WO2021253782A1

WO2021253782A1 - Method and apparatus for controlling oil-gas pump electric motor

Info

Publication number: WO2021253782A1
Application number: PCT/CN2020/139003
Authority: WO
Inventors: 王宜怀; 韦雪婷; 许粲昊; 王进; 贾长庆
Original assignee: 苏州大学
Priority date: 2020-06-16
Filing date: 2020-12-24
Publication date: 2021-12-23
Also published as: CN111697900A

Abstract

Disclosed are a method and apparatus for controlling an oil-gas pump electric motor, which relate to the technical field of oil-gas pump electric motors. The method comprises: obtaining a given speed of an electric motor; performing speed regulation on the given speed to obtain a first speed; obtaining a given current corresponding to the given speed of the electric motor; performing current regulation on the given current by means of a second regulation system so as to obtain a first current; obtaining a first closed-loop control system according to the given speed, the first speed and the first current, wherein the first closed-loop control system is an electric motor speed loop control system; obtaining a second closed-loop control system according to the first speed and a phase conversion signal, wherein the second closed-loop control system is a position loop control system; obtaining an AD signal according to the first current; performing filtering processing on the AD signal to obtain a second current; and obtaining a third closed-loop control system according to the first current and the second current, wherein the third closed-loop control system is a current control system. The technical effect of three closed-loop control structures being used to regulate an electric motor, such that the electric motor has a strong anti-interference capability, and the control accuracy is high is achieved.

Description

Method and device for controlling air-air pump motor

Technical field

The present application relates to the technical field of oil and gas pump motors, and in particular to a method and device for controlling an oil and gas pump motor.

Background technique

Gas stations will leak oil and gas during the process of storing, transporting, and selling gasoline, causing problems such as safety, environmental protection, and low energy utilization, forcing gas stations to establish oil and gas recovery systems for oil and gas recovery. In the oil and gas recovery system, the device that recovers the oil and gas volatilized near the mouth of the car's fuel tank during the refueling process to the oil tank is called an oil and gas recovery pump, or oil and gas pump for short. As a vital device in the oil and gas recovery system, the oil and gas pumps are particularly critical to the stability, safety and maintainability of the system.

However, in the process of implementing the technical solutions in the embodiments of the present application, the inventor of the present application found that the above-mentioned prior art has at least the following technical problems:

The motor control system of the oil and gas pump in the prior art adopts a double closed-loop control structure, and the motor has poor anti-interference ability and poor control accuracy.

Technical solutions

The embodiment of the application solves the technical problems of the prior art oil-air pump motor control system adopting a double closed-loop control structure, poor anti-interference ability, and poor control accuracy by providing an air-air pump motor control method and device, and achieves the use of three closed loops. The control structure adjusts the motor, and the motor has strong anti-interference ability and high control accuracy.

In order to solve the above-mentioned problems, in the first aspect, an embodiment of the present application provides a method for controlling an air-fuel pump motor. The method includes: obtaining a given speed of the motor; The first speed; obtain the given current corresponding to the given speed of the motor; perform current adjustment on the given current through the second adjustment system to obtain the first current; according to the given speed, the first speed and the The first current obtains a first closed-loop control system, the first closed-loop control system is a motor speed loop control system; according to the first speed and the commutation signal, a second closed-loop control system is obtained, the second closed-loop control system Is a position loop control system; obtains an AD signal according to the first current; filters the AD signal to obtain a second current; obtains a third closed-loop control system according to the first current and the second current, The third closed-loop control system is a current control system.

Preferably, the method includes: obtaining a first predetermined current threshold; obtaining a real-time current of the motor; determining whether the real-time current exceeds the first predetermined current threshold; if the real-time current exceeds the first predetermined current Threshold value, obtaining a first control instruction, and the first control instruction is used to control the motor to stop running.

Preferably, the method includes: obtaining a first predetermined voltage threshold; obtaining a real-time voltage of the motor; determining whether the real-time current exceeds the first predetermined voltage threshold; if the real-time voltage exceeds the first predetermined voltage Threshold value, a second control instruction is obtained, and the second control instruction is used to control the motor to stop running.

Preferably, the method includes: obtaining a first parameter adjustment rule; obtaining a proportional parameter, an integral parameter, and a derivative control parameter of the first adjustment system and/or the second adjustment system; the first adjustment system and/or the second adjustment system The second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule.

Preferably, the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule, including: obtaining the first parameter The output value of the adjustment system and/or the second adjustment system; obtain the set target value; determine whether the output value is less than the set target value; if the output value is greater than or equal to the set target value, obtain A first adjustment instruction, where the first adjustment instruction is used to reduce the integral parameter.

Preferably, the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule, including: obtaining the first parameter The convergence time of the adjustment system and/or the second adjustment system; obtain a predetermined time threshold; determine whether the convergence time exceeds the predetermined time threshold; if the convergence time exceeds the predetermined time threshold, obtain a second adjustment instruction , The second adjustment instruction is used to increase the proportional parameter.

Preferably, the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule, including: obtaining the first parameter The sensitivity of the output value of the adjustment system and/or the second adjustment system to the signal; obtain a predetermined sensitivity threshold; determine whether the sensitivity exceeds the predetermined sensitivity threshold; if the sensitivity exceeds the predetermined sensitivity Degree threshold value, a third adjustment instruction is obtained, and the third adjustment instruction is used to decrease the differential control instruction.

