阅读说明：本技术 空心杯电枢永磁式电流伺服电机的控制方法和系统 (Control method and system for coreless armature permanent magnet type current servo motor ) 是由 唐开胜 李尘 张志文 李娟� 于 2021-08-05 设计创作，主要内容包括：本发明提供了空心杯电枢永磁式电流伺服电机的控制方法和系统,其通过采集与分析电机的位姿信息,确定电机的朝向,以此调整电机的工作开关状态；以及通过比对电机的输出力矩与外界阻碍力矩的大小,以此调整对电机施加的直流驱动电压大小；并且还通过采集电机电枢绕组的工作温度,改变对电机进行散热的半导体制冷片的制冷状态,这样能够保证电机只有在处于预设朝向的情况下才能正常运行,从而避免电机发生误触发运行,此外还通过调整直流驱动电压来保证电机在任意外界阻碍力作用下依然能够正常顺畅地运作,同时能够根据电机的工作温度高低情况,适应性地调整制冷部件的制冷效率,从而有效地提高电机的散热性能。(The invention provides a control method and a system of a coreless armature permanent magnet type current servo motor, which determine the orientation of the motor by collecting and analyzing pose information of the motor so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.)

1. The control method of the coreless armature permanent magnet type current servo motor is characterized by comprising the following steps:

s1, acquiring pose information of the permanent magnet type current servo motor of the coreless armature in the operation process; analyzing the pose information and determining the current orientation of the motor; adjusting the working switch state of the motor according to the current orientation of the motor;

step S2, collecting the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, acquiring external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process, and adjusting the direct-current driving voltage applied to the motor according to the magnitude between the output torque and the external blocking torque;

step S3, collecting the working temperature of the armature winding of the permanent magnet type current servo motor of the hollow cup armature in the running process; analyzing the working temperature to determine whether the motor is in an overload working state currently; and when the motor is determined to be in an overload working state, adjusting the refrigerating state of the semiconductor refrigerating sheet for radiating the motor according to the working temperature.

2. The method for controlling a coreless armature permanent magnet current servo motor as claimed in claim 1, wherein:

in the step S1, pose information of the coreless armature permanent magnet type current servo motor in the operation process is collected; analyzing the pose information and determining the current orientation of the motor; according to the present orientation of motor again, the work on-off state of adjustment motor specifically includes:

step S101, acquiring triaxial acceleration of a power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining a pitching pose angle and a yawing pose angle of a motor power output shaft on a three-dimensional space at present according to the three-axis acceleration;

step S102, comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

step S103, when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged; and when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running.

3. The method for controlling a coreless armature permanent magnet current servo motor as claimed in claim 2, wherein:

in the step S2, collecting the output power of the coreless armature permanent magnet type current servo motor in the operation process; determining the current output torque of the motor according to the output power of the motor; simultaneously gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process, according to output moment with the size between the external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

step S201, collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

step S202, collecting corresponding blocking force F of a load connected with a power output shaft of a motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L;

step S203, comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, the dc driving voltage applied to the motor is increased.

4. A method of controlling a coreless armature permanent magnet current servo motor as claimed in claim 3, wherein:

in step S3, acquiring the operating temperature of the armature winding of the coreless armature permanent magnet type current servo motor during the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently; when the motor is determined to be in an overload working state, according to the working temperature, the adjusting of the refrigerating state of the semiconductor refrigerating sheet for radiating the motor specifically comprises the following steps:

step S301, continuously collecting the working temperature of the armature winding within a preset length time period in the running process of the motor, so as to obtain the working temperature change information of the armature winding;

step S302, analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

step S303, when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; and increasing or reducing the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet for radiating the motor according to the working temperature change rate.

5. The method for controlling a coreless armature permanent magnet current servo motor as claimed in claim 4, wherein:

in step S303, increasing or decreasing the cooling power and/or the cooling area of the semiconductor cooling plate for cooling the motor according to the operating temperature change rate specifically includes:

step S3031, obtaining the temperature variation of the interior of the armature winding according to the working temperature variation rate by using the following formula (1),

in the above formula (1), Δ T represents the amount of change in temperature inside the armature winding within a unit time interval Δ T; t' (T) represents the change rate of the working temperature corresponding to the T moment; t is t_nRepresents the current time; Δ t represents a unit time interval;

step S3032, if the refrigeration power of the semiconductor refrigeration piece for radiating the heat of the motor is adjusted, the power adjustment value delta P of the refrigeration power of the semiconductor refrigeration piece is determined by using the following formula (2) and combining the temperature variation delta T in the armature winding for resolving,

