阅读说明：本技术 一种检测电机转速和方向的方法及相关装置 (Method for detecting rotating speed and direction of motor and related device ) 是由 张三艳 于 2020-06-17 设计创作，主要内容包括：本申请实施例提供一种检测电机转速和方向的方法及相关装置。该方法包括：获取电机的电流和电压；根据隆伯格观测器和所述电机的电流、所述电机的电压,得到所述电机的马达数据模型；根据所述马达数据模型和锁相环PLL,得到候选信号,所述候选信号用于表示所述电机的候选转速和候选方向；将所述候选信号经过二阶低通滤波器滤波后,得到目标信号,基于所述目标信号确定所述电机的目标转速和目标方向。本申请所提供的方法和装置,能够精准估测电机启动前的转速和方向,并根据不同的转速和方向进行不同的控制,使得电机在各种情况下都能稳定可靠的工作,且大大节约了硬件成本,利于技术推广。(The embodiment of the application provides a method for detecting the rotating speed and the direction of a motor and a related device. The method comprises the following steps: acquiring current and voltage of a motor; obtaining a motor data model of the motor according to the current of the motor and the voltage of the motor and the Longberger observer; obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor; and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal. The method and the device can accurately estimate the rotating speed and the direction of the motor before starting, and carry out different controls according to different rotating speeds and directions, so that the motor can work stably and reliably under various conditions, hardware cost is greatly saved, and technical popularization is facilitated.)

1. A method of detecting a speed and direction of a motor, comprising:

acquiring current and voltage of a motor;

obtaining a motor data model of the motor according to the current of the motor and the voltage of the motor and the Longberger observer;

obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;

and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal.

2. The method of claim 1, wherein the deriving a motor data model of the electric machine from the current of the electric machine and the rumberger observer, the voltage of the electric machine comprises:

calculating to obtain a motor data model of the motor by using the Longberger observer, the current of the motor and the voltage of the motor;

calculating to obtain a state equation of the motor by using the motor data model;

and calculating to obtain the motor data model of the motor according to the state equation.

3. The method of claim 2, wherein said calculating the motor data model of the electric machine from the equation of state comprises:

calculating to obtain a state error equation of the motor by using the state equation;

discretizing and decoupling the state error equation to obtain a candidate motor data model;

and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.

4. The method according to any of claims 1-3, wherein said deriving a candidate speed and a candidate direction of the electric machine from the motor data model and a phase locked loop, PLL, comprises:

regulating and controlling the speed and the position of the rotor of the motor by using the motor data model and the parameters of the phase-locked loop PLL;

determining the candidate rotational speed and the candidate direction of the motor using a rotor speed and a position of the motor.

5. The method of claim 1, wherein after determining the target speed and the target direction of the motor based on the target signal, further comprising:

and controlling the motor according to the target rotating speed and the target direction.

6. The method of claim 5, wherein said controlling the motor based on the target speed and the target direction comprises:

if the motor is determined to be in a forward rotation state according to the target direction, and the target rotating speed is smaller than a first threshold and larger than a second threshold, switching in double closed-loop control;

if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not less than the first threshold value, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not greater than the second threshold value, switching in double closed-loop control after starting current control.

7. The method of claim 5 or 6, wherein said controlling the motor based on the target speed and the target direction comprises:

if the motor is determined to be in a reverse rotation state according to the target direction, and the target rotating speed is smaller than a third threshold and larger than a fourth threshold, switching in double closed-loop control after braking and stopping and starting current control;

if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not less than the third threshold, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not greater than the fourth threshold, switching in double closed-loop control after starting current control.

8. An apparatus for detecting the speed and direction of a motor, comprising:

the acquisition unit is used for acquiring the current and the voltage of the motor;

the calculation unit is used for obtaining a motor data model of the motor according to the Longberger observer, the current of the motor and the voltage of the motor;

the calculation unit is further used for obtaining candidate signals according to the motor data model and the phase-locked loop PLL, and the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;

the filtering unit is used for filtering the candidate signal by a second-order low-pass filter to obtain a target signal;

a determination unit for determining a target rotational speed and a target direction of the motor based on the target signal.

9. An electronic device, comprising: a processor and a memory, wherein the memory stores program instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1-7.

10. A computer-readable storage medium, in which a computer program is stored which, when run on one or more processors, performs the method of any one of claims 1-7.

Technical Field

The present application relates to the field of motor technologies, and in particular, to a method and a related apparatus for detecting a rotational speed and a direction of a motor.

Background

For the existing motor without a position sensor, the starting method generally includes the steps of initially positioning the rotor, then executing current dragging on the rotor of the motor, and then switching to closed-loop control, namely when the current frequency is larger than a preset target current value, and the motor has enough counter electromotive force, the motor can be controlled to be switched to the closed-loop control, so that the starting work of the motor is completed.

However, before the motor is started, the motor may be in a forward or reverse rotation state. For example, the motor is already in a reverse rotation state before being powered on and started and has a certain rotation speed (for example, under the influence of an external environment such as strong wind, the fan rotates in a reverse direction when the fan normally operates at a certain rotation speed), which easily causes overcurrent to damage the controller, resulting in demagnetization of the motor and failure in successful starting of the motor. Therefore, it is important to estimate the rotation speed and direction of the motor in advance when the motor is started.

At present, a method of adding a sampling circuit of an end circuit and reconstructing phase voltage is commonly adopted to estimate the rotating speed and the rotating direction of a motor during starting. However, the estimation result obtained by the above method for estimating the rotation speed and direction of the motor is not accurate, and especially when the rotation speed is low, the estimation is difficult; and the hardware cost of the method is high, which is not beneficial to popularization.

Disclosure of Invention

The embodiment of the application discloses a method and a related device for detecting the rotating speed and the direction of a motor, a specially processed Luneberg observer and a Phase Locked Loop (PLL) are adopted, a second-order low-pass filter is additionally arranged to accurately estimate the rotating speed and the direction of the motor before starting, and different controls are carried out according to different rotating speeds and directions, so that the motor can stably and reliably work under various conditions, the hardware cost is greatly saved, and the technical popularization is facilitated.

In a first aspect, an embodiment of the present application discloses a method for detecting a rotation speed and a direction of a motor, including:

acquiring current and voltage of a motor;

obtaining a motor data model of the motor according to the current of the motor and the voltage of the motor and the Longberger observer;

obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;

and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal.

