阅读说明：本技术 同步电机控制位置确定方法、装置、计算机设备和存储介质 (Synchronous motor control position determining method and device, computer equipment and storage medium ) 是由 黄勇荣 于 2021-02-18 设计创作，主要内容包括：本公开提供了一种同步电机控制位置确定方法,应用于旋转变压器的极对数与电机的极对数不匹配的同步电机中,所述方法包括：获取该同步电机的基本参数；控制该同步电机归零,并获取所述旋转变压器的零位电角度解码值；驱动该同步电机旋转,并每隔预定时间周期获取所述旋转变压器的实时电角度解码值；根据所述零位电角度解码值以及所述实时电角度解码值,按照角度换算关系,确定该同步电机当前控制位置对应的电角度。所述方法解决了现有技术中同步电机的极对数与旋转变压器的极对数不匹配时无法确定同步电机控制位置的技术问题。(The present disclosure provides a method for determining a control position of a synchronous motor, which is applied to a synchronous motor in which a pole pair number of a rotary transformer and a pole pair number of a motor are not matched, and the method includes: acquiring basic parameters of the synchronous motor; controlling the synchronous motor to return to zero, and acquiring a zero-position electric angle decoding value of the rotary transformer; driving the synchronous motor to rotate, and acquiring a real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period; and determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation. The method solves the technical problem that the control position of the synchronous motor cannot be determined when the number of pole pairs of the synchronous motor is not matched with the number of pole pairs of the rotary transformer in the prior art.)

1. A method for determining a control position of a synchronous motor is applied to the synchronous motor with unmatched pole pair number of a rotary transformer and the pole pair number of the motor, and is characterized by comprising the following steps:

acquiring basic parameters of the synchronous motor;

controlling the synchronous motor to return to zero, and acquiring a zero-position electric angle decoding value of the rotary transformer;

driving the synchronous motor to rotate, and acquiring a real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period;

and determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

2. The method for determining the control position of the synchronous motor according to claim 1, wherein the specific step of determining the electrical angle corresponding to the current control position of the synchronous motor according to the angle conversion relationship based on the zero electrical angle decoded value and the real-time electrical angle decoded value comprises:

determining a first electric turn number parameter according to the real-time electric angle decoding value, wherein the first electric turn number parameter is used for recording the information of the electric turn number of the rotary transformer when the synchronous motor rotates from a zero position to a current control position;

selecting an intermediate angle calculation method according to the basic parameters of the synchronous motor, the zero electric angle decoding value, the real-time electric angle decoding value of the current control position and the first electric turn number parameter, and calculating an intermediate reference angle by using the determined intermediate angle calculation method;

determining a second electric turn number parameter according to the intermediate reference angle and the basic parameter of the synchronous motor, wherein the second electric turn number parameter is used for recording the information of the electric turn number of the synchronous motor when the synchronous motor rotates from a zero position to a current control position;

and determining the electric angle corresponding to the current control position of the synchronous motor according to the intermediate reference angle, the basic parameters of the synchronous motor and the second turn number parameters.

3. The method for determining the control position of the synchronous motor according to claim 2, wherein determining the first electrical turn number parameter according to the real-time electrical angle decoding value specifically comprises:

initializing a first count parameter;

starting from the time when the synchronous motor returns to zero until the synchronous motor rotates to the current control position, adding and subtracting the first counting parameter when two real-time electrical angle decoding values obtained at every two adjacent times are respectively located in a first angle interval and a second angle interval, and taking the added and subtracted first counting parameter as the first electrical turn number parameter.

4. The synchronous machine control position determination method of claim 3, further comprising, prior to initializing the first count parameter:

judging the rotation direction of the synchronous motor;

if the synchronous motor rotates anticlockwise, initializing the first counting parameter, namely adjusting the first counting parameter to be 0;

if the synchronous motor rotates clockwise, initializing the first counting parameter is to adjust the first counting parameter to reduce the number of pole pairs of the rotary transformer by one.

