WO2024040743A1

WO2024040743A1 - Method and apparatus for compensating for kinetic energy for electric motor, and device and computer-readable storage medium

Info

Publication number: WO2024040743A1
Application number: PCT/CN2022/128384
Authority: WO
Inventors: 郁亚南; 樊玉龙; 李达来; 钱客宏; 盛国立
Original assignee: 东莞市本末科技有限公司
Priority date: 2022-08-26
Filing date: 2022-10-28
Publication date: 2024-02-29
Also published as: CN115514073A

Abstract

The present application relates to a method for compensating for kinetic energy for an electric motor. The method comprises: monitoring, in real time, the control state of a user over a preset electric motor, wherein the control state comprises the user decreasing the input power of the preset electric motor and the user increasing the input power of the preset electric motor; when the control state is the user decreasing the input power of the preset electric motor, performing a reverse charging operation on a preset energy storage module, wherein the preset energy storage module comprises a super capacitor; and when the control state is the user increasing the input power of the preset electric motor, performing a discharging operation on the preset energy storage module. Further provided in the present application are an apparatus for compensating for kinetic energy for an electric motor, and an electronic device and a computer-readable storage medium. The present application can solve the problem of meeting the actual application requirements of an electric motor by means of dynamically adjusting kinetic energy required by the electric motor.

Description

Motor kinetic energy compensation method, device, equipment and computer-readable storage medium

Cross-references to related applications.

This application requests the priority of the Chinese patent application submitted to the China Patent Office on August 26, 2022, with the application number 202211034220.7, and the invention name is "Motor kinetic energy compensation method, device, equipment and computer-readable storage medium", and its entire content incorporated herein by reference.

Technical field

The present invention relates to the field of motor technology, and in particular to a motor kinetic energy compensation method, device, electronic equipment and computer-readable storage medium.

Background technique

An electric motor, commonly known as a motor or electric motor, is an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction. Motors are ubiquitous in people's daily lives and production. For example, motors are installed and used in mechanical equipment such as printers, razors, electric bicycles, machine tools, high-speed elevators, electric locomotives, and cranes.

technical problem

During the use of the motor, there are changes in power output. For example, when the motor is started, the input power is too large, and the greater kinetic energy needs to be consumed. When the motor suddenly stops or slows down, it is in a low power or no power state. , the kinetic energy consumption is reduced, and it may cause the loss of excess kinetic energy. How to dynamically adjust the kinetic energy required by the motor to meet the practical application of the motor is an urgent problem that needs to be solved.

Technical solutions

In order to solve the above problems, the present invention provides a motor kinetic energy compensation method, device, electronic equipment and computer-readable storage medium. Its main purpose is to solve the problem of dynamically adjusting the kinetic energy required by the motor to meet the needs of practical application of the motor.

The above objectives can be achieved using the following technical solutions.

In order to achieve the above object, the present invention provides a motor energy compensation method, including: real-time monitoring of the user's control status of the preset motor, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor. The input power of the preset motor is described.

When the control state is that the user reduces the input power of the preset motor, a reverse charging operation is performed on the preset energy storage module, where the preset energy storage module includes a supercapacitor.

When the control state is for the user to increase the input power of the preset motor, a discharge operation is performed on the preset energy storage module.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the invention will become apparent from the description, drawings and claims.

beneficial effects

The embodiment of the present invention monitors the user's control status of the preset motor in real time; when the control status is that the user reduces the input power of the preset motor, the reverse charging operation is performed on the preset energy storage module. The control state is that when the user increases the input power of the preset motor, the preset energy storage module is discharged, wherein the preset energy storage module includes a supercapacitor, and the supercapacitor is used to quickly The characteristics of charging and rapid discharging can realize dynamic power compensation of the preset motor in a short time, meeting the needs of practical application of the motor.

Description of drawings

FIG. 1 is a schematic flowchart of a motor kinetic energy compensation method according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a detailed implementation flow of one step in the motor kinetic energy compensation method provided by an embodiment of the present invention.

