WO2021207988A1 - 电机控制方法、装置、可移动平台及存储介质 - Google Patents

电机控制方法、装置、可移动平台及存储介质 Download PDF

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Publication number
WO2021207988A1
WO2021207988A1 PCT/CN2020/084986 CN2020084986W WO2021207988A1 WO 2021207988 A1 WO2021207988 A1 WO 2021207988A1 CN 2020084986 W CN2020084986 W CN 2020084986W WO 2021207988 A1 WO2021207988 A1 WO 2021207988A1
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WIPO (PCT)
Prior art keywords
motor
current
control strategy
target
phase
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PCT/CN2020/084986
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English (en)
French (fr)
Inventor
李福�
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080005228.3A priority Critical patent/CN112823471A/zh
Priority to PCT/CN2020/084986 priority patent/WO2021207988A1/zh
Publication of WO2021207988A1 publication Critical patent/WO2021207988A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed

Definitions

  • This application relates to the field of motor control technology, and in particular to a motor control method, device, movable platform and storage medium.
  • Motors include brushless direct current (BLDC) motors and permanent magnet synchronous motors.
  • Common motor control strategies include BLDC control strategy, vector control (Field Oriented Control, FOC) strategy and direct matrix control strategy, etc.
  • the BLDC control strategy uses the phase voltage of the motor as the feedback signal to control the operation of the motor
  • the FOC control strategy uses the phase current of the motor as the feedback Signals control the operation of the motor, but usually only one motor control strategy is used to control the motor.
  • the feedback signal is severely disturbed, the control effect of the motor control strategy is poor. Therefore, how to improve the reliability of motor control is an urgent problem to be solved at present.
  • the present application provides a motor control method, device, movable platform, and storage medium, aiming to improve the reliability of motor control.
  • this application provides a motor control method, including:
  • the target control strategy of the motor is determined from a plurality of control strategies according to the current operating parameters, wherein the plurality of control strategies include at least a first control strategy and a second control strategy, the first control strategy and the The second control strategy controls the operation of the motor based on different feedback signals;
  • the operation of the motor is controlled according to the target control strategy.
  • the present application also provides a motor control device, the motor control device including a memory and a processor;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • the target control strategy of the motor is determined from a plurality of control strategies according to the current operating parameters, wherein the plurality of control strategies include at least a first control strategy and a second control strategy, the first control strategy and the The second control strategy controls the operation of the motor based on different feedback signals;
  • the operation of the motor is controlled according to the target control strategy.
  • the application also provides a movable platform, the movable platform includes a motor, a motor control circuit, and any one of the motor control devices provided in the specification of this application, the motor is connected to the motor control circuit , The motor control circuit is connected to the motor control device.
  • the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor realizes the information provided in the specification of the present application. Any motor control method.
  • the embodiments of the application provide a motor control method, device, movable platform, and storage medium.
  • the current operating parameters of the motor are obtained, and the target control strategy of the motor is determined according to the current operating parameters of the motor, and the motor is controlled based on the target control strategy.
  • Running, it can adapt the control strategy of the motor based on the current operating parameters of the motor, which greatly improves the reliability of motor control.
  • Fig. 1 is a schematic block diagram of a circuit of a movable platform provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application
  • FIG. 3 is a schematic flowchart of sub-steps of the motor control method in FIG. 1;
  • FIG. 4 is a schematic flowchart of sub-steps of the motor control method in FIG. 1;
  • FIG. 5 is a schematic block diagram of the structure of a motor control device provided by an embodiment of the present application.
  • FIG. 6 is a schematic block diagram of the structure of a movable platform provided by an embodiment of the present application.
  • the motor control method can be applied to a movable platform.
  • FIG. 1 A schematic block diagram of the circuit of the platform, as shown in FIG. 1, the movable platform includes a motor control device 100, a motor control circuit 200, and a motor 300.
  • the motor 300 is used to provide power to the movable platform.
  • the circuit 200 is used to control the operation of the motor 300.
  • the motor control circuit 200 includes a DC power supply, an inverter circuit, a current sampling circuit, and a voltage sampling circuit.
  • the DC power supply is connected to the inverter circuit, and the inverter circuit is connected to the motor 300.
  • the current sampling circuit is connected to the voltage sampling circuit.
  • the current sampling circuit includes a first sampling circuit, an amplifier and an analog-to-digital conversion ADC module.
  • the current sampling circuit is used to collect the three-phase current i abc of the motor;
  • the voltage sampling circuit includes a second sampling circuit and an analog
  • the digital conversion ADC module the voltage sampling circuit is used to collect the three-phase voltage u abc of the motor, the motor control device 100 can use the phase current of the motor 300 as the feedback signal to determine the PWM signal, and control the operation of the motor 300 through the PWM signal, or
  • the phase voltage of the motor 300 is used as a feedback signal to determine the PWM signal, and the operation of the motor 300 is controlled by the PWM signal.
  • movable platforms include electric vehicles, electric ships, unmanned vehicles, mobile robots, and drones.
  • the drone can have one or more propulsion units to allow the drone to fly in the air.
  • the one or more propulsion units can make the drone move at one or more, two or more, three or more, four or more, five or more, six or more free angles .
  • the drone can rotate around one, two, three, or more rotation axes.
  • the rotation axes may be perpendicular to each other.
  • the rotation axis can be maintained perpendicular to each other during the entire flight of the UAV.
  • the rotation axis may include a pitch axis, a roll axis, and/or a yaw axis.
  • the drone can move in one or more dimensions.
  • a drone can move upward due to the lifting force generated by one or more rotors.
  • the drone can move along the Z axis (upward relative to the drone direction), X axis, and/or Y axis (which can be lateral).
  • the drone can move along one, two or three axes that are perpendicular to each other.
  • the drone can be a rotorcraft.
  • the drone may be a multi-rotor aircraft that may include multiple rotors. Multiple rotors can rotate to generate lift for the drone.
  • the rotor can be a propulsion unit, allowing the drone to move freely in the air.
  • the rotor can rotate at the same rate and/or can generate the same amount of lift or thrust.
  • the rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust and/or allowing the drone to rotate.
  • one, two, three, four, five, six, seven, eight, nine, ten or more rotors can be provided on the drone. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors can be at any angle relative to each other, which can affect the movement of the drone.
  • the drone can have multiple rotors.
  • the rotor can be connected to the main body of the drone, and the main body can include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors.
  • the rotor may be connected to the body by one or more arms or extensions branching from the central part of the body.
  • one or more arms may extend radially from the central body of the drone, and may have rotors at or near the end of the arms.
  • FIG. 2 is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application. Specifically, as shown in FIG. 2, the motor control method includes steps S101 to S103.
  • the current operating parameters of the motor include at least one of the current speed of the motor, the current three-phase current, and the current three-phase voltage.
  • the motor includes any one of a permanent magnet synchronous motor and a brushless DC motor.
  • the motor operation can be controlled based on a vector control (Field Oriented Control, FOC) strategy, a brushless direct current (BLDC) control strategy, or a dynamic matrix control (Dynamic Matrix Control, DMC) strategy.
  • FOC Field Oriented Control
  • BLDC brushless direct current
  • DMC dynamic matrix control
  • the phase voltage is used as a feedback signal to control the operation of the motor
  • the FOC control strategy uses the phase current of the motor as a feedback signal to control the operation of the motor.
  • the phase current of the motor is selected as the feedback signal to control the control strategy of the motor operation during the normal operation of the motor.
  • the FOC control strategy can be better through the FOC control strategy.
  • the phase voltage of the motor is selected as the feedback signal to control the control strategy of the motor operation during the normal operation of the motor.
  • the BLDC control strategy can be better through the BLDC control strategy The control of the brushless DC motor.
  • the current operating parameters of the motor are acquired at predetermined intervals.
  • the preset time can be set based on actual conditions, which is not specifically limited in this application, for example, the preset time is 1 second. Obtaining the current operating parameters of the motor at an interval of time facilitates subsequent timely determination of whether the control strategy of the motor needs to be switched based on the current operating parameters, thereby improving the reliability of motor control.
  • S102 Determine a target control strategy of the motor from a plurality of control strategies according to the current operating parameters.
  • the multiple control strategies include at least a first control strategy and a second control strategy.
  • the first control strategy and the second control strategy control the operation of the motor based on different feedback signals, and the first control strategy is to use the phase current of the motor as feedback Signals are used to control the control strategy of the motor operation, for example, the FOC control strategy.
  • the second control strategy is a control strategy that uses the phase voltage of the motor as a feedback signal to control the operation of the motor, for example, the BLDC control strategy; or, the first control strategy is use
  • the phase voltage of the motor is used as a feedback signal to control the control strategy of the motor operation, for example, a BLDC control strategy
  • the second control strategy is a control strategy that uses the phase current of the motor as the feedback signal to control the operation of the motor, for example, the FOC control strategy.
  • the plurality of control strategies include FOC control strategies, BLDC control strategies, and dynamic matrix control strategies.
