemplarily, based on a preset posterior probability model, the second function of the rotation parameter at the current moment is determined according to the back electromotive force information of the motor at the current moment and the measured value of the rotation parameter.

Specifically, the posterior probability model includes functional parameters used to constrain the relationship between the back electromotive force information of the current moment of the motor, the measured value of the rotation parameter, and the current moment of rotation parameter.

Exemplarily, the posterior probability model includes a uniform distribution model. The posterior probability model is strongly related to the selected position sensor type, and the posterior probability obeys a uniform distribution.

Specifically, the parameters of the posterior probability model at the current time are determined according to the back-EMF information at the current time and the measured values of the rotation parameters, and the second function on the rotation parameters at the current time is obtained. That is, the back-EMF information and the measured values of the rotation parameters are substituted into the posterior probability model whose function parameters have been determined, and the second function of the rotation parameters at the current moment is obtained.

In some embodiments, as shown in FIG. 5, the determination of the second function of the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter includes steps S1227 to S1229.

S1227. Determine a fifth conditional probability density function of the rotation parameter at the current time according to the back electromotive force information of the motor at the current time.

Exemplarily, the fifth conditional probability density function can be expressed as:

S1228: Determine a sixth conditional probability density function related to the current rotation parameter at the current moment according to the measured value of the motor rotation parameter.

Exemplarily, the sixth conditional probability density function can be expressed as:

S1229. Determine a second function related to the rotation parameter at the current moment according to the fifth conditional probability density function and the sixth conditional probability density function.

Specifically, since the measured values of the motor rotation parameters and the back-EMF information at the current moment of the motor are independent of each other, the second function can be expressed as:

Exemplarily, the determining the second function about the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter includes: determining the second function about the rotation parameter at the current moment according to the α-axis back-EMF of the motor at the current moment The first conditional probability density function of the rotation parameter at the current moment; the second conditional probability density function about the rotation parameter at the current moment is determined according to the β-axis back electromotive force of the motor at the current moment; according to the measured value of the electrical position of the rotor Determine a third conditional probability density function related to the rotation parameter at the current moment; determine a fourth conditional probability density function related to the rotation parameter at the current moment according to the measured value of the rotor electrical speed. Since the α-axis back EMF, β-axis back EMF, rotor electrical position, and rotor electrical speed of the motor are mutually independent, it can be based on the first conditional probability density function, the second conditional probability density function, and the third conditional probability density. The product of the function and the fourth conditional probability density function determines the second function of the rotation parameter at the current moment.

The detection method provided by the embodiment of this specification determines the measured value information of the current moment of the motor, such as back electromotive force, determines the objective function about the current moment rotation parameters according to the measured value information and the historical rotation parameters of the motor, and optimizes the objective function to thereby Determine the current rotation parameters of the motor. The more accurate electrical position and electrical speed information provided by the measured value information can be used to make the detection more accurate; and because the sampling frequency of the measured value of the motor is higher, the motor rotation parameters can be updated at a higher frequency. Ensure that the motor responds in a timely manner. And because this method can use information other than the speed and position sensor information, such as measured value information for the calculation of the rotation parameters such as the speed and position of the motor, the motor to which the detection method is applied may not include sensors or include sensors with lower accuracy. , Or even if the speed and position sensor of the motor fails, the detection method can continue to calculate the rotation parameters to ensure that the motor can operate normally.

Exemplarily, measured value information such as back electromotive force is used to ensure that the speed and position information of each current control cycle can be updated a posteriori. Although not every current control cycle can collect the new information of the speed position sensor, the measured value information such as α-axis back EMF and β-axis back EMF can be collected in each current control cycle, which can ensure that the speed and position are in These time points can be updated in time.

Exemplarily, after determining the measured value information of the motor at the current moment, you can query whether the speed position sensor has new information returned. If the new measured value of the electrical position of the rotor and/or the measured value of the electrical speed of the rotor is obtained, the measurement value of the electrical The measured value of the electrical position and/or the measured value of the electrical rotation speed of the rotor and the measurement information such as the back electromotive force update the rotation parameters of the motor, thereby further improving the accuracy of motor detection.

Exemplarily, the optimization method is used to solve the measurement problem, and the measurement problem is converted into an optimization problem by the method of optimizing the objective function, and then the motor detection problem is solved through a mature optimization method.

In this specification, the conditional probability density function is mainly selected as the confidence evaluation of the objective function. It is understandable that the objective function, the first function, the second function, etc. can also use the likelihood function, (weighted) the expected function of the absolute value of the error , (Weighted) the expected function of the sum of squares of the error, etc., as the confidence evaluation, can be convenient to express or improve the calculation efficiency.