In the embodiment of the application, the current and the voltage of the motor are obtained, then a motor data model of the motor is obtained by using a Haenberg observer, then a candidate signal for representing the candidate rotating speed and the candidate direction of the motor is obtained by using a phase-locked loop PLL, finally the candidate signal is filtered by a second-order low-pass filter to obtain a target signal, and the target rotating speed and the target direction determined based on the target signal are the rotating speed and the direction of the available motor; through the method, the Robert observer is specially processed, namely, a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the direction of the motor before starting can be accurately estimated, different controls are carried out according to different rotating speeds and directions, the motor can stably and reliably work under various conditions, the starting success rate and the starting efficiency of the motor are improved, the safety and the reliability of the motor are further improved, and the hardware cost is greatly saved.

In a possible implementation manner of the first aspect, the obtaining a motor data model of the electric machine according to the humper observer, the current of the electric machine, and the voltage of the electric machine includes:

calculating to obtain a motor data model of the motor by using the Longberger observer, the current of the motor and the voltage of the motor;

calculating to obtain a state equation of the motor by using the motor data model;

and calculating to obtain the motor data model of the motor according to the state equation.

In yet another possible implementation manner of the first aspect, the calculating the motor data model of the electric machine according to the state equation includes:

calculating to obtain a state error equation of the motor by using the state equation;

discretizing and decoupling the state error equation to obtain a candidate motor data model;

and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.

In yet another possible implementation manner of the first aspect, the obtaining the candidate rotation speed and the candidate direction of the electric machine according to the motor data model and the phase-locked loop PLL comprises:

regulating and controlling the speed and the position of the rotor of the motor by using the motor data model and the parameters of the phase-locked loop PLL;

determining the candidate rotational speed and the candidate direction of the motor using a rotor speed and a position of the motor.

In yet another possible implementation manner of the first aspect, after determining the target rotation speed and the target direction of the motor based on the target signal, the method further includes:

and controlling the motor according to the target rotating speed and the target direction.

In yet another possible implementation manner of the first aspect, the controlling the motor according to the target rotation speed and the target direction includes:

if the motor is determined to be in a forward rotation state according to the target direction, and the target rotating speed is smaller than a first threshold and larger than a second threshold, switching in double closed-loop control;

if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not less than the first threshold value, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not greater than the second threshold value, switching in double closed-loop control after starting current control.

In yet another possible implementation manner of the first aspect, the controlling the motor according to the target rotation speed and the target direction includes:

if the motor is determined to be in a reverse rotation state according to the target direction, and the target rotating speed is smaller than a third threshold and larger than a fourth threshold, switching in double closed-loop control after braking and stopping and starting current control;

if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not less than the third threshold, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not greater than the fourth threshold, switching in double closed-loop control after starting current control.

In a second aspect, an embodiment of the present application discloses a device for detecting a rotation speed and a direction of a motor, including:

the acquisition unit is used for acquiring the current and the voltage of the motor;

the calculation unit is used for obtaining a motor data model of the motor according to the Longberger observer, the current of the motor and the voltage of the motor;

the calculation unit is further used for obtaining candidate signals according to the motor data model and the phase-locked loop PLL, and the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;

the filtering unit is used for filtering the candidate signal by a second-order low-pass filter to obtain a target signal;

a determination unit for determining a target rotational speed and a target direction of the motor based on the target signal.

In the embodiment of the application, the current and the voltage of the motor are obtained, then a motor data model of the motor is obtained by using a Haenberg observer, then a candidate signal for representing the candidate rotating speed and the candidate direction of the motor is obtained by using a phase-locked loop PLL, and finally the candidate signal is filtered by a second-order low-pass filter to obtain a target signal, namely the target rotating speed and the target direction of the available motor; according to the method, the Robert observer is specially processed, namely a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the direction of the motor before starting can be accurately estimated, different control is carried out according to different rotating speeds and directions, the motor can stably and reliably work under various conditions, the starting success rate and the starting efficiency of the motor are improved, the safety and the reliability of the motor are further improved, and the hardware cost is greatly saved.

In a possible embodiment of the second aspect, the calculating unit is specifically configured to calculate a motor data model of the motor by using the current of the motor and the current of the humper observer and the voltage of the motor; calculating to obtain a state equation of the motor by using the motor data model; and calculating to obtain the motor data model of the motor according to the state equation.

In yet another possible implementation manner of the second aspect, the calculating unit is specifically further configured to calculate a state error equation of the motor by using the state equation; discretizing and decoupling the state error equation to obtain a candidate motor data model; and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.

In a further possible embodiment of the second aspect, the calculation unit is further configured to regulate a rotor speed and a position of the electric machine using the motor data model and the parameters of the phase-locked loop PLL; determining the candidate rotational speed and the candidate direction of the motor using a rotor speed and a position of the motor.

In yet another possible implementation of the second aspect, the apparatus further comprises:

and the control unit is used for controlling the motor according to the target rotating speed and the target direction after determining the target rotating speed and the target direction of the motor based on the target signal.

In yet another possible implementation manner of the second aspect, the control unit is specifically configured to switch into a dual closed-loop control if it is determined that the motor is in a forward rotation state according to the target direction, and the target rotation speed is smaller than a first threshold and larger than a second threshold;

the obtaining unit is further configured to execute the step of obtaining the current and the voltage of the motor before starting if it is determined that the motor is in the forward rotation state according to the target direction and the target rotation speed is not less than the first threshold;

the control unit is specifically configured to switch in the double closed-loop control after starting the current control if it is determined that the motor is in the forward rotation state according to the target direction and the target rotation speed is not greater than the second threshold.

In yet another possible implementation manner of the second aspect, the control unit is specifically further configured to, if it is determined that the motor is in a reverse rotation state according to the target direction, and the target rotation speed is less than a third threshold and greater than a fourth threshold, switch into the double closed-loop control after braking and stopping and starting the current control;

the obtaining unit is further configured to execute the step of obtaining the current and the voltage before the motor is started if the motor is determined to be in the reverse rotation state according to the target direction and the target rotation speed is not less than the third threshold;

the control unit is specifically configured to switch in the double closed-loop control after starting the current control if it is determined that the motor is in the reverse rotation state according to the target direction and the target rotation speed is not greater than the fourth threshold.