  • step S102 specifically includes: sub-steps S1021 to S1023.
  • the current operating parameters of the motor include the current speed of the motor
  • the current control strategy of the motor can be any one of the FOC control strategy, the BLDC control strategy and the dynamic matrix control strategy.
  • the target speed of the motor is obtained; it is determined whether the current control strategy of the motor needs to be switched according to the target speed and the current speed.
  • the target speed of the motor is the speed configured by the user.
  • the target speed of the motor is the speed configured by the user last time.
  • the target speed of the motor is the same as the current speed.
  • the target speed of the motor is determined according to the speed adjustment command.
  • the movable platform is in communication with the control terminal. The user can control the movement of the movable platform through the control terminal. The power of the movable platform is provided by the motor in the movable platform.
  • the user can adjust the power provided by the motor to the movable platform by controlling the terminal to adjust the rotation speed of the motor of the movable platform.
  • the method of determining whether the current control strategy of the motor needs to be switched according to the target speed and the current speed is specifically: determining the difference between the target speed and the current speed, and determining whether the absolute value of the difference is greater than a preset threshold; if If the absolute value of the difference is greater than the preset threshold, it is determined that the current control strategy of the motor needs to be switched; if the absolute value of the difference is less than or equal to the preset threshold, it is determined that the current control strategy of the motor does not need to be switched.
  • the preset threshold can be set based on actual conditions, which is not specifically limited in this application. By comparing the target speed with the current speed, it can be determined whether the current control strategy of the motor is abnormal, so that when the current control strategy of the motor is abnormal, the current control strategy of the motor can be switched to other control strategies to improve the reliability of motor control. .
  • the method of determining whether the current control strategy of the motor needs to be switched according to the target rotation speed and the current rotation speed may also be specifically: determining the rotation speed error of the drone according to the target rotation speed and the current rotation speed, and determining whether the rotation speed error is greater than the preset speed. Set the speed error; if the speed error is greater than the preset speed error, it is determined that the current control strategy of the motor needs to be switched; if the speed error is less than or equal to the preset speed error, it is determined that the current control strategy of the motor does not need to be switched.
  • the preset rotational speed error can be set based on actual conditions, which is not specifically limited in this application. The speed error is determined through the target speed and the current speed. Based on the speed error, it can be accurately determined whether the current control strategy of the motor needs to be switched, reducing the number of switching of the control strategy, and also ensuring the reliability of motor control.
  • the rotational speed error of the drone may be determined based on the rotational speed error calculation formula according to the target rotational speed and the current rotational speed.
  • S is the speed error
  • ⁇ * is the target speed
  • ⁇ is the current speed of the motor
  • LPF means low-pass the value in the braces Filtering.
  • the current operating parameters of the motor include the current three-phase current of the motor.
  • the method of determining whether the current control strategy of the motor needs to be switched according to the current operating parameters may be specifically: determining whether there is at least one current greater than the current three-phase current.
  • the first preset current is or is less than the second preset current, where the first preset current is greater than the second preset current; if at least one of the current three-phase currents is greater than the first preset current or less than the second preset current , It is determined that the current control strategy of the motor needs to be switched; if each phase current in the current three-phase current is between the first preset current and the second preset current, it is determined that the current control strategy of the motor does not need to be switched.
  • the first preset current and the second preset current can be set based on actual conditions, which is not specifically limited in this application.
  • the current three-phase current of the motor can accurately determine whether it is necessary to switch the current control strategy of the motor, reduce the number of switching of the control strategy, and also ensure the reliability of motor control.
  • the current control strategy of the motor is the first control strategy or the second control strategy. If the current control strategy of the motor is the first control strategy, the second control strategy is taken as the motor's The target control strategy, if the current control strategy of the motor is the second control strategy, the first control strategy is taken as the target control strategy of the motor.
  • the current control strategy of the motor is taken as the target control strategy of the motor. If the current control strategy of the motor is the first control strategy, the first control strategy is taken as the target control strategy of the motor. If the current control strategy of the motor is the second control strategy, the second control strategy is taken as the target control strategy of the motor.
  • the motor operation is controlled based on the target control strategy, that is, when the target control strategy is the first control strategy, the phase current of the motor is used as the feedback signal to control the motor operation.
  • the target control strategy is the second control strategy In the strategy, use the phase voltage of the motor as the feedback signal to control the operation of the motor, or when the target control strategy is the first control strategy, use the phase voltage of the motor as the feedback signal to control the operation of the motor, when the target control strategy is the second control strategy At the time, the phase current of the motor is used as the feedback signal to control the operation of the motor.
  • step S103 specifically includes: sub-steps S1031 to S1033.
  • the current rotation speed and current rotor position of the motor are collected by the position sensor of the motor; the current rotation speed and the current rotor position collected by the position sensor are used as the initial rotation speed and the initial rotor position of the motor under the target control strategy.
  • the position sensor includes any one of a Hall sensor, a code wheel, a resolver sensor, and a magnetic encoder.
  • the type of the position sensor is an electromagnetic position sensor, a magnetic sensitive position proximity sensor, and a photoelectric position sensor. Any item. The position sensor can easily and conveniently obtain the initial speed and initial rotor position of the motor under the target control strategy.
  • the current three-phase voltage of the motor is obtained; the initial speed and the initial rotor position of the motor under the target control strategy are determined according to the current three-phase voltage.
  • the current three-phase voltage of the motor can be collected through a voltage sampling circuit.
  • the voltage sampling circuit includes a sampling resistor and an analog-to-digital converter.
  • the analog signal of the current three-phase voltage of the motor can be collected through the sampling resistor.
  • the current three-phase voltage of the analog signal is converted into the current three-phase voltage of the digital signal.
  • the current three-phase voltage of the motor can also be used to obtain the initial speed and initial rotor position of the motor under the target control strategy, thereby reducing hardware costs.
  • the method of determining the initial speed and initial rotor position of the motor under the target control strategy according to the current three-phase voltage is specifically: determining the current three-phase voltage composite voltage vector, and determining the amplitude and phase of the composite voltage vector ; Obtain the permanent magnet flux linkage of the motor, and determine the angular velocity of the motor according to the magnitude of the permanent magnet flux linkage and the composite voltage vector, that is, divide the permanent magnet flux linkage by the magnitude of the composite voltage vector to obtain the angular velocity of the motor; The number of pole pairs of the motor, and according to the angular velocity of the motor and the number of pole pairs of the motor, the initial speed of the motor under the target control strategy is determined; the phase of the synthesized voltage vector is used as the initial rotor position of the motor under the target control strategy.
  • the method of obtaining the initial speed and the initial rotor position of the motor under the target control strategy can also be specifically: obtaining the first three-phase voltage and the second three-phase voltage of the motor, that is, collecting the motor's first three-phase voltage and the second three-phase voltage through the voltage sampling circuit.
  • the first three-phase voltage after a preset time has elapsed, collect the second three-phase voltage of the motor through the voltage sampling circuit, where the interval between the collection time point of the first three-phase voltage and the collection time point of the second three-phase voltage is preset Time: Determine the initial speed and initial rotor position of the motor under the target control strategy according to the first three-phase voltage, the second three-phase voltage and the preset time.
  • the preset time can be set based on actual conditions, which is not specifically limited in this application.
  • the preset time is 6 milliseconds.
  • the method of determining the initial speed and the initial rotor position of the motor under the target control strategy according to the first three-phase voltage, the second three-phase voltage and the preset time is specifically: according to the first three-phase voltage and the The second three-phase voltage determines the phase change of the motor; the angular speed of the motor is determined according to the phase change and the preset time, that is, the angular speed of the motor is obtained by dividing the preset time by the phase change; the number of pole pairs of the motor is obtained, and according to The angular speed of the motor and the number of pole pairs determine the initial speed of the motor under the target control strategy; determine the initial rotor position of the motor under the target control strategy according to the first three-phase voltage or the second three-phase voltage, that is, determine the first three-phase voltage
  • the composite voltage vector of the first three-phase voltage is used as the initial rotor position of the motor under the target control strategy, or the composite voltage vector of the second three-phase voltage is determined, and the second three-phase voltage
  • the method of determining the phase change of the motor according to the first three-phase voltage and the second three-phase voltage is specifically: determining the first phase of the motor according to the first three-phase voltage, that is, determining the first three-phase voltage Synthesize the voltage vector, and use the phase of the composite voltage vector of the first three-phase voltage as the first phase of the motor; determine the second phase of the motor according to the second three-phase voltage, that is, determine the composite voltage vector of the second three-phase voltage , And take the phase of the composite voltage vector of the second three-phase voltage as the second phase of the motor; determine the phase change of the motor according to the first phase and the second phase, that is, determine the difference between the first phase and the second phase, and The difference between the first phase and the second phase is taken as the phase change amount of the motor.
  • the target speed of the motor is the speed configured by the user.
  • the target speed of the motor is the speed configured by the user last time.
  • the target speed of the motor is the same as the current speed.