In a second aspect, an embodiment of the present application also provides an oil-air pump motor control device, the device includes: a first obtaining unit, the first obtaining unit is used to obtain a given speed of the motor; a second obtaining unit, the The second obtaining unit is used to perform speed adjustment on the given speed through the first adjustment system to obtain the first speed; the third obtaining unit is used to obtain the given current corresponding to the given speed of the motor; A fourth obtaining unit, the fourth obtaining unit is used to perform current adjustment on the given current through a second adjustment system to obtain the first current; a fifth obtaining unit, the fifth obtaining unit is used to perform current adjustment according to the given current Fixed speed, said first speed and said first current to obtain a first closed-loop control system, said first closed-loop control system is a motor speed loop control system; a sixth obtaining unit, said sixth obtaining unit is used to obtain The first speed and the commutation signal obtain a second closed-loop control system, the second closed-loop control system is a position loop control system; a seventh obtaining unit, the seventh obtaining unit is configured to obtain AD signal; an eighth obtaining unit, the eighth obtaining unit is used to perform filtering processing on the AD signal to obtain a second current; a ninth obtaining unit, the ninth obtaining unit is used to obtain a second current according to the first current and The second current obtains a third closed-loop control system, and the third closed-loop control system is a current control system.

Preferably, the device includes: a tenth obtaining unit, the tenth obtaining unit is used to obtain a first predetermined current threshold; an eleventh obtaining unit, the eleventh obtaining unit is used to obtain the real-time current of the motor A first judging unit, the first judging unit is used to judge whether the real-time current exceeds the first predetermined current threshold; a twelfth obtaining unit, the twelfth obtaining unit is used to if the real-time current exceeds The first predetermined current threshold obtains a first control instruction, and the first control instruction is used to control the motor to stop running.

Preferably, the device includes: a thirteenth obtaining unit, the thirteenth obtaining unit is used to obtain a first predetermined voltage threshold; a fourteenth obtaining unit, the fourteenth obtaining unit is used to obtain the motor Real-time voltage; a second judging unit, the second judging unit is used to judge whether the real-time current exceeds the first predetermined voltage threshold; a fifteenth obtaining unit, the fifteenth obtaining unit is used to determine if the real-time current When the voltage exceeds the first predetermined voltage threshold, a second control instruction is obtained, and the second control instruction is used to control the motor to stop running.

Preferably, the device includes: a sixteenth obtaining unit, the sixteenth obtaining unit is used to obtain the first parameter adjustment rule; a seventeenth obtaining unit, the seventeenth obtaining unit is used to obtain the first adjustment system And/or the proportional parameters, integral parameters, and differential control parameters of the second adjustment system; the first adjustment unit, the first adjustment unit is used for the first adjustment system and/or the second adjustment system according to the The first parameter adjustment rule adjusts the proportional parameter, the integral parameter, and the derivative control parameter.

Preferably, the device includes: an eighteenth obtaining unit, the eighteenth obtaining unit is used to obtain the output value of the first adjustment system and/or the second adjustment system; the nineteenth obtaining unit, the The nineteenth obtaining unit is used to obtain the set target value; the third judging unit is used to judge whether the output value is less than the set target value; the twentieth obtaining unit is used to obtain the set target value; The twenty obtaining unit is configured to obtain a first adjustment instruction if the output value is greater than or equal to the set target value, and the first adjustment instruction is used to decrease the integral parameter.

Preferably, the device includes: a twenty-first obtaining unit, the twenty-first obtaining unit is configured to obtain the convergence time of the first adjustment system and/or the second adjustment system; the twenty-second obtain Unit, the twenty-second obtaining unit is used to obtain a predetermined time threshold; a fourth judging unit, the fourth judging unit is used to judge whether the convergence time exceeds the predetermined time threshold; the twenty-third obtaining unit, The twenty-third obtaining unit is configured to obtain a second adjustment instruction if the convergence time exceeds the predetermined time threshold, and the second adjustment instruction is used to increase the proportional parameter.

Preferably, the device includes: a twenty-fourth obtaining unit configured to obtain the sensitivity of the output value of the first adjustment system and/or the second adjustment system to a signal; A twenty-fifth obtaining unit, the twenty-fifth obtaining unit is configured to obtain a predetermined sensitivity threshold; a fifth determining unit, the fifth determining unit is configured to determine whether the sensitivity exceeds the predetermined sensitivity threshold; A twenty-sixth obtaining unit, the twenty-sixth obtaining unit is configured to obtain a third adjustment instruction if the sensitivity exceeds the predetermined sensitivity threshold, and the third adjustment instruction is used to decrease the differential control instruction.

In the third aspect, an embodiment of the present application also provides an oil-air pump motor control device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor executes the program when the program is executed. The following steps: obtain the given speed of the motor; adjust the given speed through the first adjustment system to obtain the first speed; obtain the given current corresponding to the given speed of the motor; Adjust the current to obtain a first current; obtain a first closed-loop control system according to the given speed, the first speed and the first current, and the first closed-loop control system is a motor speed loop control system; According to the first speed and the commutation signal, obtain a second closed-loop control system, the second closed-loop control system is a position loop control system; obtain an AD signal according to the first current; filter the AD signal, Obtain a second current; obtain a third closed-loop control system according to the first current and the second current, and the third closed-loop control system is a current control system.