In a third aspect, an embodiment of the present application discloses an electronic device for detecting a rotation speed and a direction of a motor, where the electronic device includes a memory and a processor, where the memory stores a computer program, and when the computer program runs on the processor, the electronic device executes the method according to the first aspect or any one of the possible implementation manners of the first aspect.

In a fourth aspect, this application discloses a computer-readable storage medium, in which a computer program is stored, which, when running on one or more processors, performs the method as set forth in the first aspect or any one of the possible implementations of the first aspect.

Drawings

The drawings used in the embodiments of the present application are described below.

Fig. 1 is a schematic flowchart of a method for detecting a rotation speed and a direction of a motor according to an embodiment of the present disclosure;

fig. 2a is a schematic diagram of a physical model of a motor according to an embodiment of the present disclosure;

fig. 2b is a schematic structural diagram of a progressive state observer according to an embodiment of the present application;

fig. 2c is a schematic diagram illustrating a PLL position detection principle according to an embodiment of the present disclosure;

FIG. 2d is a block diagram of a process for detecting the rotational speed and direction of a motor according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an apparatus for detecting a rotation speed and a direction of a motor according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an apparatus for detecting a rotation speed and a direction of a motor according to an embodiment of the present application.

Detailed Description

In order to make the embodiments of the present application better understood, the technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments.

The terms "first," "second," and "third," etc. in the description embodiments and claims of the present application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. The terms "comprises" and "comprising," and any variations thereof, in the description examples and claims of this application, are intended to cover a non-exclusive inclusion, such as, for example, a list of steps or elements. A method, system, article, or apparatus is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, system, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to describe the scheme of the present application more clearly, some knowledge related to the rotation speed and direction of the motor is introduced below.

Hump viewer: the method is a technique for establishing an estimated value of a state vector, determining a proper approximate value of the state vector and substituting the value into an ideal control law. The humper observer method is suitable for situations in which the available measurements are less heavily contaminated by noise and produces a dynamic system of a lower order than the order of the system being observed. The method comprises the following steps of optimally controlling an electro-hydraulic control system, carrying out pole allocation and other control modes, wherein all the control modes need to adopt a system state feedback mode, but all the states of the system cannot be obtained, so that a state estimator needs to be adopted to obtain state estimation, and a required control rule is further realized; in view of the characteristics of the electro-hydraulic system, the LONGBERG observer is adopted to carry out dimensionality reduction state estimation, and the device is applied to the electro-hydraulic control system of the material testing machine and obtains a satisfactory result. The problem that a current sensor is additionally arranged on a pulse width modulation rectifier by adopting a feedforward control strategy is solved, the feedforward control strategy of the current sensor-free based on the Longberg observer theory is generated, namely, a method based on the Longberg state observer is adopted to replace a current sensor to measure the load current, the problems of increased line inductance, difficult installation position and the like caused by the installation of the current sensor are avoided, and particularly when a plurality of sensors are needed by hanging a plurality of inverter loads on a bus, the method can greatly reduce the cost and improve the reliability of the system.

A phase-locked loop: the negative feedback control system is used for tuning a voltage-controlled oscillator by utilizing a voltage generated by phase synchronization so as to generate a target frequency. The feedback control circuit is a typical feedback control circuit, controls the frequency and the phase of an internal oscillation signal of a loop by using an externally input reference signal, realizes automatic tracking of the frequency of an output signal to the frequency of an input signal, and is generally used for a closed-loop tracking circuit. The method for stabilizing frequency in radio transmission mainly includes VCO (voltage controlled oscillator) and PLL IC (phase-locked loop integrated circuit), in which the voltage controlled oscillator can give out a signal, one portion can be used as output, another portion can be used for making phase comparison with local oscillator signal produced by PLLIC by means of frequency division, in order to keep frequency constant, the phase difference must not be changed, if the phase difference is changed, the voltage of voltage output end of PLL IC can be changed, and the VCO can be controlled until the phase difference can be recovered so as to attain the goal of phase-locking, and can make the frequency and phase of controlled oscillator and input signal retain a defined relationship.

Low-pass filtering: the filtering method is characterized in that low-frequency signals can normally pass through the filtering method, and high-frequency signals exceeding a set critical value are blocked and weakened. But the magnitude of the blocking and attenuation will vary depending on the frequency and filtering procedure (purpose). It is sometimes also called high frequency or maximum removal filtering, low pass filtering being the opposite of high pass filtering. Low-pass filtering can be simply considered to set a frequency point which cannot pass when the signal frequency is higher than the frequency, and in the digital signal, the frequency point is a cut-off frequency, and all values are assigned to 0 when the frequency domain is higher than the cut-off frequency, and the low-frequency signal is allowed to pass all through in the process, so that the low-pass filtering is called. The concept of low-pass filtering is commonly used in various fields such as electronic circuits, data smoothing, acoustic blocking, image blurring, etc. In the field of digital image processing, from the aspect of frequency domain, low-pass filtering can perform smooth denoising processing on an image.

The embodiments of the present application will be described below with reference to the drawings.

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting a rotation speed and a direction of a motor according to an embodiment of the present application, where the method includes, but is not limited to, the following steps:

step 101: the motor draws current and voltage.

The motor start control method of the present embodiment is applicable to a motor that is started in any situation, for example, a motor that is powered off and immediately powered on again for start-up at the time of high-speed operation, a motor that is powered on again immediately after being stopped for operation when driving a large inertia load, or a motor that is started normally. When the motor is started, the current and the voltage of the motor are firstly obtained, so that the rotating speed of the motor is estimated according to the Romberg observer, the phase-locked loop PLL and the second-order low-pass filter, and corresponding starting control is carried out, so that the motor is started successfully.

