WO2022151775A1 - 电机的控制方法及装置 - Google Patents

电机的控制方法及装置 Download PDF

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Publication number
WO2022151775A1
WO2022151775A1 PCT/CN2021/123799 CN2021123799W WO2022151775A1 WO 2022151775 A1 WO2022151775 A1 WO 2022151775A1 CN 2021123799 W CN2021123799 W CN 2021123799W WO 2022151775 A1 WO2022151775 A1 WO 2022151775A1
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WIPO (PCT)
Prior art keywords
duty cycle
motor
waveform
lead angle
waveform parameter
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PCT/CN2021/123799
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English (en)
French (fr)
Inventor
林乃劲
李湘
黄秋鸣
吴文贤
敖文彬
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珠海格力电器股份有限公司
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Publication of WO2022151775A1 publication Critical patent/WO2022151775A1/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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed

Definitions

  • the present application relates to the field of motor control, and in particular, to a method and device for controlling a motor.
  • the speed of the motor is often abruptly changed.
  • the current of the motor suddenly increases, which causes the speed of the motor to suddenly increase, and the current of the motor suddenly decreases, resulting in a sudden increase in the speed of the motor. become smaller.
  • the speed of the motor is very easy to be abnormal in the process of sudden increase or sudden decrease, resulting in the sudden shutdown of the motor and other faults, so that it cannot run normally.
  • Embodiments of the present application provide a method and device for controlling a motor, so as to at least solve the technical problem in the related art that the motor fails due to a sudden change in the rotational speed of the motor.
  • a method for controlling a motor including: acquiring a first waveform parameter and a second waveform parameter, wherein the first waveform parameter is a waveform parameter of the first waveform collected by a sensor, and the first waveform parameter is a waveform parameter of the first waveform collected by a sensor.
  • the second waveform parameter is the waveform parameter of the second waveform of the target voltage, and the target voltage is the excitation voltage of the motor; based on the first waveform parameter and the second waveform parameter, the lead angle is determined, wherein the lead angle is used to represent the second waveform relative to the first waveform parameter.
  • a waveform advance angle based on the advance angle and the first algorithm, the working state of the motor is controlled.
  • controlling the working state of the motor based on the lead angle and the first algorithm includes: adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter; and controlling the working state of the motor based on the third waveform parameter .
  • the second waveform parameter includes: a first commutation point, the first commutation point is used to represent a position where the phase of the second waveform changes, and the third waveform parameter includes: the second commutation point or the third commutation point point, wherein, based on the lead angle and the first algorithm, adjusting the second waveform parameter to obtain the third waveform parameter includes: judging whether the lead angle is greater than the first preset value or less than the second preset value; In the case of a preset value, the first commutation point is controlled to lag based on the first algorithm to obtain the second commutation point; when the lead angle is smaller than the second preset value, the first commutation point is controlled based on the first algorithm In advance, the third commutation point is obtained; wherein, the second preset value is less than or equal to the first preset value.
  • the first waveform parameter includes: a transition edge, where the transition edge is used to represent a position where the level of the first waveform changes, wherein determining the lead angle based on the first waveform parameter and the second waveform parameter includes: based on The phase difference between the transition edge and the first commutation point determines the lead angle.
  • the method further includes: judging whether the lead angle is in a preset lead angle interval; when the lead angle is not in the preset lead angle interval, controlling the working state of the motor based on the lead angle and the first algorithm; When the angle is in the preset lead angle range, it is forbidden to control the working state of the motor.
  • the method further includes: acquiring a first duty cycle and a second duty cycle of the second waveform, wherein the first duty cycle is the duty cycle of the second waveform at the current moment, and the second duty cycle is the duty cycle of the second waveform at the previous moment of the current moment; based on the first duty cycle and the second duty cycle, the duty cycle change rate of the target voltage is determined; based on the duty cycle change rate and the second algorithm, Control the working state of the motor.
  • controlling the working state of the motor includes: adjusting the first duty cycle based on the duty cycle change rate and the second algorithm; based on the adjusted first duty cycle , to control the working state of the motor.
  • adjusting the first duty cycle includes: judging whether the duty cycle change rate is greater than the first preset duty cycle change rate, or smaller than the second preset duty cycle ratio change rate; when the duty cycle change rate is greater than the first preset duty cycle change rate, reduce the first duty cycle based on the second algorithm; when the duty cycle change rate is less than the second preset duty cycle change In the case of the rate of change, the first duty cycle is increased based on the second algorithm; wherein, the first preset duty cycle change rate is greater than or equal to the second preset duty cycle change rate.
  • the method before controlling the working state of the motor based on the duty cycle change rate and the second algorithm, the method further includes: judging whether the duty cycle change rate is within a preset duty cycle change rate interval; When the duty cycle rate is not within the preset duty cycle change rate range, the working state of the motor is controlled based on the duty cycle change rate and the second algorithm; when the duty cycle change rate is within the preset duty cycle change rate range , it is forbidden to control the working state of the motor.
  • the method before acquiring the first waveform parameter and the second waveform parameter, the method further includes: acquiring the first waveform parameter and the second waveform parameter in response to a start-up signal or a shutdown signal of the motor.
  • a control device for a motor including: an acquisition module for acquiring a first waveform parameter and a second waveform parameter, wherein the first waveform parameter is the first waveform parameter collected by the sensor. a waveform parameter of a waveform, the second waveform parameter is a waveform parameter of a second waveform of the target voltage, and the target voltage is the excitation voltage of the motor; the determining module is configured to determine the lead angle based on the first waveform parameter and the second waveform parameter, wherein , the lead angle is used to represent the angle at which the second waveform is advanced relative to the first waveform; the control module is used to control the working state of the motor based on the lead angle and the first algorithm.
  • a computer-readable storage medium is also provided, where the computer-readable storage medium includes a stored program, wherein, when the program runs, the device where the computer-readable storage medium is located is controlled to perform the above-mentioned motor operation. Control Method.
  • a processor is also provided, and the processor is used for running a program, wherein the above-mentioned method for controlling a motor is executed when the program is running.
  • the parameters in the motor are adjusted by using the first algorithm, so as to control the motor to be in In the normal working state, in addition, when the speed of the motor suddenly increases or decreases, by determining the lead angle of the voltage of the motor, the abnormal situation of the motor in the sudden increase or decrease of the speed can be found in real time, so that the parameters of the motor can be timely detected. It can be adjusted to ensure that the motor is in a normal working state, thereby solving the technical problem of the motor failure caused by the sudden change of the speed of the motor in the related art.
  • FIG. 1 is a flowchart of a motor control method according to an embodiment of the present application.
  • FIG. 2 is a flowchart of a position sensor and an excitation voltage waveform diagram when the motor is running at a normal constant speed according to an embodiment of the present application;
  • FIG. 3 is a flowchart of another motor control method according to an embodiment of the present application.
  • FIG. 4 is a flowchart of yet another motor control method according to an embodiment of the present application.
  • FIG. 5 is a waveform diagram of HALL and excitation voltage when the motor tuyere suddenly decreases according to an embodiment of the present application
  • FIG. 6 is a waveform diagram of HALL and excitation voltage when the motor starts or accelerates according to an embodiment of the present application
  • FIG. 7 is a schematic diagram of a control device of a motor according to an embodiment of the present application.
  • an embodiment of a method for controlling a motor is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and although A logical order is shown in the flowcharts, but in some cases steps shown or described may be performed in an order different from that herein.
  • FIG. 1 is a flowchart of a method for controlling a motor according to an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps:
  • Step S102 acquiring the first waveform parameter and the second waveform parameter.
  • the first waveform parameter is the waveform parameter of the first waveform collected by the sensor
  • the second waveform parameter is the waveform parameter of the second waveform of the target voltage
  • the target voltage is the excitation voltage of the motor.
  • the first waveform parameters in the above steps may include, but are not limited to, the transition edge of the first waveform, and the second waveform parameters may include, but are not limited to, the second waveform, that is, the commutation point of the excitation voltage.
  • the voltage at the time of the magnetic field is the excitation voltage.
  • the sensor in the above steps is a position sensor, wherein the position sensor is one of the components of the motor, and its function is to detect the relative position of the rotor of the motor to the stator winding during the movement process, and convert the position signal of the rotor in the magnetic field into an electrical signal. , to provide correct commutation information for the logic switch circuit to control their on and off, so that the current in the motor armature winding is commutated in sequence with the change of the rotor position.