  • the target speed of the motor is determined according to the speed adjustment command.
  • the movable platform is in communication with the control terminal. The user can control the movement of the movable platform through the control terminal.
  • the power of the movable platform is provided by the motor in the movable platform. The faster the motor speed, the power provided by the motor The more, the slower the rotation speed of the motor, the less the power provided by the motor. Therefore, the user can adjust the power provided by the motor to the movable platform by controlling the terminal to adjust the rotation speed of the motor of the movable platform.
  • the target pulse width modulation signal of the motor can be determined based on the initial rotation speed, rotation speed rotor position and target rotation speed of the motor, and the target pulse width modulation signal is used to control the motor to rotate at the target rotation speed. .
  • the target pulse width modulation signal of the motor is determined, and the operation of the motor is controlled based on the target pulse width modulation signal, which can avoid sudden changes in the speed of the motor and ensure the control effect of the motor.
  • the motor control method provided in the above embodiment obtains the current operating parameters of the motor, determines the target control strategy of the motor according to the current operating parameters of the motor, and controls the operation of the motor based on the target control strategy, and can adapt the motor based on the current operating parameters of the motor.
  • the control strategy greatly improves the reliability of motor control.
  • FIG. 5 is a schematic block diagram of a structure of a motor control device provided by an embodiment of the present application.
  • the motor control device 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected by a bus 403, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • the motor control device 400 is applied to a movable platform.
  • the movable platform includes a motor control circuit and a motor.
  • the motor is used to provide power to the movable platform.
  • the motor control device 400 and the circuit control circuit are used to control the operation of the motor.
  • the motor control circuit includes The DC power supply, the inverter circuit, the current sampling circuit and the voltage sampling circuit.
  • the DC power supply is connected to the inverter circuit, and the inverter circuit is connected to the motor.
  • the motor is connected to the current sampling circuit and the voltage sampling circuit respectively.
  • the current sampling circuit includes the first sampling Circuit, amplifier and analog-to-digital conversion ADC module.
  • the current sampling circuit is used to collect the three-phase current i abc of the motor;
  • the voltage sampling circuit includes the second sampling circuit and the analog-to-digital conversion ADC module.
  • the voltage sampling circuit is used to collect the three-phase voltage of the motor.
  • the motor control device 400 can use the phase current of the motor as the feedback signal to determine the PWM signal, and control the operation of the motor through the PWM signal, or use the phase voltage of the motor as the feedback signal to determine the PWM signal, and use the PWM signal Control the motor operation.
  • movable platforms include electric vehicles, electric ships, unmanned vehicles, mobile robots, and drones.
  • the drone can have one or more propulsion units to allow the drone to fly in the air.
  • the one or more propulsion units can make the drone move at one or more, two or more, three or more, four or more, five or more, six or more free angles .
  • the drone can rotate around one, two, three, or more rotation axes.
  • the rotation axes may be perpendicular to each other.
  • the rotation axis can be maintained perpendicular to each other during the entire flight of the UAV.
  • the rotation axis may include a pitch axis, a roll axis, and/or a yaw axis.
  • the drone can move in one or more dimensions.
  • a drone can move upward due to the lifting force generated by one or more rotors.
  • the drone can move along the Z axis (upward relative to the drone direction), X axis, and/or Y axis (which can be lateral).
  • the drone can move along one, two or three axes that are perpendicular to each other.
  • the drone can be a rotorcraft.
  • the drone may be a multi-rotor aircraft that may include multiple rotors. Multiple rotors can rotate to generate lift for the drone.
  • the rotor can be a propulsion unit, allowing the drone to move freely in the air.
  • the rotor can rotate at the same rate and/or can generate the same amount of lift or thrust.
  • the rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust and/or allowing the drone to rotate.
  • one, two, three, four, five, six, seven, eight, nine, ten or more rotors can be provided on the drone. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors can be at any angle relative to each other, which can affect the movement of the drone.
  • the drone can have multiple rotors.
  • the rotor can be connected to the main body of the drone, and the main body can include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors.
  • the rotor may be connected to the body by one or more arms or extensions branching from the central part of the body.
  • one or more arms may extend radially from the central body of the drone, and may have rotors at or near the end of the arms.
  • the processor 401 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 402 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.
  • the processor 401 is configured to run a computer program stored in the memory 402, and implement the following steps when the computer program is executed:
  • the target control strategy of the motor is determined from a plurality of control strategies according to the current operating parameters, wherein the plurality of control strategies include at least a first control strategy and a second control strategy, the first control strategy and the The second control strategy controls the operation of the motor based on different feedback signals;
  • the operation of the motor is controlled according to the target control strategy.
  • the first control strategy is a control strategy that uses the phase current of the motor as a feedback signal to control the operation of the motor
  • the second control strategy is a control strategy that uses the phase voltage of the motor as a feedback signal to control The control strategy for the operation of the motor
  • the first control strategy is a control strategy that uses the phase voltage of the motor as a feedback signal to control the operation of the motor
  • the second control strategy is a control strategy that uses the phase current of the motor as a feedback signal to control the operation of the motor Strategy.
  • the processor when the processor realizes the determination of the target control strategy of the motor from a plurality of control strategies according to the current operating parameters, it is configured to realize:
  • the current control strategy of the motor is taken as the target control strategy of the motor.
  • the current operating parameters include the current speed of the motor; when the processor determines whether the current control strategy of the motor needs to be switched according to the current operating parameters, it is used to implement:
  • the processor realizes the current control strategy of determining whether the motor needs to be switched according to the target rotation speed and the current rotation speed, it is configured to realize:
  • the processor realizes the current control strategy of determining whether the motor needs to be switched according to the target rotation speed and the current rotation speed, it is configured to realize:
  • the current operating parameters include the current three-phase current of the motor; when the processor determines whether the current control strategy of the motor needs to be switched according to the current operating parameters, it is used to implement:
  • the processor realizes controlling the operation of the motor according to the target control strategy, it is configured to realize:
  • the target pulse width modulation signal of the motor is determined according to the initial rotation speed, the initial rotor position and the target rotation speed, and the operation of the motor is controlled according to the target pulse width modulation signal.
  • the processor realizes obtaining the initial rotation speed and initial rotor position of the motor under the target control strategy, it is used to realize:
  • the current rotation speed and the current rotor position collected by the position sensor are used as the initial rotation speed and the initial rotor position of the motor under the target control strategy.
  • the position sensor includes any one of a code wheel, a resolver sensor, and a magnetic encoder.
  • the type of the position sensor is any one of an electromagnetic position sensor, a magnetic-sensitive position proximity sensor, and a photoelectric position sensor.
  • the processor realizes obtaining the initial rotation speed and initial rotor position of the motor under the target control strategy, it is used to realize:
  • the initial rotation speed and initial rotor position of the motor under the target control strategy are determined according to the current three-phase voltage.
  • the processor when the processor implements the determination of the initial rotational speed and the initial rotor position of the motor under the target control strategy according to the current three-phase voltage, the processor is configured to implement:
  • phase of the composite voltage vector is used as the initial rotor position of the motor under the target control strategy.
  • the processor realizes obtaining the initial rotation speed and initial rotor position of the motor under the target control strategy, it is used to realize:
  • the initial rotation speed and initial rotor position of the motor under the target control strategy are determined according to the first three-phase voltage, the second three-phase voltage and the preset time.
  • the processor determines the initial rotation speed and initial rotor position of the motor under the target control strategy according to the first three-phase voltage, the second three-phase voltage, and the preset time.
  • the processor determines the initial rotation speed and initial rotor position of the motor under the target control strategy according to the first three-phase voltage, the second three-phase voltage, and the preset time.
  • the initial rotor position of the motor under the target control strategy is determined according to the first three-phase voltage or the second three-phase voltage.
  • the processor implements the determination of the phase change amount of the motor according to the first three-phase voltage and the second three-phase voltage, it is used to implement:
  • the phase change amount of the motor is determined according to the first phase and the second phase.
  • FIG. 6 is a schematic block diagram of the structure of a movable platform provided by an embodiment of the present application.
  • the movable platform 500 includes a motor control device 510, a motor control circuit 520, and a motor 530.
  • the motor 530 is connected to the motor control circuit 520, and the motor control circuit 520 is connected to the motor control device 510.
  • the motor control circuit 520 It includes an inverter circuit, a current sampling circuit, and a voltage sampling circuit.
  • the inverter circuit is connected to the motor.
  • the motor 530 is connected to the current sampling circuit and the voltage sampling circuit respectively.
  • the current sampling circuit is used to collect the three-phase current of the motor 530, and the voltage sampling The circuit is used to collect the three-phase voltage of the motor 530, and the motor includes any one of a permanent magnet synchronous motor and a brushless DC motor.
  • the motor control device 510 may use the phase current of the motor 530 as a feedback signal to determine the PWM signal, and use the PWM signal to control the operation of the motor 530, or use the phase voltage of the motor 530 as the feedback signal to determine the PWM signal, and use the PWM signal
  • the motor 530 is controlled to operate.