In a fourth aspect, the embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following steps are implemented: Obtain a given speed of the motor; Perform speed adjustment on the given speed to obtain the first speed; obtain the given current corresponding to the given speed of the motor; perform current adjustment on the given current through the second adjustment system to obtain the first current; according to the given speed , The first speed and the first current obtain a first closed-loop control system, the first closed-loop control system is a motor speed loop control system; according to the first speed and the commutation signal, a second closed-loop control is obtained System, the second closed-loop control system is a position loop control system; an AD signal is obtained according to the first current; the AD signal is filtered to obtain a second current; according to the first current and the second current Current, obtain a third closed-loop control system, and the third closed-loop control system is a current control system.

Beneficial effect

The above-mentioned one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects: The embodiments of the present application provide a method and device for controlling an oil-air pump motor, and the method includes: obtaining a given motor Speed; speed adjustment of the given speed by the first adjustment system to obtain the first speed; obtain the given current corresponding to the given speed of the motor; current adjustment of the given current by the second adjustment system to obtain the first speed A current; according to the given speed, the first speed and the first current, obtain a first closed-loop control system, the first closed-loop control system is a motor speed loop control system; according to the first speed and The commutation signal is used to obtain a second closed-loop control system, the second closed-loop control system is a position loop control system; an AD signal is obtained according to the first current; the AD signal is filtered to obtain a second current; The first current and the second current obtain a third closed-loop control system, and the third closed-loop control system is a current control system. It solves the technical problems of the prior art oil-gas pump motor control system using double closed-loop control structure, poor anti-interference ability and poor control accuracy, and achieves the use of three-closed-loop control structure to adjust the motor, and the motor has strong anti-interference ability and control accuracy. High technical effect.

The above description is only an overview of the technical solution of this application. In order to understand the technical means of this application more clearly, it can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, features and advantages of this application more obvious and understandable. , The specific implementations of this application are cited below.

Description of the drawings

FIG. 1 is a schematic flow chart of a method for controlling an oil and gas pump motor in an embodiment of the present invention;

2 is a schematic structural diagram of a control device for an oil-air pump motor in an embodiment of the present invention;

Figure 3 is a schematic structural diagram of another oil-air pump motor control device in an embodiment of the present invention;

Fig. 4 is a three-closed-loop control framework diagram of an oil-air pump motor control method in an embodiment of the present invention.

Description of reference signs: first obtaining unit 11, second obtaining unit 12, third obtaining unit 13, fourth obtaining unit 14, fifth obtaining unit 15, sixth obtaining unit 16, seventh obtaining unit 17, eighth obtaining Unit 18, ninth obtaining unit 19, bus 300, receiver 301, processor 302, transmitter 303, memory 304, bus interface 306.

Embodiments of the present invention

The embodiments of the present application provide a method and device for controlling an oil-air pump motor, which solves the technical problems of the prior art oil-air pump motor control system adopting a double closed-loop control structure, poor anti-interference ability, and poor control accuracy, and achieves the use of three closed loops. The control structure adjusts the motor, and the motor has strong anti-interference ability and high control accuracy.

In order to solve the above technical problems, the general idea of the technical solution provided by this application is as follows:

An air-air pump motor control method, the method comprising: the method includes: obtaining a given speed of the motor; performing speed adjustment on the given speed through a first adjustment system to obtain the first speed; obtaining the corresponding speed of the motor given The given current; the given current is adjusted by the second adjustment system to obtain the first current; the first closed-loop control system is obtained according to the given speed, the first speed and the first current , The first closed loop control system is a motor speed loop control system; according to the first speed and the commutation signal, a second closed loop control system is obtained, and the second closed loop control system is a position loop control system; A current is used to obtain an AD signal; the AD signal is filtered to obtain a second current; a third closed-loop control system is obtained according to the first current and the second current, and the third closed-loop control system is current control system. It solves the technical problems of the prior art oil-gas pump motor control system using double closed-loop control structure, poor anti-interference ability and poor control accuracy, and achieves the use of three-closed-loop control structure to adjust the motor, and the motor has strong anti-interference ability and control accuracy. High technical effect.

The following describes the technical solutions of the present application in detail through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limiting the technical solutions of the present application. If there is no conflict, the embodiments of the application and the technical features in the embodiments can be combined with each other.

Example one

An embodiment of the present invention provides an oil-air pump motor control method. Please refer to Figures 1 and 4. The method is applied to an oil-air pump motor control system, and the method includes:

Step S110: Obtain a given speed of the motor;

Specifically, the motor is the motor of the oil-air pump, and a Hall sensor is used to monitor the rotation speed of the motor in real time, and the given speed is the rotation speed of the motor monitored by the Hall sensor.

