阅读说明：本技术 电机控制方法、电机控制装置及计算机可读存储介质 (Motor control method, motor control device, and computer-readable storage medium ) 是由 雷发胜 陈伟 李柏松 陈坤 史乐珍 金辛海 于 2019-09-30 设计创作，主要内容包括：本发明涉及电机控制领域,特别涉及一种电机控制方法、电机控制装置及计算机可读存储介质,其中,电机控制方法,包括：获取电机控制装置的初始d轴励磁电流i<Sub>d1_ref</Sub>；获取d轴励磁电流调节量Δi<Sub>d</Sub>；根据d轴励磁电流调节量Δi<Sub>d</Sub>和i<Sub>d1_ref</Sub>,求取目标励磁电流i<Sub>d_ref</Sub>；根据i<Sub>d2_ref</Sub>和i<Sub>d_ref</Sub>调节q轴转矩电流限幅值|i<Sub>q_max</Sub>|,从而得到目标转矩电流i<Sub>q_ref</Sub>；根据i<Sub>d_ref</Sub>和i<Sub>q_ref</Sub>,驱动电机；其中,当电机控制装置的输出电压指令处于线性调制区时,Δi<Sub>d</Sub>等于零,当电机控制装置的输出电压指令处于过调制区时,Δi<Sub>d</Sub>小于零。本发明实施方式所提供的电机控制方法、电机控制装置及计算机可读存储介质,具有提高电机的转矩输出能力,加快电机的升速过程的优点。(The invention relates to the field of motor control, in particular to a motor control method, a motor control device and a computer readable storage medium, wherein the motor control method comprises the following steps: obtaining initial d-axis exciting current i of motor control device d1_ref (ii) a Obtaining d-axis excitation current regulating quantity delta i d (ii) a Adjusting quantity delta i according to d-axis excitation current d And i d1_ref Obtaining a target exciting current i d_ref (ii) a According to i d2_ref And i d_ref Adjusting q-axis torque current limiting value | i q_max L to obtain a target torque current i q_ref (ii) a According to i d_ref And i q_ref Driving the motor; wherein when the output voltage command of the motor control device is in the linear modulation region, Δ i d Equal to zero, Δ i when the output voltage command of the motor control means is in the overmodulation region d Is less than zero. The motor control method, the motor control device and the computer readable storage medium provided by the embodiment of the invention have the advantage of improving the torque output capacity of the motorAnd the speed-up process of the motor is accelerated.)

1. A motor control method is applied to a motor control device and comprises the following steps:

acquiring initial d-axis excitation current i of the motor control device under a two-phase rotating coordinate system_{d1_ref}；

Obtaining d-axis excitation current regulating quantity delta i under two-phase rotating coordinate system_d；

Adjusting quantity delta i according to the d-axis excitation current_dAnd the initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}；

According to the target exciting current i_{d_ref}Driving the motor;

wherein the d-axis field excitation power is generated when an output voltage command of the motor control device is in a linear modulation regionFlow regulation Δ i_dEqual to zero, and the d-axis excitation current adjustment amount delta i is set when the output voltage command of the motor control device is in an overmodulation region_dIs less than zero.

2. The motor control method according to claim 1, wherein the d-axis field current adjustment amount Δ i in the two-phase rotation coordinate system is obtained_dThe method specifically comprises the following steps:

acquiring an output voltage command u of an alpha axis under a two-phase static coordinate system_{α_ref}And output voltage command u of beta axis_{β_ref}；

For the u_{α_ref}And said u_β-refPerforming space vector pulse width modulation to obtain action time t of two non-zero vectors of the current sector₁And t₂And an operation time t after the overmodulation processing₃And t₄；

Will the t₃+t₄And t₁+t₂The difference is input into a PI regulator for processing, and then the amplitude limiting processing is carried out to obtain the d-axis exciting current regulating quantity delta i_d。

3. The motor control method according to claim 1, wherein the amount Δ i of adjustment is adjusted according to the d-axis excitation current_dAnd the initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}The method specifically comprises the following steps:

calculating the d-axis excitation current adjustment quantity delta i_dAnd the initial d-axis excitation current i_{d1_ref}Taking the sum as a secondary excitation current i_{d2_ref}；

For the secondary exciting currentPerforming amplitude limiting processing to obtain the target exciting current

Lower limit amplitude i of the amplitude limiting processing_{d_min}＝-λ_f/L_dWherein L is_dIs d-axis inductance, lambda, of an electric machine_fIs the permanent magnet flux linkage of the motor.