  • movable platforms include electric vehicles, electric ships, unmanned vehicles, mobile robots, and drones.
  • the drone can have one or more propulsion units to allow the drone to fly in the air.
  • the one or more propulsion units can make the drone move at one or more, two or more, three or more, four or more, five or more, six or more free angles .
  • the drone can rotate around one, two, three, or more rotation axes.
  • the rotation axes may be perpendicular to each other.
  • the rotation axis can be maintained perpendicular to each other during the entire flight of the UAV.
  • the rotation axis may include a pitch axis, a roll axis, and/or a yaw axis.
  • the drone can move in one or more dimensions.
  • a drone can move upward due to the lifting force generated by one or more rotors.
  • the drone can move along the Z axis (upward relative to the drone direction), X axis, and/or Y axis (which can be lateral).
  • the drone can move along one, two or three axes that are perpendicular to each other.
  • the drone can be a rotorcraft.
  • the drone may be a multi-rotor aircraft that may include multiple rotors. Multiple rotors can rotate to generate lift for the drone.
  • the rotor can be a propulsion unit, allowing the drone to move freely in the air.
  • the rotor can rotate at the same rate and/or can generate the same amount of lift or thrust.
  • the rotor can rotate at different speeds at will, generating different amounts of lifting force or thrust and/or allowing the drone to rotate.
  • one, two, three, four, five, six, seven, eight, nine, ten or more rotors can be provided on the drone. These rotors can be arranged such that their rotation axes are parallel to each other. In some cases, the rotation axis of the rotors can be at any angle relative to each other, which can affect the movement of the drone.
  • the drone can have multiple rotors.
  • the rotor can be connected to the main body of the drone, and the main body can include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors.
  • the rotor may be connected to the body by one or more arms or extensions branching from the central part of the body.
  • one or more arms may extend radially from the central body of the drone, and may have rotors at or near the end of the arms.
  • the embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the motor control method provided in the example.
  • the computer-readable storage medium may be the internal storage unit of the removable platform described in any of the foregoing embodiments, such as the hard disk or memory of the removable platform.
  • the computer-readable storage medium may also be an external storage device of the movable platform, for example, a plug-in hard disk equipped on the movable platform, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital). , SD) card, flash card (Flash Card), etc.

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Abstract

一种电机控制方法、电机控制装置、可移动平台及计算机可读存储介质，其中该方法包括：获取电机的当前运行参数（S101）；根据当前运行参数从多个控制策略中确定电机的目标控制策略（S102）；根据目标控制策略控制电机运行（S103）。该电机控制方法提高了电机控制的可靠性。

Description

电机控制方法、装置、可移动平台及存储介质 技术领域
本申请涉及电机控制技术领域，尤其涉及一种电机控制方法、装置、可移动平台及存储介质。
背景技术
目前，电动汽车、电动船舶、电气化飞机或无人机等电动设备通常是通过电机提供动力的，电机包括无刷直流(Brushless Direct Current，BLDC)电机和永磁同步电机，常用的电机控制策略包括BLDC控制策略、矢量控制(Field Oriented Control，FOC)策略和直接矩阵控制策略等，BLDC控制策略是将电机的相电压作为反馈信号来控制电机运行，而FOC控制策略是将电机的相电流作为反馈信号来控制电机运行，但通常只使用一种电机控制策略来控制电机，在反馈信号受到严重干扰时，电机控制策略的控制效果较差。因此，如何提高电机控制的可靠性是目前亟待解决的问题。
发明内容
基于此，本申请提供了一种电机控制方法、装置、可移动平台及存储介质，旨在提高电机控制的可靠性。
第一方面，本申请提供了一种电机控制方法，包括：
获取电机的当前运行参数；
根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，其中，所述多个控制策略至少包括第一控制策略和第二控制策略，所述第一控制策略与所述第二控制策略基于不同的反馈信号控制所述电机运行；
根据所述目标控制策略控制所述电机运行。
第二方面，本申请还提供了一种电机控制装置，所述电机控制装置包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取电机的当前运行参数；
根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，其中，所述多个控制策略至少包括第一控制策略和第二控制策略，所述第一控制策略与所述第二控制策略基于不同的反馈信号控制所述电机运行；
根据所述目标控制策略控制所述电机运行。
第三方面，本申请还提供了一种可移动平台，所述可移动平台包括电机、电机控制电路和如本申请说明书提供的任一项电机控制装置，所述电机与所述电机控制电路连接，所述电机控制电路与所述电机控制装置连接。
第四方面，本申请还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如本申请说明书提供的任一项电机控制方法。
本申请实施例提供了一种电机控制方法、装置、可移动平台及存储介质，通过获取电机的当前运行参数，并根据电机的当前运行参数确定电机的目标控制策略，且基于目标控制策略控制电机运行，能够基于电机的当前运行参数自适应电机的控制策略，极大的提高电机控制的可靠性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的可移动平台的电路示意性框图；
图2是本申请实施例提供的一种电机控制方法的步骤示意流程图；
图3是图1中的电机控制方法的子步骤示意流程图；
图4是图1中的电机控制方法的子步骤示意流程图；
图5是本申请实施例提供的一种电机控制装置的结构示意性框图；
图6是本申请实施例提供的一种可移动平台的结构示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部 的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