5. The synchronous machine control position determining method according to claim 4, wherein the basic parameter of the synchronous machine includes a rotation angle parameter, the rotation angle parameter is a product of a maximum decoded rotation speed of the synchronous machine and the predetermined time interval, the decoded rotation speed is a decoded value of an electrical angle rotated by the synchronous machine per unit time, and the maximum decoded rotation speed is a decoded rotation speed of the synchronous machine at a maximum rotation speed;

if the synchronous motor rotates anticlockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are located in a first angle interval and a second angle interval, and the first counting parameter is increased by one;

the first angle interval is Z-X-Z, the second angle interval is Z-Z + X, Z is a zero-potential angle decoding value, and X is a rotation angle parameter.

6. The synchronous machine control position determining method according to claim 4, wherein the basic parameter of the synchronous machine includes a rotation angle parameter, the rotation angle parameter is a product of a maximum decoded rotation speed of the synchronous machine and the predetermined time interval, the decoded rotation speed is a decoded value of an electrical angle rotated by the synchronous machine per unit time, and the maximum decoded rotation speed is a decoded rotation speed of the synchronous machine at a maximum rotation speed;

if the synchronous motor rotates clockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are respectively positioned in a first angle interval and a second angle interval, and the first counting parameter is reduced by one;

the first angle interval is Z-X-Z, the second angle interval is Z-Z + X, Z is a zero-potential angle decoding value, and X is a rotation angle parameter.

7. The synchronous machine control position determination method according to claim 2, characterized in that the basic parameter of the synchronous machine comprises a maximum electrical angle decoding value of the resolver;

the specific steps of determining an intermediate angle calculation method according to the basic parameters of the synchronous motor, the zero-position electric angle decoding value, the real-time electric angle decoding value of the current control position and the first electric turn number parameter, and calculating an intermediate reference angle by using the determined intermediate angle calculation method comprise:

judging whether the real-time electrical angle decoding value of the current control position is in a first judgment interval or a second judgment interval;

if the real-time electrical angle decoding value is in a second judgment interval, calculating the intermediate reference angle by the following formula:

θ＝(θ_r-Z)+M×C_nt1

if the real-time electrical angle decoding value is in a first judgment interval, calculating the intermediate reference angle through the following formula:

θ＝(θ_r+M-Z)+M×C_nt1

wherein the first judgment interval is 0-Z, and the second judgment interval is Z-M;

theta is the intermediate reference angle theta_rDecoding the real-time electrical angle of the current control position, Z being the zero electrical angle, M being the maximum electrical angle of the rotary transformer, C_nt1Is the first electrical turn number parameter.

8. The synchronous machine control position determining method according to claim 2, wherein the basic parameters of the synchronous machine include a maximum electrical angle decoding value of the resolver and a ratio of pole pair numbers of the resolver to the synchronous machine;

the specific formula for determining the second electric turn number parameter according to the intermediate reference angle and the basic parameter of the synchronous motor is as follows: c_nt2＝θ/(K×M)

Wherein,/is the operator of taking quotient, only keep the integer quotient value while calculating, omit the remainder value; c_nt2And the parameter is a second electric turn number parameter, theta is the intermediate reference angle, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, and M is the maximum electric angle decoding value of the rotary transformer.

9. The synchronous machine control position determining method according to claim 2, wherein the basic parameters of the synchronous machine include a maximum electrical angle decoding value of the resolver, a ratio of pole pair numbers of the resolver to the synchronous machine, and a conversion coefficient of an electrical angle of the synchronous machine;

according to the intermediate reference angle, the basic parameters of the synchronous motor and the second turn number parameters, a specific formula for determining the electrical angle corresponding to the current control position of the synchronous motor is as follows:

θ_e＝(θ-C_nt2×K×M)×K_c

wherein, theta_eTo determine the electrical angle to which the current control position of the synchronous machine corresponds, C_nt2Is a second electrical turn number parameter, theta is the intermediate reference angle, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, M is the maximum electrical angle decoding value of the rotary transformer, K_cIs the conversion coefficient of the electrical angle of the synchronous motor.

10. The method for determining the control position of the synchronous motor according to claim 1, wherein after determining the electrical angle corresponding to the current control position of the synchronous motor according to an angle conversion relationship based on the zero electrical angle decoded value and the real-time electrical angle decoded value, the method further comprises:

and judging whether the synchronous motor is successfully started or not, if the synchronous motor is not successfully started, re-controlling the synchronous motor to return to zero, and acquiring the zero-potential angle decoding value.