Please refer to FIG. 6 in conjunction with the foregoing embodiment. FIG. 6 is a schematic flowchart of a control method provided by an embodiment of this specification.

As shown in FIG. 6, the control method includes step S210 to step S230.

S210. Determine the measured value information of the motor at the current moment.

S220: Determine an objective function for the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor.

S230: Optimize the objective function, determine the rotation parameter at the current moment, and control the motor according to the rotation parameter at the current moment.

Exemplarily, the controlling the motor according to the rotation parameter at the current moment includes: performing vector control on the motor according to the rotation parameter at the current moment.

The specific principle and implementation of the control method provided by the embodiment of this specification are similar to the detection method of the foregoing embodiment, and will not be repeated here.

The control method provided by the embodiment of this specification determines the measured value information of the motor at the current moment, such as back electromotive force, determines the objective function about the current moment rotation parameters according to the measured value information and the historical rotation parameters of the motor, and optimizes the objective function to The rotation parameter of the motor at the current moment is determined, and the motor is controlled according to the rotation parameter at the current moment. The more accurate electrical position and electrical speed information provided by the measured value information can be used to make the detection more accurate; and because the sampling frequency of the measured value of the motor is higher, the motor rotation parameters can be updated at a higher frequency. Ensure that the motor responds in a timely manner. And because this method can use information other than the speed and position sensor information, such as measured value information for the calculation of the rotation parameters such as the speed and position of the motor, the motor to which the detection method is applied may not include sensors or include sensors with lower accuracy. , Or even if the speed and position sensor of the motor fails, the detection method can continue to calculate the rotation parameters to ensure that the motor can operate normally.

Please refer to FIG. 7 in conjunction with the foregoing embodiment. FIG. 7 is a schematic block diagram of a detection device 600 provided in an embodiment of this specification. The detection device 600 includes a processor 601.

Exemplarily, the detection device 600 includes one or more processors 601 that work individually or collectively.

Exemplarily, the detection device 600 further includes a memory 602.

Exemplarily, the processor 601 and the memory 602 are connected by a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 601 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned detection method when the computer program is executed.

The specific principle and implementation of the detection device provided in the embodiment of this specification are similar to the detection method of the foregoing embodiment, and will not be repeated here.

Please refer to FIG. 8 in conjunction with the foregoing embodiment. FIG. 8 is a schematic block diagram of a control device 700 according to an embodiment of the present specification. The control device 700 includes a processor 701.

Exemplarily, the control device 700 includes one or more processors 701, which work individually or collectively.

Exemplarily, the control device 700 further includes a memory 702.

Exemplarily, the processor 701 and the memory 702 are connected by a bus 703, and the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 701 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 701 is configured to run a computer program stored in the memory 702, and implement the aforementioned control method when the computer program is executed.

The specific principles and implementation manners of the control device provided in the embodiment of this specification are similar to the control method of the foregoing embodiment, and will not be repeated here.

Please refer to FIG. 9 in conjunction with the foregoing embodiment. FIG. 9 is a schematic block diagram of a power assembly 800 according to an embodiment of the present specification. The power assembly 800 includes a motor 810. The motor 810 includes a rotor 811 and a stator 812, and the rotor 811 can rotate relative to the stator 812; the motor 810 includes an outer rotor motor and/or an inner rotor motor.

The power assembly 800 also includes the aforementioned detection device 600, and the detection device 600 is used to detect the motor.

The specific principle and implementation of the power assembly provided in the embodiment of this specification are similar to the detection method of the foregoing embodiment, and will not be repeated here.

In other embodiments, the power assembly includes a motor and the aforementioned control device, and the control device is used to control the motor.

Please refer to FIG. 10 in conjunction with the foregoing embodiment. FIG. 10 is a schematic block diagram of a movable platform 900 according to an embodiment of the present specification. The movable platform 900 includes a motor 810. The motor 810 includes a rotor 811 and a stator 812, and the rotor 811 can rotate relative to the stator 812; the motor 810 includes an outer rotor motor and/or an inner rotor motor.

The movable platform 900 also includes the aforementioned detection device 600, which is used to detect the motor.

Exemplarily, the movable platform includes at least one of the following: an unmanned aerial vehicle, a handheld pan/tilt, a pan/tilt cart, a robot, a mechanical arm, and the like.

In other embodiments, the movable platform includes a motor and the aforementioned control device, and the control device is used to control the motor.

The embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the aforementioned detection method and/or The aforementioned control method.