  • the position sensor may be a Hall sensor.
  • the first waveform in the above steps is used to represent the position change of the rotor in the magnetic field.
  • the waveform 1 is used to represent the position change of the rotor when the motor is running normally.
  • a low-level signal is converted into a high-level signal, or a high-level signal is converted into a low-level signal.
  • the second waveform in the above steps is used to represent the voltage change in the winding of the motor.
  • the waveform 2 is used to represent the voltage change of the motor winding when the motor is running normally.
  • the duty cycle of the voltage will also change accordingly.
  • Step S104 determining the lead angle based on the first waveform parameter and the second waveform parameter.
  • the lead angle is used to represent the angle at which the second waveform is advanced relative to the first waveform.
  • the lead angle in the above steps is the lead angle of the excitation voltage.
  • the lead angle of the excitation voltage can be obtained by the phase of the first waveform parameter and the phase of the second waveform parameter, that is, by the phase of the jumping edge and the phase difference of the commutation point, and by determining Whether the lead angle of the excitation voltage is normal can predict whether the working state of the motor is normal, so as to adjust the working state of the motor in time.
  • Step S106 controlling the working state of the motor based on the lead angle and the first algorithm.
  • the first algorithm in the above steps may be a Hall detection based lead angle constraint algorithm.
  • the lead angle when the lead angle is too large or too small, it will affect the normal operation of the motor. Therefore, the lead angle can be monitored in real time.
  • the first The algorithm adjusts the commutation point of the excitation voltage of the motor in time, so that the lead angle of the motor is within the normal range, so that the motor can run normally.
  • the lead angle when the rotational speed of the motor increases suddenly, the lead angle will decrease accordingly. When the lead angle decreases to a certain range, the normal operation of the motor will be affected.
  • the first algorithm can be used to adjust the advance of the commutation point of the excitation voltage, so that the advance angle of the excitation voltage is maintained within a normal range, thereby ensuring the normal operation of the motor.
  • the lead angle when the rotational speed of the motor suddenly decreases, the lead angle will increase accordingly.
  • the lead angle increases to a certain range, the normal operation of the motor will be affected.
  • the commutation point lag of the excitation voltage can be adjusted by using the first algorithm, so that the lead angle of the excitation voltage is maintained within a normal range, thereby ensuring the normal operation of the motor.
  • the lead angle based on the lead angle and the first algorithm, controls the working state of the motor; the monitoring of the lead angle of the voltage in the motor is realized.
  • the first algorithm is used to adjust the parameters in the motor, so as to Control the motor to be in a normal working state.
  • the abnormal situation of the motor in the sudden increase or decrease of the speed can be found in real time, so as to correct the abnormal situation of the motor.
  • the parameters of the motor are adjusted in time to ensure that the motor is in a normal working state, thereby solving the technical problem of the motor failure caused by the sudden change of the speed of the motor in the related art.
  • controlling the working state of the motor based on the lead angle and the first algorithm includes: adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter; and controlling the working state of the motor based on the third waveform parameter .
  • the third waveform parameter in the above steps may include, but is not limited to, a commutation point, wherein the commutation point may be earlier than the commutation point corresponding to the second waveform parameter, and may also lag behind the commutation point corresponding to the second waveform parameter.
  • the first algorithm can be used to advance the commutation point in the second waveform parameter, and the advanced commutation point can be used to re-determine the lead angle and ensure the re-determined commutation point.
  • the lead angle is in a normal range, so that the motor is in a normal working state.
  • the first algorithm when the lead angle is too large, can be used to delay the commutation point in the second waveform parameter, and the lead angle can be re-determined by using the delayed commutation point, and the re-determination is guaranteed.
  • the lead angle is in the normal range, so that the motor is in a normal working state.
  • the commutation point of the excitation voltage may be further adjusted based on the first algorithm, so as to ensure that the motor is in a normal state working status.
  • the second waveform parameter includes: a first commutation point, the first commutation point is used to represent a position where the phase of the second waveform changes, and the third waveform parameter includes: the second commutation point or the third commutation point point, wherein, based on the lead angle and the first algorithm, adjusting the second waveform parameter to obtain the third waveform parameter includes: judging whether the lead angle is greater than the first preset value or less than the second preset value; In the case of a preset value, the first commutation point is controlled to lag based on the first algorithm to obtain the second commutation point; when the lead angle is smaller than the second preset value, the first commutation point is controlled based on the first algorithm lag to obtain a third commutation point; wherein, the second preset value is less than or equal to the first preset value.
  • the second commutation point in the above steps lags behind the first commutation point, and the third commutation point in the above steps is ahead of the first commutation point.
  • the first preset value and the second preset value in the above steps may be set by the user according to the performance of the motor, and may also be preset values obtained through experiments that the motor can be in a normal working state.
  • the lead angle when the lead angle is greater than the first preset value, it means that the lead angle has exceeded the normal range of motor operation. At this time, the second commutation point obtained by the first algorithm can make the lead angle The angle becomes smaller, so as to ensure that the motor is in a normal working state.
  • the lead angle when the lead angle is smaller than the second preset value, it means that the lead angle is lower than the normal range of motor operation. At this time, the third commutation point obtained by the first algorithm can make the lead The angle becomes larger, so as to ensure that the motor is in a normal working state.
  • the first waveform parameter includes: a transition edge, where the transition edge is used to represent a position where the level of the first waveform changes, wherein determining the lead angle based on the first waveform parameter and the second waveform parameter includes: based on The phase difference between the transition edge and the first commutation point determines the lead angle.
  • a phase difference may be determined according to the phase of the transition edge and the phase of the first commutation point, and then the angle value corresponding to the phase difference is determined as the lead angle.
  • the method before controlling the working state of the motor based on the lead angle and the first algorithm, the method further includes: judging whether the lead angle is in a preset lead angle interval; when the lead angle is not in the preset lead angle interval, Based on the lead angle and the first algorithm, the working state of the motor is controlled; when the lead angle is in the preset lead angle interval, the control of the working state of the motor is prohibited.
  • the preset lead angle interval may be determined by the user according to the performance of the motor, or may be an optimal preset lead angle interval obtained through experiments that can ensure that the motor is in a normal working state.
  • the lead angle is abnormal, it means that the lead angle needs to be adjusted at this time. Further judgment is made to adjust the motor to control the normal working state of the motor; when the motor is not abnormal, no further judgment is required, thereby reducing the memory resources occupied by logic operations, and it does not need to control the working state of the motor. , reduce the control process of the motor, thereby reducing the energy consumed by the motor control.
  • the method further includes: acquiring a first duty cycle and a second duty cycle of the second waveform, wherein the first duty cycle is the duty cycle of the second waveform at the current moment, and the second duty cycle is the duty cycle of the second waveform at the previous moment of the current moment; based on the first duty cycle and the second duty cycle, the duty cycle change rate of the target voltage is determined; based on the duty cycle change rate and the second algorithm, Control the working state of the motor.
  • the excitation voltage in the motor when the rotational speed of the motor suddenly decreases, the excitation voltage in the motor will increase sharply. At this time, an abnormal situation may occur in the motor.
  • the excitation voltage suddenly increases its corresponding duty cycle Therefore, it is possible to determine whether the motor may be abnormal by obtaining the duty cycle of the excitation voltage.
  • the speed of the motor suddenly increases, the excitation voltage in the motor will decrease sharply. At this time, It may also cause abnormal conditions of the motor. Since the corresponding duty cycle of the excitation voltage will become smaller when the excitation voltage is suddenly reduced, it is possible to determine whether the motor may be abnormal by obtaining the duty cycle of the excitation voltage.
  • the duty cycle change rate may be determined by the first duty cycle and the second duty cycle.
  • the first duty cycle is much larger than the second duty cycle
  • the corresponding The change rate of the duty cycle may exceed the normal range of the duty cycle change rate, resulting in abnormal conditions of the motor.
  • the second algorithm can be used to adjust the first duty cycle of the motor, so that the duty cycle of the motor changes. The rate becomes smaller and remains within the normal range, so as to ensure that the motor can be in a normal working state.