11. The synchronous machine control position determination method of claim 1, wherein prior to controlling the synchronous machine to zero and obtaining the resolver zero electrical angle decoded value, the method further comprises:

responding to a synchronous motor starting instruction, judging whether the synchronous motor is electrified for the first time, if the synchronous motor is electrified for the first time, controlling the synchronous motor to return to zero, and acquiring the zero-position electric angle decoded value;

if the synchronous motor is not powered on for the first time, judging whether the decoding parameters of the current rotary transformer are consistent with the decoding parameters of the rotary transformer stored in the last shutdown, if not, controlling the synchronous motor to return to zero, and acquiring the zero-position electric angle decoding value.

12. A synchronous machine control position determining apparatus, characterized in that the apparatus comprises:

a basic parameter acquiring unit for acquiring basic parameters of the synchronous motor;

the synchronous motor zeroing unit is used for controlling the synchronous motor to be zeroed and acquiring a zero-position electric angle decoding value of the rotary transformer;

the decoding parameter acquisition unit is used for driving the synchronous motor to rotate and acquiring a real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period;

and the control position determining unit is used for determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

13. A computer device comprising a memory and a processor, the memory having stored therein computer-readable instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1 to 11.

14. A storage medium storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the method of any one of claims 1-11.

Technical Field

The present disclosure relates to the field of motor control technologies, and in particular, to a method and an apparatus for determining a control position of a synchronous motor, a computer device, and a storage medium.

Background

The position information required by the inductive control of the synchronous motor is mainly obtained by decoding the output signal of a position sensor at present, and the commonly used position sensor comprises a rotary transformer, a photoelectric encoder and a Hall sensor. The photoelectric encoder has high precision but high requirements on the use environment; the Hall sensor is firm and durable but is easily influenced by temperature and magnetic field; the resolver is widely used because of its excellent interference rejection capability while maintaining good accuracy.

At present, the application of the rotary transformer in the control of the synchronous motor is limited, and the pole pair number of the synchronous motor is required to be matched with the pole pair number of the rotary transformer in the application process, namely the ratio of the pole pair number of the synchronous motor to the pole pair number of the rotary transformer is required to be a positive integer. And the smaller the ratio of the number of pole pairs of the synchronous motor to the number of pole pairs of the rotary transformer, the higher the measurement accuracy of the rotary transformer.

However, when the number of pole pairs of the synchronous motor is not matched with the number of pole pairs of the rotary transformer, the angle change cannot be performed according to the existing algorithm, the current control position of the synchronous motor is determined, and the synchronous motor cannot be controlled to normally operate.

Disclosure of Invention

One object of this disclosure is to solve the technical problem that can't confirm synchronous machine control position when the number of pole pairs of synchronous machine and resolver's number of pole pairs mismatch among the prior art.

In order to solve the technical problem, the following technical scheme is adopted in the disclosure:

in a first aspect, the present disclosure provides a method for determining a control position of a synchronous motor, which is applied to a synchronous motor in which a pole pair number of a resolver and a pole pair number of a motor are not matched, the method including:

basic parameters of the synchronous motor are acquired.

And controlling the synchronous motor to return to zero, and acquiring a zero-position electric angle decoding value of the rotary transformer.

And driving the synchronous motor to rotate, and acquiring the real-time electrical angle decoding value of the rotary transformer at preset time intervals.

And determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

In one embodiment, the specific step of determining the electrical angle corresponding to the current control position of the synchronous motor according to the angle conversion relationship based on the zero electrical angle decoded value and the real-time electrical angle decoded value includes:

and determining a first electric turn number parameter according to the real-time electric angle decoding value, wherein the first electric turn number parameter is used for recording the information of the electric turn number of the rotary transformer when the synchronous motor rotates from a zero position to a current control position.

And selecting an intermediate angle calculation method according to the basic parameters of the synchronous motor, the zero electric angle decoding value, the real-time electric angle decoding value of the current control position and the first electric turn number parameter, and calculating an intermediate reference angle by using the determined intermediate angle calculation method.

And determining a second electric turn number parameter according to the intermediate reference angle and the basic parameters of the synchronous motor, wherein the second electric turn number parameter is used for recording the information of the electric turn number of the synchronous motor when the synchronous motor rotates from a zero position to a current control position.