FIG. 3 is a detailed implementation flow diagram of another step in the motor kinetic energy compensation method provided by an embodiment of the present invention.

FIG. 4 is a detailed implementation flow diagram of another step in the motor kinetic energy compensation method provided by an embodiment of the present invention.

Figure 5 is a functional module diagram of a motor kinetic energy compensation device provided by an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of an electronic device that implements the motor kinetic energy compensation method provided by an embodiment of the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings.

Embodiments of the invention

It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

Embodiments of the present application provide a motor kinetic energy compensation method. The execution subject of the motor kinetic energy compensation method includes, but is not limited to, at least one of electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiments of the present application. In other words, the motor kinetic energy compensation method can be executed by software or hardware installed on the terminal device or the server device, and the software can be a blockchain platform. The server may be an independent server, or may provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, and content delivery networks (ContentDelivery Network, CDN), and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms.

Refer to Figure 1, which is a schematic flow chart of a motor kinetic energy compensation method provided by an embodiment of the present invention. In this embodiment, the motor kinetic energy compensation method includes:

S1. Real-time monitoring of the user's control status of the preset motor, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor.

In the embodiment of the present invention, the preset motor refers to an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction. Its main function is to convert mechanical energy into electrical energy. The preset motor may be a motor installed in any mechanical equipment, for example, a motor installed in a high-speed elevator, a motor installed in an electric bicycle, or a motor installed in a workshop machine tool.

In the embodiment of the present invention, the user's control status of the preset motor mainly refers to the user's change in the input power of the preset motor, for example, reducing the input power of the preset motor, or increasing the input power of the preset motor. input power.

It can be understood that during the actual use of the preset motor, the input power of the motor will change due to the need for manual operation. For example, when the preset motor is started, the input power of the preset motor will increase. When the preset motor is decelerated or shut down, the input power corresponding to the preset motor will be reduced. Therefore, the user's control of the preset motor can be captured by monitoring the input power of the preset motor in real time. state.

In detail, referring to Figure 2, the real-time monitoring of the user's control status of the preset motor includes.

S11. Obtain the input power of the preset motor in real time.

S12. Calculate the change amplitude of the input power of the preset motor within the preset time interval, wherein the change amplitude includes the amplitude value of the input power increase and the amplitude value of the input power decrease.

S13. When the change amplitude is increasing, set the control state to allow the user to increase the input power of the preset motor.

S14. When the change amplitude is reduced, set the control state to allow the user to reduce the input power of the preset motor.

In the embodiment of the present invention, a preset power detector can be used to detect the input power of the preset motor in real time. The preset power detector refers to a module that can calculate the input power of the preset motor in real time. The preset power detector may be installed on the same physical carrier as the preset motor.

In the embodiment of the present invention, the preset time interval may be a time length such as 1 second or 0.25 milliseconds, and may be set according to specific circumstances in actual applications. Preferably, the preset time interval needs to be able to fully reflect the changing trend of the input power of the preset motor, and on the other hand, the preset time interval cannot be too long, which is not conducive to subsequent adjustments based on the motor. Changes in input power are compensated for relevant kinetic energy in a timely manner.

By monitoring the user's control status of the preset motor in real time, the present invention can obtain changes in the input power of the preset motor, so that corresponding kinetic energy compensation can be performed in response to the change trend of the input power of the preset motor.

S2. When the control state is for the user to reduce the input power of the preset motor, perform a reverse charging operation on the preset energy storage module, where the preset energy storage module includes a supercapacitor.

In the embodiment of the present invention, the user reducing the input power of the preset motor usually occurs when the user shuts down the mechanical equipment where the preset motor is located, or when the user slows down the mechanical equipment where the preset motor is located, for example , when the electric bicycle is traveling on a downhill section, the user actively decelerates the electric bicycle or brakes suddenly, which will lead to a decrease in the corresponding motor input power.

It can be understood that when the user reduces the input power of the preset motor, the kinetic energy required by the preset motor gradually decreases, and at the same time, the electric energy generated by the preset motor is in excess relative to actual demand. , so excess electric energy needs to be stored to prevent the loss of electric energy.