  • the corresponding duty cycle change rate may be smaller than the duty cycle change rate in the normal range, resulting in abnormal conditions of the motor.
  • the algorithm is used to adjust the first duty cycle of the motor, so that the change rate of the duty cycle of the motor is increased and kept within a normal range, thereby ensuring that the motor can be in a normal working state.
  • controlling the working state of the motor includes: adjusting the first duty cycle based on the duty cycle change rate and the second algorithm; based on the adjusted first duty cycle , to control the working state of the motor.
  • the second algorithm when the duty cycle rate of change is small, the second algorithm may be used to increase the first duty cycle, and the adjusted first duty cycle may be used to re-determine the duty cycle rate of change, And ensure that the re-determined duty cycle rate of change is in a normal range, so that the motor is in a normal working state.
  • the second algorithm may be used to reduce the first duty cycle, and the adjusted first duty cycle may be used to re-determine the change of the duty cycle rate, and ensure that the re-determined duty cycle rate of change is in a normal range, so that the motor is in a normal working state.
  • the commutation point of the excitation voltage may be further adjusted based on the second algorithm, so as to ensure that The motor is in normal working condition.
  • adjusting the first duty cycle includes: judging whether the duty cycle change rate is greater than the first preset duty cycle change rate, or smaller than the second preset duty cycle ratio change rate; when the duty cycle change rate is greater than the first preset duty cycle change rate, reduce the first duty cycle based on the second algorithm; when the duty cycle change rate is less than the second preset duty cycle change In the case of the rate of change, the first duty cycle is increased based on the second algorithm; wherein, the first preset duty cycle change rate is greater than or equal to the second preset duty cycle change rate.
  • the first preset duty cycle change rate and the second preset duty cycle change rate in the above steps may be set by the user according to the performance of the motor, or may be a preset duty cycle obtained by realizing that the motor can be in a normal working state. Empty ratio change rate.
  • the duty cycle change rate when the duty cycle change rate is greater than the first preset duty cycle change rate, it means that the duty cycle change rate exceeds the normal range in which the motor can run.
  • the first duty cycle is reduced, so that the rate of change of the duty cycle becomes smaller, thereby ensuring that the motor is in a normal working state.
  • the rate of change of the duty cycle when the rate of change of the duty cycle is less than the second preset rate of change of the duty cycle, it means that the rate of change of the duty cycle is lower than the normal range in which the motor can operate.
  • the second algorithm is used The first duty cycle is increased, so that the rate of change of the duty cycle becomes larger, thereby ensuring that the motor is in a normal working state.
  • the working state of the motor before controlling the working state of the motor based on the duty ratio change rate and the second algorithm, it includes: judging whether the duty cycle change rate is within a preset duty cycle change rate interval; In the case of the preset duty cycle change rate interval, the working state of the motor is controlled based on the duty cycle change rate and the second algorithm; when the duty cycle change rate is in the preset duty cycle change rate interval, the control is prohibited The working state of the motor.
  • the preset duty cycle change rate interval may be determined by the user according to the performance of the motor, or may be an optimal preset duty cycle obtained through experiments that can ensure that the motor is in a normal working state rate of change interval.
  • the duty cycle change rate is abnormal, It means that the duty ratio change rate needs to be adjusted at this time, and the motor can be adjusted through further judgment, so as to control the motor to be in a normal working state; when the motor is not abnormal, no further judgment is required, thereby reducing The memory resources occupied by logic operations do not need to control the working state of the motor, which reduces the control process of the motor, thereby reducing the energy consumed during motor control.
  • the method before acquiring the first waveform parameter and the second waveform parameter, the method further includes: acquiring the first waveform parameter and the second waveform parameter in response to a start-up signal or a shutdown signal of the motor.
  • the first duty cycle and the second duty cycle of the second waveform may also be acquired in response to a start-up signal or a shutdown signal of the motor.
  • first waveform parameter and the second waveform parameter can be obtained in response to an acceleration signal or a deceleration signal of the motor; and the second waveform parameter can also be obtained in response to an acceleration signal or a deceleration signal of the motor.
  • a first duty cycle and a second duty cycle can be obtained in response to an acceleration signal or a deceleration signal of the motor.
  • the motor Since the motor has a high probability of abnormality during startup, shutdown, acceleration or deceleration, the motor can only be monitored when the motor is started, shut down, accelerated or decelerated, thereby reducing the power consumption of the motor.
  • the motor is in normal working condition.
  • the method may include the following steps:
  • Step S301 calculating the voltage duty ratio change rate of the motor in real time
  • Step S302 determine whether the voltage duty cycle rate of change exceeds the preset maximum safe rate of change, or is less than the preset maximum safe rate of change, if the voltage duty cycle rate of change exceeds the preset maximum safe rate of change, perform step S303, if the voltage If the duty cycle rate of change is less than the preset maximum safe rate of change, step S304 is performed;
  • Step S303 in the case that the change rate of the voltage duty cycle exceeds the preset maximum safe change rate, use a Hall detection-based lead angle constraint algorithm to reduce the change rate of the duty cycle;
  • Step S304 in the case that the change rate of the voltage duty cycle is lower than the preset maximum safe change rate, use a Hall detection-based lead angle constraint algorithm to increase the change rate of the duty cycle.
  • the method may also include the following steps:
  • Step S401 detecting the excitation voltage commutation point and the Hall sensor jumping edge in real time, and calculating the lead angle ⁇ formed by the excitation voltage commutation point and the Hall sensor jumping edge;
  • the Hall voltage transition edge By monitoring the leading angle ⁇ of the transition point of the position sensor voltage and the commutation point of the excitation voltage (PWM).
  • PWM commutation point of the excitation voltage
  • the Hall voltage transition edge will be advanced, resulting in a smaller lead angle ⁇ or even no lead; in the motor in the emergency stop or deceleration stage, the Hall voltage transition edge will be delayed, resulting in The lead angle ⁇ will become larger or even exceed the preset lead range; such anomalies can cause the motor to run in an unstable state or even damage the motor.
  • Step S402 judging whether the lead angle exceeds the preset normal lead angle range, or is lower than the preset normal lead angle range, if the lead angle exceeds the preset normal lead angle range, execute step S403, if the lead angle is lower than the preset normal lead angle range.
  • the normal lead angle range of execute step S404;
  • Step S403 when the lead angle exceeds the preset normal lead angle range, use the lead angle constraint algorithm based on Hall detection to advance the commutation point of the excitation voltage by a certain time;
  • Step S404 when the lead angle is lower than the preset normal lead angle range, use the lead angle constraint algorithm based on Hall detection to delay the commutation point of the excitation voltage for a certain time.
  • the algorithm is used to adjust the excitation voltage commutation point to advance the excitation voltage commutation point for a certain time to ensure that the lead angle runs normally at the preset
  • the lead angle is maintained within the preset range; when the motor is in emergency stop or speed drop operation, the excitation voltage commutation point and the Hall sensor jump edge lead angle ⁇ will increase.
  • the jumping edge of the Hall voltage will advance during the motor startup or acceleration phase, resulting in a smaller lead angle ⁇ or even no lead; when the motor is in the emergency stop operation or deceleration stage, the Hall voltage jumps The edge will be delayed, resulting in the problem that the lead angle ⁇ will become larger or even exceed the preset lead range.
  • the change rate of the excitation voltage can be delayed from being too fast by controlling the current change rate.
  • the figure is a waveform diagram of the position sensor (HALL) and the excitation voltage when the motor is running at a normal constant speed.
  • the HALL high and low level times are continuously equal, the lead angle ⁇ formed by the HALL transition edge and the excitation voltage commutation point is always equal to T1, and the excitation voltage duty cycle rate of change is 0, ensuring that the motor can run normally.
  • the figure is a waveform diagram of HALL and excitation voltage when the motor tuyere suddenly decreases. Under this operating condition, the duration of HALL high and low levels is not equal, and the air outlet suddenly decreases. Because the constant power motor current becomes smaller, the load becomes lighter, and the duty cycle of the excitation voltage increases suddenly, the speed suddenly rises and the HALL high and low levels jump. Faster, when the voltage duty cycle increases, the rate of change is too fast, which will cause the motor to stop.
  • the figure is a waveform diagram of HALL and excitation voltage when the motor starts or accelerates.