And determining the electric angle corresponding to the current control position of the synchronous motor according to the intermediate reference angle, the basic parameters of the synchronous motor and the second turn number parameters.

In one embodiment, determining the first electrical turn number parameter according to the real-time electrical angle decoding value specifically includes:

a first count parameter is initialized.

Starting from the time when the synchronous motor returns to zero until the synchronous motor rotates to the current control position, adding and subtracting the first counting parameter when two real-time electrical angle decoding values obtained at every two adjacent times are respectively located in a first angle interval and a second angle interval, and taking the added and subtracted first counting parameter as the first electrical turn number parameter.

In one embodiment, before initializing the first count parameter, the method further comprises:

the rotation direction of the synchronous motor is judged.

If the synchronous motor rotates counterclockwise, initializing the first counting parameter is to adjust the first counting parameter to 0.

If the synchronous motor rotates clockwise, initializing the first counting parameter is to adjust the first counting parameter to reduce the number of pole pairs of the rotary transformer by one.

In one embodiment, the basic parameter of the synchronous motor includes a rotation angle parameter, the rotation angle parameter is the product of the maximum decoding rotation speed of the synchronous motor and the predetermined time interval, the decoding rotation speed is the decoded value of the electrical angle rotated by the synchronous motor in unit time, and the maximum decoding rotation speed is the decoding rotation speed of the synchronous motor at the highest rotation speed.

If the synchronous motor rotates anticlockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are located in a first angle interval and a second angle interval, and the first counting parameter is increased by one.

The first angle interval is Z-X-Z, the second angle interval is Z-Z + X, Z is a zero-potential angle decoding value, and X is a rotation angle parameter.

In one embodiment, the basic parameter of the synchronous motor includes a rotation angle parameter, the rotation angle parameter is the product of the maximum decoding rotation speed of the synchronous motor and the predetermined time interval, the decoding rotation speed is the decoded value of the electrical angle rotated by the synchronous motor in unit time, and the maximum decoding rotation speed is the decoding rotation speed of the synchronous motor at the highest rotation speed.

If the synchronous motor rotates clockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are respectively located in a first angle interval and a second angle interval, and the first counting parameter is reduced by one.

The first angle interval is Z-X-Z, the second angle interval is Z-Z + X, Z is a zero-potential angle decoding value, and X is a rotation angle parameter.

In one of the embodiments, the basic parameters of the synchronous machine comprise the maximum electrical angle decoding value of said resolver.

The specific steps of determining an intermediate angle calculation method according to the basic parameters of the synchronous motor, the zero-position electric angle decoding value, the real-time electric angle decoding value of the current control position and the first electric turn number parameter, and calculating an intermediate reference angle by using the determined intermediate angle calculation method comprise:

and judging whether the real-time electrical angle decoding value of the current control position is in a first judgment interval or a second judgment interval.

If the real-time electrical angle decoding value is in a second judgment interval, calculating the intermediate reference angle by the following formula:

θ＝(θ_r-Z)+M×C_nt1

if the real-time electrical angle decoding value is in a first judgment interval, calculating the intermediate reference angle through the following formula:

θ＝(θ_r+M-Z)+M×C_nt1

the first judgment interval is 0-Z, and the second judgment interval is Z-M.

Theta is the intermediate reference angle theta_rDecoding the real-time electrical angle of the current control position, Z being the zero electrical angle, M being the maximum electrical angle of the rotary transformer, C_nt1Is the first electrical turn number parameter.

In one of the embodiments, the basic parameters of the synchronous machine comprise the maximum electrical angle decoding value of said resolver and the ratio of the number of pole pairs of said resolver and the synchronous machine.

The specific formula for determining the second electric turn number parameter according to the intermediate reference angle and the basic parameter of the synchronous motor is as follows:

C_nt2＝θ/(K×M)

wherein,/is the quotient operator, only the integer quotient value is reserved during calculation, and the remainder value is omitted. C_nt2And the parameter is a second electric turn number parameter, theta is the intermediate reference angle, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, and M is the maximum electric angle decoding value of the rotary transformer.

In one embodiment, the basic parameters of the synchronous machine include a maximum electrical angle decoding value of the resolver, a ratio of pole pair numbers of the resolver to the synchronous machine, and a conversion coefficient of the synchronous machine electrical angle.