Step S120: Perform speed adjustment on the given speed through a first adjustment system to obtain a first speed;

Specifically, this embodiment adopts three closed-loop control for the speed, current, and position of the motor, and the framework diagram of the three-closed-loop control is shown in FIG. 4. The accuracy of the Hall sensor will affect the measurement accuracy of the motor speed, that is, the accuracy of the given speed is affected by the accuracy of the Hall sensor. The given speed is input to the first adjustment system, and the first adjustment system adjusts the given speed, eliminates errors caused by the Hall sensor measurement process, and obtains the first speed. The speed is closer to the real speed of the motor than the given speed, achieving error compensation for the motor speed measured by the Hall sensor, and improving the accuracy of the motor speed measurement without increasing hardware costs. After the first adjustment system adjusts the given speed, the first speed is transferred to the second adjustment system.

Step S130: Obtain a given current corresponding to a given speed of the motor;

Specifically, the given current is the current of the motor detected in real time, that is, when the rotation speed of the motor is the given speed, the collected current of the motor is the given Current.

Step S140: Perform current adjustment on the given current through a second adjustment system to obtain a first current;

Specifically, because there is an error in the current detection process, the given current is input to the second regulating system, and the second regulating system is used to regulate the given current and eliminate the given current In the error, the first current is obtained. That is, the first current is closer to the true current value of the motor than the given current, so as to eliminate errors in the current measurement process, improve the accuracy of motor current detection without increasing hardware costs, and ensure the The technical effect of motor torque output.

At the same time, the second adjustment system also adjusts the given current according to the first speed, so that the first current matches the first speed, avoids excessive motor current, and limits the maximum current of the motor , To avoid the technical effect of the motor being damaged due to excessive current.

Step S150: Obtain a first closed loop control system according to the given speed, the first speed and the first current, where the first closed loop control system is a motor speed loop control system;

Specifically, the first closed-loop control system includes the given speed, the first regulating system, the first speed, and the first current, and the second regulating system performs the control on the given current. After the adjustment, the first current is input to the first adjustment system, and the first adjustment system further adjusts the given speed according to the first current, so that the first speed is the same as the first speed. The currents are matched to avoid excessive speed fluctuations when the load of the motor changes, thereby achieving the technical effect of anti-interference.

Step S160: Obtain a second closed-loop control system according to the first speed and the commutation signal, where the second closed-loop control system is a position loop control system;

Specifically, the motor is a brushless DC motor, and the current commutation of the brushless DC motor needs to be based on the position signal output by the Hall sensor. The mechanical speed of the motor is proportional to the frequency of the Hall signal, so the signal detected by the Hall sensor is both position information and real-time speed information. The second closed-loop control system includes the commutation signal and the first speed, and the second closed-loop control system adjusts the commutation signal according to the first speed to ensure that the commutation signal Therefore, the technical effect of ensuring the normal commutation of the motor and preventing premature or delayed commutation of the motor is achieved.

Step S170: Obtain an AD signal according to the first current;

Specifically, the first current is an analog signal, and the first current is subjected to AD conversion (Analog-to-Digital After Convert (analog-to-digital conversion), the first current is converted from an analog signal to a digital signal, that is, the AD signal is a digital signal of the first current.

Step S180: filtering the AD signal to obtain a second current;

Specifically, a plurality of the AD signals are collected, and a digital filter is used to filter the plurality of AD signals to obtain a plurality of third currents, and then the plurality of third currents are averaged to obtain the The second current. The filtering process filters out the burr signal of the AD signal, so that the filtered AD signal is smoother, and the second signal has the characteristics of strong anti-interference ability and small fluctuation.

Step S190: Obtain a third closed-loop control system according to the first current and the second current, where the third closed-loop control system is a current control system.

Specifically, the third closed-loop control system includes the first current, the second current, and the first regulation system, wherein the second current is the feedback value of the third closed-loop control system, namely The second current is input to the second ground adjustment system, and the second adjustment system further adjusts the first current according to the second current, so as to improve the anti-interference ability of the first current and prevent the first Excessive current damages the technical effect of the motor.

The embodiment of the present invention solves the technical problems of the prior art oil-gas pump motor control system adopting a double closed-loop control structure, which has poor anti-interference ability and poor control accuracy, and achieves the use of a three-closed-loop control structure to adjust the motor, and the motor has strong anti-interference ability , The technical effect of high control precision

Further, the method includes:

Obtaining the first predetermined current threshold;

Obtaining the real-time current of the motor;

Judging whether the real-time current exceeds the first predetermined current threshold;

If the real-time current exceeds the first predetermined current threshold, a first control instruction is obtained, and the first control instruction is used to control the motor to stop running.

Specifically, when the motor is locked and the torque is zero, but the torque still exists, the bus current value of the motor can reach 7 times or more of the rated current at this time. If the stall time is too long, the motor windings will be burned. The first preset current threshold is the current threshold of the motor bus, the real-time current is the real-time current of the motor bus, and the first preset current threshold is generally 7 times the rated current of the motor. When the real-time current exceeds the first predetermined current threshold, it indicates that the motor has a locked-rotor fault. At this time, the first control instruction is issued to control the motor to be powered off and stop the operation of the motor to achieve Avoid burning the motor due to motor blockage, and ensure the technical effect of motor safety.

Further, the method includes:

Obtaining the first predetermined voltage threshold;

Obtaining the real-time voltage of the motor;

Judging whether the real-time current exceeds the first predetermined voltage threshold;

If the real-time voltage exceeds the first predetermined voltage threshold, a second control instruction is obtained, and the second control instruction is used to control the motor to stop running.