The embodiment of the present invention adopts a method of reverse charging a preset energy storage module to store excess electric energy.

In this embodiment of the present invention, the preset energy storage module may be a supercapacitor used to store electrical energy. The supercapacitor has the characteristics of fast charging and fast discharge. When the user reduces the input power of the preset motor, This feature of the supercapacitor can be used to quickly complete the reverse charging operation in a short time and prevent the loss of electrical energy.

Preferably, the preset energy storage module can be deployed in the motor control system of the preset motor, and the motor control system realizes the control state according to the control status of the preset motor through a preloaded motor control program. Change, perform reverse charging and discharging operations on the preset energy storage module, so as to dynamically compensate the kinetic energy of the preset motor.

In detail, referring to Figure 3, when the control state is for the user to reduce the input power of the preset motor, a reverse charging operation is performed on the preset energy storage module, including.

S21. Determine whether the change amplitude is greater than the preset power reduction threshold; when the change amplitude is greater than or equal to the preset power reduction threshold, perform S22 to reverse the preset energy storage module. charging operation.

When the change amplitude is less than the preset power reduction threshold, S23 is executed to continuously monitor the user's control status of the preset motor.

In this embodiment of the present invention, the preset power reduction threshold may be 0 or other data, and may be adjusted according to actual conditions.

In the embodiment of the present invention, when the change amplitude is less than the preset power reduction threshold, the user's control status of the preset motor is continuously monitored until the change amplitude is greater than or equal to the preset power reduction threshold. When the power decreases to the threshold, reverse charging is performed on the preset energy storage module.

S3. When the control state is for the user to increase the input power of the preset motor, perform a discharge operation on the preset energy storage module.

In the embodiment of the present invention, the user increasing the input power of the preset motor usually occurs when the user starts the mechanical equipment where the preset motor is located, or when the user accelerates the mechanical equipment where the preset motor is located, for example, when When a user turns on a machine tool in the workshop, the input power of the motor corresponding to the machine tool will increase.

It is understandable that the motor relies on magnetic field (stator) induction to push the rotating shaft (rotor) to make it move. At the beginning of the motor starting, the rotor is stationary. In order to generate a large magnetic field to pull the rotor, the coil requires a large current to do work. The magnetic field is generally an even number of poles, and the two adjacent magnetic fields are N-level sums that are different from each other. The S pole uses the principle of attraction of opposite poles to make the rotor of the motor continue to rotate.

After the rotor starts to rotate, the rotor will automatically rotate to the next pole based on inertia. It no longer requires a large current to generate a strong magnetic field to attract the rotor to rotate. Therefore, the motor has a large input power and consumes a lot of power in the early stages of startup.

Therefore, when the user increases the input power of the preset motor, the corresponding electric energy generated by the preset motor cannot meet the actual needs, so the kinetic energy of the preset motor needs to be supplemented. In the embodiment of the present invention, the preset motor is The preset energy storage module discharges to compensate the kinetic energy of the preset motor.

In detail, referring to Figure 4, when the control state is for the user to increase the input power of the preset motor, performing a discharge operation on the preset energy storage module includes.

S31. Obtain the load speed of the motor and the electric energy reserve in the preset energy storage module; when the load speed of the motor is less than the preset power compensation speed threshold and the electric energy reserve reaches the preset discharge threshold When, perform S32 to perform a discharge operation on the preset energy storage module; when the load speed of the motor is not less than the preset power compensation speed, or the electric energy storage is less than the preset discharge threshold When, S33 is executed to continuously monitor the user's control status of the preset motor.

In another optional embodiment of the present invention, the load speed of the motor can be obtained through the following method.

Obtain the motion curve of the preset motor and the load load and the motion speed of the motor corresponding to each coordinate point in the motion curve; according to the load load and motion speed corresponding to each coordinate point, Calculate the thrust corresponding to each coordinate point; select the thrust with the highest value as the load speed of the motor.

In the embodiment of the present invention, the preset power compensation speed threshold and the preset discharge threshold can be set according to actual conditions.