in the formula (2), P represents the refrigeration power of the semiconductor refrigeration chip before power adjustment; u represents the working voltage of the semiconductor refrigerating sheet; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the power adjustment value delta P is smaller than 0, the refrigerating power of the semiconductor refrigerating sheet is reduced by | delta P |, | represents an absolute value; when the power adjustment value delta P is larger than 0, the refrigerating power of the semiconductor refrigerating sheet is increased by | delta P |, | represents an absolute value;

step S3033, if the refrigerating area of the semiconductor refrigerating sheet for radiating the heat of the motor is adjusted, the area adjustment value Delta S of the refrigerating area of the semiconductor refrigerating sheet is determined by using the following formula (3) and combining the temperature variation Delta T in the armature winding for resolving,

in the above formula (3), I represents the operating current of the semiconductor cooling plate; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the current refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the area adjustment value delta S is smaller than 0, the refrigerating area of the semiconductor refrigerating sheet is reduced by | delta S |, | to represent an absolute value; and when the area adjustment value delta P is larger than 0, increasing the refrigerating area of the semiconductor refrigerating sheet by | delta S |, | to represent an absolute value.

6. The control system of the coreless armature permanent magnet type current servo motor is characterized by comprising a pose information acquisition and analysis module, a motor switch control module, a motor driving voltage adjustment module, a working temperature acquisition and analysis module and a refrigeration adjustment module; wherein the content of the first and second substances,

the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor;

the motor switch control module is used for adjusting the working switch state of the motor according to the current orientation of the motor;

the motor driving voltage adjusting module is used for acquiring the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, acquiring external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process, and adjusting the direct-current driving voltage applied to the motor according to the magnitude between the output torque and the external blocking torque;

the working temperature acquisition and analysis module is used for acquiring the working temperature of an armature winding of the hollow cup armature permanent magnet type current servo motor in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently;

the refrigeration adjusting module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for dissipating heat of the motor according to the working temperature when the motor is determined to be in an overload working state.

7. The control system of the coreless armature permanent magnet current servo motor of claim 6, wherein:

the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor specifically comprises:

acquiring the triaxial acceleration of a motor power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining a pitching pose angle and a yawing pose angle of a motor power output shaft on a three-dimensional space at present according to the three-axis acceleration;

comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

and the number of the first and second groups,

the motor switch control module is used for adjusting the working switch state of the motor according to the current orientation of the motor, and specifically comprises the following steps:

when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged;

and when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running.

8. The control system of a coreless armature permanent magnet current servo motor as claimed in claim 7, wherein:

the motor driving voltage adjusting module is used for acquiring the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; simultaneously gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process, according to output moment with the size between the external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

acquiring corresponding blocking force F of a load connected with the power output shaft of the motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L; comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, the dc driving voltage applied to the motor is increased.

9. The control system of a coreless armature permanent magnet current servo motor as claimed in claim 8, wherein:

the working temperature acquisition and analysis module is used for acquiring the working temperature of an armature winding of the hollow cup armature permanent magnet type current servo motor in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently specifically comprises:

continuously acquiring the working temperature of the armature winding within a preset length time period in the running process of the motor, thereby obtaining the working temperature change information of the armature winding;

analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

and the number of the first and second groups,

the refrigeration adjustment module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for radiating the heat of the motor according to the working temperature when the motor is determined to be in an overload working state, and specifically comprises the following steps:

when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; and increasing or reducing the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet for radiating the motor according to the working temperature change rate.

Technical Field

The invention relates to the technical field of motor drive control, in particular to a control method and a system of a coreless armature permanent magnet type current servo motor.

Background

The armature of the hollow cup armature permanent magnet type current servo motor is formed by winding enameled wires, has the characteristics of small volume, high response speed, high efficiency, small electromagnetic interference and the like, and is widely applied to civil products such as electric toothbrushes and the like. The permanent magnet type current servo motor of the hollow cup armature is mainly used for driving a brush head to move when being used for an electric toothbrush, thereby realizing the corresponding tooth cleaning effect. The electric toothbrush is usually small in size, so that the coreless armature permanent magnet type current servo motor needs to be installed in a small space, when the holding direction of the electric toothbrush is incorrect, the motor cannot normally drive the brush head to move, and whether the driving torque output by the motor is enough to normally drive the brush head to brush on the tooth surface or not is also considered in the process of driving the brush head to move by the motor. Therefore, in the operation process of the coreless armature permanent magnet type current servo motor, particularly the coreless armature permanent magnet type current servo motor arranged in the electric toothbrush, the influence of the motor orientation, the motor output torque and the motor heat dissipation performance on the operation state of the motor needs to be fully considered.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a control method and a control system of a coreless armature permanent magnet type current servo motor, which determine the orientation of the motor by collecting and analyzing pose information of the motor so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.