The current obtained in this step is the rated current of the motor, i.e., the stator current i, and similarly, the voltage obtained is the rated voltage of the motor, i.e., the stator voltage U. Different types of current values and voltage values, specific types of current values and voltage values, can be obtained by the stator current i and the stator voltage U in different coordinate systems, and refer to fig. 2a, where fig. 2a is a schematic diagram of a physical model of a motor provided in an embodiment of the present application. As shown in fig. 2a, since A, B, C three-phase windings are coupled with each other, and convenient and effective control cannot be performed in an a-B-C three-phase coordinate system, in order to realize decoupling control, a series of coordinate transformation is required to obtain required d-axis and q-axis currents. The Clarke (clarke) transformation mainly functions to transform the phase current of the three-phase stationary coordinate system (A-B-C) into the Alfa axis current and Beta axis current of the two-phase stationary coordinate system (Alfa-Beta), and at this time, the power of the system is not changed. Wherein, define Alfa axis as three-phase coordinate systemThe middle Alfa axis coincides with the Beta axis leading the Alfa axis by 90 °. The main role of the park (park) transformation is to transform the Alfa-axis and Beta-axis currents of the two-phase stationary coordinate system (Alfa-Beta) into d-axis and q-axis currents of the two-phase rotating coordinate system (d-q). The included angle between the d axis and the Alfa axis is theta, namely the position angle of the rotor rotating relative to the phase A winding, and the q axis leads the d axis by 90 degrees. Based on the three-phase stationary coordinate system (A-B-C), the two-phase stationary coordinate system (Alfa-Beta) and the two-phase rotating coordinate system (d-q), the stator current i and the stator voltage U obtained in step 101 can be converted to obtain different types of current values (i-B-C) through conversion_d，i_q，i_dref，i_qref，i_α，i_β) Sum voltage value (U)_d，U_q，U_α，U_β) Wherein i is_dComponent of stator current i projected onto d-axis, i_qFor the component of stator current i projected onto the q-axis, U_dFor the component of stator voltage U projected onto the d-axis, U_qComponent, i, of stator voltage U projected onto q-axis_drefIs a reference value of d-axis current, i_qrefFor reference values of q-axis current, U_αFor the component of the stator voltage U projected onto the Alfa axis, U_βComponent, i, of stator voltage U projected onto Beta axis_αStator-side current i on the Alfa axis side for the stator current i_βThe stator side current on the Beta axis side is the stator current i.

Step 102: and obtaining a motor data model of the motor according to the current and the voltage of the Romberg observer and the motor.

And (4) taking the current and the voltage of the motor obtained in the step (101) as input quantities of the Roberter observer, and calculating to obtain a motor data model of the motor as an output quantity of the Roberter observer through a corresponding Roberter algorithm.

Specifically, first, the current of the motor (stator side current i on the Alfa axis side) and the humper observer are used_αBeta axis side stator side current i_β) Voltage of the motor (stator voltage component U of Alfa axis)_αBeta axis stator voltage component U_β) And calculating to obtain a motor data model of the motor, wherein the realization method comprises the following steps:

the above calculation process is summarized as formula (1), and formula (1) is a motor data model of the motor, wherein U_αFor the component of the stator voltage projected onto the Alfa axis, U_βFor the component of stator voltage projected onto the Beta axis, R_SIs stator side resistance (phase resistance), p is a differential factor, L_dInductance of d-axis, L_qInductance of q-axis, L_αIs the inductance of the Alfa axis, L_βInductance of Beta axis, i_αStator side current i of the Alfa axis_βStator side current of Beta axis, theta_eElectrical included angle, omega, for rotor permanent magnets and A-phase windings_eIs the electrical angular velocity of the rotor flux linkage,flux linkages are generated for the rotor permanent magnets. In the above formula (1), except for the physical quantity i_α、i_β、U_α、U_βThe remaining physical quantities are known quantities in the motor data model, as unknown quantities (the part is to be input as the motor data model and can be obtained in step 101).

For a surface-mounted Permanent Magnet Synchronous Motor (PMSM), the saliency ratio

When ρ is 1, L_d＝L_q＝L_S(ii) a At this time:

the above calculation process is classified as formula (2), and formula (2) is a data model of the motor, wherein R_SIs stator side resistance (phase resistance), L_SIs the equivalent inductance of the stator side.

For embedded PMSM, the motor data model can also be approximated by equation (2) above, and

in summary, equations (1) to (3) are motor data models of different types of motors obtained by the roberg observer.

The method comprises the steps of obtaining a motor data model of the motor, calculating to obtain a state equation of the motor system by using data in the motor data model of the motor, calculating to obtain a state error equation of the motor according to the state equation of the motor system, dispersing and decoupling the state error equation of the motor, deducing a candidate motor model, and finally bringing the candidate motor model into a feedback matrix to obtain the motor data model of the motor in a simplified mode.

The following will describe in detail a process of obtaining a state equation of the motor system by calculation using data in the motor data model, taking the motor data model obtained by the formula (1) as an example.

Because the state equation of the motor system also needs the induced electromotive force of the motor as an input quantity, the induced electromotive force of the motor needs to be firstly obtained, and the calculation process of the induced electromotive force under the coordinate system of the Alfa axis and the Beta axis is as follows:

the above calculation process is summarized as formula (4), wherein e_αFor projection of the induced electromotive force on the Alfa axis, e_βFor the projection of the induced electromotive force on the Beta axis, ω_eIs the electrical angular velocity of the rotor flux linkage,flux linkage, θ, for rotor permanent magnets_eThe electrical included angle between the rotor permanent magnet and the A-phase winding is formed.

Further, the induced electromotive force derivative calculation process obtained by the above formula (4) is as follows:

the above calculation process is reduced to formula (5), wherein e_αFor projection of the induced electromotive force on the Alfa axis, e_βFor the projection of the induced electromotive force on the Beta axis, ω_eIs the electrical angular velocity of the rotor flux linkage,flux linkage, θ, for rotor permanent magnets_eThe electrical included angle between the rotor permanent magnet and the A-phase winding is formed.

Then, using the induced electromotive force and the derivative of the induced electromotive force obtained by the above equations (4) and (5), and the data in the motor data model of the above equation (1), a state equation of the motor system can be calculated. The method for realizing the state equation of the motor system comprises the following steps:

the above calculation process is classified as formula (6), and formula (6) is a state equation of the motor system. Wherein the content of the first and second substances,is a state variable of the observable system, also an estimated quantity of the state observer,

is an output quantity of an appreciable system,

for the estimated derivative of the state observer of the observable system,is the input to the state observer.