For example, the current load speed of the motor is 180 revolutions per second, the preset power compensation speed threshold is 200 revolutions per second, the preset discharge threshold is 700 coulombs, and the preset energy storage The electrical energy reserve in the module is 600 coulombs. In this case, although the condition that the load speed of the motor is less than the preset power compensation speed threshold is met, the condition that the electrical energy reserve reaches the preset discharge threshold is not met. , the preset energy storage module cannot be discharged.

As shown in Figure 5, it is a functional module diagram of a motor kinetic energy compensation device provided by an embodiment of the present invention.

The motor kinetic energy compensation device 100 of the present invention can be installed in electronic equipment. According to the implemented functions, the motor kinetic energy compensation device 100 may include a motor control state monitoring module 101, a reverse charging control module 102, and a discharge control module 103. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of the electronic device and can complete fixed functions, and are stored in the memory of the electronic device.

In this embodiment, the functions of each module/unit are as follows.

The motor control status monitoring module 101 is used to monitor the user's control status of the preset motor in real time, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor. .

The reverse charging control module 102 is configured to perform a reverse charging operation on the preset energy storage module when the control state is that the user reduces the input power of the preset motor, wherein the preset The energy storage modules include supercapacitors.

The discharge control module 103 is configured to perform a discharge operation on the preset energy storage module when the control state is for the user to increase the input power of the preset motor.

In detail, the specific implementation of each module of the motor kinetic energy compensation device is as follows.

Step 1. Monitor the user's control status of the preset motor in real time, where the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor.

In detail, the real-time monitoring of the user's control status of the preset motor includes: obtaining the input power of the preset motor in real time; calculating the change amplitude of the input power of the preset motor within a preset time interval, where, The change amplitude includes the amplitude value of the input power increase and the amplitude value of the input power decrease; when the change amplitude is increase, the control state is set for the user to increase the input power of the preset motor; when the change When the amplitude is reduced, the control state is set to user.

Reduce the input power of the preset motor.

In the embodiment of the present invention, the preset time interval may be 1 second or 0.25 milliseconds, etc., and may be set according to specific circumstances in actual applications. Preferably, the preset time interval needs to be able to fully reflect the changing trend of the input power of the preset motor, and on the other hand, the preset time interval cannot be too long, which is not conducive to subsequent adjustments based on the motor. Changes in input power are compensated for relevant kinetic energy in a timely manner.

Step 2: When the control state is for the user to reduce the input power of the preset motor, perform a reverse charging operation on the preset energy storage module, where the preset energy storage module includes a supercapacitor.

In this embodiment of the present invention, the preset energy storage module may be a supercapacitor used to store electrical energy. Preferably, the preset energy storage module may be deployed in the motor control system of the preset motor. In the method, the motor control system uses a preloaded motor control program to perform reverse charging and discharging operations on the preset energy storage module according to changes in the control state of the preset motor, so as to achieve the purpose of charging and discharging the preset energy storage module. The kinetic energy of the preset motor is dynamically compensated.

In detail, when the control state is that the user reduces the input power of the preset motor, performing a reverse charging operation on the preset energy storage module includes: determining whether the change amplitude is greater than the preset The power reduction threshold; when the change amplitude is greater than or equal to the preset power reduction threshold, the reverse charging operation is performed on the preset energy storage module; when the change amplitude is less than the preset power When the threshold is lowered, the user's control status of the preset motor is continuously monitored.

Step 3: When the control state is for the user to increase the input power of the preset motor, perform a discharge operation on the preset energy storage module.

In detail, when the control state is for the user to increase the input power of the preset motor, performing a discharge operation on the preset energy storage module includes: obtaining the load speed of the motor and the The electric energy reserve in the preset energy storage module; when the load speed of the motor is less than the preset power compensation speed threshold and the electric energy reserve reaches the preset discharge threshold, then the preset energy storage module Perform a discharge operation; when the load speed of the motor is not less than the preset power compensation speed, or the electric energy reserve is less than the preset discharge threshold, then continuously monitor the user's use of the preset motor. control status.