基于上述问题，本申请说明书提供一种电机控制方法、装置、可移动平台及存储介质，该电机控制方法可以应用于可移动平台，请参阅图1，图1是本申请实施例提供的可移动平台的电路示意性框图，如图1所示，该可移动平台包括电机控制装置100、电机控制电路200和电机300，电机300用于给可移动平台提供动力，该电机控制装置100和电路控制电路200用于控制电机300运行，电机控制电路200包括直流电源、逆变电路、电流采样电路和电压采样电路，直流电源与逆变电路连接，逆变电路与电机300连接，该电机300分别与电流采样电路和电压采样电路连接，电流采样电路包括第一采样电路、放大器和模数转换ADC模块，电流采样电路用于采集电机的三相电流i abc；电压采样电路包括第二采样电路和模数转换ADC模块，电压采样电路用于采集电机的三相电压u abc，电机控制装置100可以使用电机300的相电流作为反馈信号来确定PWM信号，并通过该PWM信号控制电机300运行，也可以使用电机300的相电压作为反馈信号来确定PWM信号，并通过该PWM信号控制电机300运行。
其中，可移动平台包括电动汽车、电动船舶、无人驾驶汽车、可移动机器人和无人机等，无人机可具有一个或多个推进单元，以允许无人机可在空中飞行。该一个或多个推进单元可使得无人机以一个或多个、两个或多个、三个或多个、四个或多个、五个或多个、六个或多个自由角度移动。在某些情形下，无人机可以绕一个、两个、三个或多个旋转轴旋转。旋转轴可彼此垂直。旋转轴在无人机的整个飞行过程中可维持彼此垂直。旋转轴可包括俯仰轴、横滚轴和/或偏航轴。无人机可沿一个或多个维度移动。例如，无人机能够因一个或多个旋翼产生的提升力而向上移动。在某些情形下，无人机可沿Z轴(可相对无人机方向向上)、X轴和/或Y轴(可为横向)移动。无人机可沿彼此垂直的一个、两个或三个轴移动。
无人机可以是旋翼飞机。在某些情形下，无人机可以是可包括多个旋翼的 多旋翼飞行器。多个旋翼可旋转而为无人机产生提升力。旋翼可以是推进单元，可使得无人机在空中自由移动。旋翼可按相同速率旋转和/或可产生相同量的提升力或推力。旋翼可按不同的速率随意地旋转，产生不同量的提升力或推力和/或允许无人机旋转。在某些情形下，在无人机上可提供一个、两个、三个、四个、五个、六个、七个、八个、九个、十个或更多个旋翼。这些旋翼可布置成其旋转轴彼此平行。在某些情形下，旋翼的旋转轴可相对于彼此呈任意角度，从而可影响无人机的运动。
无人机可具有多个旋翼。旋翼可连接至无人机的本体，本体可包含控制单元、惯性测量单元(inertial measuring unit，IMU)、处理器、电池、电源和/或其他传感器。旋翼可通过从本体中心部分分支出来的一个或多个臂或延伸而连接至本体。例如，一个或多个臂可从无人机的中心本体放射状延伸出来，而且在臂末端或靠近末端处可具有旋翼。
请参阅图2，图2是本申请实施例提供的一种电机控制方法的步骤示意流程图。具体地，如图2所示，该电机控制方法包括步骤S101至步骤S103。
S101、获取电机的当前运行参数。
其中，电机的当前运行参数包括电机的当前转速、当前三相电流和当前三相电压中的至少一项，电机包括永磁同步电机和无刷直流电机中的任一项，在电机运行时，可以基于矢量控制(Field Oriented Control，FOC)策略、无刷直流(Brushless Direct Current，BLDC)控制策略或动态矩阵控制(Dynamic Matrix Control，DMC)策略控制电机运行，其中，BLDC控制策略是将电机的相电压作为反馈信号来控制电机运行，而FOC控制策略是将电机的相电流作为反馈信号来控制电机运行。
在一些实施方式中，若电机为永磁同步电机，在电机正常运行时选择使用电机的相电流作为反馈信号来控制电机运行的控制策略，例如，FOC控制策略，通过FOC控制策略可以更好的控制永磁同步电机运行；若电机为无刷直流电机，在电机正常运行时选择使用电机的相电压作为反馈信号来控制电机运行的控制策略，例如，BLDC控制策略，通过BLDC控制策略可以更好的控制无刷直流电机。
在一些实施方式中，以间隔预设时间获取电机的当前运行参数。其中，预设时间可以基于实际情况进行设置，本申请对此不做具体限定，例如，预设时间为1秒。通过间隔一段时间获取电机的当前运行参数，便于后续基于当前运行参数及时的确定电机的控制策略是否需要切换，提高电机控制的可靠性。
S102、根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略。
其中，所述多个控制策略至少包括第一控制策略和第二控制策略，第一控制策略与第二控制策略基于不同的反馈信号控制电机运行，第一控制策略为使用电机的相电流作为反馈信号来控制电机运行的控制策略，例如，FOC控制策略，第二控制策略为使用电机的相电压作为反馈信号来控制电机运行的控制策略，例如，BLDC控制策略；或者，第一控制策略为使用电机的相电压作为反馈信号控制电机运行的控制策略，例如，BLDC控制策略，第二控制策略为使用电机的相电流作为反馈信号控制电机运行的控制策略，例如，FOC控制策略。在一些实施方式中，所述多个控制策略包括FOC控制策略、BLDC控制策略和动态矩阵控制策略。
在一些实施方式中，如图3所示，步骤S102具体包括：子步骤S1021至S1023。
S1021、根据所述当前运行参数确定是否需要切换所述电机的当前控制策略。
其中，电机的当前运行参数包括电机的当前转速，电机的当前控制策略可以为FOC控制策略、BLDC控制策略和动态矩阵控制策略中的任一项。
在一些实施方式中，获取电机的目标转速；根据目标转速和当前转速确定是否需要切换电机的当前控制策略。其中，电机的目标转速是用户配置的转速，当未检测到转速调整指令时，电机的目标转速为上次用户配置的转速，在电机正常运行时，电机的目标转速与当前转速相同，当检测到用户触发的转速调整指令时，根据转速调整指令确定电机的目标转速。例如，可移动平台与控制终端通信连接，用户可以通过控制终端控制可移动平台移动，而可移动平台的动力是由可移动平台内的电机提供的，电机的转速越快，则电机提供的动力越多，电机的转速越慢，则电机提供的动力越少，因此用户可以通过控制终端调整可移动平台的电机的转速来调整电机给可移动平台提供的动力。
在一些实施方式中，根据目标转速和当前转速确定是否需要切换电机的当前控制策略的方式具体为：确定目标转速与当前转速的差值，并确定差值的绝对值是否大于预设阈值；若该差值的绝对值大于预设阈值，则确定需要切换电机的当前控制策略；若该差值的绝对值小于或等于预设阈值，则确定不需要切换电机的当前控制策略。其中，预设阈值可基于实际情况进行设置，本申请对此不做具体限定。通过将目标转速与当前转速进行比较，可以确定电机的当前 控制策略是否出现异常，便于在电机的当前控制策略出现异常时，将电机的当前控制策略切换为其余控制策略，提高电机控制的可靠性。
在一些实施方式中，根据目标转速和当前转速确定是否需要切换电机的当前控制策略的方式具体还可以为：根据该目标转速和当前转速确定无人机的转速误差，并确定转速误差是否大于预设转速误差；若转速误差大于预设转速误差，则确定需要切换电机的当前控制策略；若转速误差小于或等于预设转速误差，则确定不需要切换电机的当前控制策略。其中，预设转速误差可基于实际情况进行设置，本申请对此不做具体限定。通过目标转速与当前转速确定转速误差，基于转速误差可以准确的确定是否需要切换电机的当前控制策略，减少控制策略的切换次数，也可以保证电机控制的可靠性。
在一些实施方式中，可以基于转速误差计算公式，根据该目标转速和当前转速确定无人机的转速误差。其中，转速误差计算公式为S＝LPF{∫|ω *-ω|dt}，S为转速误差，ω *为目标转速，ω为电机的当前转速，LPF表示对大括号中的值进行低通滤波。
在一些实施方式中，电机的当前运行参数包括电机的当前三相电流，根据当前运行参数确定是否需要切换电机的当前控制策略的方式具体可以为：确定当前三相电流中是否存在至少一个电流大于第一预设电流或者小于第二预设电流，其中，第一预设电流大于第二预设电流；若当前三相电流中存在至少一个电流大于第一预设电流或者小于第二预设电流，则确定需要切换电机的当前控制策略；若当前三相电流中的每相电流均位于第一预设电流与第二预设电流之间，则确定不需要切换电机的当前控制策略。其中，第一预设电流和第二预设电流可基于实际情况进行设置，本申请对此不做具体限定。通过电机的当前三相电流可以准确的确定是否需要切换电机的当前控制策略，减少控制策略的切换次数，也可以保证电机控制的可靠性。
S1022、若需要切换所述电机的当前控制策略，则将所述第一控制策略或者第二控制策略作为所述电机的目标控制策略。
若确定需要切换电机的当前控制策略，则确定电机的当前控制策略是第一控制策略，还是第二控制策略，如果电机的当前控制策略是第一控制策略，则将第二控制策略作为电机的目标控制策略，如果电机的当前控制策略是第二控制策略，则将第一控制策略作为电机的目标控制策略。
S1023、若不需要切换所述电机的当前控制策略，则将所述电机的当前控制策略作为所述电机的目标控制策略。
若确定不需要切换电机的当前控制策略，则将电机的当前控制策略作为电机的目标控制策略，如果电机的当前控制策略是第一控制策略，则将第一控制策略作为电机的目标控制策略，如果电机的当前控制策略是第二控制策略，则将第二控制策略作为电机的目标控制策略。
S103、根据所述目标控制策略控制所述电机运行。
在确定电机的目标控制策略后，基于目标控制策略控制电机运行，即当目标控制策略为第一控制策略时，使用电机的相电流作为反馈信号来控制电机运行，当目标控制策略为第二控制策略时，使用电机的相电压作为反馈信号来控制电机运行，或者当目标控制策略为第一控制策略时，使用电机的相电压作为反馈信号来控制电机运行，当目标控制策略为第二控制策略时，使用电机的相电流作为反馈信号来控制电机运行。
在一些实施方式中，如图4所示，步骤S103具体包括：子步骤S1031至S1033。
S1031、获取所述电机在所述目标控制策略下的初始转速和初始转子位置。
在一些实施方式中，通过电机的位置传感器采集电机的当前转速和当前转子位置；将位置传感器采集到的当前转速和当前转子位置作为电机在目标控制策略下的初始转速和初始转子位置。其中，该位置传感器包括霍尔传感器、码盘、旋变传感器和磁编码器中的任一项，该位置传感器的类型为电磁式位置传感器、磁敏式位置接近传感器和光电式位置传感器中的任一项。通过位置传感器可以简单便捷的获取电机在目标控制策略下的初始转速和初始转子位置。
在一些实施方式中，获取电机的当前三相电压；根据当前三相电压确定电机在目标控制策略下的初始转速和初始转子位置。其中，可以通过电压采样电路采集电机的当前三相电压，电压采样电路包括采样电阻和模数转换器，通过采样电阻可以采集得到电机的当前三相电压的模拟信号，通过模数转换器可以将模拟信号的当前三相电压转换为数字信号的当前三相电压。在没有位置传感器的情况下，也可以通过电机的当前三相电压获取电机在目标控制策略下的初始转速和初始转子位置，减少硬件成本。