Specifically, the first predetermined voltage threshold is a voltage range [M, N], where M<N, and both M and N are positive numbers. The real-time voltage is the real-time voltage value during the operation of the motor. When the real-time voltage is between [M, N], it means that the voltage of the motor is normal; when the real-time voltage is greater than N, it means that the voltage of the motor is normal. If the voltage of the motor is too high and the motor is in an overvoltage state, the second control instruction is immediately issued to turn off the power of the motor and stop the operation of the motor; when the real-time voltage is less than M, the motor is indicated If the voltage of is too low, the motor is in an undervoltage state, and the second control instruction is issued immediately to turn off the power of the motor and stop the operation of the motor. Achieve the technical effect of preventing overvoltage and undervoltage problems of the motor and protecting the motor from damage.

Further, the method includes:

Obtain the first parameter adjustment rule;

Obtaining proportional parameters, integral parameters, and derivative control parameters of the first regulation system and/or the second regulation system;

The first adjustment system and/or the second adjustment system adjust the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule.

Specifically, this embodiment is applicable to the first adjustment system and the second adjustment system. For ease of explanation, the first adjustment system is taken as an example for description.

The input value is input to the first adjustment system, and the output value is output after being adjusted by the first adjustment system. The first adjustment system adjusts the input value according to the first parameter adjustment rule, and the first adjustment The system includes the proportional parameter, the integral parameter, and the derivative control parameter, and the first adjustment system is specifically expressed as:

Wherein, s (t) is the input value, u (t) is the output value, K _p is a proportional parameter; T _i is the integral parameter; T _d to the derivative control parameter.

In the first adjustment system, by adjusting the proportional parameter, the integral parameter, and the derivative control parameter, the output value can be stabilized, achieving the technical effect of eliminating the system error of the first adjustment system .

Further, the adjustment of the proportional parameter, the integral parameter, and the derivative control parameter by the first adjustment system and/or the second adjustment system according to the first parameter adjustment rule includes:

Obtaining the output value of the first regulation system and/or the second regulation system;

Obtain the set target value;

Judging whether the output value is less than the set target value;

If the output value is greater than or equal to the set target value, a first adjustment instruction is obtained, and the first adjustment instruction is used to reduce the integral parameter.

Specifically, it is known from equation (1) that the integral effect increases as the integral parameter becomes smaller. When the output value is greater than the set target value, it indicates that the first adjustment system has a large deviation At this time, reduce the integration parameter, enhance the integration effect, and reduce the deviation between the output value and the target value.

Obtaining the convergence time of the first adjustment system and/or the second adjustment system;

Obtain a predetermined time threshold;

Judging whether the convergence time exceeds the predetermined time threshold;

If the convergence time exceeds the predetermined time threshold, a second adjustment instruction is obtained, and the second adjustment instruction is used to increase the proportional parameter.

Specifically, it is known from equation (1) that the proportional parameter is directly related to the response time of the first adjustment system, and the larger the proportional coefficient, the shorter the response time of the first adjustment system and the faster the response. The first adjustment system adjusts the output value to the target value within the convergence time. When the convergence time exceeds the predetermined time threshold, it indicates that the response time of the first adjustment system is too long. The larger the proportional coefficient can shorten the convergence time and achieve the technical effect of accelerating the corresponding speed of the first adjustment system.

Obtaining the sensitivity of the output value of the first regulation system and/or the second regulation system to the signal;

Obtain a predetermined sensitivity threshold;

Determine whether the sensitivity exceeds the predetermined sensitivity threshold;

If the sensitivity exceeds the predetermined sensitivity threshold, a third adjustment instruction is obtained, and the third adjustment instruction is used to decrease the differential control instruction.

Specifically, the rate of change of the output value reflects the sensitivity of the output value to the signal. From equation (1), the larger the differential parameter, the more obvious the differential effect, the more sensitive to glitch information, and the more sensitive to noise. The more obvious the amplification effect is, the weaker the anti-interference ability of the first system. Therefore, the differential parameter determines the sensitivity of the output value, and the larger the differential parameter, the greater the sensitivity of the output value. When the sensitivity is greater than the preset sensitivity threshold, it indicates that the output value is too sensitive to the signal. At this time, reduce the differential parameter, and reduce the sensitivity of the output value to the signal, so as to reduce the output value. The technical effect of adjusting the sensitivity of the value to the signal within a predetermined range.

Further, the method further includes:

Obtain the maximum error M _max ;

Obtain the minimum error M _min ;

Obtaining a first error value e _k , where the first error value is the k-th error value;

Judge whether the |e _k | is within the range of [M _min ,M _max ];

If the |e _k | >M _max , the first adjustment system and/or the second adjustment system output a preset maximum value or a preset minimum value;

If the |e _k | <M _min , the first adjustment system and/or the second adjustment system completes the adjustment.

Specifically, the error limit is the maximum error value allowed by the first adjustment system, and the minimum value of the error is the minimum error value of the first adjustment system. The first error value is expressed as:

e _k =s _k -u _k ,

Among them, e _k is the error value _{of the k-th sampling data, and sk} is the input value of the k-th sampling data.