According to the intermediate reference angle, the basic parameters of the synchronous motor and the second turn number parameters, a specific formula for determining the electrical angle corresponding to the current control position of the synchronous motor is as follows:

θ_e＝(θ-C_nt2×K×M)×K_c

wherein, theta_eTo determine the electrical angle to which the current control position of the synchronous machine corresponds, C_nt2Is a second electrical turn number parameter, theta is the intermediate reference angle, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, M is the maximum electrical angle decoding value of the rotary transformer, K_cIs the conversion coefficient of the electrical angle of the synchronous motor.

In one embodiment, after determining the electrical angle corresponding to the current control position of the synchronous motor according to the angle conversion relationship based on the zero electrical angle decoded value and the real-time electrical angle decoded value, the method further includes:

and judging whether the synchronous motor is successfully started or not, if the synchronous motor is not successfully started, re-controlling the synchronous motor to return to zero, and acquiring the zero-potential angle decoding value.

In one embodiment, before controlling the synchronous machine to zero and obtaining the zero power angle decoding value of the rotary transformer, the method further comprises:

and responding to a synchronous motor starting instruction, judging whether the synchronous motor is electrified for the first time, if so, controlling the synchronous motor to return to zero, and acquiring the zero-position electric angle decoded value.

If the synchronous motor is not powered on for the first time, judging whether the decoding parameters of the current rotary transformer are consistent with the decoding parameters of the rotary transformer stored in the last shutdown, if not, controlling the synchronous motor to return to zero, and acquiring the zero-position electric angle decoding value.

In a second aspect, a synchronous machine control position determination method is provided, including:

and the basic parameter acquisition unit is used for acquiring basic parameters of the synchronous motor.

And the synchronous motor zeroing unit is used for controlling the synchronous motor to be zeroed and acquiring a zero-position electric angle decoding value of the rotary transformer.

And the decoding parameter acquisition unit is used for driving the synchronous motor to rotate and acquiring the real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period.

And the control position determining unit is used for determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

In a third aspect, a computer device is provided, comprising a memory and a processor, the memory having stored therein computer readable instructions, which, when executed by the processor, cause the processor to perform the steps of the synchronous motor control position determination method described above.

In a fourth aspect, a storage medium is provided having computer readable instructions stored thereon which, when executed by one or more processors, cause the one or more processors to perform the steps of the synchronous motor control position determination method described above.

According to the technical scheme, the method has the advantages that:

according to the method, the device, the computer equipment and the storage medium for determining the control position of the synchronous motor, the zero position decoding parameter of the synchronous motor is obtained after the synchronous motor is reset to zero, the electrical angle decoding value of the rotary transformer of the synchronous motor is obtained in real time during subsequent rotation, and the electrical angle corresponding to the current control position of the synchronous motor is determined according to the zero position electrical angle decoding value and the real-time electrical angle decoding value and the angle conversion relation, so that the technical problem that the control position of the synchronous motor cannot be determined when the number of pole pairs of the synchronous motor is not matched with the number of pole pairs of the rotary transformer in the prior art is solved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Fig. 1 is an implementation environment diagram of a synchronous machine control position determination method provided in one embodiment.

FIG. 2 is a flow chart illustrating a synchronous machine control position determination method according to an exemplary embodiment.

Fig. 3 is a flowchart illustrating a specific implementation of step S400 in the method for determining the control position of the synchronous motor according to the corresponding embodiment in fig. 2.

Fig. 4 is a flowchart illustrating a specific implementation of step S410 in the method for determining the control position of the synchronous motor according to the corresponding embodiment in fig. 3.

FIG. 5 is a block diagram illustrating a synchronous machine control position determining apparatus in accordance with an exemplary embodiment.

Fig. 6 schematically illustrates an example block diagram of an electronic device for implementing the synchronous motor control position determination method described above.

Fig. 7 schematically illustrates a computer readable storage medium for implementing the synchronous machine control position determination method described above.

Motor body 100, resolver 200, electric control mechanism 300, output shaft 110, motor rotor 120, electric control box 130, and resolver 220.