The invention provides a control method of a coreless armature permanent magnet type current servo motor, which is characterized by comprising the following steps:

s1, acquiring pose information of the permanent magnet type current servo motor of the coreless armature in the operation process; analyzing the pose information and determining the current orientation of the motor; adjusting the working switch state of the motor according to the current orientation of the motor;

step S2, collecting the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, acquiring external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process, and adjusting the direct-current driving voltage applied to the motor according to the magnitude between the output torque and the external blocking torque;

step S3, collecting the working temperature of the armature winding of the permanent magnet type current servo motor of the hollow cup armature in the running process; analyzing the working temperature to determine whether the motor is in an overload working state currently; when the motor is determined to be in an overload working state, adjusting the refrigerating state of a semiconductor refrigerating sheet for radiating heat of the motor according to the working temperature;

further, in the step S1, pose information of the coreless armature permanent magnet type current servo motor in the operation process is collected; analyzing the pose information and determining the current orientation of the motor; according to the present orientation of motor again, the work on-off state of adjustment motor specifically includes:

step S101, acquiring triaxial acceleration of a power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining a pitching pose angle and a yawing pose angle of a motor power output shaft on a three-dimensional space at present according to the three-axis acceleration;

step S102, comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

step S103, when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged; when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running;

further, in the step S2, collecting the motor output power of the coreless armature permanent magnet type current servo motor in the operation process; determining the current output torque of the motor according to the output power of the motor; simultaneously gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process, according to output moment with the size between the external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

step S201, collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

step S202, collecting corresponding blocking force F of a load connected with a power output shaft of a motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L;

step S203, comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, increasing the direct current driving voltage applied to the motor;

further, in the step S3, collecting the operating temperature of the armature winding of the coreless armature permanent magnet type current servo motor during the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently; when the motor is determined to be in an overload working state, according to the working temperature, the adjusting of the refrigerating state of the semiconductor refrigerating sheet for radiating the motor specifically comprises the following steps:

step S301, continuously collecting the working temperature of the armature winding within a preset length time period in the running process of the motor, so as to obtain the working temperature change information of the armature winding;

step S302, analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

step S303, when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; according to the working temperature change rate, increasing or reducing the refrigerating power and/or the refrigerating area of a semiconductor refrigerating sheet for radiating the motor;

further, in step S303, increasing or decreasing the cooling power and/or the cooling area of the semiconductor cooling plate for cooling the motor according to the working temperature change rate specifically includes:

step S3031, obtaining the temperature variation of the interior of the armature winding according to the working temperature variation rate by using the following formula (1),

in the above formula (1), Δ T represents the amount of change in temperature inside the armature winding within a unit time interval Δ T; t' (T) represents the change rate of the working temperature corresponding to the T moment; t is t_nRepresents the current time; Δ t represents a unit time interval;

step S3032, if the refrigeration power of the semiconductor refrigeration piece for radiating the heat of the motor is adjusted, the power adjustment value delta P of the refrigeration power of the semiconductor refrigeration piece is determined by using the following formula (2) and combining the temperature variation delta T in the armature winding for resolving,

in the formula (2), P represents the refrigeration power of the semiconductor refrigeration chip before power adjustment; u represents the working voltage of the semiconductor refrigerating sheet; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the power adjustment value delta P is less than 0, the refrigeration power of the semiconductor refrigeration piece is decreased by | delta P | and | represents the absolute value; when the power adjustment value delta P is greater than 0, the refrigeration power of the semiconductor refrigeration piece is increased by | delta P | and | represents the absolute value;

step S3033, if the refrigerating area of the semiconductor refrigerating sheet for radiating the heat of the motor is adjusted, the area adjustment value Delta S of the refrigerating area of the semiconductor refrigerating sheet is determined by using the following formula (3) and combining the temperature variation Delta T in the armature winding for resolving,

in the above formula (3), I represents the operating current of the semiconductor cooling plate; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the current refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the area adjustment value delta S is less than 0, the cooling area of the semiconductor refrigeration piece is decreased by | delta S | and | represents the absolute value; when the area adjustment value delta P is greater than 0, the cooling area of the semiconductor cooling sheet is increased by | Δ S | and | represents the absolute value.