When the |e _k |> M _max , it means that the error between the output value of the first adjustment system and the target value is huge, and exceeds the maximum range. In order to ensure accuracy and response efficiency, the output of the first adjustment system is The preset maximum value or the preset minimum value, wherein the preset maximum value is selected by the first adjustment system to output the output value according to the error maximum value, and the preset minimum value is The first adjustment system selects to output the output value according to the minimum error. Specifically, when e _k > 0, the first adjustment system outputs the preset maximum value, otherwise, the first adjustment system outputs the preset minimum value. When |e _k | <M _min , it indicates that the error between the output value of the first adjustment system and the target value has entered a steady state, achieving the purpose of adjustment, and the first adjustment system has completed the adjustment task.

Further, the method includes:

Obtain a second error value e _k-1 , where the second error value is the error value of the k-1th time;

Obtain the first error change value △e _k , where △e _k ₌ e _k -e _k-1 ;

If e _k *△e _k > 0 and |e _k |> M _mid , the first regulation system and/or the second regulation system selects a stronger control output;

If e _k *△e _k > 0 and |e _k | <M _mid , the first regulation system and/or the second regulation system selects a weaker control output.

Specifically, the second error value is an error value of the sample value before the first error value.

When e _k * △e _k > 0, it indicates that the error between the output value of the first adjustment system and the target value is increasing. At this time, if |e _k |> M _mid , it indicates that the first adjustment The error of the system is relatively large, and the first regulation system selects a relatively strong control output. If |e _k |<M _mid , it indicates that the error of the first adjustment system is relatively small, and at this time, the first adjustment system selects a weaker control output. The adjustment condition of the adjustment system is judged according to the change of the error value of the two adjacent samples, so as to select an appropriate control output to achieve the technical effect of accelerating the adjustment speed of the adjustment system.

Further, the method includes:

Obtain a third error value e _k-2 , where the third error value is the error value of the k-2th time;

Obtain the first error change value △e _k-1 , where △e _k-1 =e _k-1 -e _k-2 ;

If e _k *△e _k <0, and △e _k *△e _k-1 > 0 or e _k = 0, the first adjustment system and/or the second adjustment system need not be adjusted;

If e _k *△e _k <0, △e _k *△e _k-1 <0 or e _k = 0, judge the magnitude of _{|e k} | and M _mid;

If |e _k |> M _mid , the first regulation system and/or the second regulation system select a stronger control output;

If |e _k | <M _mid , the first regulation system and/or the second regulation system selects a weaker control output.

Specifically, if e _k * △ek <0 and △e _k * △e _k-1 > 0 or e _k = 0, it indicates that the error of the first adjustment system is gradually decreasing or has entered a saturated state At this time, the first adjustment system does not need to be adjusted, and just outputs the input value as it is.

When e _k * △e _k <0 and △e _k * △e _k-1 <0 or e _k = 0, it indicates that the error of the first adjustment system is gradually getting smaller. At this time, if |e _k | > M _mid , indicating that the error of the first adjustment system is still large, and the first adjustment system uses a stronger control output; if |e _k | <M _mid , it indicates that the first adjustment If the error of the system is relatively small, the first regulation system selects a weaker control output. Wherein, increasing the proportional parameter can enhance the control output; decreasing the proportional coefficient can decrease the control output. If the proportional parameter corresponding to the stronger control output is a first proportional parameter, and the proportional parameter corresponding to the weaker control output is a second proportional parameter, the second proportional parameter is smaller than the first proportional parameter .

Example two

Based on the same inventive concept as the control method of an oil-air pump motor in the foregoing embodiment, the present invention also provides an oil-air pump motor control device. As shown in FIG. 2, the device includes:

A first obtaining unit 11, the first obtaining unit 11 is configured to obtain a given speed of the motor;

A second obtaining unit 12, the second obtaining unit 12 is configured to perform speed adjustment on the given speed through a first adjustment system to obtain the first speed;

The third obtaining unit 13 is configured to obtain a given current corresponding to a given speed of the motor;

A fourth obtaining unit 14, the fourth obtaining unit 14 is configured to perform current adjustment on the given current through a second adjustment system to obtain the first current;

The fifth obtaining unit 15 is configured to obtain a first closed-loop control system according to the given speed, the first speed and the first current, and the first closed-loop control system is a motor Speed loop control system;

A sixth obtaining unit 16, the sixth obtaining unit 16 is configured to obtain a second closed-loop control system according to the first speed and the commutation signal, and the second closed-loop control system is a position loop control system;

A seventh obtaining unit 17, the seventh obtaining unit 17 is configured to obtain an AD signal according to the first current;

An eighth obtaining unit 18, the eighth obtaining unit 18 is configured to perform filtering processing on the AD signal to obtain a second current;

The ninth obtaining unit 19 is configured to obtain a third closed-loop control system according to the first current and the second current, and the third closed-loop control system is a current control system.

Further, the device includes:

A tenth obtaining unit, the tenth obtaining unit is configured to obtain a first predetermined current threshold;

An eleventh obtaining unit, where the eleventh obtaining unit is used to obtain the real-time current of the motor;

A first judging unit, the first judging unit is configured to judge whether the real-time current exceeds the first predetermined current threshold;

The twelfth obtaining unit is configured to obtain a first control instruction if the real-time current exceeds the first predetermined current threshold, and the first control instruction is used to control the motor to stop running.