  • the lead angle ⁇ formed by the HALL transition edge and the excitation voltage commutation point will continue to decrease for a period of time (T1>T4>T5>T6>T7>T8).
  • the lead angle ⁇ formed by the HALL transition edge and the excitation voltage commutation point will continue to increase for a period of time (T1 ⁇ T4 ⁇ T5 ⁇ T6 ⁇ T7 ⁇ T8 ), when the increase of the lead angle ⁇ exceeds the maximum value, the lead angle will be too large or even lag, resulting in the failure of the motor during high-speed operation, such as: abnormal shutdown, high-speed state can not run, etc., through the algorithm to adjust the excitation voltage to account for
  • the duty cycle commutation point of the excitation voltage delays the commutation point of the duty cycle of the excitation voltage, maintains the lead angle ⁇ within the preset safety range, and solves various abnormal conditions of the motor caused by excessive lead angle or even lag of the motor.
  • a motor control device which can execute the motor control method in the above-mentioned embodiment.
  • FIG. 7 is a schematic diagram of a control device for a motor according to an embodiment of the present application. As shown in FIG. 7 , the device includes:
  • the acquiring module 70 is configured to acquire a first waveform parameter and a second waveform parameter, wherein the first waveform parameter is the waveform parameter of the first waveform collected by the sensor, and the second waveform parameter is the waveform parameter of the second waveform of the target voltage,
  • the target voltage is the excitation voltage of the motor;
  • a determination module 72 configured to determine a lead angle based on the first waveform parameter and the second waveform parameter, wherein the lead angle is used to represent the angle at which the second waveform is advanced relative to the first waveform;
  • the control module 74 is configured to control the working state of the motor based on the lead angle and the first algorithm.
  • control module includes: an adjustment unit for adjusting the second waveform parameter based on the lead angle and the first algorithm to obtain a third waveform parameter; a first control unit for controlling the operation of the motor based on the third waveform parameter state.
  • the second waveform parameter in the foregoing embodiment of the present application includes: a first commutation point, where the first commutation point is used to represent a position where the phase of the second waveform changes
  • the third waveform parameter includes: a second commutation point
  • the phase point or the third commutation point, the adjustment unit includes: a first judging subunit for judging whether the lead angle is greater than the first preset value or smaller than the second preset value; a first control subunit for When the lead angle is greater than the first preset value, the first commutation point is controlled to lag based on the first algorithm to obtain the second commutation point; the first control subunit is also used when the lead angle is smaller than the second preset value
  • the first commutation point is controlled to advance based on the first algorithm to obtain the third commutation point; wherein, the second preset value is less than or equal to the first preset value.
  • the first waveform parameter in the above-mentioned embodiment of the present application includes: a transition edge, where the transition edge is used to represent the position where the level of the first waveform changes; The phase difference between the edge and the first commutation point determines the lead angle.
  • the device further includes: a judging module for judging whether the lead angle is in a preset lead angle interval; the control module is also used for determining whether the lead angle is in the preset lead angle interval based on the lead angle and the first lead angle when the lead angle is not in the preset lead angle interval.
  • the algorithm is used to control the working state of the motor; the control module is also used to prohibit the control of the working state of the motor when the lead angle is in the preset lead angle interval.
