阅读说明：本技术 电机控制方法及电机控制系统 (Motor control method and motor control system ) 是由 涂海胜 陈彦明 文科 于 2019-11-11 设计创作，主要内容包括：本发明实施例公开了一种电机控制方法及电机控制系统。该系统包括电机的速度调节器和负向电流调节器,该方法包括：依据电机的速度反馈信息,确定速度调节器输出的速度调节信息；依据速度调节信息,启动负向电流调节器；依据负向电流调节器输出的负向电流信息,确定电机的控制信息；依据控制信息对电机的转速进行控制。通过速度调节器输出的速度信号确定电机的当前状态符合预设加速条件时,启动负向电流调节器；将负向电流调节器输出的负向电流信息加入到对电机的转速控制中,实现根据电机的当前转速和当前输出转矩这两个因素来控制电机的转速,避免了电机的输出转矩超出电机最大承受能力的情况,进而实现对电机的高精度控制。(The embodiment of the invention discloses a motor control method and a motor control system. The system includes a speed regulator and a negative current regulator of the motor, and the method includes: determining speed regulation information output by a speed regulator according to speed feedback information of the motor; starting a negative current regulator according to the speed regulation information; determining control information of the motor according to the negative current information output by the negative current regulator; and controlling the rotating speed of the motor according to the control information. When the current state of the motor is determined to accord with a preset acceleration condition through a speed signal output by the speed regulator, starting a negative current regulator; the negative current information output by the negative current regulator is added into the control of the rotating speed of the motor, so that the rotating speed of the motor is controlled according to the current rotating speed and the current output torque of the motor, the condition that the output torque of the motor exceeds the maximum bearing capacity of the motor is avoided, and the high-precision control of the motor is further realized.)

1. A motor control method applied to a motor control system including a speed regulator and a negative current regulator of a motor, the motor control method comprising:

determining speed regulation information output by the speed regulator according to speed feedback information of the motor;

starting the negative current regulator according to the speed regulation information;

determining control information of the motor according to the negative current information output by the negative current regulator;

and controlling the rotating speed of the motor according to the control information.

2. The method of claim 1, wherein activating the negative current regulator in accordance with the speed regulation information comprises:

and if the speed regulation information meets the preset acceleration condition, starting the negative current regulator according to the current loop limit information of the motor and the current feedback information of the motor.

3. The method of claim 2, wherein said enabling the negative current regulator based on current loop limit information for the motor and current feedback information for the motor comprises:

comparing the current loop limit information of the motor with the current feedback information of the motor;

if the current feedback information of the motor _；And if the current loop limit information is larger than the current loop limit information of the motor, starting the negative current regulator.

4. The method of claim 1, wherein determining control information for the motor based on the negative current information output by the negative current regulator comprises:

and determining control information of the motor based on the negative current information output by the negative current regulator and the speed regulation information output by the speed regulator.

5. The method of claim 1, wherein the motor control system further comprises a brake current regulator, and after determining the speed adjustment information output by the speed regulator based on the speed feedback information for the motor, the method further comprises:

if the speed regulation information meets the preset speed reduction condition, starting the brake current regulator;

determining the braking current information output by the braking current regulator according to the current feedback information of the motor and the braking current loop limit information of the motor;

and determining control information of the motor according to the brake current information.

6. The method of claim 1, wherein after determining the speed adjustment information output by the speed regulator based on the speed feedback information of the motor, the method further comprises:

and if the speed regulation information does not accord with the preset acceleration condition and the preset deceleration condition, determining the control information of the motor according to the speed regulation information output by the speed regulator.

7. The method of claim 1, wherein said controlling the rotational speed of the motor in accordance with the control information comprises:

generating a signal with a corresponding duty ratio according to the control information;

and outputting the signal to a driving module of the motor to control the motor to operate.