The invention also provides a control system of the coreless armature permanent magnet type current servo motor, which comprises a pose information acquisition and analysis module, a motor switch control module, a motor driving voltage adjustment module, a working temperature acquisition and analysis module and a refrigeration adjustment module; wherein the content of the first and second substances,

the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor;

the motor switch control module is used for adjusting the working switch state of the motor according to the current orientation of the motor;

the motor driving voltage adjusting module is used for acquiring the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, acquiring external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process, and adjusting the direct-current driving voltage applied to the motor according to the magnitude between the output torque and the external blocking torque;

the working temperature acquisition and analysis module is used for acquiring the working temperature of an armature winding of the hollow cup armature permanent magnet type current servo motor in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently;

the refrigeration adjusting module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for radiating heat of the motor according to the working temperature when the motor is determined to be in an overload working state;

furthermore, the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor specifically comprises:

acquiring the triaxial acceleration of a motor power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining a pitching pose angle and a yawing pose angle of a motor power output shaft on a three-dimensional space at present according to the three-axis acceleration;

comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

and the number of the first and second groups,

the motor switch control module is used for adjusting the working switch state of the motor according to the current orientation of the motor, and specifically comprises the following steps:

when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged; when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running;

further, the motor driving voltage adjusting module is used for acquiring the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; simultaneously gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process, according to output moment with the size between the external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

acquiring corresponding blocking force F of a load connected with the power output shaft of the motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L;

comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, increasing the direct current driving voltage applied to the motor;

further, the working temperature acquisition and analysis module is used for acquiring the working temperature of the armature winding of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently specifically comprises:

continuously acquiring the working temperature of the armature winding within a preset length time period in the running process of the motor, thereby obtaining the working temperature change information of the armature winding;

analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

and the number of the first and second groups,

the refrigeration adjustment module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for radiating the heat of the motor according to the working temperature when the motor is determined to be in an overload working state, and specifically comprises the following steps:

when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; and increasing or reducing the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet for radiating the motor according to the working temperature change rate.

Compared with the prior art, the control method and the system of the coreless armature permanent magnet type current servo motor determine the orientation of the motor by acquiring and analyzing the pose information of the motor, so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a control method of a coreless armature permanent magnet current servo motor provided by the invention.

Fig. 2 is a schematic structural diagram of a control system of a coreless armature permanent magnet current servo motor provided by the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic flow chart of a control method of a coreless armature permanent magnet current servo motor according to an embodiment of the present invention. The control method of the coreless armature permanent magnet type current servo motor comprises the following steps:

s1, acquiring pose information of the permanent magnet type current servo motor of the coreless armature in the operation process; analyzing the pose information and determining the current orientation of the motor; adjusting the working switch state of the motor according to the current orientation of the motor;

step S2, collecting the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process is collected, and the direct-current driving voltage applied to the motor is adjusted according to the magnitude between the output torque and the external blocking torque;

step S3, collecting the working temperature of the armature winding of the permanent magnet type current servo motor of the hollow cup armature in the running process; analyzing the working temperature to determine whether the motor is in an overload working state currently; and when the motor is determined to be in an overload working state, adjusting the refrigerating state of the semiconductor refrigerating sheet for radiating the motor according to the working temperature.

The beneficial effects of the above technical scheme are: the control method of the coreless armature permanent magnet type current servo motor determines the orientation of the motor by collecting and analyzing pose information of the motor so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.

Preferably, in the step S1, the pose information of the coreless armature permanent magnet type current servo motor in the operation process is collected; analyzing the pose information and determining the current orientation of the motor; according to the present orientation of motor again, the work on-off state of adjustment motor specifically includes:

step S101, acquiring triaxial acceleration of a power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining the current pitching pose angle and yawing pose angle of the motor power output shaft in a three-dimensional space according to the triaxial acceleration;

step S102, comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

step S103, when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged; and when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running.

