阅读说明：本技术 电机的控制方法、装置、终端及存储介质 (Motor control method, device, terminal and storage medium ) 是由 赵思锋 陈鹰 唐英伟 梁艳召 *** 于 2020-06-11 设计创作，主要内容包括：本发明适用于电机控制技术领域,尤其涉及一种电机的控制方法、装置、终端及存储介质,所述控制方法包括：获取电机的实时转速；若所述实时转速大于预设的锁相环转速,则获取第一位置信号,并基于所述第一位置信号确定所述电机的导通扇区；其中,所述第一位置信号为三路位置信号中的任意一路信号,所述三路位置信号的相位两两相差120度。采用上述方法,在电机高速运转时也可以准确的确定电机的导通扇区,且采用上述方法还可以提高在电机高速运转下系统的容错运行能力和抗干扰运行能力。(The invention is applicable to the technical field of motor control, and particularly relates to a motor control method, a motor control device, a motor control terminal and a storage medium, wherein the control method comprises the following steps: acquiring the real-time rotating speed of the motor; if the real-time rotating speed is greater than the preset rotating speed of the phase-locked loop, acquiring a first position signal, and determining a conducting sector of the motor based on the first position signal; the first position signal is any one of three paths of position signals, and the phase difference of the three paths of position signals is 120 degrees. By adopting the method, the conducting sector of the motor can be accurately determined when the motor runs at high speed, and the fault-tolerant operation capability and the anti-interference operation capability of the system under the high-speed running of the motor can be improved.)

1. A control method of a motor, characterized by comprising:

acquiring the real-time rotating speed of the motor;

if the real-time rotating speed is greater than the preset rotating speed of the phase-locked loop, acquiring a first position signal, and determining a conducting sector of the motor based on the first position signal; the first position signal is any one of three paths of position signals, and the phase difference of the three paths of position signals is 120 degrees.

2. The method of controlling an electric motor according to claim 1, wherein said determining the conduction sector of the electric motor based on the first position signal comprises:

performing frequency multiplication phase locking on the first position signal based on a frequency multiplication parameter to generate a pulse count value;

and determining a conduction sector of the motor according to the pulse count value and the frequency doubling parameter.

3. The method of controlling an electric machine according to claim 2, wherein the frequency-doubling phase-locking the first position signal based on a frequency-doubling parameter to generate a pulse count value comprises:

generating an analog voltage based on a difference between the received phase of the first position signal and the phase of the feedback signal;

converting the analog voltage into a high-frequency pulse, and performing up-counting on the high-frequency pulse to generate a pulse count value; and generating the feedback signal when the pulse count value is equal to the frequency multiplication parameter value.

4. The method of controlling the motor according to claim 3, wherein the determining the conduction sector of the motor according to the pulse count value and the frequency multiplication parameter includes:

acquiring a second parameter based on the pulse count value and the first parameter; wherein the first parameter is a parameter required for a phase shift operation;

taking the range from zero to the numerical value of the frequency multiplication parameter as a first range;

dividing the first range into six second ranges; each second range corresponds to one conducting sector;

and determining the conduction sector of the motor based on a second range in which the value of the second parameter is positioned and the corresponding relation between the second range and the conduction sector.

5. The control method of an electric motor according to claim 4,

each second range is

the obtaining a second parameter based on the pulse count value and the first parameter includes:

taking the sum of the pulse count value and a first parameter as the second parameter;

the determining the conduction sector of the motor based on the second range in which the value of the second parameter is located and the corresponding relationship between the second range and the conduction sector includes:

if it is

6. The method for controlling a motor according to claim 1, further comprising, after said obtaining the real-time rotation speed of the motor:

and if the real-time rotating speed is less than or equal to the preset rotating speed of the phase-locked loop, acquiring three paths of position signals, and determining a conducting sector of the motor according to the combination state of the three paths of position signals.

7. The control method of the motor according to any one of claims 1 to 6, further comprising:

acquiring a first rotating speed of the motor based on the first position signal;

acquiring a second rotating speed of the motor based on the second position signal; the first position signal and the second position signal are any two paths of signals in the three paths of position signals;

if SP₁-SP₂|>SP_errOutputting a fault signal; wherein, SP₁At the first rotation speed, SP₂At the second rotation speed, SP_errAnd the fault signal is used for indicating the motor to stop running for presetting the deviation value.

8. A control device of a motor, characterized by comprising:

the motor rotating speed acquisition module is used for acquiring the real-time rotating speed of the motor;

the conducting sector determining module is used for acquiring a first position signal when the real-time rotating speed is greater than the preset rotating speed of the phase-locked loop, and determining a conducting sector of the motor based on the first position signal; the first position signal is any one of three paths of position signals, and the phase difference of the three paths of position signals is 120 degrees.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method of controlling an electric motor according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of controlling an electric machine according to any one of claims 1 to 7.

Technical Field

The invention belongs to the field of motor control, and particularly relates to a motor control method, a motor control device, a motor control terminal and a storage medium.

Background

The motor is widely applied in the fields of electric automobiles, household appliances, industrial control, medical equipment and the like. When the motor rotates, the existing method generates 6 different conducting sector signals to control the phase change operation of the motor through 3 paths of photoelectric sensors with phase lag of 120 degrees in sequence, and a filter circuit is added in a signal circuit to inhibit high-frequency signal interference in order to enhance the anti-interference capability of photoelectric signals.