In equation of state (6), the derivative of the estimation of the state observer

The calculation process of (a) is as follows:

the above calculation process is reduced to formula (7), wherein i_αStator side current i of the Alfa axis_βStator side current, R, for Beta axis_SIs stator side resistance (phase resistance), L_SIs stator side equivalent inductance, e_αFor projection of the induced electromotive force on the Alfa axis, e_βFor the projection of the induced electromotive force on the Beta axis, ω_eIs the electrical angular velocity of the rotor flux linkage; the data in the calculation process of the formula (7) are derived from the induced electromotive force and the derivative of the induced electromotive force obtained by the above formulas (4) and (5), and the motor data model of the above formula (1).

In equation of state equation (6), input to the state observer

Estimated quantity of state observerEstimated derivative of state observerOutput of state observer

The mean calculation process is as follows:

the above calculation process is reduced to equation (8), wherein,

is an input to the state observer,is a state variable of the observable system, also an estimated quantity of the state observer,for the estimated derivative of the state observer of the observable system,

is an output quantity of an appreciable system; the data in the calculation process of the formula (8) are derived from the induced electromotive force and the derivative of the induced electromotive force obtained by the above formulas (4) and (5), and the motor data model of the above formula (1).

In equation of state equation (6), the A, B, C matrix is shown below:

the above calculation process is reduced to formula (9), wherein R_SIs stator side resistance (phase resistance), L_SIs the equivalent inductance of the stator side.

Specifically, part of the data in the above equations (6) to (7) needs to be obtained by a state observer, which can be referred to fig. 2b, where fig. 2b is a schematic structural diagram of a progressive state observer, and as shown in fig. 2b, the calculation of the progressive state observer can be as follows:

the above calculation process is reduced to equation (10), wherein,for the estimated derivative of the state observer of the observable system,is a state variable of an observable system and is,is an output quantity of an appreciable system,

the input quantity of the state observer is G, and the feedback matrix of the state observer is G;

the above calculation process is reduced to formula (11), wherein,

is an estimate of the state estimator.

Then, according to the state equations obtained by the above equations (6) to (9), the state error equation of the motor is calculated, and the implementation method is as follows:

the above calculation process is classified as formula (12), and formula (12) is a state error equation of the motor. Wherein the content of the first and second substances,in order to estimate the amount of the state estimator,

for the estimated derivative of the state observer of the observable system,is a state variable of an observable system and is also an estimated quantity of a state observer.

Then, discretizing and decoupling the state error equation obtained by the formula (12), and deducing to obtain a candidate motor data model, wherein the implementation method comprises the following steps:

the calculation process is reduced to formula (13), and the formula (13) is the derivation of the discretization process of the state equation;

the calculation process is reduced to formula (14), and formula (14) is a discretization equation and is applied to the discretization derivation process in formula (13);

the calculation process is reduced to formula (15), and formula (15) is to decouple the discrete results of formula (13) and simplify the results to obtain the candidate motor data model.

Wherein the characteristic equation of the candidate motor data model is as follows:

the calculation process is classified as formula (16), and formula (16) is a characteristic equation of the candidate motor data model;

the above calculation process is classified as formula (17), formula (17) is a characteristic value of a characteristic equation, and the process from formula (16) to formula (17) is a solution process for solving the characteristic value | γ I-a | ═ 0.

At this time, the equation of the available state observer is as follows:

the above calculation process is reduced to formula (18), and the feedback matrix of the humper observer can be obtained from formula (18).

And finally, substituting the candidate motor data model obtained by the formula (15) into a feedback matrix to obtain a motor data model of the motor, wherein the feedback matrix is a matrix used for state feedback of the Robert observer, and the implementation method comprises the following steps:

the above calculation process is classified as formula (19), and is a calculation process of substituting the candidate motor data model into the feedback matrix;

and decoupling and simplifying the formula (19) to obtain a motor data model of the motor, wherein the implementation process is as follows:

the above calculation process is reduced to equation (20), and equation (20) is decoupled (consider ω)_e0) is simplified to the calculation process of the motor data model.

In summary, the equations (1) to (20) can obtain the motor data model of the motor, which includes the following steps:

firstly, motor data models of different types of motors can be obtained through the Renberg observer according to the formulas (1) to (3); then, taking the motor data model obtained by the formula (1) as an example, the state equation of the motor system is obtained by calculation by using data in the motor data model of the motor, and the state equation of the motor can be obtained by the formulas (6) to (9), wherein the calculation processes of the formulas (6) to (9) require data in the motor data model of the formula (1), data of induced electromotive force and derivatives thereof of the formulas (4) to (5), and data in the progressive state observer of the formulas (10) to (11); then, a state error equation of the motor can be obtained according to the state equation formula (6), and the process is realized by the formula (12); secondly, discretizing, decoupling and simplifying the state error equation obtained by the formula (12), and deriving a candidate motor data model in the formula (15), wherein the formula (13) is an implementation mode of a discretization process, the formula (14) is a discretization equation and is applied to the formula (13), the formula (15) is the candidate motor data model obtained after decoupling, the formula (16) is a characteristic equation of the candidate motor data model, and the formula (17) is a characteristic value of the characteristic equation of the candidate motor data model; and finally, substituting the candidate motor data model obtained by the formula (15) into a feedback matrix, decoupling and simplifying to obtain a motor data model of the motor, wherein the formula (20) is the motor data model of the motor, the candidate motor data model of the formula (15) is substituted into the feedback matrix can be realized by the formula (19), the feedback matrix can be obtained by a state observer in the formula (18), and the formula (20) is the motor data model obtained by decoupling and simplifying the formula (19).

Step 103: and obtaining a candidate signal according to the motor data model and the phase-locked loop PLL.

Using the data in the motor data model obtained in step 102 above

Andthe position angle of the rotor and the speed of the rotor can be obtained, wherein a phase-locked loop PLL is required, and the function of the phase-locked loop PLL is based on

Andestimating the rotor speed and the position angle (electrical angle) of the rotor of the machine, based onSpecifically, the operating principle of the phase-locked loop PLL can be as shown in FIG. 2c, which is a schematic diagram of the phase-locked loop PLL position detection principle, the inputs to the phase-locked loop are e (α) and e (β), which are the data in the motor data model, respectively

To knowThe outputs of the phase locked loops are ω (e) and θ (e), respectively, the rotor speed ω of the motor_eAngle of neutralizationWherein, K_pAnd K_iThe traditional Lonberg observer PLL uses a single PI regulator parameter, so that the dynamic response of the traditional PLL is slightly poor to a motor system, and the overshoot or the imbalance of the motor system can be caused by the fact that the current rotor speed and position cannot be correctly and timely regulated under different rotating speeds, different accelerations and complex working conditions. Therefore, it is also required to take theta_eThe cosine and sine functions of (1) are multiplied by the induced electromotive forces of the Alfa axis and the Beta axis respectively to obtain an error delta e after difference is made, and an error equation is as follows:

the above calculation process is classified as formula (21), and formula (21) represents the candidate signal (rotor speed ω) obtained in step 103_eAngle of neutralization) The magnitude of the error from the true usable signal.