  • the acquiring module is further configured to acquire the first duty cycle and the second duty cycle of the second waveform, wherein the first duty cycle is the duty cycle of the second waveform at the current moment, and the second duty cycle is the duty cycle of the second waveform at the current moment. is the duty cycle of the second waveform at the previous moment of the current moment; the determining module is also used to determine the duty cycle change rate of the target voltage based on the first duty cycle and the second duty cycle; the control module is also used to determine the duty cycle change rate of the target voltage based on The duty cycle rate of change and the second algorithm control the working state of the motor.
  • control module includes: the adjustment unit is further configured to adjust the first duty cycle based on the duty cycle rate of change and the second algorithm; the second control unit is configured to control the first duty cycle based on the adjusted first duty cycle The working state of the motor.
  • the adjustment unit includes: a second judging subunit for judging whether the duty cycle change rate is greater than the first preset duty cycle change rate, or smaller than the second preset duty cycle change rate; the second control subunit a unit for reducing the first duty cycle based on the second algorithm when the duty cycle change rate is greater than the first preset duty cycle change rate; the second control subunit is further configured to reduce the duty cycle change rate when the duty cycle change rate is less than In the case of the second preset duty cycle change rate, the first duty cycle is increased based on the second algorithm; wherein the first preset duty cycle change rate is greater than or equal to the second preset duty cycle change rate.
  • the judging module is also used to judge whether the duty ratio change rate is in the preset duty ratio change rate interval; , based on the duty ratio change rate and the second algorithm, to control the working state of the motor; the control module is further configured to prohibit controlling the working state of the motor when the duty cycle change rate is in the preset duty cycle change rate range.
  • the apparatus further includes: a response module, configured to acquire the first waveform parameter and the second waveform parameter in response to a start-up signal or a shutdown signal of the motor.
  • a response module configured to acquire the first waveform parameter and the second waveform parameter in response to a start-up signal or a shutdown signal of the motor.
  • a computer-readable storage medium is also provided, where the computer-readable storage medium includes a stored program, wherein, when the program runs, the device where the computer-readable storage medium is located is controlled to execute the motor in the above-mentioned Embodiment 1. Control Method.
  • a processor is also provided, and the processor is used for running a program, wherein the control method of the motor in the above-mentioned Embodiment 1 is executed when the program is running.
  • the disclosed technical content may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units may be a logical function division.
  • multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

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Abstract

本申请公开了一种电机的控制方法及装置。其中，该方法包括：获取第一波形参数和第二波形参数，其中，第一波形参数为传感器采集到的第一波形的波形参数，第二波形参数为目标电压的第二波形的波形参数，目标电压为电机的励磁电压；基于第一波形参数和第二波形参数，确定超前角，其中，超前角用于表征第二波形相对于第一波形提前的角度；基于超前角和第一算法，控制电机的工作状态。

Description

电机的控制方法及装置
相关申请
本申请要求2021年01月14日申请的，申请号为202110051007.6，名称为“电机的控制方法及装置”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及电机控制领域，具体而言，涉及一种电机的控制方法及装置。
背景技术
当电机应用于吸尘器等家电设备时，常会出现电机的转速突变的情况，例如，电机的电流突然变大，从而导致电机的转速突然变大，电机的电流突然变小，从而导致电机的转速突然变小。但是电机的转速在骤升或骤减的过程中极易出现异常，导致电机出现突然停机等故障，从而无法正常运行。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本申请实施例提供了一种电机的控制方法及装置，以至少解决相关技术中由于电机的转速发生突变从而导致电机出现故障的技术问题。
根据本申请实施例的一个方面，提供了一种电机的控制方法，包括：获取第一波形参数和第二波形参数，其中，第一波形参数为传感器采集到的第一波形的波形参数，第二波形参数为目标电压的第二波形的波形参数，目标电压为电机的励磁电压；基于第一波形参数和第二波形参数，确定超前角，其中，超前角用于表征第二波形相对于第一波形提前的角度；基于超前角和第一算法，控制电机的工作状态。
可选地，基于超前角和第一算法，控制电机的工作状态，包括：基于超前角和第一算法调节第二波形参数，得到第三波形参数；基于第三波形参数，控制电机的工作状态。
可选地，第二波形参数包括：第一换相点，第一换相点用于表征第二波形的相位发生变化的位置，第三波形参数包括：第二换相点或第三换相点，其中，基于超前角和第一算法，调节第二波形参数，得到第三波形参数，包括：判断超前角是否大于第一预设值，或小于第二预设值；在超前角大于第一预设值的情况下，基于第一算法控制第一换相点滞后，得到第二换相点；在超前角小于第二预设值的情况下，基于第一算法控制第一换相点提前， 得到第三换相点；其中，第二预设值小于或等于第一预设值。
可选地，第一波形参数包括：跳变沿，跳变沿用于表征第一波形的电平发生变化的位置，其中，基于第一波形参数和第二波形参数，确定超前角，包括：基于跳变沿和第一换相点之间的相位差，确定超前角。
可选地，该方法还包括：判断超前角是否处于预设超前角区间；在超前角未处于预设超前角区间的情况下，基于超前角和第一算法，控制电机的工作状态；在超前角处于预设超前角区间的情况下，禁止控制电机的工作状态。
可选地，该方法还包括：获取第二波形的第一占空比和第二占空比，其中，第一占空比为第二波形在当前时刻的占空比，第二占空比为第二波形在当前时刻的前一时刻的占空比；基于第一占空比和第二占空比，确定目标电压的占空比变化率；基于占空比变化率和第二算法，控制电机的工作状态。
可选地，基于占空比变化率和第二算法，控制电机的工作状态，包括：基于占空比变化率和第二算法，调节第一占空比；基于调节后的第一占空比，控制电机的工作状态。