4. The motor control method according to claim 3, wherein the target excitation current i is set according to the target excitation current_{d_ref}Driving the motor, specifically including:

obtaining a target torque current i_{q_ref}；

According to the target exciting current i_{d_ref}And the target torque current i_{q_ref}And driving the motor.

5. The motor control method according to claim 4, wherein the obtaining of the target torque current i_{q_ref}The method specifically comprises the following steps:

obtaining an initial q-axis torque current i of the motor control device under a two-phase rotating coordinate system_{q1_ref}；

Obtaining a torque current limiting value | i_{q_max}|；

According to the torque current limiting value | i_{q_max}I vs. the initial q-axis torque current i_{q1_ref}Performing amplitude limiting processing to obtain the target torque current i_{q_ref}。

6. The motor control method according to claim 5, wherein the obtaining of the torque current limit value | i_{q_max}The method specifically comprises the following steps:

obtaining the target exciting currentAnd the secondary excitation current i_{d2_ref}A difference of (d);

processing the difference value by a PI regulator to obtain a primary torque current limiting value delta i_{q_max}；

Via a formula

7. The motor control method according to claim 5, wherein the obtaining of the initial q-axis torque current i of the motor control device in the two-phase rotational coordinate system is performed_{q1_ref}The method specifically comprises the following steps:

obtaining a target rotational speed omega_{e_ref}And a real-time rotational speed ω of the motor;

obtaining the target rotation speed omega_{e_ref}And a rotational speed difference of the real-time rotational speed ω;

adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction;

controlling the torque command through a maximum torque current ratio to obtain the initial q-axis torque current i_{q1_ref}。

8. The motor control method according to claim 1, wherein the obtaining of the initial d-axis excitation current i of the motor control device in the two-phase rotational coordinate system is performed_{d1_ref}The method specifically comprises the following steps:

obtaining a target rotational speed omega_{e_ref}And a real-time rotational speed ω of the motor;

obtaining the target rotation speed omega_{e_ref}And a rotational speed difference of the real-time rotational speed ω;

adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction;

controlling the torque instruction through a maximum torque current ratio to obtain the initial d-axis exciting current i_{d1_ref}。

9. A motor control apparatus, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor control method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the motor control method of any one of claims 1 to 8.

Technical Field

The present invention relates to the field of motor control, and in particular, to a motor control method, a motor control device, and a computer-readable storage medium.

Background

The embedded permanent magnet synchronous motor has the characteristics of high power density, small air gap magnetic circuit, suitability for high-speed operation and the like, can improve the speed regulation performance and the motor efficiency by utilizing the reluctance torque component, and is more and more widely applied to speed regulation driving systems with higher requirements, such as electric automobiles and the like. Applications such as drilling machines, servo drives, and rail trains require permanent magnet synchronous motors with high speed flux weakening capability and less acceleration time.

When the rotating speed of the motor is close to the basic speed, the counter electromotive force of the motor approaches the maximum output voltage of the inverter, if the rotating speed is continuously increased to be higher than the basic speed, the counter electromotive force cannot be offset by the output voltage of the inverter, and at the moment, the motor magnetic field is reduced to realize the operation above the basic speed, namely, the field weakening control is realized.

However, the inventor of the present invention finds that the field weakening control method of the motor in the prior art limits the torque output capability of the motor, so that the motor cannot reach the maximum torque output capability, and the speed raising process of the motor is slow, and the speed raising duration is long.

Disclosure of Invention

An object of embodiments of the present invention is to provide a motor control method, a motor control apparatus, and a computer-readable storage medium, which improve torque output capability of a motor and accelerate a speed-up process of the motor.

In order to solve the above technical problem, an embodiment of the present invention provides a motor control method applied to a motor control device, including: acquiring initial d-axis excitation current i of the motor control device under a two-phase rotating coordinate system_{d1_ref}(ii) a Obtaining d-axis excitation current regulating quantity delta i under two-phase rotating coordinate system_d(ii) a Adjusting quantity delta i according to the d-axis excitation current_dAnd the initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}(ii) a According to the target exciting current i_{d_ref}Driving the motor; wherein the d-axis excitation current adjustment amount Δ i is set when an output voltage command of the motor control device is in a linear modulation region_dEqual to zero, and the d-axis excitation current adjustment amount delta i is set when the output voltage command of the motor control device is in an overmodulation region_dIs less than zero.

An embodiment of the present invention also provides a motor control device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor control method as described above.

Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to implement the motor control method as described above when executed by a processor.

Compared with the prior art, the embodiment of the invention adjusts the quantity delta i according to the d-axis excitation current_dAnd initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta i_dWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zero_dAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated.