In another optional embodiment of the present invention, the load speed of the motor can be obtained by the following method: obtaining the motion curve of the preset motor and the load load of the motor corresponding to each coordinate point in the motion curve. and the movement speed of the motor; calculate the thrust corresponding to each coordinate point according to the load load and movement speed corresponding to each coordinate point; select the thrust with the highest value as the load speed of the motor.

In the embodiment of the present invention, the motor kinetic energy compensation device monitors the user's control status of the preset motor in real time; when the control status is that the user reduces the input power of the preset motor, the preset energy storage device The module performs a reverse charging operation. When the control state is for the user to increase the input power of the preset motor, the preset energy storage module performs a discharge operation, wherein the preset energy storage module Including supercapacitors, using the characteristics of fast charging and fast discharging of supercapacitors, dynamic power compensation of the preset motor can be achieved in a short time, meeting the needs of practical application of the motor.

As shown in Figure 6, it is a schematic structural diagram of an electronic device that implements a motor kinetic energy compensation method provided by an embodiment of the present invention.

The electronic device 1 may include a processor 10, a memory 11 and a bus, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a motor energy compensation program.

Wherein, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, magnetic disk, CD etc. In some embodiments, the memory 11 may be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk or a smart memory card (Smart Memory Card) equipped on the electronic device 1. Media Card (SMC), Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card) etc. Further, the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software installed on the electronic device 1 and various types of data, such as codes for motor energy compensation programs, etc., but can also be used to temporarily store data that has been output or will be output.

In some embodiments, the processor 10 may be composed of an integrated circuit, for example, it may be composed of a single packaged integrated circuit, or it may be composed of multiple integrated circuits packaged with the same function or different functions, including one or more Central processing unit (Central Processing unit (CPU), microprocessor, digital processing chip, graphics processor and various control chip combinations, etc. The processor 10 is the control core (Control Unit) of the electronic device, using various interfaces and lines to connect various components of the entire electronic device, and by running or executing programs or modules (such as motors) stored in the memory 11 kinetic energy compensation program, etc.), and call the data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

The bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (extended industry standard architecture (referred to as EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. The bus is configured to enable connection communication between the memory 11 and at least one processor 10 and the like.

Figure 6 only shows an electronic device with components. Persons skilled in the art can understand that the structure shown in Figure 6 does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure. components, or combinations of certain components, or different arrangements of components.

For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) that supplies power to various components. Preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so that through the power management device The device implements functions such as charging management, discharge management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi Modules, etc., will not be described in detail here.

Further, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and/or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which are usually used in the electronic device. 1 Establish communication connections with other electronic devices.

Optionally, the electronic device 1 may also include a user interface. The user interface may be a display (Display) or an input unit (such as a keyboard). Optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. The display, which may also be appropriately referred to as a display screen or display unit, is used for displaying information processed in the electronic device 1 and for displaying a visualized user interface.

It should be understood that the above embodiments are for illustration only, and the scope of the patent application is not limited by this structure.

The motor kinetic energy compensation program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can be realized: real-time monitoring of the user's control status of the preset motor, wherein, The control state includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor.

Further, if the integrated modules/units of the electronic device 1 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Memory).

The present invention also provides a computer-readable storage medium. The readable storage medium stores a computer program. When the computer program is executed by the processor of the electronic device, it can realize: real-time monitoring of the user's control of the preset motor. state, wherein the control state includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor.

In addition, each functional module in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of hardware plus software function modules.

It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

Therefore, the embodiments should be regarded as illustrative and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is therefore intended that all claims falling within the claims All changes within the meaning and scope of equivalent elements are included in the present invention. Any accompanying reference signs in a claim shall not be construed as limiting the claim in question.

The blockchain referred to in the present invention is a new application model of computer technology such as distributed data storage, point-to-point transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database. It is a series of data blocks generated using cryptographic methods. Each data block contains a batch of network transaction information and is used to verify its Validity of information (anti-counterfeiting) and generation of the next block. Blockchain can include the underlying platform of the blockchain, the platform product service layer, and the application service layer.