Specifically, the PI regulator is a linear function, which is an effective control of the controlled variable through proportional-integral according to the difference between the given and feedback values, and the control core of the PI controller lies in the parameter selection of the proportional part and integral part, i.e. P and I, and the proportional part P immediately adjusts the given and feedback values to reduce the deviation value once the deviation occurs. The larger the P parameter is, the faster the adjustment is, but the larger the parameter is, the larger the overshoot is caused, so that the system control is vibrated, the stability is reduced, and if the P parameter is small, the adjustment speed is slow, and the system deviation cannot be adjusted in real time. The selection of the appropriate proportionality P parameter has a large bearing on the system stability. The integral action I is mainly used for eliminating the system steady-state error, and integral adjustment can act as long as the system steady-state error exists, and the integral action adjustment can stop and can output a stable value until no difference exists. The strength of integral adjustment lies in the selection of a parameter I, the larger the parameter I, the smaller the integral action, and the smaller the parameter I, the larger the integral action. In general, in the entire control system, the main role of the PI controller is to improve the stability of the control system for more precise control.

Step 104: and filtering the candidate signal by a second-order low-pass filter to obtain a target signal.

The candidate signal obtained in step 103 includes the candidate rotational speed (rotor speed ω)_e) And candidate direction (electrical angle)

) However, as can be seen from the error equation △ e, the accuracy of the rotational speed and direction information is not high, and it is not available, and the rotational speed and direction information needs to be filtered by a second-order low-pass filter to obtain a target signal with a specific frequency, or a target signal with a specific frequency is eliminated, and a target rotational speed (target rotor speed ω) determined based on the target signal is obtained_e) And target direction (target electrical angle)

) The target speed and direction are the estimated speed and direction before the motor is started. The normal LONG BORGE observer PLL phase locked loop uses a single PI regulator parameter, so that the dynamic response of the PLL phase locked loop to the system is slightly poor and the PLL phase locked loop always rotates at different speedsThe overshoot or the imbalance of the system is caused by the fact that the current speed and position of the rotor cannot be demodulated correctly and timely under the conditions of speed, different acceleration and complex working conditions, the system can vibrate slightly, and the whole control system can be out of control seriously. In order to solve the problems, the dynamic PLL parameter adjustment can be used for replacing the original PI adjuster, so that different PLL phase-locked loop parameters can be automatically selected according to different speeds and different load conditions in the system operation process, and dynamic regulation and control are carried out on rotor speed and position demodulation in real time, so that the whole control system is more stable, and the adaptability to complex working conditions is stronger.

Based on the above descriptions of steps 101 to 104, a method flow for detecting the rotation speed and direction of the motor when the motor is started can be obtained by referring to fig. 2 d. As shown in fig. 2d, the current and the voltage of the motor are obtained first, then a motor data model of the motor is obtained by using a humper observer, then a candidate signal for representing a candidate rotation speed and a candidate direction of the motor is obtained by using a phase-locked loop PLL, finally the candidate signal is filtered by a second-order low-pass filter to obtain a target signal, and the target rotation speed and the target direction determined based on the target signal are the rotation speed and the direction of the available motor; according to the method, the Robert observer is specially processed, namely a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the direction of the motor before starting can be accurately estimated, different controls are carried out according to different rotating speeds and directions, after the motor enters normal control, the rotating speed and the angle of a rotor are estimated when the Robert observer is adopted, coordinate transformation is carried out on a motor model, and a rotating speed closed loop and current closed loop control strategy is carried out, so that the rotating speed and torque can be controlled, stable and reliable work can be achieved under various conditions, the starting success rate and efficiency of the motor are improved, the safety and reliability of the motor are improved, and the hardware cost is greatly saved.

Referring to fig. 3, fig. 3 is a schematic flow chart of a motor control method according to an embodiment of the present application, where the method includes, but is not limited to, the following steps:

step 301: a target speed and a target direction of the motor are determined.

The target rotation speed and the target direction of the motor can be determined according to the method for detecting the rotation speed and the direction of the motor provided in the embodiment of fig. 1, which can be referred to the above steps 101 to 104 specifically, and will not be described herein again.

Step 302: and judging whether the motor is in a forward rotation state or not.

After the target rotating speed and the target direction of the motor are determined based on the target signal, the motor is controlled according to the target rotating speed and the target direction. First, it is determined whether the motor is currently in a forward rotation state according to the target direction, where the forward rotation state indicates that the current rotation direction of the motor is the same as the target direction, if the motor is in the forward rotation state, the following step 303 is executed, and if the motor is not in the forward rotation state, the following step 305 is executed.

Step 303: and judging whether the target rotating speed of the motor is less than a first threshold value or not.

When the motor is in the forward rotation state, comparing the determined target rotation speed of the motor with a first threshold to determine whether the target rotation speed of the motor is less than the first threshold, where the first threshold is set according to a motor start scene, the first threshold in different application scenes may be different, for example, 50r/s, if the target rotation speed of the motor is less than the first threshold, executing the following step 304, and if the target rotation speed of the motor is not less than the first threshold, executing the above step 301, and continuing to determine the target rotation speed and the target direction of the motor until the target rotation speed of the motor is less than the first threshold.

Step 304: and judging whether the target rotating speed of the motor is greater than a second threshold value.