在一些实施方式中，根据当前三相电压确定电机在目标控制策略下的初始转速和初始转子位置的方式具体为：确定当前三相电压的合成电压矢量，并确定合成电压矢量的幅值和相位；获取电机的永磁体磁链，并根据永磁体磁链和合成电压矢量的幅值，确定电机的角速度，即用合成电压矢量的幅值除永磁体磁链，得到电机的角速度；获取电机的电机极对数，并根据电机的角速度和电 机极对数，确定电机在目标控制策略下的初始转速；将该合成电压矢量的相位作为该电机在目标控制策略下的初始转子位置。
在一些实施方式中，获取电机在目标控制策略下的初始转速和初始转子位置的方式具体还可以为：获取电机的第一三相电压和第二三相电压，即通过电压采样电路采集电机的第一三相电压，在经过预设时间后，通过电压采样电路采集电机的第二三相电压，其中，第一三相电压的采集时刻点与第二三相电压的采集时刻点间隔预设时间；根据第一三相电压、第二三相电压和预设时间确定电机在目标控制策略下的初始转速和初始转子位置。其中，预设时间可基于实际情况进行设置，本申请对此不做具体限定，例如，预设时间为6毫秒。通过采集多个电机的三相电压，并基于至少两个三相电压可以准确地确定电机在目标控制策略下的初始转速和初始转子位置。
在一些实施方式中，根据第一三相电压、第二三相电压和预设时间确定电机在所述目标控制策略下的初始转速和初始转子位置的方式具体为：根据第一三相电压和第二三相电压确定电机的相位变化量；根据相位变化量和预设时间确定电机的角速度，即用相位变化量除预设时间，得到电机的角速度；获取电机的电机极对数，并根据电机的角速度和电机极对数确定电机在目标控制策略下的初始转速；根据第一三相电压或第二三相电压确定电机在目标控制策略下的初始转子位置，即确定第一三相电压的合成电压矢量，并将第一三相电压的合成电压矢量的相位作为该电机在目标控制策略下的初始转子位置，或者确定第二三相电压的合成电压矢量，并将第二三相电压的合成电压矢量的相位作为该电机在目标控制策略下的初始转子位置。
在一些实施方式中，根据第一三相电压和第二三相电压确定电机的相位变化量的方式具体为：根据第一三相电压确定电机的第一相位，即确定第一三相电压的合成电压矢量，并将第一三相电压的合成电压矢量的相位作为电机的第一相位；根据第二三相电压确定所述电机的第二相位，即确定第二三相电压的合成电压矢量，并将第二三相电压的合成电压矢量的相位作为电机的第二相位；根据第一相位和第二相位确定电机的相位变化量，即确定第一相位与第二相位的差值，并将第一相位与第二相位的差值作为电机的相位变化量。
S1032、获取所述电机的目标转速。
其中，电机的目标转速是用户配置的转速，当未检测到转速调整指令时，电机的目标转速为上次用户配置的转速，在电机正常运行时，电机的目标转速与当前转速相同，当检测到用户触发的转速调整指令时，根据转速调整指令确 定电机的目标转速。例如，可移动平台与控制终端通信连接，用户可以通过控制终端控制可移动平台移动，而可移动平台的动力是由可移动平台内的电机提供的，电机的转速越快，则电机提供的动力越多，电机的转速越慢，则电机提供的动力越少，因此用户可以通过控制终端调整可移动平台的电机的转速来调整电机给可移动平台提供的动力。
S1033、根据所述初始转速、初始转子位置和目标转速确定所述电机的目标脉冲宽度调制信号，并根据所述目标脉冲宽度调制信号控制所述电机运行。
在确定电机的初始转速、转速转子位置和目标转速之后，可以基于电机的初始转速、转速转子位置和目标转速确定电机的目标脉冲宽度调制信号，通过目标脉冲宽度调制信号控制电机以该目标转速转动。通过初始转速、初始转子位置和目标转速，确定电机的目标脉冲宽度调制信号，且基于目标脉冲宽度调制信号控制电机运行，可以避免电机的转速发生突变，保证电机的控制效果。
上述实施例提供的电机控制方法，通过获取电机的当前运行参数，并根据电机的当前运行参数确定电机的目标控制策略，且基于目标控制策略控制电机运行，能够基于电机的当前运行参数自适应电机的控制策略，极大的提高电机控制的可靠性。
请参阅图5，图5是本申请实施例提供的一种电机控制装置的结构示意性框图。该电机控制装置400包括处理器401和存储器402，处理器401和存储器402通过总线403连接，该总线403比如为I2C(Inter-integrated Circuit)总线。该电机控制装置400应用于可移动平台，可移动平台包括电机控制电路和电机，电机用于给可移动平台提供动力，该电机控制装置400和电路控制电路用于控制电机运行，电机控制电路包括直流电源、逆变电路、电流采样电路和电压采样电路，直流电源与逆变电路连接，逆变电路与电机连接，该电机分别与电流采样电路和电压采样电路连接，电流采样电路包括第一采样电路、放大器和模数转换ADC模块，电流采样电路用于采集电机的三相电流i abc；电压采样电路包括第二采样电路和模数转换ADC模块，电压采样电路用于采集电机的三相电压u abc，电机控制装置400可以使用电机的相电流作为反馈信号来确定PWM信号，并通过该PWM信号控制电机运行，也可以使用电机的相电压作为反馈信号来确定PWM信号，并通过该PWM信号控制电机运行。
其中，可移动平台包括电动汽车、电动船舶、无人驾驶汽车、可移动机器人和无人机等，无人机可具有一个或多个推进单元，以允许无人机可在空中飞行。该一个或多个推进单元可使得无人机以一个或多个、两个或多个、三个或 多个、四个或多个、五个或多个、六个或多个自由角度移动。在某些情形下，无人机可以绕一个、两个、三个或多个旋转轴旋转。旋转轴可彼此垂直。旋转轴在无人机的整个飞行过程中可维持彼此垂直。旋转轴可包括俯仰轴、横滚轴和/或偏航轴。无人机可沿一个或多个维度移动。例如，无人机能够因一个或多个旋翼产生的提升力而向上移动。在某些情形下，无人机可沿Z轴(可相对无人机方向向上)、X轴和/或Y轴(可为横向)移动。无人机可沿彼此垂直的一个、两个或三个轴移动。
无人机可以是旋翼飞机。在某些情形下，无人机可以是可包括多个旋翼的多旋翼飞行器。多个旋翼可旋转而为无人机产生提升力。旋翼可以是推进单元，可使得无人机在空中自由移动。旋翼可按相同速率旋转和/或可产生相同量的提升力或推力。旋翼可按不同的速率随意地旋转，产生不同量的提升力或推力和/或允许无人机旋转。在某些情形下，在无人机上可提供一个、两个、三个、四个、五个、六个、七个、八个、九个、十个或更多个旋翼。这些旋翼可布置成其旋转轴彼此平行。在某些情形下，旋翼的旋转轴可相对于彼此呈任意角度，从而可影响无人机的运动。
无人机可具有多个旋翼。旋翼可连接至无人机的本体，本体可包含控制单元、惯性测量单元(inertial measuring unit，IMU)、处理器、电池、电源和/或其他传感器。旋翼可通过从本体中心部分分支出来的一个或多个臂或延伸而连接至本体。例如，一个或多个臂可从无人机的中心本体放射状延伸出来，而且在臂末端或靠近末端处可具有旋翼。
具体地，处理器401可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器402可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器401用于运行存储在存储器402中的计算机程序，并在执行所述计算机程序时实现如下步骤：
获取电机的当前运行参数；
根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，其中，所述多个控制策略至少包括第一控制策略和第二控制策略，所述第一控制策略与所述第二控制策略基于不同的反馈信号控制所述电机运行；
根据所述目标控制策略控制所述电机运行。
可选地，所述第一控制策略为使用所述电机的相电流作为反馈信号来控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电压作为反馈信号来控制所述电机运行的控制策略；或者，
所述第一控制策略为使用所述电机的相电压作为反馈信号控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电流作为反馈信号控制所述电机运行的控制策略。
可选地，所述处理器在实现根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略时，用于实现：
根据所述当前运行参数确定是否需要切换所述电机的当前控制策略；
若需要切换所述电机的当前控制策略，则将所述第一控制策略或者第二控制策略作为所述电机的目标控制策略；
若不需要切换所述电机的当前控制策略，则将所述电机的当前控制策略作为所述电机的目标控制策略。
可选地，所述当前运行参数包括电机的当前转速；所述处理器在实现根据所述当前运行参数确定是否需要切换所述电机的当前控制策略时，用于实现：
获取所述电机的目标转速；
根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略。
可选地，所述处理器在实现根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略时，用于实现：
确定所述目标转速与所述当前转速的差值，并确定所述差值的绝对值是否大于预设阈值；
若所述差值的绝对值大于预设阈值，则确定需要切换所述电机的当前控制策略；
若所述差值的绝对值小于或等于预设阈值，则确定不需要切换所述电机的当前控制策略。
可选地，所述处理器在实现根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略时，用于实现：
根据所述目标转速和当前转速确定所述无人机的转速误差，并确定所述转速误差是否大于预设转速误差；
若所述转速误差大于预设转速误差，则确定需要切换所述电机的当前控制策略；
若所述转速误差小于或等于预设转速误差，则确定不需要切换所述电机的当前控制策略。
可选地，所述当前运行参数包括电机的当前三相电流；所述处理器在实现根据所述当前运行参数确定是否需要切换所述电机的当前控制策略时，用于实现：
确定所述当前三相电流中是否存在至少一个电流大于第一预设电流或者小于第二预设电流，其中，所述第一预设电流大于所述第二预设电流；
若所述当前三相电流中存在至少一个电流大于第一预设电流或者小于第二预设电流，则确定需要切换所述电机的当前控制策略；
若所述当前三相电流中的每相电流均位于所述第一预设电流与所述第二预设电流之间，则确定不需要切换所述电机的当前控制策略。
可选地，其特征在于，所述处理器在实现根据所述目标控制策略控制所述电机运行时，用于实现：
获取所述电机在所述目标控制策略下的初始转速和初始转子位置；
获取所述电机的目标转速；
根据所述初始转速、初始转子位置和目标转速确定所述电机的目标脉冲宽度调制信号，并根据所述目标脉冲宽度调制信号控制所述电机运行。
可选地，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
通过所述电机的位置传感器采集所述电机的当前转速和当前转子位置；