In addition, the d-axis excitation current adjustment amount Δ i in the two-phase rotating coordinate system is obtained_dThe method specifically comprises the following steps: acquiring an output voltage command u of an alpha axis under a two-phase static coordinate system_{α_ref}And output voltage command u of beta axis_{β_ref}(ii) a For the u_{α_ref}And said u_{β_ref}Performing space vector pulse width modulation to obtain the current sectorTime of action t of two non-zero vectors₁And t₂And an operation time t after the overmodulation processing₃And t₄(ii) a Will the t₃+t₄And t₁+t₂The difference is input into a PI regulator for processing, and then the amplitude limiting processing is carried out to obtain the d-axis exciting current regulating quantity delta i_d. When the motor starts to start, the rotating speed of the motor is low, the output voltage command of the motor control device is in a linear modulation region, t₃+t₄＝t₁+t₂，t₃+t₄And t₁+t₂The difference is equal to zero, and after the PI regulator and the lower limit amplitude processing, the d-axis excitation current regulating quantity delta i_dIs equal to zero; with the rising of the rotation speed, the output voltage command of the motor control device enters an overmodulation region, at which time t₃+t₄＞t₁+t₂，t₃+t₄And t₁+t₂The difference of (d) is less than zero, and the d-axis excitation current regulating quantity delta i is processed by a PI regulator and a lower limit amplitude_dIs also less than zero, thereby weakening the air gap field of the motor, leading the motor to enter a field weakening operation working state, and providing a specific d-axis excitation current regulating quantity delta i_dThe method of (1).

In addition, the quantity of regulation delta i is adjusted according to the d-axis exciting current_dAnd the initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}The method specifically comprises the following steps: calculating the d-axis excitation current adjustment quantity delta i_dAnd the initial d-axis excitation current i_{d1_ref}Taking the sum as a secondary excitation current i_{d2_ref}(ii) a For the secondary exciting current

Performing amplitude limiting processing to obtain the target exciting current

Lower limit amplitude i of the amplitude limiting processing_{d_min}＝-λ_f/L_dWherein L is_dIs d-axis inductance, lambda, of an electric machine_fIs a permanent magnet flux linkage.

In addition, the target excitation current i_{d_ref}Driving the motor, specifically including: obtaining a target torque current i_{q_ref}(ii) a According to the target exciting current i_{d_ref}And the target torque current i_{q_ref}And driving the motor.

In addition, the target torque current i is obtained_{q_ref}The method specifically comprises the following steps: obtaining an initial q-axis torque current i of the motor control device under a two-phase rotating coordinate system_{q1_ref}(ii) a Obtaining a torque current limiting value | i_{q_max}L, |; according to the torque current limiting value | i_{q_max}I vs. the initial q-axis torque current i_{q1_ref}Performing amplitude limiting processing to obtain the target torque current i_{q_ref}。

In addition, the torque current limiting value | i is obtained_{q_max}The method specifically comprises the following steps: obtaining the target exciting currentAnd the secondary excitation current i_{d2_ref}A difference of (d); processing the difference value by a PI regulator to obtain a primary torque current limiting value delta i_{q_max}(ii) a Via a formula

Calculating to obtain the torque current limiting value | i_{q_max}L, wherein i_{s_max}The maximum output current allowed to pass by the motor control means. When the weak magnetic depth of the motor is shallow, the secondary exciting current i_{d2_ref}Greater than the lower limit value, i.e.

Δ i adjusted in this case _{q_max}0; as the motor speed further increases, the secondary exciting current i_{d2_ref}Less than the lower limit value, the exciting current keeps the lower limit value unchanged, and the continuous exciting current in the deep weak magnetic region is avoidedThe motor speed is reduced, the maximum torque output is ensured, meanwhile, the motor is prevented from running to an unstable working point, and meanwhile, the maximum rotating speed at which the motor can run can be improved.