The beneficial effects of the above technical scheme are: the coreless armature permanent magnet type current servo motor is generally used as a power source of the electric toothbrush, and a motor power output shaft of the coreless armature permanent magnet type current servo motor is connected with the brush head, so that the brush head can be driven by power output by the motor power output shaft to vibrate back and forth in the left-right direction and the front-back direction. When the direction of holding the electric toothbrush by a user is not standard (for example, the brush head of the electric toothbrush is downward), the motor power output shaft at the position cannot normally drive the brush head to move, so that the motor power output shaft is in idle running, electric energy is wasted, and the motor power output shaft can be abraded. In actual operation, a three-axis acceleration sensor or a micro gyroscope can be arranged on the power output shaft of the motor, so that the three-axis acceleration of the power output shaft of the motor is acquired; and then, the pitch pose angle and the yaw pose angle corresponding to the power output shaft of the motor can be obtained according to a calculation means related to dynamics, wherein the calculation process of the pitch pose angle and the yaw pose angle belongs to a conventional technical means in the field, and detailed description is not needed here. In addition, the pitching pose angle and the yawing pose angle are respectively compared with a first preset pose angle range and a second preset pose angle range, wherein the first preset pose angle range can be but is not limited to a range of-90 degrees to +90 degrees above the horizontal direction, and the second preset pose angle range can be but is not limited to a range of 360 degrees in the horizontal circumferential direction, so that the orientation of the power output shaft of the motor can be quantitatively judged, and the real orientation of the power output shaft of the motor can be accurately determined. In addition, when the power output shaft of the motor is currently in the first orientation, the power output shaft of the motor is indicated to be in the upward direction at the moment, and the motor can normally run and output power at the moment; when the motor power output shaft is currently in the second orientation, which indicates that the motor power output shaft is currently in the downward direction, the power supply of the motor can be cut off, so that the motor power output shaft is prevented from idling.

Preferably, in the step S2, the motor output power of the coreless armature permanent magnet type current servo motor during operation is collected; determining the current output torque of the motor according to the output power of the motor; gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process simultaneously, according to the size between this output moment and this external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

step S201, collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

step S202, collecting corresponding blocking force F of a load connected with a power output shaft of a motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L;

step S203, comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, the dc driving voltage applied to the motor is increased.

The beneficial effects of the above technical scheme are: in the operation process of the permanent magnet type current servo motor of the hollow cup armature, the power output shaft of the motor drives the brush head to move, and the brush head can brush on the surface of teeth. In the brushing process, the brush head can be subjected to frictional resistance on the surface of teeth, and if the torque output by the motor is lower than the external resistance torque applied to the brush head, the load of the brush head cannot normally and smoothly move. And through confirming the big or small relation between motor output torque and the external moment of obstruction, when motor output torque is greater than or equal to this external moment of obstruction, show that the moment of current motor output is enough to drive the load and carry out smooth and easy motion, need not additionally to increase direct current drive voltage this moment, and when motor output torque is less than this external moment of obstruction, show that the moment of current motor output is not enough to drive the load and carry out smooth and easy motion, need additionally to increase direct current drive voltage this moment and improve the moment of motor output.

Preferably, in the step S3, the working temperature of the armature winding of the coreless armature permanent magnet type current servo motor during the operation process is collected; analyzing the working temperature to determine whether the motor is in an overload working state currently; when the motor is determined to be in an overload working state, according to the working temperature, the adjusting of the refrigerating state of the semiconductor refrigerating sheet for radiating heat of the motor specifically comprises the following steps:

step S301, continuously collecting the working temperature of the armature winding within a preset length time period in the running process of the motor, so as to obtain the working temperature change information of the armature winding;

step S302, analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

step S303, when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; and increasing or reducing the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet for radiating the motor according to the working temperature change rate.

The beneficial effects of the above technical scheme are: armature winding can produce heat at the operation in-process of hollow cup armature permanent magnetism formula current servo motor to lead to armature winding's operating temperature to constantly rise, when operating temperature risees to a definite value, can reduce armature winding's electric conductivity, thereby influence the normal operating of motor. In practical operation, a semiconductor surface-mount temperature sensor can be arranged in the armature winding assembly, the temperature sensor can continuously measure the working temperature of the armature winding, so as to record the real-time working temperature change of the armature winding, and to facilitate the subsequent analysis of whether the motor is in an overload working state, specifically, the longer the accumulated time when the working temperature of the armature winding exceeds a preset temperature threshold value, the greater the working load of the motor. In addition, when the motor is determined to be in an overload working state, the working temperature change rate of the armature winding in unit time (such as 1s) is determined, when the working temperature change rate is larger, the heat accumulation in the armature winding is faster, and in order to accelerate the heat dissipation speed, the cooling power and/or the cooling area of the semiconductor cooling plate needs to be increased; when the working temperature change rate is smaller, the heat accumulation in the armature winding is slower, and the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet can be properly reduced, so that the electric energy required by refrigeration is saved to the maximum extent; wherein the semiconductor refrigeration sheet can be attached to the vicinity of the armature winding.