将所述位置传感器采集到的当前转速和当前转子位置作为所述电机在所述目标控制策略下的初始转速和初始转子位置。
可选地，所述位置传感器包括码盘、旋变传感器和磁编码器中的任一项。
可选地，所述位置传感器的类型为电磁式位置传感器、磁敏式位置接近传感器和光电式位置传感器中的任一项。
可选地，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
获取所述电机的当前三相电压；
根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
可选地，所述处理器在实现根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
确定所述当前三相电压的合成电压矢量，并确定所述合成电压矢量的幅值和相位；
获取所述电机的永磁体磁链，并根据所述永磁体磁链和所述合成电压矢量的幅值，确定所述电机的角速度；
获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数，确定所述电机在所述目标控制策略下的初始转速；
将所述合成电压矢量的相位作为所述电机在所述目标控制策略下的初始转子位置。
可选地，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
获取所述电机的第一三相电压和第二三相电压，其中，所述第一三相电压的采集时刻点与所述第二三相电压的采集时刻点间隔预设时间；
根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
可选地，所述处理器在实现根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
根据所述第一三相电压和第二三相电压确定所述电机的相位变化量；
根据所述相位变化量和所述预设时间确定所述电机的角速度；
获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数确定所述电机在所述目标控制策略下的初始转速；
根据所述第一三相电压或第二三相电压确定所述电机在所述目标控制策略下的初始转子位置。
可选地，所述处理器在实现根据所述第一三相电压和第二三相电压确定所述电机的相位变化量时，用于实现：
根据所述第一三相电压确定所述电机的第一相位；
根据所述第二三相电压确定所述电机的第二相位；
根据所述第一相位和所述第二相位确定所述电机的相位变化量。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的电机控制装置的具体工作过程，可以参考前述电机控制方法实施例中的对应过程，在此不再赘述。
请参阅图6，图6是本申请实施例提供的一种可移动平台的结构示意性框 图。
如图6所示，可移动平台500包括电机控制装置510、电机控制电路520和电机530，电机530与电机控制电路520连接，电机控制电路520与电机控制装置510连接，其中，电机控制电路520包括逆变电路、电流采样电路和电压采样电路，逆变电路与所述电机连接，电机530分别与电流采样电路和电压采样电路连接，电流采样电路用于采集电机530的三相电流，电压采样电路用于采集电机530的三相电压，电机包括永磁同步电机和无刷直流电机中的任一项。电机控制装置510可以使用电机530的相电流作为反馈信号来确定PWM信号，并通过该PWM信号控制电机530运行，也可以使用电机530的相电压作为反馈信号来确定PWM信号，并通过该PWM信号控制电机530运行。
其中，可移动平台包括电动汽车、电动船舶、无人驾驶汽车、可移动机器人和无人机等，无人机可具有一个或多个推进单元，以允许无人机可在空中飞行。该一个或多个推进单元可使得无人机以一个或多个、两个或多个、三个或多个、四个或多个、五个或多个、六个或多个自由角度移动。在某些情形下，无人机可以绕一个、两个、三个或多个旋转轴旋转。旋转轴可彼此垂直。旋转轴在无人机的整个飞行过程中可维持彼此垂直。旋转轴可包括俯仰轴、横滚轴和/或偏航轴。无人机可沿一个或多个维度移动。例如，无人机能够因一个或多个旋翼产生的提升力而向上移动。在某些情形下，无人机可沿Z轴(可相对无人机方向向上)、X轴和/或Y轴(可为横向)移动。无人机可沿彼此垂直的一个、两个或三个轴移动。
无人机可以是旋翼飞机。在某些情形下，无人机可以是可包括多个旋翼的多旋翼飞行器。多个旋翼可旋转而为无人机产生提升力。旋翼可以是推进单元，可使得无人机在空中自由移动。旋翼可按相同速率旋转和/或可产生相同量的提升力或推力。旋翼可按不同的速率随意地旋转，产生不同量的提升力或推力和/或允许无人机旋转。在某些情形下，在无人机上可提供一个、两个、三个、四个、五个、六个、七个、八个、九个、十个或更多个旋翼。这些旋翼可布置成其旋转轴彼此平行。在某些情形下，旋翼的旋转轴可相对于彼此呈任意角度，从而可影响无人机的运动。
无人机可具有多个旋翼。旋翼可连接至无人机的本体，本体可包含控制单元、惯性测量单元(inertial measuring unit，IMU)、处理器、电池、电源和/或其他传感器。旋翼可通过从本体中心部分分支出来的一个或多个臂或延伸而连接至本体。例如，一个或多个臂可从无人机的中心本体放射状延伸出来，而 且在臂末端或靠近末端处可具有旋翼。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的可移动平台的具体工作过程，可以参考前述电机控制方法实施例中的对应过程，在此不再赘述。
本申请的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的电机控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的可移动平台的内部存储单元，例如所述可移动平台的硬盘或内存。所述计算机可读存储介质也可以是所述可移动平台的外部存储设备，例如所述可移动平台上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (35)

  1. 一种电机控制方法，其特征在于，包括：
    获取电机的当前运行参数；
    根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，其中，所述多个控制策略至少包括第一控制策略和第二控制策略，所述第一控制策略与所述第二控制策略基于不同的反馈信号控制所述电机运行；
    根据所述目标控制策略控制所述电机运行。
  2. 根据权利要求1所述的电机控制方法，其特征在于，所述第一控制策略为使用所述电机的相电流作为反馈信号来控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电压作为反馈信号来控制所述电机运行的控制策略；或者，
    所述第一控制策略为使用所述电机的相电压作为反馈信号控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电流作为反馈信号控制所述电机运行的控制策略。
  3. 根据权利要求1所述的电机控制方法，其特征在于，所述根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，包括：
    根据所述当前运行参数确定是否需要切换所述电机的当前控制策略；
    若需要切换所述电机的当前控制策略，则将所述第一控制策略或者第二控制策略作为所述电机的目标控制策略；
    若不需要切换所述电机的当前控制策略，则将所述电机的当前控制策略作为所述电机的目标控制策略。
  4. 根据权利要求3所述的电机控制方法，其特征在于，所述当前运行参数包括电机的当前转速；所述根据所述当前运行参数确定是否需要切换所述电机的当前控制策略，包括：
    获取所述电机的目标转速；
    根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略。
  5. 根据权利要求4所述的电机控制方法，其特征在于，所述根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略，包括：
    确定所述目标转速与所述当前转速的差值，并确定所述差值的绝对值是否 大于预设阈值；
    若所述差值的绝对值大于预设阈值，则确定需要切换所述电机的当前控制策略；
    若所述差值的绝对值小于或等于预设阈值，则确定不需要切换所述电机的当前控制策略。
  6. 根据权利要求4所述的电机控制方法，其特征在于，所述根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略，包括：
    根据所述目标转速和当前转速确定所述无人机的转速误差，并确定所述转速误差是否大于预设转速误差；
    若所述转速误差大于预设转速误差，则确定需要切换所述电机的当前控制策略；
    若所述转速误差小于或等于预设转速误差，则确定不需要切换所述电机的当前控制策略。
  7. 根据权利要求3所述的电机控制方法，其特征在于，所述当前运行参数包括电机的当前三相电流；所述根据所述当前运行参数确定是否需要切换所述电机的当前控制策略，包括：
    确定所述当前三相电流中是否存在至少一个电流大于第一预设电流或者小于第二预设电流，其中，所述第一预设电流大于所述第二预设电流；
    若所述当前三相电流中存在至少一个电流大于第一预设电流或者小于第二预设电流，则确定需要切换所述电机的当前控制策略；
    若所述当前三相电流中的每相电流均位于所述第一预设电流与所述第二预设电流之间，则确定不需要切换所述电机的当前控制策略。
  8. 根据权利要求1至7中任一项所述的电机控制方法，其特征在于，所述根据所述目标控制策略控制所述电机运行，包括：
    获取所述电机在所述目标控制策略下的初始转速和初始转子位置；
    获取所述电机的目标转速；
    根据所述初始转速、初始转子位置和目标转速确定所述电机的目标脉冲宽度调制信号，并根据所述目标脉冲宽度调制信号控制所述电机运行。
  9. 根据权利要求8所述的电机控制方法，其特征在于，所述获取所述电机在所述目标控制策略下的初始转速和初始转子位置，包括：
    通过所述电机的位置传感器采集所述电机的当前转速和当前转子位置；
    将所述位置传感器采集到的当前转速和当前转子位置作为所述电机在所述 目标控制策略下的初始转速和初始转子位置。
  10. 根据权利要求9所述的电机控制方法，其特征在于，所述位置传感器包括码盘、旋变传感器和磁编码器中的任一项。
  11. 根据权利要求9所述的电机控制方法，其特征在于，所述位置传感器的类型为电磁式位置传感器、磁敏式位置接近传感器和光电式位置传感器中的任一项。
  12. 根据权利要求8所述的电机控制方法，其特征在于，所述获取所述电机在所述目标控制策略下的初始转速和初始转子位置，包括：