When the motor is in a forward rotation state and the target rotation speed of the motor is less than the first threshold, continuously determining whether the target rotation speed of the motor is greater than a second threshold, where the second threshold is set according to a motor start scene, and the second thresholds in different application scenes may be different, for example, may be 5r/s, and if the target rotation speed of the motor is greater than the second threshold, executing step 309 to switch in dual closed-loop control, where the motor is started in a reverse rotation manner by using a current loop and a speed loop, and if the target rotation speed of the motor is not greater than the second threshold, executing step 308 to switch in the dual closed-loop control motor by using the current loop to perform closed-loop motor start control, then opening the speed loop, and executing step 309 to switch in the dual closed-loop control motor.

Step 305: and judging whether the target rotating speed of the motor is less than a third threshold value.

And if the target rotating speed of the motor is not less than the third threshold, executing step 306 described below, and if the target rotating speed of the motor is not less than the third threshold, executing step 301, and continuing to determine the target rotating speed and the target direction of the motor until the target rotating speed of the motor is less than the third threshold.

Step 306: and judging whether the target rotating speed of the motor is greater than a fourth threshold value.

And under the condition that the motor is not in a forward rotation state and the target rotating speed of the motor is less than a third threshold, continuously judging whether the target rotating speed of the motor is greater than a fourth threshold, wherein the fourth threshold is set according to a motor starting scene, the fourth threshold under different application scenes can be different, for example, 5r/s, if the target rotating speed of the motor is greater than the fourth threshold, executing a step 307, firstly braking and stopping the motor to avoid reverse rotation starting failure caused by overlarge rotating speed of the motor, if the target rotating speed of the motor is not greater than the fourth threshold, executing a step 308, firstly utilizing a current ring to carry out motor starting control in a closed loop mode, then starting a speed ring, and executing a step 309 to switch into a double closed loop control motor.

Step 307: and the motor is braked and stopped.

Step 308: and (5) starting and controlling the motor.

Step 309: the motor is switched into double closed loop control.

In the embodiment of the application, after the target rotating speed and the target direction of the motor are determined, the motor is controlled according to the target rotating speed and the target direction, because the motor may still be in a swing state before being started, if the motor is directly started, the problem that an inverter is damaged and the like may be caused, if the fan is started under the condition of high-speed reverse rotation, overcurrent is easily caused, a controller is damaged, the motor is demagnetized, and the motor is directly failed to be started, so in order to ensure that the fan motor can be safely and reliably started, different controls need to be performed on the motor according to the target rotating speed and the target direction of the motor, the motor is judged to be in a forward rotating state or a reverse rotating state, and corresponding operations are performed on the motors at different target rotating speeds. Therefore, the effect of the success rate of starting the fan motor can be improved, the efficiency of the motor is improved, and the safety and the reliability of the motor are further improved.

The method of the embodiments of the present application is explained in detail above, and the apparatus of the embodiments of the present application is provided below.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a device for detecting a rotation speed and a direction of a motor according to an embodiment of the present disclosure. The device for detecting the rotation speed and the direction of the motor may include an acquisition unit 401, a calculation unit 402, a filtering unit 403, a determination unit 404, and a control unit 405, wherein each unit is described as follows:

an obtaining unit 401 for obtaining current and voltage of the motor;

a calculating unit 402, configured to obtain a motor data model of the motor according to the current of the electrical machine and the voltage of the electrical machine;

the calculating unit 402 is further configured to obtain a candidate signal according to a motor data model and a phase-locked loop PLL, where the candidate signal is used to represent a candidate rotation speed and a candidate direction of the electric machine;

a filtering unit 403, configured to filter the candidate signal through a second-order low-pass filter to obtain a target signal;

a determining unit 404, configured to determine a target rotation speed and a target direction of the motor based on the target signal.

In the embodiment of the application, the current and the voltage of the motor are obtained firstly, then a motor data model of the motor is obtained by using a Romberg observer, then a candidate signal for representing the candidate rotating speed and the candidate direction of the motor is obtained by using a phase-locked loop PLL, and finally a target signal, namely the target rotating speed and the target direction of the available motor, is obtained after the candidate signal is filtered by a second-order low-pass filter; through the method, the Robert observer is specially processed, namely, a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the rotating direction of the motor before starting can be accurately estimated, different controls are carried out according to different rotating speeds and different directions, the motor can stably and reliably work under various conditions, the starting success rate and the starting efficiency of the motor are improved, the safety and the reliability of the motor are further improved, and the hardware cost is greatly saved.

In a possible embodiment, the calculating unit 402 is specifically configured to calculate a motor data model of the motor by using the humper observer, the current of the motor, and the voltage of the motor; calculating to obtain a state equation of the motor by using the motor data model; and calculating to obtain the motor data model of the motor according to the state equation.

In another possible implementation, the calculating unit 402 is further specifically configured to calculate a state error equation of the motor by using the state equation; discretizing and decoupling the state error equation to obtain a candidate motor data model; and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.

In yet another possible embodiment, the calculating unit 402 is further configured to regulate the rotor speed and the position of the electric machine by using the motor data model and the parameters of the phase-locked loop PLL; determining the candidate rotational speed and the candidate direction of the motor using a rotor speed and a position of the motor.

In yet another possible embodiment, the control unit 405 is configured to control the motor according to a target rotation speed and a target direction of the motor after determining the target rotation speed and the target direction based on the target signal.

In yet another possible implementation manner, the control unit 405 is specifically configured to switch into a double closed-loop control if it is determined that the motor is in a forward rotation state according to the target direction, and the target rotation speed is smaller than a first threshold and larger than a second threshold;

the obtaining unit 401 is further configured to execute the step of obtaining the current and the voltage before the motor is started if it is determined that the motor is in the forward rotation state according to the target direction and the target rotation speed is not less than the first threshold;

the control unit 405 is further configured to switch in the double closed-loop control after starting the current control if it is determined that the motor is in the forward rotation state according to the target direction and the target rotation speed is not greater than the second threshold.

In yet another possible embodiment, the control unit 405 is further configured to, if it is determined that the motor is in a reverse rotation state according to the target direction, and the target rotation speed is less than a third threshold and greater than a fourth threshold, switch into the double closed-loop control after braking and stopping and starting the current control;

the obtaining unit 401 is further configured to execute the step of obtaining the current and the voltage before the motor is started if it is determined that the motor is in the reverse rotation state according to the target direction and the target rotation speed is not less than the third threshold;

the control unit 405 is further specifically configured to switch in the double closed-loop control after the current control is started if it is determined that the motor is in the reverse rotation state according to the target direction and the target rotation speed is not greater than the fourth threshold.