Wherein, the computer-readable storage medium may be the internal storage unit of the detection device or the control device described in any of the foregoing embodiments, for example, the hard disk or memory of the detection device or the control device. The computer-readable storage medium may also be an external storage device of the detection device or the control device, for example, a plug-in hard disk equipped on the detection device or the control device, a smart memory card (Smart Media Card, SMC), and a safe Digital (Secure Digital, SD) card, Flash Card (Flash Card), etc.

The detection device, control device, power assembly, movable platform, and computer-readable storage medium provided by the above-mentioned embodiments of this specification use the more accurate electrical position and electrical speed information provided by the measured value information to make the detection more accurate. High; and because the sampling frequency of the measured value of the motor is higher, the motor rotation parameters can be updated at a higher frequency to ensure that the motor responds in time. And because this method can use information other than the speed and position sensor information, such as measured value information for the calculation of the rotation parameters such as the speed and position of the motor, the motor to which the detection method is applied may not include sensors or include sensors with lower accuracy. , Or even if the speed and position sensor of the motor fails, the detection method can continue to calculate the rotation parameters to ensure that the motor can operate normally.

It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the specification.

It should also be understood that the term "and/or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific implementations of this specification, but the protection scope of this specification is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this specification. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this manual. Therefore, the protection scope of this specification should be subject to the protection scope of the claims.

Claims

A detection method, characterized in that it comprises:

Determine the measured value information of the motor at the current moment;

Determining an objective function for the current rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor;

The objective function is optimized, and the rotation parameter at the current moment is determined.
The method according to claim 1, wherein the determining the objective function of the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor comprises:

Determining the first function of the rotation parameter at the current moment according to the historical rotation parameter of the motor;

Determining a second function of the rotation parameter at the current moment according to the measured value information;

The objective function of the rotation parameter at the current moment is determined according to the first function and the second function.
The method according to claim 2, wherein the historical rotation parameters of the motor include at least one of the electrical position of the rotor, the electrical speed of the rotor, and the electrical acceleration of the rotor of the motor at the previous moment.
The method according to claim 3, wherein the determining the first function of the rotation parameter at the current moment according to the historical rotation parameter comprises:

The first function of the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment is determined according to the historical rotation parameters.
The method according to claim 2, wherein the determining the first function of the rotation parameter at the current moment according to the historical rotation parameter comprises:

Based on a preset prior probability model, the first function of the rotation parameter at the current moment is determined according to the historical rotation parameter.
The method according to claim 5, wherein the determining a first function of the rotation parameter at the current moment based on the preset prior probability model according to the historical rotation parameter comprises:

The parameters of the prior probability model at the current moment are determined according to the historical rotation parameters, and the first function of the rotation parameters at the current moment is obtained.
The method according to claim 6, wherein the prior probability model comprises a normal distribution model.
The method according to claim 5, wherein the first function comprises a conditional probability density function, a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors.
The method according to claim 2, wherein the determining the measured value information of the motor at the current moment comprises:

Determine the back-EMF information of the motor at the current moment and/or determine the measured value of the rotation parameter.
The method according to claim 9, wherein said determining the back-EMF information of the current moment of the motor comprises

Acquire the voltage information and current information of the motor at the current time, and determine the back electromotive force information of the motor at the current time according to the voltage information and the current information.
The method according to claim 9, wherein the determining the back-EMF information of the motor at the current moment comprises:

Determine the α-axis back EMF and β-axis back EMF of the motor at the current moment.
The method according to claim 9, wherein the determining the measured value of the rotation parameter comprises:

The measured value of the rotation parameter is determined by at least one of the encoder, the switch Hall, the linear Hall, and the resolver.
The method according to any one of claims 9-12, wherein the determining a second function of the rotation parameter at the current moment according to the measured value information comprises:

Based on a preset posterior probability model, the second function of the rotation parameter at the current moment is determined according to the back-EMF information and/or the measured value of the rotation parameter of the motor at the current moment.
The method according to claim 13, wherein the posterior probability model comprises a uniform distribution model.
The method according to claim 13, wherein the second function comprises a conditional probability density function, a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors.
The method according to claim 15, wherein the determining the second function of the rotation parameter at the current time according to the back-EMF information of the motor at the current time comprises:

Determining a first conditional probability density function related to the rotation parameter at the current time according to the α-axis back electromotive force of the motor at the current time;

Determining a second conditional probability density function related to the rotation parameter at the current time according to the β-axis back EMF of the motor at the current time;

A second function of the rotation parameter at the current moment is determined according to the first conditional probability density function and the second conditional probability density function.
The method according to claim 16, wherein the determining the measured value of the rotation parameter comprises:

Determine the measured value of the electrical position of the rotor and/or the measured value of the electrical speed of the rotor.
The method according to claim 17, wherein the determining the second function of the rotation parameter at the current moment according to the measured value of the rotation parameter comprises:

Determining a third conditional probability density function related to the rotation parameter at the current moment according to the measured value of the electrical position of the rotor;

Determining a fourth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the electrical rotation speed of the rotor;

A second function of the rotation parameter at the current moment is determined according to the third conditional probability density function and the fourth conditional probability density function.
The method according to claim 17, wherein the determining the second function of the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter comprises:

Determining a fifth conditional probability density function about the rotation parameter at the current time according to the back-EMF information of the motor at the current time;

Determining a sixth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the rotation parameter of the motor;

A second function of the rotation parameter at the current moment is determined according to the fifth conditional probability density function and the sixth conditional probability density function.
The method according to claim 17, wherein the determining the second function of the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter comprises:

Determining a first conditional probability density function related to the rotation parameter at the current time according to the α-axis back electromotive force of the motor at the current time;

Determining a second conditional probability density function related to the rotation parameter at the current time according to the β-axis back electromotive force of the motor at the current time;

Determining a third conditional probability density function related to the rotation parameter at the current moment according to the measured value of the electrical position of the rotor;

Determining a fourth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the electrical rotation speed of the rotor;

The second function of the rotation parameter at the current moment is determined according to the product of the first conditional probability density function, the second conditional probability density function, the third conditional probability density function, and the fourth conditional probability density function.
The method according to claim 2, wherein the determining the objective function of the rotation parameter at the current moment according to the first function and the second function comprises:

The objective function of the rotation parameter at the current moment is determined according to the product of the first function and the second function.
The method according to claim 1, 2 or 21, wherein the optimizing the objective function to determine the rotation parameter at the current moment comprises: using linear programming, quadratic programming, or nonlinear programming The objective function is optimized.
The method according to claim 1, 2 or 21, wherein the optimizing the objective function to determine the rotation parameter at the current moment comprises:

The objective function is optimized to determine the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment.
A control method, characterized in that it comprises:

Determine the measured value information of the motor at the current moment;

Determining an objective function for the current rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor;

The objective function is optimized, the rotation parameter at the current moment is determined, and the motor is controlled according to the rotation parameter at the current moment.
A detection device, characterized in that it comprises one or more processors, working individually or together, for executing:

Determine the measured value information of the motor at the current moment;

Determining an objective function for the current rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor;

The objective function is optimized, and the rotation parameter at the current moment is determined.
The device according to claim 25, wherein the determining the objective function of the rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor comprises:

Determining the first function of the rotation parameter at the current moment according to the historical rotation parameter of the motor;

Determining a second function of the rotation parameter at the current moment according to the measured value information;

The objective function of the rotation parameter at the current moment is determined according to the first function and the second function.
The device according to claim 26, wherein the historical rotation parameters of the motor comprise: at least one of the electrical position of the rotor, the electrical speed of the rotor, and the electrical acceleration of the rotor of the motor at the previous moment.
The device according to claim 27, wherein the determining the first function of the rotation parameter at the current moment according to the historical rotation parameter comprises:

The first function of the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment is determined according to the historical rotation parameters.
The device according to claim 26, wherein the determining the first function of the rotation parameter at the current moment according to the historical rotation parameter comprises:

Based on a preset prior probability model, the first function of the rotation parameter at the current moment is determined according to the historical rotation parameter.
The device according to claim 29, wherein the determining the first function of the rotation parameter at the current moment based on the preset prior probability model according to the historical rotation parameter comprises:

The parameters of the prior probability model at the current moment are determined according to the historical rotation parameters, and the first function of the rotation parameters at the current moment is obtained.
The device according to claim 30, wherein the prior probability model comprises a normal distribution model.
The apparatus according to claim 29, wherein the first function comprises a conditional probability density function, a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors.
The device according to claim 26, wherein said determining the measured value information of the motor at the current moment comprises:

Determine the back-EMF information of the motor at the current moment and/or determine the measured value of the rotation parameter.
The device according to claim 33, wherein said determining the back-EMF information of the current moment of the motor comprises

Acquire the voltage information and current information of the motor at the current time, and determine the back electromotive force information of the motor at the current time according to the voltage information and the current information.
The device according to claim 33, wherein said determining the back-EMF information of the motor at the current moment comprises:

Determine the α-axis back EMF and β-axis back EMF of the motor at the current moment.
The device according to claim 33, wherein said determining the measured value of the rotation parameter comprises:

The measured value of the rotation parameter is determined by at least one of the encoder, the switch Hall, the linear Hall, and the resolver.
The device according to any one of claims 33-36, wherein the determining the second function of the rotation parameter at the current moment according to the measured value information comprises:

Based on a preset posterior probability model, the second function of the rotation parameter at the current moment is determined according to the back-EMF information and/or the measured value of the rotation parameter of the motor at the current moment.
The device of claim 37, wherein the posterior probability model comprises a uniform distribution model.
The device according to claim 37, wherein the second function comprises a conditional probability density function, a likelihood function, an expected function of the sum of absolute values of errors, or an expected function of the sum of squares of errors.
The device according to claim 39, wherein the determining the second function of the rotation parameter at the current time according to the back-EMF information of the motor at the current time comprises:

Determining a first conditional probability density function related to the rotation parameter at the current time according to the α-axis back electromotive force of the motor at the current time;

Determining a second conditional probability density function related to the rotation parameter at the current time according to the β-axis back electromotive force of the motor at the current time;

A second function of the rotation parameter at the current moment is determined according to the first conditional probability density function and the second conditional probability density function.
The device according to claim 40, wherein said determining the measured value of the rotation parameter comprises:

Determine the measured value of the electrical position of the rotor and/or the measured value of the electrical speed of the rotor.
The device according to claim 41, wherein the determining the second function of the rotation parameter at the current moment according to the measured value of the rotation parameter comprises:

Determining a third conditional probability density function related to the rotation parameter at the current moment according to the measured value of the electrical position of the rotor;

Determining a fourth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the electrical rotation speed of the rotor;

A second function of the rotation parameter at the current moment is determined according to the third conditional probability density function and the fourth conditional probability density function.
The device according to claim 41, wherein the determining the second function of the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter comprises:

Determining a fifth conditional probability density function about the rotation parameter at the current time according to the back-EMF information of the motor at the current time;

Determining a sixth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the rotation parameter of the motor;

A second function of the rotation parameter at the current moment is determined according to the fifth conditional probability density function and the sixth conditional probability density function.
The device according to claim 41, wherein the determining the second function of the rotation parameter at the current moment according to the back-EMF information of the motor at the current moment and the measured value of the rotation parameter comprises:

Determining a first conditional probability density function related to the rotation parameter at the current time according to the α-axis back electromotive force of the motor at the current time;

Determining a second conditional probability density function related to the rotation parameter at the current time according to the β-axis back electromotive force of the motor at the current time;

Determining a third conditional probability density function related to the rotation parameter at the current moment according to the measured value of the electrical position of the rotor;

Determining a fourth conditional probability density function with respect to the rotation parameter at the current moment according to the measured value of the electrical rotation speed of the rotor;

The second function of the rotation parameter at the current moment is determined according to the product of the first conditional probability density function, the second conditional probability density function, the third conditional probability density function, and the fourth conditional probability density function.
The device according to claim 26, wherein the determining the objective function with respect to the rotation parameter at the current moment according to the first function and the second function comprises:

The objective function of the rotation parameter at the current moment is determined according to the product of the first function and the second function.
The device according to claim 25, 26 or 45, wherein the optimizing the objective function to determine the rotation parameter at the current moment comprises: using linear programming, quadratic programming, or non-linear programming The objective function is optimized.
The device according to claim 25, 26 or 45, wherein the optimizing the objective function and determining the rotation parameter at the current moment comprises:

The objective function is optimized to determine the electrical position of the rotor at the current moment and/or the electrical speed of the rotor at the current moment.
A control device, characterized in that it comprises one or more processors, which work individually or together, and are used to execute the following steps:

Determine the measured value information of the motor at the current moment;

Determining an objective function for the current rotation parameter at the current moment according to the measured value information and the historical rotation parameter of the motor;

The objective function is optimized, the rotation parameter at the current moment is determined, and the motor is controlled according to the rotation parameter at the current moment.
A power assembly, characterized in that it comprises:

The motor includes a rotor and a stator, and the rotor can rotate relative to the stator;

The detection device according to any one of claims 25-47, which is used to detect the motor.
A movable platform, characterized in that it includes a motor, the motor includes a rotor and a stator, and the rotor can rotate relative to the stator;

The movable platform also includes one or more processors, working individually or together, for implementing the detection method according to any one of claims 1-23.
The movable platform according to claim 50, wherein the movable platform comprises at least one of the following: an unmanned aerial vehicle, a handheld pan/tilt, a pan/tilt cart, a robot, and a mechanical arm.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes:

The detection method according to any one of claims 1-23; and/or

The control method according to claim 24.