    获取所述电机的当前三相电压；
    根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
  13. 根据权利要求12所述的电机控制方法，其特征在于，所述根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置，包括：
    确定所述当前三相电压的合成电压矢量，并确定所述合成电压矢量的幅值和相位；
    获取所述电机的永磁体磁链，并根据所述永磁体磁链和所述合成电压矢量的幅值，确定所述电机的角速度；
    获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数，确定所述电机在所述目标控制策略下的初始转速；
    将所述合成电压矢量的相位作为所述电机在所述目标控制策略下的初始转子位置。
  14. 根据权利要求8所述的电机控制方法，其特征在于，所述获取所述电机在所述目标控制策略下的初始转速和初始转子位置，包括：
    获取所述电机的第一三相电压和第二三相电压，其中，所述第一三相电压的采集时刻点与所述第二三相电压的采集时刻点间隔预设时间；
    根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
  15. 根据权利要求14所述的电机控制方法，其特征在于，所述根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置，包括：
    根据所述第一三相电压和第二三相电压确定所述电机的相位变化量；
    根据所述相位变化量和所述预设时间确定所述电机的角速度；
    获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数确定所述电机在所述目标控制策略下的初始转速；
    根据所述第一三相电压或第二三相电压确定所述电机在所述目标控制策略下的初始转子位置。
  16. 根据权利要求15所述的电机控制方法，其特征在于，所述根据所述第一三相电压和第二三相电压确定所述电机的相位变化量，包括：
    根据所述第一三相电压确定所述电机的第一相位；
    根据所述第二三相电压确定所述电机的第二相位；
    根据所述第一相位和所述第二相位确定所述电机的相位变化量。
  17. 一种电机控制装置，其特征在于，所述电机控制装置包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取电机的当前运行参数；
    根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略，其中，所述多个控制策略至少包括第一控制策略和第二控制策略，所述第一控制策略与所述第二控制策略基于不同的反馈信号控制所述电机运行；
    根据所述目标控制策略控制所述电机运行。
  18. 根据权利要求17所述的电机控制装置，其特征在于，所述第一控制策略为使用所述电机的相电流作为反馈信号来控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电压作为反馈信号来控制所述电机运行的控制策略；或者，
    所述第一控制策略为使用所述电机的相电压作为反馈信号控制所述电机运行的控制策略，所述第二控制策略为使用所述电机的相电流作为反馈信号控制所述电机运行的控制策略。
  19. 根据权利要求17所述的电机控制装置，其特征在于，所述处理器在实现根据所述当前运行参数从多个控制策略中确定所述电机的目标控制策略时，用于实现：
    根据所述当前运行参数确定是否需要切换所述电机的当前控制策略；
    若需要切换所述电机的当前控制策略，则将所述第一控制策略或者第二控 制策略作为所述电机的目标控制策略；
    若不需要切换所述电机的当前控制策略，则将所述电机的当前控制策略作为所述电机的目标控制策略。
  20. 根据权利要求19所述的电机控制装置，其特征在于，所述当前运行参数包括电机的当前转速；所述处理器在实现根据所述当前运行参数确定是否需要切换所述电机的当前控制策略时，用于实现：
    获取所述电机的目标转速；
    根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略。
  21. 根据权利要求20所述的电机控制装置，其特征在于，所述处理器在实现根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略时，用于实现：
    确定所述目标转速与所述当前转速的差值，并确定所述差值的绝对值是否大于预设阈值；
    若所述差值的绝对值大于预设阈值，则确定需要切换所述电机的当前控制策略；
    若所述差值的绝对值小于或等于预设阈值，则确定不需要切换所述电机的当前控制策略。
  22. 根据权利要求20所述的电机控制装置，其特征在于，所述处理器在实现根据所述目标转速和所述当前转速确定是否需要切换所述电机的当前控制策略时，用于实现：
    根据所述目标转速和当前转速确定所述无人机的转速误差，并确定所述转速误差是否大于预设转速误差；
    若所述转速误差大于预设转速误差，则确定需要切换所述电机的当前控制策略；
    若所述转速误差小于或等于预设转速误差，则确定不需要切换所述电机的当前控制策略。
  23. 根据权利要求19所述的电机控制装置，其特征在于，所述当前运行参数包括电机的当前三相电流；所述处理器在实现根据所述当前运行参数确定是否需要切换所述电机的当前控制策略时，用于实现：
    确定所述当前三相电流中是否存在至少一个电流大于第一预设电流或者小于第二预设电流，其中，所述第一预设电流大于所述第二预设电流；
    若所述当前三相电流中存在至少一个电流大于第一预设电流或者小于第二预设电流，则确定需要切换所述电机的当前控制策略；
    若所述当前三相电流中的每相电流均位于所述第一预设电流与所述第二预设电流之间，则确定不需要切换所述电机的当前控制策略。
  24. 根据权利要求17至23中任一项所述的电机控制装置，其特征在于，所述处理器在实现根据所述目标控制策略控制所述电机运行时，用于实现：
    获取所述电机在所述目标控制策略下的初始转速和初始转子位置；
    获取所述电机的目标转速；
    根据所述初始转速、初始转子位置和目标转速确定所述电机的目标脉冲宽度调制信号，并根据所述目标脉冲宽度调制信号控制所述电机运行。
  25. 根据权利要求24所述的电机控制装置，其特征在于，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
    通过所述电机的位置传感器采集所述电机的当前转速和当前转子位置；
    将所述位置传感器采集到的当前转速和当前转子位置作为所述电机在所述目标控制策略下的初始转速和初始转子位置。
  26. 根据权利要求25所述的电机控制装置，其特征在于，所述位置传感器包括码盘、旋变传感器和磁编码器中的任一项。
  27. 根据权利要求25所述的电机控制装置，其特征在于，所述位置传感器的类型为电磁式位置传感器、磁敏式位置接近传感器和光电式位置传感器中的任一项。
  28. 根据权利要求24所述的电机控制装置，其特征在于，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
    获取所述电机的当前三相电压；
    根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
  29. 根据权利要求28所述的电机控制装置，其特征在于，所述处理器在实现根据所述当前三相电压确定所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
    确定所述当前三相电压的合成电压矢量，并确定所述合成电压矢量的幅值和相位；
    获取所述电机的永磁体磁链，并根据所述永磁体磁链和所述合成电压矢量的幅值，确定所述电机的角速度；
    获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数，确定所述电机在所述目标控制策略下的初始转速；
    将所述合成电压矢量的相位作为所述电机在所述目标控制策略下的初始转子位置。
  30. 根据权利要求24所述的电机控制装置，其特征在于，所述处理器在实现获取所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
    获取所述电机的第一三相电压和第二三相电压，其中，所述第一三相电压的采集时刻点与所述第二三相电压的采集时刻点间隔预设时间；
    根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置。
  31. 根据权利要求30所述的电机控制装置，其特征在于，所述处理器在实现根据所述第一三相电压、所述第二三相电压和所述预设时间确定所述电机在所述目标控制策略下的初始转速和初始转子位置时，用于实现：
    根据所述第一三相电压和第二三相电压确定所述电机的相位变化量；
    根据所述相位变化量和所述预设时间确定所述电机的角速度；
    获取所述电机的电机极对数，并根据所述电机的角速度和电机极对数确定所述电机在所述目标控制策略下的初始转速；
    根据所述第一三相电压或第二三相电压确定所述电机在所述目标控制策略下的初始转子位置。
  32. 根据权利要求31所述的电机控制装置，其特征在于，所述处理器在实现根据所述第一三相电压和第二三相电压确定所述电机的相位变化量时，用于实现：
    根据所述第一三相电压确定所述电机的第一相位；
    根据所述第二三相电压确定所述电机的第二相位；
    根据所述第一相位和所述第二相位确定所述电机的相位变化量。
  33. 一种可移动平台，其特征在于，所述可移动平台包括电机、电机控制电路和如权利要求17至32中任一项所述的电机控制装置，所述电机与所述电机控制电路连接，所述电机控制电路与所述电机控制装置连接。
  34. 根据权利要求33所述的可移动平台，其特征在于，所述电机控制电路 包括逆变电路、电流采样电路和电压采样电路，所述逆变电路与所述电机连接，所述电机分别与所述电流采样电路和电压采样电路连接，所述电流采样电路用于采集所述电机的三相电流，所述电压采样电路用于采集所述电机的三相电压。
  35. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1至16中任一项所述的电机控制方法。
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