8. A motor control system, comprising: a speed regulator, a negative current regulator, and a control module, wherein,

the speed regulator is used for outputting speed regulation information according to speed feedback information and set rotating speed information of the motor;

the negative current regulator is used for outputting negative current information;

the speed adjusting information is used for triggering the control module to determine control information of the motor according to the negative current information;

and the control module is used for controlling the rotating speed of the motor according to the control information.

9. The motor control system of claim 8 wherein the control module is further configured to activate the negative current regulator based on current loop limit information for the motor and current feedback information for the motor if the speed adjustment information meets a predetermined acceleration condition.

10. The motor control system of claim 8, further comprising a brake current regulator of the motor for outputting brake current information in accordance with current feedback information of the motor and brake current loop limit information of the motor;

the controller is also used for starting the brake current regulator if the speed regulation information meets a preset speed reduction condition; and determining control information of the motor according to the brake current information output by the brake current regulator.

11. The motor control system of claim 8, wherein the control module is further configured to determine the control information of the motor according to the speed adjustment information output by the speed adjuster if the speed adjustment information does not meet a preset acceleration condition and a preset deceleration condition.

Technical Field

The embodiment of the invention relates to the technical field of motor driving, in particular to a motor control method and a motor control system.

Background

Brushless Direct Current motors (BLDCM) have the advantages of simple structure, reliable operation, convenient maintenance, no mechanical commutator, etc., and have been widely used in industrial production along with the development and rapid maturity of power electronic technology and novel permanent magnet materials.

The most typical application of the current brushless direct current motor speed regulation system is a double closed-loop speed regulation system, wherein the double closed-loop speed regulation system obtains an output value through PID operation by a speed controller and a current controller, and transmits the output value to a controller of a chip to output a corresponding duty ratio. The input feedback (position, current) precision and frequency of the double closed-loop speed regulating system directly determine the stability and response speed of the motor speed regulation, and the double closed-loop speed regulating system is difficult to meet the requirements on some high-precision occasions, such as the requirement on fast speed response, and the output torque cannot exceed a set threshold value.

Disclosure of Invention

The embodiment of the invention provides a motor control method and a motor control system, which aim to effectively control the output torque of a motor and ensure the stable operation of the motor while improving the response speed of the rotating speed.

In a first aspect, an embodiment of the present invention provides a motor control method, which is applied to a motor control system, where the motor control system includes a speed regulator and a negative current regulator of a motor, and the motor control method includes:

determining speed regulation information output by the speed regulator according to speed feedback information of the motor;

starting the negative current regulator according to the speed regulation information;

determining control information of the motor according to the negative current information output by the negative current regulator;

and controlling the rotating speed of the motor according to the control information.

In a second aspect, an embodiment of the present invention further provides a motor control system, including: a speed regulator, a negative current regulator, and a control module, wherein,

the speed regulator is used for outputting speed regulation information according to speed feedback information and set rotating speed information of the motor;

the negative current regulator is used for outputting negative current information;

the speed adjusting information is used for triggering the control module to determine control information of the motor according to the negative current information;

and the control module is used for controlling the rotating speed of the motor according to the control information.

The embodiment of the invention judges the current state of the motor through a speed signal output by a speed regulator, and starts a set negative current regulator when the current state of the motor meets a preset acceleration condition; the negative current information output by the negative current regulator is added to the rotation speed control of the motor, and the negative current information represents the deviation amount of the current output torque and the maximum output torque of the motor, so that the operation of the motor is controlled according to the current rotation speed and the current output torque of the motor, the condition that the output torque of the motor exceeds the maximum bearing capacity of the motor is avoided, the output torque of the motor is effectively controlled, and the problem that the existing double-closed-loop speed regulating system cannot meet the requirement of high-precision regulation of the motor is solved.

Drawings

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

fig. 2 is a flowchart of an optimized motor control method according to a second embodiment of the present invention;

fig. 3 is a flowchart of a dc brushless motor control method according to a third embodiment of the present invention;

fig. 4 is a block diagram of a motor control system according to a fourth embodiment of the present invention;

fig. 5 is an optimized motor control system according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.