Preferably, in step S303, increasing or decreasing the cooling power and/or the cooling area of the semiconductor cooling plate for dissipating heat from the motor according to the operating temperature change rate specifically includes:

step S3031, obtaining the temperature variation inside the armature winding according to the operating temperature variation rate by using the following formula (1),

in the above formula (1), Δ T represents the amount of change in temperature inside the armature winding within a unit time interval Δ T; t' (T) represents the change rate of the working temperature corresponding to the T moment; t is t_nRepresents the current time; Δ t represents a unit time interval;

step S3032, if the refrigeration power of the semiconductor refrigeration piece for radiating the heat of the motor is adjusted, the power adjustment value delta P of the refrigeration power of the semiconductor refrigeration piece is determined by using the following formula (2) and combining the temperature variation delta T in the armature winding for resolving,

in the formula (2), P represents the refrigeration power of the semiconductor refrigeration chip before power adjustment; u represents the working voltage of the semiconductor refrigerating sheet; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the power adjustment value delta P is less than 0, the refrigeration power of the semiconductor refrigeration piece is decreased by | delta P | and | represents the absolute value; when the power adjustment value delta P is greater than 0, the refrigeration power of the semiconductor refrigeration piece is increased by | delta P | and | represents the absolute value; in actual operation, the refrigerating power of the semiconductor refrigerating sheet can be adjusted by changing the magnitude of the current applied to the semiconductor refrigerating sheet, the refrigerating power can be increased when the current applied to the semiconductor refrigerating sheet is increased, and the refrigerating power can be reduced when the current applied to the semiconductor refrigerating sheet is reduced;

step S3033, if the refrigerating area of the semiconductor refrigerating sheet for radiating the heat of the motor is adjusted, the area adjustment value Delta S of the refrigerating area of the semiconductor refrigerating sheet is determined by using the following formula (3) and combining the temperature variation Delta T in the armature winding for resolving,

in the above formula (3), I represents the operating current of the semiconductor cooling plate; tau represents the Peltier coefficient corresponding to the semiconductor refrigerating sheet; sigma represents the conductivity of the semiconductor refrigerating sheet; l represents the length of the semiconductor refrigeration piece in the current transmission direction; s represents the current refrigerating area of the semiconductor refrigerating sheet; k represents the thermal conductivity of the semiconductor refrigeration sheet; beta represents the composite Thomson coefficient of the semiconductor refrigerating sheet; q represents the current power of the armature winding; when the area adjustment value delta S is less than 0, the cooling area of the semiconductor refrigeration piece is decreased by | delta S | and | represents the absolute value; when the area adjustment value delta P is larger than 0, the refrigerating area of the semiconductor refrigerating piece is increased by | Δ S | and | represents the absolute value; in actual operation, the conduction area of the current applied to the semiconductor refrigeration piece on the semiconductor refrigeration piece can be changed to adjust the refrigeration power of the semiconductor refrigeration piece, the refrigeration power can be increased when the conduction area of the current applied to the semiconductor refrigeration piece on the semiconductor refrigeration piece is increased, and the refrigeration power can be reduced when the conduction area of the current applied to the semiconductor refrigeration piece on the semiconductor refrigeration piece is reduced.

The beneficial effects of the above technical scheme are: by using the formula (1), the temperature variation inside the armature winding is obtained according to the working temperature variation rate, so that an accurate basis is provided for the subsequent control of the semiconductor refrigeration sheet, and the reliability of the system is ensured; then, by using the formula (2), the refrigerating power regulating value of the semiconductor refrigerating sheet is obtained according to the temperature variation in the armature winding, so that the worker can accurately operate the semiconductor refrigerating sheet when the worker wants to regulate the refrigerating power of the semiconductor refrigerating sheet, and the accuracy and the reliability of the system operation are ensured; and finally, the refrigerating area adjusting value of the semiconductor refrigerating sheet is obtained according to the temperature variation in the armature winding by utilizing the formula (3), so that the operation can be accurately performed when the worker wants to adjust the refrigerating area of the semiconductor refrigerating sheet, the accuracy and the reliability of the system operation are ensured, the selectivity of the worker is provided, and the working efficiency is improved.

Fig. 2 is a schematic structural diagram of a control system of a coreless armature permanent magnet current servo motor according to an embodiment of the present invention. The control system of the coreless armature permanent magnet type current servo motor comprises a pose information acquisition and analysis module, a motor switch control module, a motor driving voltage adjustment module, a working temperature acquisition and analysis module and a refrigeration adjustment module; wherein the content of the first and second substances,

the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor;

the motor switch control module is used for adjusting the working switch state of the motor according to the current orientation of the motor;

the motor driving voltage adjusting module is used for acquiring the motor output power of the permanent magnet type current servo motor of the hollow cup armature in the operation process; determining the current output torque of the motor according to the output power of the motor; meanwhile, external blocking torque applied to a load connected with a motor power output shaft corresponding to the motor in the action process is collected, and the direct-current driving voltage applied to the motor is adjusted according to the magnitude between the output torque and the external blocking torque;

the working temperature acquisition and analysis module is used for acquiring the working temperature of an armature winding of the hollow cup armature permanent magnet type current servo motor in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently;

the refrigeration adjusting module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for radiating heat of the motor according to the working temperature when the motor is determined to be in an overload working state.