According to the embodiment of the present application, the units in the apparatus shown in fig. 4 may be respectively or entirely combined into one or several other units to form a structure, or some unit(s) therein may be further split into multiple functionally smaller units to form a structure, which may achieve the same operation without affecting the achievement of the technical effect of the embodiment of the present application. The units are divided based on logic functions, and in practical application, the functions of one unit can be realized by a plurality of units, or the functions of a plurality of units can be realized by one unit. In other embodiments of the present application, the terminal-based terminal may also include other units, and in practical applications, these functions may also be implemented by being assisted by other units, and may be implemented by cooperation of multiple units.

In the device for detecting the rotating speed and the direction of the motor described in fig. 4, a specially processed humper observer and a phase-locked loop are adopted, a second-order low-pass filter is additionally arranged to accurately estimate the rotating speed and the direction of the motor before starting, and different controls are performed according to different rotating speeds and directions, so that the motor can stably and reliably work under various conditions, the hardware cost is greatly saved, and the technical popularization is facilitated.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an apparatus for detecting a rotation speed and a direction of a motor according to an embodiment of the present disclosure. The apparatus for detecting the rotational speed and direction of the motor may include a memory 501 and a processor 502. Further optionally, a bus 503 may be included, wherein the memory 501 and the processor 502 are coupled via the bus 503.

The memory 501 is used to provide a storage space, and data such as an operating system and a computer program may be stored in the storage space. The memory 501 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM).

The processor 502 is a module for performing arithmetic operations and logical operations, and may be one or a combination of plural kinds of processing modules such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a microprocessor unit (MPU), or the like.

The memory 501 stores a computer program, and the processor 502 calls the computer program stored in the memory 501 to perform the following operations:

acquiring current and voltage of a motor;

obtaining a motor data model of the motor according to the current of the motor and the voltage of the motor and the Longberger observer;

obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;

and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal.

In the embodiment of the application, the current and the voltage of the motor are obtained firstly, then a motor data model of the motor is obtained by using a Romberg observer, then a candidate signal for representing the candidate rotating speed and the candidate direction of the motor is obtained by using a phase-locked loop PLL, finally the candidate signal is filtered by a second-order low-pass filter to obtain a target signal, and the target rotating speed and the target direction determined based on the target signal are the rotating speed and the direction of the available motor; through the method, the Robert observer is specially processed, namely, a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the direction of the motor before starting can be accurately estimated, different controls are carried out according to different rotating speeds and directions, the motor can stably and reliably work under various conditions, the starting success rate and the starting efficiency of the motor are improved, the safety and the reliability of the motor are further improved, and the hardware cost is greatly saved.

In a possible embodiment, the processor 502 is specifically configured to, in obtaining a motor data model of the electrical machine based on the humper observer and the current and voltage of the electrical machine:

calculating to obtain a motor data model of the motor by using the Longberger observer, the current of the motor and the voltage of the motor;

calculating to obtain a state equation of the motor by using the motor data model;

and calculating to obtain the motor data model of the motor according to the state equation.

In yet another possible implementation, in calculating the motor data model of the electric machine according to the state equation, the processor 502 is specifically configured to:

calculating to obtain a state error equation of the motor by using the state equation;

discretizing and decoupling the state error equation to obtain a candidate motor data model;

and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.

In yet another possible implementation, in obtaining the candidate rotation speed and the candidate direction of the electric machine according to the motor data model and the phase-locked loop PLL, the processor 502 is specifically configured to:

regulating and controlling the speed and the position of the rotor of the motor by using the motor data model and the parameters of the phase-locked loop PLL;

determining the candidate rotational speed and the candidate direction of the motor using a rotor speed and a position of the motor.

In yet another possible implementation, the processor 502 is specifically further configured to:

and controlling the motor according to the target rotating speed and the target direction.

In yet another possible implementation, in controlling the motor according to the target rotation speed and the target direction, the processor 502 is further specifically configured to:

if the motor is determined to be in a forward rotation state according to the target direction, and the target rotating speed is smaller than a first threshold and larger than a second threshold, switching in double closed-loop control;

if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not less than the first threshold value, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not greater than the second threshold value, switching in double closed-loop control after starting current control.

In yet another possible implementation, in controlling the motor according to the target rotation speed and the target direction, the processor 502 is further specifically configured to:

if the motor is determined to be in a reverse rotation state according to the target direction, and the target rotating speed is smaller than a third threshold and larger than a fourth threshold, switching in double closed-loop control after braking and stopping and starting current control;

if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not less than the third threshold, executing the step of acquiring the current and the voltage before the motor is started;

and if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not greater than the fourth threshold, switching in double closed-loop control after starting current control. It should be noted that the specific implementation of the apparatus for detecting the rotation speed and the direction of the motor may also correspond to the corresponding description of the method embodiments shown in fig. 1 and fig. 3.

In the apparatus 50 for detecting the rotation speed and direction of the motor depicted in fig. 5, a specially processed humper observer and a phase-locked loop can be used, a second-order low-pass filter is additionally provided to accurately estimate the rotation speed and direction of the motor before starting, and different controls are performed according to different rotation speeds and directions, so that the motor can stably and reliably work under various conditions, the hardware cost is greatly saved, and the technical popularization is facilitated.

Embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on one or more processors, the method for detecting the rotation speed and the direction of the motor and the motor control method shown in fig. 1 and 3 may be implemented.

Embodiments of the present application further provide a computer program product, which when running on a processor, can implement the method for detecting the rotation speed and direction of the motor and the motor control method shown in fig. 1 and 3.

In summary, by implementing the embodiment of the present application, a specially processed rumberger observer and a phase-locked loop may be adopted, a second-order low-pass filter may be additionally provided to accurately estimate the rotation speed and direction of the motor before starting, and different controls may be performed according to different rotation speeds and directions, so that the motor may stably and reliably operate under various conditions, and the hardware cost is greatly saved.

One of ordinary skill in the art will appreciate that all or part of the processes in the methods of the above embodiments can be implemented by hardware associated with a computer program that can be stored in a computer-readable storage medium, and when executed, can include the processes of the above method embodiments. And the aforementioned storage medium includes: various media that can store computer program code, such as ROM or RAM, magnetic or optical disks, etc.