Detailed Description

While this disclosure may be susceptible to embodiment in different forms, there is shown in the drawings and will herein be described in detail only some specific embodiments thereof with the understanding that the present description is to be considered as an exemplification of the principles of the disclosure and is not intended to limit the disclosure to that as illustrated herein.

Thus, a feature indicated in this specification will serve to explain one of the features of one embodiment of the disclosure, and not to imply that every embodiment of the disclosure must have the stated feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, directional references (such as upper, lower, left, right, front and rear) are used to explain the structure and movement of the various elements of the disclosure not absolutely, but relatively. These descriptions are appropriate when the elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indication of these directions changes accordingly.

Some embodiments of the disclosure are further elaborated below in conjunction with the drawings of the present specification. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 1 is an implementation environment diagram of a synchronous machine control position determination method provided in an embodiment. As shown in fig. 1, the synchronous motor control position determining method is implemented in a synchronous motor in which the number of pole pairs of a resolver does not match the number of pole pairs of the motor. The synchronous motor includes a motor main body 100, a resolver 200, and an electric control mechanism 300.

The resolver 200 is disposed at a tail end of the output shaft 110 of the motor main body 100, and the tail end of the output shaft 110 is an end opposite to an output end of the output shaft 110. The motor rotor 120 in the motor main body 100 and the resolver rotor 220 in the resolver 200 are both provided on the output shaft 110 to rotate with the output shaft. In the synchronous motor of the present embodiment, the number of pole pairs of the motor rotor 120 (i.e., the number of pole pairs of the synchronous motor) and the number of pole pairs of the resolver 220 (i.e., the number of pole pairs of the resolver) may be mismatched, which means that the ratio of the number of pole pairs of the synchronous motor to the number of pole pairs of the resolver is not a positive integer.

The electric control mechanism 300 is electrically connected to the motor main body 100 and the resolver 200, respectively, to control the motor main body 100 to operate, and control the resolver 200 to obtain an electrical angle decoded value, which is a decoded value of a current self electrical angle output by the resolver and includes a zero electrical angle decoded value when the motor rotor 120 returns to zero and a real-time electrical angle decoded value acquired in real time when the motor rotor 120 rotates. After the electric control mechanism 300 controls the motor main body 100 to operate according to the specific instruction and acquires the corresponding decoded value of the electrical angle and the basic parameters of the synchronous motor, the electrical angle corresponding to the current control position of the synchronous motor can be determined according to the acquired parameter data.

It should be noted that the electric control mechanism 300 may be, but is not limited to, an electric control board disposed in the electric control box 130 on the top of the motor main body 100, various terminal devices disposed on the motor main body 100, and a computer device electrically connected to the motor main body 100 and the resolver 200. The type of synchronous motor may be, but is not limited to, a reluctance type synchronous motor, a permanent magnet synchronous motor, a switching synchronous motor, and the like. The electronic control mechanism 300 may be connected to the motor body 100 and the resolver 200 through a wired, wireless or other communication connection, which is not limited herein.

As shown in fig. 2, in one embodiment, a synchronous machine control position determination method is provided, which is applied to a synchronous machine in which the number of pole pairs of a resolver does not match the number of pole pairs of the machine, and which can be executed by the above-mentioned electric control mechanism 300, and the method includes:

and step S100, acquiring basic parameters of the synchronous motor.

When the electronic control mechanism 300 executes the method for determining the control position of the synchronous motor, it is first necessary to obtain various basic parameters of the synchronous motor for subsequent calculation, and in the embodiment of the present disclosure, step S100 may be executed when the synchronous motor is started, or may be executed after the motor is reset to zero, as long as it is executed before the angle conversion is performed.

The basic parameters of the synchronous motor comprise a rotation angle parameter, a maximum electrical angle decoding value of the rotary transformer, a ratio of pole pairs of the rotary transformer and the synchronous motor, a conversion coefficient of an electrical angle of the synchronous motor and the like.

The rotation angle parameter is the product of the maximum decoding rotation speed of the synchronous motor and the preset time interval, the decoding rotation speed is the decoded value of the electrical angle rotated by the synchronous motor in unit time, and the maximum decoding rotation speed is the decoding rotation speed of the synchronous motor at the highest rotation speed.