But are basically in the field of low speed motor applications and relatively little research has been directed to high speed motor control. The above method has the following problems:

in the application of a high-speed motor, in the process of running from zero speed to full speed, the anti-interference design of the photoelectric signal during zero-speed and low-speed running and the correct output of the photoelectric signal during high-speed running are considered. The existing position signal filtering method can ensure the anti-interference operation of photoelectric signals when the motor operates at zero speed and low speed, but due to the bandwidth limitation of a filtering circuit, the duty ratio of the photoelectric signals is seriously deviated from 50% of the standard when the motor rotates at high speed, so that 3 paths of photoelectric sensors with phases sequentially lagging by 120 degrees in the inherent method cannot be utilized to generate correct conducting sector signals.

When the motor rotates at a high speed, the electrical cycle time is relatively short, and at this time, the duty ratio of the photoelectric signal deviates from 50% due to the parameter difference of the components, so that the accurate conducting sector signal cannot be generated by the photoelectric sensor with 3 paths of phase lags by 120 degrees in sequence in the inherent method.

For the motor with the rotor in a magnetic suspension running mode, the distance between the measuring head of the photoelectric sensor and the measuring end face can be changed due to the lift effect of the rotor of the motor during high-speed running, so that the waveform of an original output signal of the photoelectric sensor is changed, and a correct conduction sector signal can not be generated after the three paths of photoelectric signals are combined.

In summary, when the motor operates at a high speed, the fault-tolerant operation capability and the anti-interference operation capability of the existing motor control method are low, and the conduction sector cannot be accurately determined, which is not beneficial to the correct control of the motor.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method, an apparatus, a terminal and a storage medium for controlling a motor, so as to solve the problem that when the motor runs at a high speed, the existing motor control method has low fault-tolerant operation capability and anti-interference operation capability, and cannot accurately determine a conducting sector.

A first aspect of an embodiment of the present invention provides a control method for a motor, where the control method includes:

acquiring the real-time rotating speed of the motor;

if the real-time rotating speed is greater than the preset rotating speed of the phase-locked loop, acquiring a first position signal, and determining a conducting sector of the motor based on the first position signal; the first position signal is any one of three paths of position signals, and the phase difference of the three paths of position signals is 120 degrees.

Optionally, the determining a conduction sector of the motor based on the first position signal includes:

performing frequency multiplication phase locking on the first position signal based on a frequency multiplication parameter to generate a pulse count value;

and determining a conduction sector of the motor according to the pulse count value and the frequency doubling parameter.

Optionally, the performing frequency-doubling phase-locking on the first position signal based on a frequency-doubling parameter to generate a pulse count value includes:

generating an analog voltage based on a difference between the received phase of the first position signal and the phase of the feedback signal;

converting the analog voltage into a high-frequency pulse, and performing up-counting on the high-frequency pulse to generate a pulse count value; and generating the feedback signal when the pulse count value is equal to the frequency multiplication parameter value.

Optionally, the determining the conducting sector of the motor according to the pulse count value and the frequency doubling parameter includes:

acquiring a second parameter based on the pulse count value and the first parameter; wherein the first parameter is a parameter required for a phase shift operation;

taking the range from zero to the numerical value of the frequency multiplication parameter as a first range;

dividing the first range into six second ranges; each second range corresponds to one conducting sector;

and determining the conduction sector of the motor based on a second range in which the value of the second parameter is positioned and the corresponding relation between the second range and the conduction sector.

Optionally, each second range isWherein k is the number of each second range, and k ∈ [1,6 ]]N is the numerical value of the frequency doubling parameter;

the obtaining a second parameter based on the pulse count value and the first parameter includes:

taking the sum of the pulse count value and a first parameter as the second parameter;

the determining the conduction sector of the motor based on the second range in which the value of the second parameter is located and the corresponding relationship between the second range and the conduction sector includes:

if it isThen the current k-th conducting sector is determined, where C is the value of the second parameter.

Optionally, after acquiring the real-time rotation speed of the motor, the method further includes:

and if the real-time rotating speed is less than or equal to the preset rotating speed of the phase-locked loop, acquiring three paths of position signals, and determining a conducting sector of the motor according to the combination state of the three paths of position signals.

Optionally, the control method further includes:

acquiring a first rotating speed of the motor based on the first position signal;

acquiring a second rotating speed of the motor based on the second position signal; the first position signal and the second position signal are any two paths of signals in the three paths of position signals;

if SP₁-SP₂|>SP_errOutputting a fault signal; wherein, SP₁At the first rotation speed, SP₂At the second rotation speed, SP_errAnd the fault signal is used for indicating the motor to stop running for presetting the deviation value.

A second aspect of an embodiment of the present invention provides a control device of a motor, including:

the motor rotating speed acquisition module is used for acquiring the real-time rotating speed of the motor;

the conducting sector determining module is used for acquiring a first position signal when the real-time rotating speed is greater than the preset rotating speed of the phase-locked loop, and determining a conducting sector of the motor based on the first position signal; the first position signal is any one of three paths of position signals, and the phase difference of the three paths of position signals is 120 degrees.

A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the control method of the motor according to the first aspect of the embodiments of the present invention when executing the computer program.

A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of controlling a motor as provided in the first aspect of embodiments of the present invention.

The motor control method provided by the embodiment of the invention obtains the rotation speed of the motor, obtains any one of three paths of position signals with phases which are 120 degrees apart from each other as a first position signal when the rotation speed is greater than or equal to the preset phase-locked loop rotation speed, and determines the conducting sector of the motor only based on the first position signal, thereby allowing the duty ratio of the three paths of position signals to be changed, simultaneously allowing the other two paths of position signals to be wrong or lost, improving the fault-tolerant operation capability and anti-interference operation capability of the system, and accurately determining the conducting sector when the motor runs at a high speed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a control method of a motor according to an embodiment of the present invention;

FIG. 2 is a schematic waveform diagram of a three-way position signal provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of performing frequency multiplication phase locking on the first position signal based on a frequency multiplication parameter to generate a pulse count value according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control device of a motor according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.