可选地，基于占空比变化率和第二算法，调节第一占空比，包括：判断占空比变化率是否大于第一预设占空比变化率，或小于第二预设占空比变化率；在占空比变化率大于第一预设占空比变化率的情况下，基于第二算法降低第一占空比；在占空比变化率小于第二预设占空比变化率的情况下，基于第二算法提高第一占空比；其中，第一预设占空比变化率大于或等于第二预设占空比变化率。
可选地，在基于占空比变化率和第二算法，控制电机的工作状态之前，该方法还包括：判断占空比变化率是否处于预设占空比变化率区间；在占空比变化率未处于预设占空比变化率区间的情况下，基于占空比变化率和第二算法，控制电机的工作状态；在占空比变化率处于预设占空比变化率区间的情况下，禁止控制电机的工作状态。
可选地，获取第一波形参数和第二波形参数之前，该方法还包括：响应于电机的启动信号或关机信号，获取第一波形参数和第二波形参数。
根据本申请实施例的另一方面，还提供了一种电机的控制装置，包括：获取模块，用于获取第一波形参数和第二波形参数，其中，第一波形参数为传感器采集到的第一波形的波形参数，第二波形参数为目标电压的第二波形的波形参数，目标电压为电机的励磁电压；确定模块，用于基于第一波形参数和第二波形参数，确定超前角，其中，超前角用于表征第二波形相对于第一波形提前的角度；控制模块，用于基于超前角和第一算法，控制电机的工作状态。
根据本申请实施例的另一方面，还提供了一种计算机可读存储介质，计算机可读存储 介质包括存储的程序，其中，在程序运行时控制计算机可读存储介质所在设备执行上述的电机的控制方法。
根据本申请实施例的另一方面，还提供了一种处理器，处理器用于运行程序，其中，程序运行时执行上述的电机的控制方法。
在本申请实施例中，首先获取传感器采集到的第一波形的第一波形参数和电机励磁电压的第二波形的第二波形参数，然后基于第一波形参数和第二波形参数，确定超前角，基于超前角和第一算法，控制电机的工作状态；实现了对电机中的电压的超前角进行监控，在超前角出现异常时，通过利用第一算法调节电机中的参数，从而控制电机处于正常的工作状态，另外，还可以在电机的转速骤升或骤减时，通过确定电机的电压的超前角，即时发现电机在转速骤升或骤减出现的异常情况，从而对电机的参数及时的进行调节，以便保证电机处于正常的工作状态，进而解决了相关技术中由于电机的转速发生突变从而导致电机出现故障的技术问题。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是根据本申请实施例的一种电机控制方法的流程图；
图2是根据本申请实施例的电机正常定速运行时位置传感器与励磁电压波形图的流程图；
图3是根据本申请实施例的另一种电机控制方法的流程图；
图4是根据本申请实施例的又一种电机控制方法的流程图；
图5是根据本申请实施例的电机风口突减小时HALL与励磁电压波形图；
图6是根据本申请实施例的电机启动或加速操作时HALL与励磁电压波形图；
图7是根据本申请实施例的一种电机的控制装置的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，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，所描述的实施例仅仅是本申请一部分的实施例，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，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等 是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例1
根据本申请实施例，提供了一种电机的控制方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本申请实施例的电机的控制方法的流程图，如图1所示，该方法包括如下步骤：
步骤S102，获取第一波形参数和第二波形参数。
其中，第一波形参数为传感器采集到的第一波形的波形参数，第二波形参数为目标电压的第二波形的波形参数，目标电压为电机的励磁电压。
上述步骤中的第一波形参数可以包括但不限于第一波形的跳变沿，第二波形参数可以包括但不限于第二波形，即励磁电压的换相点，其中，在提供电机运行所需要的磁场时的电压为励磁电压。
上述步骤中的传感器为位置传感器，其中，位置传感器是电机的组件部分之一，其作用是检测电机的转子在运动过程中对于定子绕组的相对位置，将转子在磁场的位置信号转化为电信号，为逻辑开关电路提供正确的换相信息，以控制它们的导通和截止，使电机电枢绕组中的电流随着转子位置的变化按次序换相。其中，位置传感器可以是霍尔传感器。
上述步骤中的第一波形用于表示转子在磁场中的位置变化情况，如图2所示，波形1用于表示电机正常运行时转子的位置变化情况，当电机转子的位置发生变化时，由低电平信号转化为高电平信号，或者由高电平信号转化为低电平信号。
上述步骤中的第二波形用于表示电机的绕组中的电压变化情况，如图2所示，波形2用于表示电机正常运行时电机绕组的电压变化情况，当电机电压的大小发生变化时，电压的占空比也会相应的发生变化。
步骤S104，基于第一波形参数和第二波形参数，确定超前角。
其中，超前角用于表征第二波形相对于第一波形提前的角度。
上述步骤中的超前角为励磁电压的超前角。
在一种可选的实施例中，通过第一波形参数的相位和第二波形参数相位，也即通过跳变沿的相位和换相点的相位差，可以得到励磁电压的超前角，通过确定励磁电压的超前角是否正常，可以预知电机的工作状态是否正常，以便及时的对电机的工作状态进行调整。
步骤S106，基于超前角和第一算法，控制电机的工作状态。
上述步骤中的第一算法可以是基于霍尔检测的超前角约束算法。
在一种可选的实施例中，当超前角过大或者过小时，都会影响电机的正常运行，因此，可以对超前角进行实时监控，在电机的超前角过大或过小时，通过第一算法及时对电机的励磁电压的换相点进行调整，使得电机的超前角处于正常的范围内，从而使得电机可以正常运行。
在另一种可选的实施例中，当电机的转速突然增大时，此时，超前角会相应的减小，当超前角减小到一定范围的时候，会影响电机的正常运行，此时，可以利用第一算法调整励磁电压的换相点提前，以便励磁电压的超前角维持在正常的范围内，从而保证电机的正常运行。
在又一种可选的实施例中，当电机的转速突然减小时，此时，超前角会相应的增大，当超前角增大到一定范围的时候，会影响电机的正常运行，此时，可以利用第一算法调整励磁电压的换相点滞后，以便励磁电压的超前角维持在正常的范围内，从而保证电机正常运行。
通过本申请实施例的上述步骤，首先获取传感器采集到的第一波形的第一波形参数和电机励磁电压的第二波形的第二波形参数，然后基于第一波形参数和第二波形参数，确定超前角，基于超前角和第一算法，控制电机的工作状态；实现了对电机中的电压的超前角进行监控，在超前角出现异常时，基于的利用第一算法调节电机中的参数，从而控制电机处于正常的工作状态，另外，还可以在电机的转速骤升或骤减时，通过确定电机的电压的超前角，即时的发现电机在转速骤升或骤减出现的异常情况，从而对电机的参数及时的进行调节，以便保证电机处于正常的工作状态，进而解决了相关技术中由于电机的转速发生突变从而导致电机出现故障的技术问题。
可选地，基于超前角和第一算法，控制电机的工作状态，包括：基于超前角和第一算法调节第二波形参数，得到第三波形参数；基于第三波形参数，控制电机的工作状态。
上述步骤中的第三波形参数可以包括但不限于换相点，其中，该换相点可以比第二波形参数对应的换相点提前，还可以比第二波形参数对应的换相点滞后。
在一种可选的实施例中，当超前角过小时，可以利用第一算法将第二波形参数中的换 相点提前，利用提前后的换相点重新确定超前角，并保证重新确定的超前角处于正常的范围，从而使得电机处于正常的工作状态。
在另一种可选的实施例中，当超前角过大时，可以利用第一算法将第二波形参数中的换相点滞后，利用滞后的换相点重新确定超前角，并保证重新确定的超前角处于正常的范围，从而使得电机处于正常的工作状态。
在又一种可选的实施例中，在上述步骤中重新确定的超前角未处于正常范围的情况下，可以基于第一算法进一步的对励磁电压的换相点进行调整，从而保证电机处于正常的工作状态。
可选地，第二波形参数包括：第一换相点，第一换相点用于表征第二波形的相位发生变化的位置，第三波形参数包括：第二换相点或第三换相点，其中，基于超前角和第一算法，调节第二波形参数，得到第三波形参数，包括：判断超前角是否大于第一预设值，或小于第二预设值；在超前角大于第一预设值的情况下，基于第一算法控制第一换相点滞后，得到第二换相点；在超前角小于第二预设值的情况下，基于第一算法控制第一换相点滞后，得到第三换相点；其中，第二预设值小于或等于第一预设值。
上述步骤中的第二换相点滞后于第一换相点，上述步骤中的第三换相点提前于第一换相点。
上述步骤中的第一预设值和第二预设值可以由用户根据电机的性能进行设置，还可以是通过实验得到的电机能够处于正常工作状态的预设值。
在一种可选的实施例中，当超前角大于第一预设值时，说明超前角已经超过了电机运行的正常范围，此时，通过第一算法得到的第二换相点可以使超前角变小，从而保证电机处于正常的工作状态。
在另一种可选的实施例中，当超前角小于第二预设值时，说明超前角低于电机运行的正常范围，此时，通过第一算法得到的第三换相点可以使超前角变大，从而保证电机处于正常的工作状态。
在又一种可选的实施例中，可以在电机处于启动阶段、加速阶段、急停阶段以及减速阶段的时候判断超前角是否大于第一预设值，或小于第二预设值，使电机在容易出现故障的情况下，通过判断电机中励磁电压的超前角来对电机的异常情况进行监测，从而保证电机可以处于正常的工作状态。
可选地，第一波形参数包括：跳变沿，跳变沿用于表征第一波形的电平发生变化的位置，其中，基于第一波形参数和第二波形参数，确定超前角，包括：基于跳变沿和第一换相点之间的相位差，确定超前角。
在一种可选的实施例中，可以根据跳变沿的相位和第一换相点的相位，确定一个相位差，然后确定与该相位差对应的角度值为超前角。
可选地，在基于超前角和第一算法，控制电机的工作状态之前，该方法还包括：判断超前角是否处于预设超前角区间；在超前角未处于预设超前角区间的情况下，基于超前角和第一算法，控制电机的工作状态；在超前角处于预设超前角区间的情况下，禁止控制电机的工作状态。
在一种可选的实施例中，预设超前角区间可以由用户根据电机的性能进行确定，还可以是通过实验得到的能够保证电机处于正常工作状态的最优预设超前角区间。
在另一种可选的实施例中，通过预先判断超前角是否处于预设超前角区间可以判断超前角是否发生异常，当超前角出现异常时，说明此时需要对超前角进行调整，可以通过进一步的判断，对电机进行调整，从而控制电机的处于正常的工作状态；当电机未出现异常时，不需要进行进一步的判断，从而减少逻辑运算占用的内存资源，也不需要控制电机的工作状态，减少电机的控制过程，从而减少电机控制时所消耗的能源。