And the maximum electrical angle decoding value of the rotary transformer is the electrical angle decoding value corresponding to the maximum electrical angle of the rotary transformer. For example, in one embodiment of the present disclosure, the output range of the electrical angle decoding value output when the resolver rotates 360 degrees is 0-2¹²1, the maximum electrical angle decoding value is 4096.

The conversion coefficient of the electrical angle of the synchronous machine is related to the electrical angle of the synchronous machine (converted to a per unit value), the ratio of the number of pole pairs of the resolver and the synchronous machine, and the maximum electrical angle decoding value of the resolver.

The determination formula is as follows:

wherein, K_cIs the conversion factor of the electrical angle of the synchronous machine, P₂Is the number of pole pairs, P, of the rotator 220₁Is the number of pole pairs, Y, of the motor rotor 120_mAnd the per unit value of the maximum electrical angle of the synchronous motor, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, and M is the correlation of the decoding value of the maximum electrical angle of the rotary transformer.

For example, in one embodiment, the range of the per unit value converted when the synchronous motor rotates 360 degrees is "0-2%¹⁶-1 ", the per unit value Y of the maximum electrical angle of the synchronous machine_m65536. Meanwhile, if the number of pole pairs P of the motor rotor 120 of the synchronous motor is large₁4, the pole pair number P of the rotary transformer rotor of the synchronous motor₂And 3, the ratio K of the pole pair number of the rotary transformer to the pole pair number of the synchronous motor is 0.75. The conversion factor of the electrical angle of the synchronous machine can be calculated:

and step S200, controlling the synchronous motor to return to zero, and acquiring a zero-position electric angle decoding value of the rotary transformer.

When the control position of the synchronous motor is determined, the synchronous motor needs to be adjusted to a zero position, namely, the zero position is reset. The zero position is a reference position during the rotation of the motor, and generally, when one pair of magnetic poles of the motor rotor 120 is driven in the direction of the magnetic field with the current direction of the phase a coil winding of the motor rotor being positive, the synchronous motor is reset to zero.

Therefore, in an embodiment of the present disclosure, the specific step of controlling the synchronous motor to return to zero is to gradually increase A, B, C the current of the three-phase coil winding, the current direction is a + B-C-, until the motor rotor does not rotate any more, at this time, the synchronous motor is in a zero position, and the step of returning to zero is completed. Generally, the zeroing of the synchronous motor is completed when the current of the a-phase coil winding exceeds half of the rated current of the synchronous motor.

And when the synchronous motor returns to zero, acquiring the electrical angle decoded value output by the rotary transformer at the moment, wherein the electrical angle decoded value output by the rotary transformer at the moment is the zero electrical angle decoded value.

And step S300, driving the synchronous motor to rotate, and acquiring the real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period.

And continuously acquiring the rotation of the synchronous motor after the synchronous motor returns to zero, and acquiring an electrical angle decoding value output by the rotary transformer at intervals of a preset time period in the process, namely the real-time electrical angle decoding value. To determine the control position of the motor in real time.

And step S400, determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

After the required data are acquired, calculation can be performed according to the acquired related data and an angle conversion relation, and finally an electric angle corresponding to the current control position of the synchronous motor is determined.

The angle scaling relationship includes a series of complicated scaling steps, as shown in fig. 3, and the specific implementation steps at least include:

and step S410, determining a first electric turn number parameter according to the real-time electric angle decoding value.

First, the number of electrical turns of the resolver from the return-to-zero of the synchronous machine to the current position needs to be determined. Since the number of pole pairs of the synchronous motor is not matched with the number of pole pairs of the rotary transformer, the electrical angle decoding value output by each rotary transformer may correspond to the electrical angles of a plurality of synchronous motors, so that the number of electrical turns of the rotary transformer needs to be determined first to deduce the electrical angle of the synchronous motor. In this embodiment, the representation of the number of electrical turns of the resolver is the first electrical turn parameter, which records the information of the number of electrical turns of the resolver when the synchronous motor rotates from the zero position to the current control position.

Referring to fig. 4, in an embodiment of the present disclosure, the step of determining the first electric turn number parameter may specifically include:

in step S412, the first counting parameter is initialized.

And step S414, starting from the time when the synchronous motor returns to zero until the synchronous motor rotates to the current control position, and adding or subtracting the first counting parameter when two real-time electric angle decoding values obtained at every two adjacent times are respectively located in a first angle interval and a second angle interval, and taking the added or subtracted first counting parameter as the first electric turn number parameter.