The beneficial effects of the above technical scheme are: the control system of the coreless armature permanent magnet type current servo motor determines the orientation of the motor by collecting and analyzing pose information of the motor so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.

Preferably, the pose information acquisition and analysis module is used for acquiring pose information of the permanent magnet type current servo motor of the hollow cup armature in the operation process; analyzing the pose information and determining the current orientation of the motor specifically comprises:

acquiring the triaxial acceleration of a motor power output shaft of a hollow cup armature permanent magnet type current servo motor in the operation process; determining the current pitching pose angle and yawing pose angle of the motor power output shaft in a three-dimensional space according to the triaxial acceleration;

comparing the pitching pose angle with a first preset pose angle range, and comparing the yawing pose angle with a second preset pose angle range; if the pitching pose angle is within a first preset pose angle range and the yawing pose angle is within a second preset pose angle range, determining that the power output shaft of the motor is currently in a first orientation; otherwise, determining that the power output shaft of the motor is currently in a second orientation; wherein the first orientation comprises an upward orientation or a horizontal orientation, and the second orientation comprises a downward orientation;

and the number of the first and second groups,

this motor switch control module is used for according to the current orientation of motor, and the operating switch state of adjustment motor specifically includes:

when the power output shaft of the motor is in a first direction, keeping the current running state of the motor unchanged; and when the power output shaft of the motor is currently in the second orientation, stopping supplying power to the motor, so that the motor stops running.

The beneficial effects of the above technical scheme are: the coreless armature permanent magnet type current servo motor is generally used as a power source of the electric toothbrush, and a motor power output shaft of the coreless armature permanent magnet type current servo motor is connected with the brush head, so that the brush head can be driven by power output by the motor power output shaft to vibrate back and forth in the left-right direction and the front-back direction. When the direction of holding the electric toothbrush by a user is not standard (for example, the brush head of the electric toothbrush is downward), the motor power output shaft at the position cannot normally drive the brush head to move, so that the motor power output shaft is in idle running, electric energy is wasted, and the motor power output shaft can be abraded. In actual operation, a three-axis acceleration sensor or a micro gyroscope can be arranged on the power output shaft of the motor, so that the three-axis acceleration of the power output shaft of the motor is acquired; and then, the pitch pose angle and the yaw pose angle corresponding to the power output shaft of the motor can be obtained according to a calculation means related to dynamics, wherein the calculation process of the pitch pose angle and the yaw pose angle belongs to a conventional technical means in the field, and detailed description is not needed here. In addition, the pitching pose angle and the yawing pose angle are respectively compared with a first preset pose angle range and a second preset pose angle range, wherein the first preset pose angle range can be but is not limited to a range of-90 degrees to +90 degrees above the horizontal direction, and the second preset pose angle range can be but is not limited to a range of 360 degrees in the horizontal circumferential direction, so that the orientation of the power output shaft of the motor can be quantitatively judged, and the real orientation of the power output shaft of the motor can be accurately determined. In addition, when the power output shaft of the motor is currently in the first orientation, the power output shaft of the motor is indicated to be in the upward direction at the moment, and the motor can normally run and output power at the moment; when the motor power output shaft is currently in the second orientation, which indicates that the motor power output shaft is currently in the downward direction, the power supply of the motor can be cut off, so that the motor power output shaft is prevented from idling.

Preferably, the motor driving voltage adjusting module is used for acquiring the motor output power of the coreless armature permanent magnet type current servo motor in the operation process; determining the current output torque of the motor according to the output power of the motor; gather the external hindrance moment that the load that motor power output shaft that the motor corresponds connected received at the action in-process simultaneously, according to the size between this output moment and this external hindrance moment, the adjustment specifically includes to the direct current drive voltage size that the motor was applyed:

collecting motor output power P of a motor in the running process, and determining motor output torque T1 of the motor in the running process by combining the running rotating speed n of the motor, wherein T1 is 9550P/n;

acquiring corresponding blocking force F of a load connected with the power output shaft of the motor under the action of the outside in the action process, and determining an outside blocking torque T2 of the load in the action process by combining the distance L between the gravity center of the load and the top end position of the power output shaft of the motor, wherein T2 is F L;

comparing the motor output torque T1 with the external blocking torque T2; when the motor output torque T1 is greater than or equal to the external blocking torque T2, the current direct current driving voltage applied to the motor is kept unchanged; when the motor output torque T1 is smaller than the external interference torque T2, the dc driving voltage applied to the motor is increased.