可选地，该方法还包括：获取第二波形的第一占空比和第二占空比，其中，第一占空比为第二波形在当前时刻的占空比，第二占空比为第二波形在当前时刻的前一时刻的占空比；基于第一占空比和第二占空比，确定目标电压的占空比变化率；基于占空比变化率和第二算法，控制电机的工作状态。
在一种可选的实施例中，当电机的转速突然变小时，电机中的励磁电压会骤增，此时，可能导致电机出现异常情况，由于励磁电压骤增时，其对应的占空比也会变大，因此，可以通过获取励磁电压的占空比来确定判断电机是否可能出现异常情况；同理，当电机的转速突然变大时，电机中的励磁电压会骤减，此时，也可能导致电机出现异常情况，由于励磁电压骤减时，其对应的占空比会变小，因此，可以通过获取励磁电压的占空比来确定判断电机是否可能出现异常情况。
在另一种可选的实施例中，可以通过第一占空比和第二占空比来确定占空比变化率，当第一占空比远远大于第二占空比时，其对应的占空比变化率可能会超出正常范围的占空比变化率，从而导致电机出现异常情况，此时，可以通过第二算法来调整电机的第一占空比，使电机的占空比变化率变小，并保持在正常的范围内，从而保证电机可以处于正常的工作状态。当第一占空比远远小于第二占空比时，其对应的占空比变化率可能会小于正常范围的占空比变化率，从而导致电机出现异常情况，此时，可以通过第二算法来调整电机的第一占空比，使电机的占空比变化率变大，并保持在正常的范围内，从而保证电机可以处于正常的工作状态。
可选地，基于占空比变化率和第二算法，控制电机的工作状态，包括：基于占空比变化率和第二算法，调节第一占空比；基于调节后的第一占空比，控制电机的工作状态。
在一种可选的实施例中，当占空比变化率较小时，可以利用第二算法将第一占空比变大，利用调节后的第一占空比重新确定占空比变化率，并保证重新确定的占空比变化率处于正常的范围，从而使电机处于正常的工作状态。
在另一种可选的实施例中，当占空比变化率较大时，可以利用第二算法将第一占空比变小，利用调节后的第一占空比重新确定占空比变化率，并保证重新确定的占空比变化率处于正常的范围，从而使电机处于正常的工作状态。
在又一种可选的实施例中，在上述步骤中重新确定的占空比变化率未处于正常范围的情况下，可以基于第二算法进一步的对励磁电压的换相点进行调整，从而保证电机处于正常的工作状态。
可选地，基于占空比变化率和第二算法，调节第一占空比，包括：判断占空比变化率是否大于第一预设占空比变化率，或小于第二预设占空比变化率；在占空比变化率大于第一预设占空比变化率的情况下，基于第二算法降低第一占空比；在占空比变化率小于第二预设占空比变化率的情况下，基于第二算法提高第一占空比；其中，第一预设占空比变化率大于或等于第二预设占空比变化率。
上述步骤中的第一预设占空比变化率和第二预设占空比变化率可以由用户根据电机的性能进行设置，还可以是通过实现得到的电机能够处于正常工作状态的预设占空比变化率。
在一种可选的实施例中，当占空比变化率大于第一预设占空比变化率时，说明占空比变化率超过了电机可以运行的正常范围，此时，通过第二算法降低第一占空比，使得占空比变化率变小，从而保证电机处于正常的工作状态。
在一种可选的实施例中，当占空比变化率小于第二预设占空比变化率时，说明占空比变化率低于电机可以运行的正常范围，此时，通过第二算法提高第一占空比，使得占空比变化率变大，从而保证电机处于正常的工作状态。
在又一种可选的实施例中，可以在电机处于启动阶段、加速阶段、急停阶段以及减速阶段的时候判断占空比变化率是否大于第一预设占空比变化率，或小于第二预设占空比变化率，使电机在容易出现故障的情况下，通过判断电机中励磁电压的占空比变化率来对电机的异常情况进行监测，从而保证电机可以处于正常的工作状态。
可选地，在基于占空比变化率和第二算法，控制电机的工作状态之前，包括：判断占空比变化率是否处于预设占空比变化率区间；在占空比变化率未处于预设占空比变化率区 间的情况下，基于占空比变化率和第二算法，控制电机的工作状态；在占空比变化率处于预设占空比变化率区间的情况下，禁止控制电机的工作状态。
在一种可选的实施例中，预设占空比变化率区间可以由用户根据电机的性能进行确定，还可以是通过实验得到的能够保证电机处于正常工作状态的最优预设占空比变化率区间。
在另一种可选的实施例中，通过预先判断占空比变化率是否处于预设占空比变化率区间可以判断占空比变化率是否发生异常，当占空比变化率出现异常时，说明此时需要对占空比变化率进行调整，可以通过进一步的判断，对电机进行调整，从而控制电机的处于正常的工作状态；当电机未出现异常时，不需要进行进一步的判断，从而减少逻辑运算占用的内存资源，也不需要控制电机的工作状态，减少电机的控制过程，从而减少电机控制时所消耗的能源。
可选地，获取第一波形参数和第二波形参数之前，该方法还包括：响应于电机的启动信号或关机信号，获取第一波形参数和第二波形参数。
在一种可选的实施例中，还可以响应于电机的启动信号或关机信号，获取第二波形的第一占空比和第二占空比。
在另一种可选的实施例中，可以响应于电机的加速信号或减速信号，获取第一波形参数和第二波形参数；还可以响应于电机的加速信号或减速信号，获取第二波形的第一占空比和第二占空比。
由于电机在启动、关机、加速或减速时，出现异常的概率较大，因此，可以仅在电机启动、关机、加速或减速时对电机进行监测，从而在减少电机的电量消耗的情况下，保证电机处于正常的工作状态。
下面结合图2至图6对本申请一种优选的实施例进行详细说明。如图3所示，该方法可以包括如下步骤：
步骤S301，实时计算电机的电压占空比变化率；
当吸尘器出现异常情况，例如异物堵塞的时候，会导致出风口突然变小，此时，当恒功率电机风口突变小时，其绕组电流变小，负载会变轻，此时，由于电机的恒功率作用，其励磁电压会骤增以维持恒功率，即励磁电压的占空比变大，从而导致占空比变化率过大，当占空比变化率过大时，会导致电机出现停机等故障。通过对占空比变化率进行实时计算，可以避免电机出现停机等故障。
步骤S302，判断电压占空比变化率是否超出预设最高安全变化率，或是否小于预设最高安全变化率，若电压占空比变化率超出预设最高安全变化率，执行步骤S303，若电压占空比变化率小于预设最高安全变化率，执行步骤S304；
步骤S303，在电压占空比变化率超出预设最高安全变化率的情况下，利用基于霍尔检测的超前角约束算法降低占空比变化率；
步骤S304，在电压占空比变化率低于预设最高安全变化率的情况下，利用基于霍尔检测的超前角约束算法提高占空比变化率。
通过对占空比变化率进行实时计算，当占空比变化率超出预设最高安全变化率时，使用算法降低占空比变化率，使变化率保持预设最高安全占空比变化率内；当占空比变化率小于出预设最小安全变化率时，使用算法升高占空比变化率，使变化率保持预设安全占空比变化率内；维持安全的占空比变化率，可以保证电机在风口变化过程中励磁电压变化在适宜安全范围，使转速骤升/骤减幅度在预设转速区域，维持电机的正常工作状态。
通过上述步骤，可以解决恒功率电机风口突增大时，其励磁电压会骤减以维持恒功率，当电机风口突减小时，其励磁电压会骤增以维持恒功率；当励磁电压占空比变化率过大时，会导致电机出现停机故障的问题。
如图4所示，该方法还可以包括如下步骤：
步骤S401，实时检测励磁电压换相点与霍尔传感器跳变沿，并对励磁电压换相点与霍尔传感器跳变沿所形成的超前角α进行计算；
通过对位置传感器电压跳变沿与励磁电压(PWM)换相点的超前角α进行监测。在电机启动或加速阶段，霍尔电压跳变沿将提前，导致超前角α将变小甚至会出现不超前；在电机在急停或降速阶段，霍尔电压跳变沿将延后，导致超前角α将变大甚至会超出预设超前范围；此类异常可使电机运行于不稳定状态乃至出现电机损坏等情况。
步骤S402，判断超前角是否超出预设的正常超前角范围，或低于预设的正常超前角范围，若超前角超出预设的正常超前角范围，执行步骤S403，若超前角低于预设的正常超前角范围，执行步骤S404；
步骤S403，在超前角超出预设的正常超前角范围时，使用基于霍尔检测的超前角约束算法使励磁电压的换相点提前一定时间；
步骤S404，在超前角低于预设的正常超前角范围时，使用基于霍尔检测的超前角约束算法使励磁电压的换相点滞后一定时间。
通过实时检测励磁电压换相点与霍尔传感器跳变沿，并对励磁电压换相点与霍尔传感器跳变沿所形成的超前角α进行计算，当电机在启动或转速上升操作时，超前角α将减小，当超前角α减小至超出预设的正常超前角范围时，使用算法调节励磁电压换相点，使励磁电压换相点提前一定时间，保证超前角在预设正常运行范围内，使得电机转速增加时超前角维持在预设的范围下；当电机在急停或转速下降操作时，励磁电压换相点与霍尔传感器 跳变沿超前角α将增大，当超前角α增大至超出预设的正常超前角范围时，使用算法调节励磁电压换相点，使励磁电压换相点滞后一定时间，保证超前角在预设正常运行范围内，使得电机转速下降时超前角维持在预设的范围下；保证电机在正常工作状态。
通过上述步骤，可以解决电机启动或加速阶段，霍尔电压跳变沿将提前，导致超前角α将变小甚至会出现不超前；在电机在急停操作或降速阶段，霍尔电压跳变沿将延后，导致超前角α将变大甚至会超出预设超前范围的问题。
可选的，在转速突增/突减时，还可以通过控制电流变化率来延缓励磁电压占空比变化率过快。
如图2所示，该图为电机正常定速运行时位置传感器(HALL)与励磁电压波形图。电机正常运行时，HALL高低电平时间持续相等，HALL跳变沿与励磁电压换相点形成的超前角α恒等于T1，且励磁电压占空比变化率为0，保证电机可正常运转。
如图5所示，该图为电机风口突减小时HALL与励磁电压波形图。该运行条件下，HALL高低电平持续时间不相等，风口突减小，因恒功率电机电流变小，负载变轻，励磁电压占空比突增而导致转速骤升使HALL高低电平跳变变快，电压占空比增加时变化率过快会导致电机出现停机现象。例如：当电机风口突增大时，该运行条件下，HALL高低电平持续时间不相等，风口突增大，因恒功率电机电流变大，负载变重，励磁电压占空比突降而导致转速骤减使HALL高低电平跳变变慢，电压占空比降低变化率过快会导致电机出现停机现象。