In addition, the initial q-axis torque current i of the motor control device under the two-phase rotating coordinate system is obtained_{q1_ref}The method specifically comprises the following steps: obtaining a target rotational speed omega_{e_ref}And a real-time rotational speed ω of the motor; obtaining the target rotation speed omega_{e_ref}And a rotational speed difference of the real-time rotational speed ω; adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction; controlling the torque command through a maximum torque current ratio to obtain the initial q-axis torque current i_{q1_ref}。

In addition, the initial d-axis exciting current i of the motor control device under the two-phase rotating coordinate system is obtained_{d1_ref}The method specifically comprises the following steps: obtaining a target rotational speed omega_{e_ref}And a real-time rotational speed ω of the motor; obtaining the target rotation speed omega_{e_ref}And a rotational speed difference of the real-time rotational speed ω; adjusting the rotation speed difference through a PI (proportional integral) adjuster to obtain a torque instruction; controlling the torque instruction through a maximum torque current ratio to obtain the initial d-axis exciting current i_{d1_ref}。

Drawings

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

FIG. 2 is a diagram illustrating an initial d-axis excitation current i obtained in the motor control method according to the first embodiment of the present invention_{d1_ref}Schematic diagram of (1);

FIG. 3 illustrates a method for obtaining a d-axis field current adjustment Δ i according to a motor control method provided in a first embodiment of the present invention_dSchematic diagram of (1);

fig. 4 is a schematic diagram of obtaining a target excitation current in a motor control method according to a first embodiment of the present invention;

fig. 5 is a flowchart of a motor control method according to a second embodiment of the present invention;

FIG. 6 shows a method for obtaining a target torque current in a motor control method according to a second embodiment of the present inventioni_{q_ref}Schematic diagram of (1);

FIG. 7 illustrates a method for obtaining a torque current limiting value | i in a motor control method according to a second embodiment of the present invention_{q_max}A schematic diagram of |;

fig. 8 is a schematic diagram of driving a motor according to a target exciting current and a target torque current in a motor control method provided in a second embodiment of the present invention;

fig. 9 is a schematic structural diagram of a motor control device according to a third embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

A first embodiment of the present invention relates to a motor control method applied to a motor control device, as shown in fig. 1, including the steps of:

step S101: and acquiring initial d-axis exciting current of the motor control device under the two-phase rotating coordinate system.

Specifically, in this step, as shown in fig. 2, a preset target rotation speed ω of the motor is first obtained_{e_ref}And the real-time rotating speed omega of the motor, and solving the target rotating speed omega_{e_ref}Speed difference (ω) from real-time speed ω_{e_ref}- ω); will rotate speed difference (omega)_{e_ref}Omega) is regulated by a PI regulator (proportional integral regulator) to obtain a torque command, and the torque command is controlled by a maximum torque current ratio to obtain the initial d-axis excitation current i_{d1_ref}And an initial q-axis torque current i_{q1_ref}。

The PI regulator is a linear controller, and forms a control deviation according to a given value and an actual output value, and linearly combines the proportion and the integral of the deviation to form a control quantity to control a controlled object.

Step S102: and acquiring d-axis excitation current adjustment quantity under a two-phase rotating coordinate system.

Specifically, in this step, as shown in fig. 3, first, an output voltage command u of the α axis of the motor in the two-phase stationary coordinate system is obtained_{α_ref}And output voltage command u of beta axis_{β_ref}To u, to u_{α_re}f and u_{β_ref}And performing space vector pulse width modulation, namely content in a dashed box in fig. 3, wherein a module 1 is used for calculating a non-zero vector action time part, and a module 2 is used for calculating a three-phase PWM driving signal duty ratio part according to the non-zero vector action time. Obtaining u_{α_re}f and u_{β_ref}Action time t of two non-zero vectors of current sector in space vector pulse width modulation process₁And t₂And the action time t after the overmodulation processing₃And t₄Is provided with T_fdb＝t₁+t₂、T_ref＝t₃+t₄Will t₃+t₄And t₁+t₂Difference (T) of_ref-T_fdb) Inputting the current into a PI regulator for processing, and then performing amplitude limiting processing to obtain d-axis excitation current regulating quantity delta i_dI.e. by

Δ_id＝Limit(K_p(T_ref-T_fdb)+K_i∫(T_ref-T_fdb)d_t) In which K is_p、K_iIs a parameter of the PI regulator.

Step S103: and solving a target excitation current according to the d-axis excitation current regulating quantity and the initial d-axis excitation current.

Specifically, in this step, as shown in fig. 4, the d-axis field current adjustment amount Δ i is obtained_dAnd initial d-axis excitation current i_{d1_ref}Taking the sum as a secondary excitation current i_{d2_ref}I.e. i_{d2_ref}＝Δ_id+i_{d1_ref}(ii) a For secondary exciting current

Performing amplitude limiting processing to obtain the targetExcitation current, wherein the lower limit amplitude i of the limiting process_{d_min}＝-λ_f/L_d，L_dIs d-axis inductance, lambda, of an electric machine_fIs a permanent magnet flux linkage.

Step S104: and driving the motor according to the target exciting current.