Further, the device includes:

A thirteenth obtaining unit, where the thirteenth obtaining unit is configured to obtain a first predetermined voltage threshold;

A fourteenth obtaining unit, where the fourteenth obtaining unit is used to obtain the real-time voltage of the motor;

A second judging unit, the second judging unit is used to judge whether the real-time current exceeds the first predetermined voltage threshold;

A fifteenth obtaining unit, the fifteenth obtaining unit is configured to obtain a second control instruction if the real-time voltage exceeds the first predetermined voltage threshold, and the second control instruction is used to control the motor to stop running.

Further, the device includes:

A sixteenth obtaining unit, where the sixteenth obtaining unit is used to obtain the first parameter adjustment rule;

A seventeenth obtaining unit, the seventeenth obtaining unit is configured to obtain proportional parameters, integral parameters, and derivative control parameters of the first adjustment system and/or the second adjustment system;

The first adjustment unit, the first adjustment unit is used for the first adjustment system and/or the second adjustment system to adjust the proportional parameter, the integral parameter, and the derivative according to the first parameter adjustment rule control parameter.

Further, the device includes:

An eighteenth obtaining unit, the eighteenth obtaining unit is configured to obtain an output value of the first adjustment system and/or the second adjustment system;

A nineteenth obtaining unit, where the nineteenth obtaining unit is used to obtain a set target value;

A third judging unit, the third judging unit is used to judge whether the output value is less than the set target value;

A twentieth obtaining unit, the twentieth obtaining unit is configured to obtain a first adjustment instruction if the output value is greater than or equal to the set target value, and the first adjustment instruction is used to decrease the integral parameter.

Further, the device includes:

A twenty-first obtaining unit, where the twenty-first obtaining unit is configured to obtain the convergence time of the first adjustment system and/or the second adjustment system;

A twenty-second obtaining unit, where the twenty-second obtaining unit is configured to obtain a predetermined time threshold;

A fourth judging unit, the fourth judging unit is configured to judge whether the convergence time exceeds the predetermined time threshold;

A twenty-third obtaining unit, the twenty-third obtaining unit is configured to obtain a second adjustment instruction if the convergence time exceeds the predetermined time threshold, and the second adjustment instruction is used to increase the proportional parameter.

Further, the device includes:

A twenty-fourth obtaining unit, the twenty-fourth obtaining unit is configured to obtain the sensitivity of the output value of the first adjustment system and/or the second adjustment system to a signal;

A twenty-fifth obtaining unit, the twenty-fifth obtaining unit is configured to obtain a predetermined sensitivity threshold;

A fifth judging unit, the fifth judging unit is configured to judge whether the sensitivity exceeds the predetermined sensitivity threshold;

A twenty-sixth obtaining unit, the twenty-sixth obtaining unit is configured to obtain a third adjustment instruction if the sensitivity exceeds the predetermined sensitivity threshold, and the third adjustment instruction is used to decrease the differential control instruction.

The various variations and specific examples of the control method of an oil and gas pump motor in the first embodiment of FIG. 1 are also applicable to the control device of an oil and gas pump motor of this embodiment. Description, those skilled in the art can clearly know the implementation method of the air-air pump motor control device in this embodiment, so for the sake of brevity of the description, it will not be described in detail here.

Example three

Based on the same inventive concept as the control method of an oil-air pump motor in the foregoing embodiment, the present invention also provides a control device for an air-air pump motor, on which a computer program is stored, and when the program is executed by a processor, the aforementioned method is realized Steps of any method in the control method of the air-air pump motor.

Among them, in FIG. 3, the bus architecture (represented by a bus 300), the bus 300 can include any number of interconnected buses and bridges, and the bus 300 will include one or more processors represented by the processor 302 and a memory 304 representing The various circuits of the memory are linked together. The bus 300 may also link various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are all known in the art, and therefore, no further description will be given herein. The bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, that is, a transceiver, which provides a unit for communicating with various other devices on the transmission medium.

The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used to store data used by the processor 302 when performing operations.

Embodiment four

Based on the same inventive concept as the control method of an oil-air pump motor in the foregoing embodiment, the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following steps are implemented:

Obtain the given speed of the motor;

Performing speed adjustment on the given speed by the first adjustment system to obtain the first speed;

Obtain the given current corresponding to the given speed of the motor;

Performing current adjustment on the given current by the second adjustment system to obtain the first current;

Obtaining a first closed loop control system according to the given speed, the first speed and the first current, where the first closed loop control system is a motor speed loop control system;

Obtaining a second closed-loop control system according to the first speed and the commutation signal, where the second closed-loop control system is a position loop control system;

Obtaining an AD signal according to the first current;

Filtering the AD signal to obtain a second current;

According to the first current and the second current, a third closed-loop control system is obtained, and the third closed-loop control system is a current control system.

In the specific implementation process, when the program is executed by the processor, any method step in the first embodiment can also be implemented.