如图6所示，该图为电机启动或加速操作时HALL与励磁电压波形图。该运行条件下，HALL跳变沿与励磁电压换相点形成的超前角α将会持续一段时间变小(T1>T4>T5>T6>T7>T8),当超前角α减小超过最小值时，将会出现无超前问题，导致电机在高速运转时出现故障，例如：异常停机、高速状态无法运行等，通过算法调节励磁电压占空比换相点，使励磁电压占空比换相点提前，维持超前角α在预设安全范围内，解决电机出现超前角过小甚至无超前角致使电机出现各种异常状况。例如：当电机急停或减速操作时，该运行条件下，HALL跳变沿与励磁电压换相点形成的超前角α将会持续一段时间变大(T1<T4<T5<T6<T7<T8),当超前角α增大幅度超过最大值时，将会出现超前角过大甚至滞后问题，导致电机在高速运转时出现故障例如：异常停机、高速状态无法运行等，通过算法调节励磁电压占空比换相点，使励磁电压占空比换相点延后，维持超前角α在预设安全范围内，解决电机出现超前角过大甚至滞后致使电机出现各种异常状况。
实施例2
根据本申请实施例，还提供了一种电机的控制装置，该装置可以执行上述实施例中的 电机的控制方法，具体实现方式和优选应用场景与上述实施例相同，在此不做赘述。
图7是根据本申请实施例的一种电机的控制装置的示意图，如图7所示，该装置包括：
获取模块70，用于获取第一波形参数和第二波形参数，其中，第一波形参数为传感器采集到的第一波形的波形参数，第二波形参数为目标电压的第二波形的波形参数，目标电压为电机的励磁电压；
确定模块72，用于基于第一波形参数和第二波形参数，确定超前角，其中，超前角用于表征第二波形相对于第一波形提前的角度；
控制模块74，用于基于超前角和第一算法，控制电机的工作状态。
可选地，控制模块，包括：调节单元，用于基于超前角和第一算法调节第二波形参数，得到第三波形参数；第一控制单元，用于基于第三波形参数，控制电机的工作状态。
可选地，本申请上述实施例中的第二波形参数包括：第一换相点，第一换相点用于表征第二波形的相位发生变化的位置，第三波形参数包括：第二换相点或第三换相点，调节单元，包括：第一判断子单元，用于判断超前角是否大于第一预设值，或小于第二预设值；第一控制子单元，用于在超前角大于第一预设值的情况下，基于第一算法控制第一换相点滞后，得到第二换相点；第一控制子单元还用于在超前角小于第二预设值的情况下，基于第一算法控制第一换相点提前，得到第三换相点；其中，第二预设值小于或等于第一预设值。
可选地，本申请上述实施例中的第一波形参数包括：跳变沿，跳变沿用于表征第一波形的电平发生变化的位置，确定模块，包括：确定单元，用于基于跳变沿和第一换相点之间的相位差，确定超前角。
可选地，该装置还包括：判断模块，用于判断超前角是否处于预设超前角区间；控制模块还用于在超前角未处于预设超前角区间的情况下，基于超前角和第一算法，控制电机的工作状态；控制模块还用于在超前角处于预设超前角区间的情况下，禁止控制电机的工作状态。
可选地，获取模块还用于获取第二波形的第一占空比和第二占空比，其中，第一占空比为第二波形在当前时刻的占空比，第二占空比为第二波形在当前时刻的前一时刻的占空比；确定模块还用于基于第一占空比和第二占空比，确定目标电压的占空比变化率；控制模块还用于基于占空比变化率和第二算法，控制电机的工作状态。
可选的，控制模块，包括：调节单元还用于基于占空比变化率和第二算法，调节第一占空比；第二控制单元，用于基于调节后的第一占空比，控制电机的工作状态。
可选地，调节单元包括：第二判断子单元，用于判断占空比变化率是否大于第一预设 占空比变化率，或小于第二预设占空比变化率；第二控制子单元，用于在占空比变化率大于第一预设占空比变化率的情况下，基于第二算法降低第一占空比；第二控制子单元还用于在占空比变化率小于第二预设占空比变化率的情况下，基于第二算法提高第一占空比；其中，第一预设占空比变化率大于或等于第二预设占空比变化率。
可选地，判断模块还用于判断占空比变化率是否处于预设占空比变化率区间；控制模块还用于在占空比变化率未处于预设占空比变化率区间的情况下，基于占空比变化率和第二算法，控制电机的工作状态；控制模块还用于在占空比变化率处于预设占空比变化率区间的情况下，禁止控制电机的工作状态。
可选地，该装置还包括：响应模块，用于在响应于电机的启动信号或关机信号的情况下，获取第一波形参数和第二波形参数。
实施例3
根据本申请实施例，还提供了一种计算机可读存储介质，计算机可读存储介质包括存储的程序，其中，在程序运行时控制计算机可读存储介质所在设备执行上述实施例1中的电机的控制方法。
实施例4
根据本申请实施例，还提供了一种处理器，处理器用于运行程序，其中，程序运行时执行上述实施例1中的电机的控制方法。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既 可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。

Claims (13)

  1. 一种电机的控制方法，其特征在于，包括：
    获取第一波形参数和第二波形参数，其中，所述第一波形参数为传感器采集到的第一波形的波形参数，所述第二波形参数为目标电压的第二波形的波形参数，所述目标电压为电机的励磁电压；
    基于所述第一波形参数和所述第二波形参数，确定超前角，其中，所述超前角用于表征所述第二波形相对于所述第一波形提前的角度；
    基于所述超前角和第一算法，控制所述电机的工作状态。
  2. 根据权利要求1所述的方法，其特征在于，基于所述超前角和第一算法，控制所述电机的工作状态，包括：
    基于所述超前角和所述第一算法调节所述第二波形参数，得到第三波形参数；
    基于所述第三波形参数，控制所述电机的工作状态。
  3. 根据权利要求2所述的方法，其特征在于，所述第二波形参数包括：第一换相点，所述第一换相点用于表征所述第二波形的相位发生变化的位置，所述第三波形参数包括：第二换相点或第三换相点，其中，基于所述超前角和所述第一算法，调节所述第二波形参数，得到第三波形参数，包括：
    判断所述超前角是否大于第一预设值，或小于第二预设值；
    在所述超前角大于所述第一预设值的情况下，基于所述第一算法控制所述第一换相点滞后，得到所述第二换相点；
    在所述超前角小于所述第二预设值的情况下，基于所述第一算法控制所述第一换相点提前，得到所述第三换相点；
    其中，所述第二预设值小于或等于所述第一预设值。
  4. 根据权利要求1所述的方法，其特征在于，所述第一波形参数包括：跳变沿，所述跳变沿用于表征所述第一波形的电平发生变化的位置，其中，基于所述第一波形参数和所述第二波形参数，确定超前角，包括：
    基于所述跳变沿和第一换相点之间的相位差，确定所述超前角。
  5. 根据权利要求1所述的方法，其特征在于，在基于所述超前角和第一算法，控制所述电机的工作状态之前，所述方法还包括：
    判断所述超前角是否处于预设超前角区间；
    在所述超前角未处于所述预设超前角区间的情况下，基于所述超前角和第一算法，控制所述电机的工作状态；
    在所述超前角处于所述预设超前角区间的情况下，禁止控制所述电机的工作状态。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述第二波形的第一占空比和第二占空比，其中，所述第一占空比为所述第二波形在当前时刻的占空比，所述第二占空比为所述第二波形在所述当前时刻的前一时刻的占空比；
    基于所述第一占空比和所述第二占空比，确定所述目标电压的占空比变化率；
    基于所述占空比变化率和第二算法，控制所述电机的工作状态。
  7. 根据权利要求6所述的方法，其特征在于，基于所述占空比变化率和第二算法，控制所述电机的工作状态，包括：
    基于所述占空比变化率和所述第二算法，调节所述第一占空比；
    基于调节后的第一占空比，控制所述电机的工作状态。
  8. 根据权利要求6所述的方法，其特征在于，基于所述占空比变化率和所述第二算法，调节所述第一占空比，包括：
    判断所述占空比变化率是否大于第一预设占空比变化率，或小于第二预设占空比变化率；
    在所述占空比变化率大于所述第一预设占空比变化率的情况下，基于所述第二算法降低所述第一占空比；
    在所述占空比变化率小于所述第二预设占空比变化率的情况下，基于所述第二算法提高所述第一占空比；
    其中，所述第一预设占空比变化率大于或等于所述第二预设占空比变化率。
  9. 根据权利要求6所述的方法，其特征在于，在基于所述占空比变化率和第二算法，控制所述电机的工作状态之前，包括：
    判断所述占空比变化率是否处于预设占空比变化率区间；
    在所述占空比变化率未处于所述预设占空比变化率区间的情况下，基于所述占空比变化率和所述第二算法，控制所述电机的工作状态；
    在所述占空比变化率处于所述预设占空比变化率区间的情况下，禁止控制所述电机的工作状态。
  10. 根据权利要求1所述的方法，其特征在于，获取第一波形参数和第二波形参数之前，所述方法还包括：
    响应于所述电机的启动信号或关机信号，获取所述第一波形参数和所述第二波形参数。
  11. 一种电机的控制装置，其特征在于，包括：
    获取模块，用于获取第一波形参数和第二波形参数，其中，所述第一波形参数为传感器采集到的第一波形的波形参数，所述第二波形参数为目标电压的第二波形的波形参数，所述目标电压为电机的励磁电压；
    确定模块，用于基于所述第一波形参数和所述第二波形参数，确定超前角，其中，所述超前角用于表征所述第二波形相对于所述第一波形提前的角度；
    控制模块，用于基于所述超前角和第一算法，控制所述电机的工作状态。
  12. 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包括存储的程序，其中，在所述程序运行时控制所述计算机可读存储介质所在设备执行权利要求1至10中任意一项所述的电机的控制方法。
  13. 一种处理器，其特征在于，所述处理器用于运行程序，其中，所述程序运行时执行权利要求1至10中任意一项所述的电机的控制方法。
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CN104092412A (zh) * 2014-06-30 2014-10-08 英特格灵芯片(天津)有限公司 无刷电机相位超前角上限设定的方法、装置和控制系统
WO2018138807A1 (ja) * 2017-01-25 2018-08-02 三菱電機株式会社 モータ駆動装置、電動送風機、電気掃除機及びハンドドライヤ
CN113014158A (zh) * 2019-12-18 2021-06-22 珠海格力电器股份有限公司 电机控制方法、装置、电机控制器、电机及存储介质
CN112671304A (zh) * 2021-01-14 2021-04-16 珠海格力电器股份有限公司 电机的控制方法及装置

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