Embodiments of the present application can acquire and process relevant data based on holographic projection technology. Among them, artificial intelligence (Artificial Intelligence (AI) is a theory, method, technology and application system that uses digital computers or digital computer-controlled machines to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

Furthermore, it is clear that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claims may also be implemented by one unit or device by software or hardware. Second-class words are used to denote names, not any particular order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified. Modifications or equivalent substitutions may be made without departing from the spirit and scope of the technical solution of the present invention.

Claims

A motor kinetic energy compensation method, characterized in that the method includes:

Real-time monitoring of the user's control status of the preset motor, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor;

When the control state is that the user reduces the input power of the preset motor, perform a reverse charging operation on the preset energy storage module, wherein the preset energy storage module includes a supercapacitor;

When the control state is for the user to increase the input power of the preset motor, a discharge operation is performed on the preset energy storage module.
The motor energy compensation method according to claim 1, wherein the real-time monitoring of the user's control status of the preset motor, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor. The input power of the preset motor includes:

Obtain the input power of the preset motor in real time;

Calculate the change amplitude of the input power of the preset motor within a preset time interval;

When the change amplitude is increased, the control state is set so that the user increases the input power of the preset motor;

When the change amplitude is reduced, the control state is set so that the user reduces the input power of the preset motor.
The motor energy compensation method according to claim 2, wherein when the control state is that the user reduces the input power of the preset motor, a reverse charging operation is performed on the preset energy storage module. ,include:

Determine whether the change amplitude is greater than a preset power reduction threshold;

When the change amplitude is greater than or equal to the preset power reduction threshold, perform a reverse charging operation on the preset energy storage module;

When the change amplitude is less than the preset power reduction threshold, the user's control status of the preset motor is continuously monitored.
The motor energy compensation method according to claim 1, wherein when the control state is for the user to increase the input power of the preset motor, the preset energy storage module is discharged. ,include:

Obtain the load speed of the motor and the electric energy storage in the preset energy storage module;

When the load speed of the motor is less than the preset power compensation speed threshold and the electric energy reserve reaches the preset discharge threshold, perform a discharge operation on the preset energy storage module;

When the load speed of the motor is not less than the preset power compensation speed, or the electric energy reserve is less than the preset discharge threshold, the user's control status of the preset motor is continuously monitored.
The motor kinetic energy compensation method according to claim 4, wherein said obtaining the load speed of the motor includes:

Obtain the motion curve of the preset motor and the load load and motion speed corresponding to each coordinate point in the motion curve;

Calculate the thrust corresponding to each coordinate point according to the load load and movement speed corresponding to each coordinate point;

The thrust with the highest value is selected as the load speed of the motor.
The motor energy compensation method according to claim 1, wherein the motor is a direct drive motor, and the preset energy storage module is deployed in the motor control system of the preset motor.
A motor kinetic energy compensation device, characterized in that the device includes:

The motor control status monitoring module is used to monitor the user's control status of the preset motor in real time, wherein the control status includes the user reducing the input power of the preset motor and the user increasing the input power of the preset motor;

A reverse charging control module, configured to perform a reverse charging operation on the preset energy storage module when the user reduces the input power of the preset motor, wherein the preset energy storage module Modules include supercapacitors;

A discharge control module, configured to perform a discharge operation on the preset energy storage module when the user increases the input power of the preset motor in the control state.
The motor energy compensation device according to claim 7, wherein the motor control status monitoring module obtains the user's control status of the preset motor through the following operations:

Obtain the input power of the preset motor in real time;

Calculate the change amplitude of the input power of the preset motor within a preset time interval;

When the change amplitude is increased, the control state is set so that the user increases the input power of the preset motor;

When the change amplitude is reduced, the control state is set so that the user reduces the input power of the preset motor.
An electronic device, characterized in that the electronic device includes:

at least one processor; and,

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute any one of claims 1 to 6 The motor kinetic compensation method described in the item.
A computer-readable storage medium stores a computer program, characterized in that when the computer program is executed by a processor, the motor kinetic energy compensation method according to any one of claims 1 to 6 is implemented.