The above one or more technical solutions in the embodiments of this application have at least one or more of the following technical effects:

The embodiment of the present application provides a method and device for controlling an air-air pump motor. The method includes: obtaining a given speed of a motor; performing speed adjustment on the given speed through a first adjustment system to obtain the first speed; A given current corresponding to a given speed; current regulation is performed on the given current through a second regulating system to obtain a first current; according to the given speed, the first speed and the first current, the first current is obtained Closed-loop control system, the first closed-loop control system is a motor speed loop control system; according to the first speed and commutation signal, a second closed-loop control system is obtained, and the second closed-loop control system is a position loop control system; The first current obtains an AD signal; the AD signal is filtered to obtain a second current; according to the first current and the second current, a third closed-loop control system is obtained, the third closed-loop control system It is the current control system. It solves the technical problem of inaccurate acquisition of slice bitmap contours and inaccurate printing of slice bitmaps in the prior art, thereby causing inaccurate 3D printing models, achieving accurate acquisition of slice bitmap contour information and improving the accuracy of slice bitmap printing The technical effect of improving the accuracy of the 3D printing model.

Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

A method for controlling an air-air pump motor, characterized in that the method includes:

Obtain the given speed of the motor;

Performing speed adjustment on the given speed by the first adjustment system to obtain the first speed;

Obtain the given current corresponding to the given speed of the motor;

Performing current adjustment on the given current by the second adjustment system to obtain the first current;

Obtaining a first closed loop control system according to the given speed, the first speed and the first current, where the first closed loop control system is a motor speed loop control system;

Obtaining a second closed-loop control system according to the first speed and the commutation signal, where the second closed-loop control system is a position loop control system;

Obtaining an AD signal according to the first current;

Filtering the AD signal to obtain a second current;

According to the first current and the second current, a third closed-loop control system is obtained, and the third closed-loop control system is a current control system.
The method of claim 1, wherein the method comprises:

Obtaining the first predetermined current threshold;

Obtaining the real-time current of the motor;

Judging whether the real-time current exceeds the first predetermined current threshold;

If the real-time current exceeds the first predetermined current threshold, a first control instruction is obtained, and the first control instruction is used to control the motor to stop running.
The method of claim 1, wherein the method comprises:

Obtaining the first predetermined voltage threshold;

Obtaining the real-time voltage of the motor;

Judging whether the real-time current exceeds the first predetermined voltage threshold;

If the real-time voltage exceeds the first predetermined voltage threshold, a second control instruction is obtained, and the second control instruction is used to control the motor to stop running.
The method of claim 1, wherein the method comprises:

Obtain the first parameter adjustment rule;

Obtaining proportional parameters, integral parameters, and derivative control parameters of the first regulation system and/or the second regulation system;

The first adjustment system and/or the second adjustment system adjust the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule.
The method of claim 4, wherein the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule ,include:

Obtaining the output value of the first regulation system and/or the second regulation system;

Obtain the set target value;

Judging whether the output value is less than the set target value;

If the output value is greater than or equal to the set target value, a first adjustment instruction is obtained, and the first adjustment instruction is used to reduce the integral parameter.
The method of claim 4, wherein the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule ,include:

Obtaining the convergence time of the first adjustment system and/or the second adjustment system;

Obtain a predetermined time threshold;

Judging whether the convergence time exceeds the predetermined time threshold;

If the convergence time exceeds the predetermined time threshold, a second adjustment instruction is obtained, and the second adjustment instruction is used to increase the proportional parameter.
The method of claim 4, wherein the first adjustment system and/or the second adjustment system adjusts the proportional parameter, the integral parameter, and the derivative control parameter according to the first parameter adjustment rule ,include:

Obtaining the sensitivity of the output value of the first regulation system and/or the second regulation system to the signal;

Obtain a predetermined sensitivity threshold;

Determine whether the sensitivity exceeds the predetermined sensitivity threshold;

If the sensitivity exceeds the predetermined sensitivity threshold, a third adjustment instruction is obtained, and the third adjustment instruction is used to decrease the differential control instruction.
An oil-air pump motor control device, characterized in that the device includes:

A first obtaining unit, where the first obtaining unit is used to obtain a given speed of the motor;

A second obtaining unit, the second obtaining unit is configured to perform speed adjustment on the given speed through a first adjustment system to obtain the first speed;

A third obtaining unit, where the third obtaining unit is used to obtain a given current corresponding to a given speed of the motor;

A fourth obtaining unit, the fourth obtaining unit is configured to perform current adjustment on the given current through a second adjustment system to obtain the first current;

A fifth obtaining unit, the fifth obtaining unit is configured to obtain a first closed-loop control system according to the given speed, the first speed, and the first current, and the first closed-loop control system is a motor speed loop Control System;

A sixth obtaining unit, the sixth obtaining unit is configured to obtain a second closed-loop control system according to the first speed and the commutation signal, the second closed-loop control system being a position loop control system;

A seventh obtaining unit, the seventh obtaining unit is configured to obtain an AD signal according to the first current;

An eighth obtaining unit, the eighth obtaining unit is configured to perform filtering processing on the AD signal to obtain a second current;

The ninth obtaining unit is configured to obtain a third closed-loop control system according to the first current and the second current, and the third closed-loop control system is a current control system.
An oil-air pump motor control device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements any one of claims 1-7 when the program is executed The steps of the method described in item.
A computer-readable storage medium with a computer program stored thereon, characterized in that the program implements the steps of any one of claims 1-7 when the program is executed by a processor.