Compared with the prior art, the first embodiment of the invention adjusts the quantity delta i according to the d-axis excitation current_dAnd initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta i_dWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zero_dAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated.

A second embodiment of the present invention relates to a motor control method, as shown in fig. 5, including the steps of:

step S201: and acquiring initial d-axis exciting current of the motor control device under the two-phase rotating coordinate system.

Step S202: and acquiring d-axis excitation current adjustment quantity under a two-phase rotating coordinate system.

Step S203: and solving a target excitation current according to the d-axis excitation current regulating quantity and the initial d-axis excitation current.

Specifically, steps S201 to S203 in the second embodiment of the present invention are substantially the same as steps S101 to S103 in the first embodiment of the present invention, and may be specifically described according to the detailed description of the first embodiment, which is not repeated herein.

Step S204: a target torque current is calculated.

Specifically, in this step, the target torque current i is acquired_q__refSpecifically, as shown in fig. 6, first, the torque current limiter | i_{q_max}According to the torque current limiting value i_{q_max}For the initial q-axis torque current i obtained in step S101_{q1_ref}Performing amplitude limiting processing to obtain a target torque current i_{q_ref}. Wherein a torque current limiting value | i is obtained_{q_max}Step | as shown in fig. 7, first, a target exciting current is obtained

And secondary excitation current i_d2__refDifference of (2)Will be different value

The first-level torque current limiting value delta i is obtained through the processing of a PI regulator_{q_max}(ii) a Via a formula

Calculating to obtain a torque current limiting value | i_{q_max}L, wherein i_{s_max}The maximum output current allowed to pass by the motor control means.

Step S205: and driving the motor according to the target exciting current and the target torque current.

Specifically, in this step, as shown in fig. 8, a real-time d-axis current i of the motor in a two-phase rotating coordinate system is first obtained_dFind i_{d_ref}And i_dDifference of (2)

Obtaining a target torque current i_{q_ref}And real-time q-axis current i of the motor under a two-phase rotating coordinate system_qFind i_{q_ref}And i_qDifference of (2)

Will be provided withAnd

inputting into a current regulator, obtaining a d-axis voltage command u output by the current regulator_{d_ref}And a q-axis voltage command u_{q_ref}Will u_{d_ref}And u_{q_ref}Carrying out ipark transformation to obtain an alpha-axis voltage instruction u of the motor under a two-phase static coordinate system_{α_ref}And beta axis voltage command u_{β_ref}Then u is added_{α_ref}And u_{β_ref}Three-phase PWM driving signal duty ratio T output by space vector pulse width modulation module_a、T_b、T_cAnd controlling the inverter motor. Current sensor collects three-phase current i of motor_a、i_b、i_cObtaining the current i under the two-phase static coordinate system through clark transformation_αAnd i_βObtaining the current i under a two-phase rotating coordinate system by performing park transformation_dAnd i_qAs a feedback current.

Compared with the prior art, the motor control method provided by the second embodiment of the invention adjusts the quantity delta i according to the d-axis exciting current_dAnd initial d-axis excitation current i_{d1_ref}Obtaining a target exciting current i_{d_ref}(ii) a Because the output voltage instruction of the motor control device is in the linear modulation region, the d-axis excitation current regulating quantity delta i_dWhen the output voltage command of the motor control device is in the overmodulation region, the d-axis excitation current regulating quantity delta i is equal to zero_dAnd the voltage is less than zero, so that the voltage of a nonlinear modulation area in the driving process of the motor is reasonably utilized, the voltage utilization rate of a direct current bus is improved, the torque output capacity of the motor is further improved, and the speed-up process of the motor is accelerated. In addition, the torque current command limit value is adjusted using the deviation before and after the field current command limit value, that is

When i is_{d_ref}＞-λ_f/L_dWhen the temperature of the water is higher than the set temperature,

when i is_{d_ref}＝-λ_f/L_dWhen the temperature of the water is higher than the set temperature,

in the acceleration process, the maximum torque output is ensured, meanwhile, the motor does not run to an unstable working point, and meanwhile, the maximum rotating speed of the motor capable of running can be increased.

The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.

A third embodiment of the present invention relates to a motor control device, as shown in fig. 9, including: at least one processor 301; and a memory 302 communicatively coupled to the at least one processor 301; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301, so that the at least one processor 301 can execute the display method as described above.

Where the memory 302 and the processor 301 are coupled in a bus, the bus may comprise any number of interconnected buses and bridges, the buses coupling one or more of the various circuits of the processor 301 and the memory 302. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 301.

The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 302 may be used to store data used by processor 301 in performing operations.

A fourth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.