The beneficial effects of the above technical scheme are: in the operation process of the permanent magnet type current servo motor of the hollow cup armature, the power output shaft of the motor drives the brush head to move, and the brush head can brush on the surface of teeth. In the brushing process, the brush head can be subjected to frictional resistance on the surface of teeth, and if the torque output by the motor is lower than the external resistance torque applied to the brush head, the load of the brush head cannot normally and smoothly move. And through confirming the big or small relation between motor output torque and the external moment of obstruction, when motor output torque is greater than or equal to this external moment of obstruction, show that the moment of current motor output is enough to drive the load and carry out smooth and easy motion, need not additionally to increase direct current drive voltage this moment, and when motor output torque is less than this external moment of obstruction, show that the moment of current motor output is not enough to drive the load and carry out smooth and easy motion, need additionally to increase direct current drive voltage this moment and improve the moment of motor output.

Preferably, the working temperature acquisition and analysis module is used for acquiring the working temperature of the armature winding of the coreless armature permanent magnet type current servo motor in the operation process; analyzing the working temperature to determine whether the motor is in an overload working state currently specifically comprises:

continuously acquiring the working temperature of the armature winding within a preset length time period in the running process of the motor, thereby obtaining the working temperature change information of the armature winding;

analyzing the working temperature change information to determine the total duration time corresponding to the working temperature exceeding a preset temperature threshold value during the working temperature acquisition period; comparing the total duration with a preset time threshold, if the total duration exceeds the preset time threshold, determining that the motor is currently in an overload working state, and otherwise, determining that the motor is not currently in the overload working state;

and the number of the first and second groups,

the refrigeration adjusting module is used for adjusting the refrigeration state of the semiconductor refrigeration piece for radiating heat of the motor according to the working temperature when the motor is determined to be in an overload working state, and specifically comprises the following steps:

when the motor is determined to be in an overload working state, determining the working temperature change rate of the armature winding according to the working temperature change information of the armature winding; and increasing or reducing the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet for radiating the motor according to the working temperature change rate.

The beneficial effects of the above technical scheme are: armature winding can produce heat at the operation in-process of hollow cup armature permanent magnetism formula current servo motor to lead to armature winding's operating temperature to constantly rise, when operating temperature risees to a definite value, can reduce armature winding's electric conductivity, thereby influence the normal operating of motor. In practical operation, a semiconductor surface-mount temperature sensor can be arranged in the armature winding assembly, the temperature sensor can continuously measure the working temperature of the armature winding, so as to record the real-time working temperature change of the armature winding, and to facilitate the subsequent analysis of whether the motor is in an overload working state, specifically, the longer the accumulated time when the working temperature of the armature winding exceeds a preset temperature threshold value, the greater the working load of the motor. In addition, when the motor is determined to be in an overload working state, the working temperature change rate of the armature winding in unit time (such as 1s) is determined, when the working temperature change rate is larger, the heat accumulation in the armature winding is faster, and in order to accelerate the heat dissipation speed, the cooling power and/or the cooling area of the semiconductor cooling plate needs to be increased; when the working temperature change rate is smaller, the heat accumulation in the armature winding is slower, and the refrigerating power and/or the refrigerating area of the semiconductor refrigerating sheet can be properly reduced, so that the electric energy required by refrigeration is saved to the maximum extent; wherein the semiconductor refrigeration sheet can be attached to the vicinity of the armature winding.

From the content of the embodiment, the control method and the system of the coreless armature permanent magnet type current servo motor determine the orientation of the motor by collecting and analyzing the pose information of the motor, so as to adjust the working switch state of the motor; comparing the output torque of the motor with the external blocking torque to adjust the direct current driving voltage applied to the motor; and still through the operating temperature who gathers motor armature winding, change the refrigeration state of carrying out radiating semiconductor refrigeration piece to the motor, can guarantee like this that the motor can only normally operate under the condition that is in predetermineeing the orientation, thereby avoid the motor to take place the operation of spurious triggering, still guarantee the motor can normally smoothly function under arbitrary external hindrance effect through adjusting DC drive voltage in addition, can adjust the refrigeration efficiency of refrigeration part according to the operating temperature height condition of motor simultaneously, thereby improve the heat dispersion of motor effectively.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.