The method adopted by this embodiment is to initialize the first counting parameter for counting, and then add or subtract the first counting parameter every time the electrical angle of the resolver rotates by one turn until the synchronous motor rotates to the current control position, where the first counting parameter is the first electrical turn number parameter.

In this embodiment, the manner of initializing the first counting parameter and the manner of adding or subtracting the first counting parameter are different according to the rotation direction of the motor. Therefore, in this embodiment, before initializing the first counting parameter, the step S410 may further include:

in step S411, the rotation direction of the synchronous motor is determined.

If the synchronous motor rotates counterclockwise, which is referred to as forward rotation in this disclosure, initializing the first count parameter is to adjust the first count parameter to 0. Meanwhile, when the synchronous motor rotates anticlockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are located in a first angle interval and a second angle interval, and the first counting parameter is increased by one. That is, if the real-time electrical angle decoded value obtained at a certain time is located in the second angle interval, and the real-time electrical angle decoded value obtained at the previous time adjacent to the certain time is located in the first angle interval, at the certain time, the first counting parameter is incremented by one.

If the synchronous motor rotates clockwise, referred to as reverse rotation in this disclosure, initializing the first count parameter is to adjust the first count parameter to decrease the number of pole pairs of the resolver by one. For example when the number of pole pairs P of the rotating rotor of the synchronous machine₂When the count value is 3, initializing the first count parameter is to adjust the first count parameter to 3-1-2. Meanwhile, when the synchronous motor rotates clockwise, two real-time electrical angle decoding values acquired at every two adjacent moments are respectively positioned in a first angle interval and a second angle interval, and the first counting parameter is reduced by one. That is, if the real-time electrical angle decoded value obtained at a certain time is located in a first angle interval, and the real-time electrical angle decoded value obtained at the previous time adjacent to the certain time is located in a second angle interval, at the certain time, the first counting parameter is decreased by one.

In the above embodiment, the first angle interval Z-X-Z, the second angle interval Z-Z + X, Z is a zero electrical angle decoding value, and X is a rotation angle parameter. The rotation angle parameter is the product of the maximum decoding rotation speed of the synchronous motor and the preset time interval, the decoding rotation speed is the decoded value of the electrical angle rotated by the synchronous motor in unit time, and the maximum decoding rotation speed is the decoding rotation speed of the synchronous motor at the highest rotation speed.

Because the rotating directions of the synchronous motors are different, the rules of real-time electrical angle decoding values acquired by the rotary transformer in a period of time are different. For example, if the synchronous motor rotates forwards in a certain period of time, the real-time electrical angle decoded value acquired by the rotary transformer is 2000, 2010, 2020 … … according to the time arrangement; if the synchronization is reversed, the real-time electrical angle decoded value obtained by the rotary transformer should be 2000, 1990, 1980 … … according to the time arrangement. Therefore, in the embodiment, different counting rules are provided for counting according to different real-time electrical angle decoding value laws obtained by the rotary transformer in a period of time caused by different rotation directions.

Step S420, selecting an intermediate angle calculation method according to the basic parameters of the synchronous motor, the zero-position electric angle decoding value, the real-time electric angle decoding value of the current control position and the first electric turn number parameter, and calculating an intermediate reference angle by using the determined intermediate angle calculation method.

In the process that the rotary transformer rotates forwards for a circle along with the synchronous motor from the zero position, the electrical angle decoding value acquired by the rotary transformer is supposed to increase gradually along with the time until the rotary transformer rotates through the zero electrical angle decoding value again. However, in an actual application environment, because the pole pair number of the resolver is not matched and the Z value may not be zero, when the synchronous motor rotates until the electrical angle decoding value obtained by the resolver is in the interval 0 to Z, the electrical angle decoding value obtained by the resolver needs to be corrected, so that the electrical angle decoding value in the interval 0 to Z can be continued to the electrical angle decoding value in the interval Z to M to form a complete function increasing with time. Therefore, the specific steps of step S420 include:

and judging whether the real-time electrical angle decoding value of the current control position is in a first judgment interval or a second judgment interval.

And if the real-time electrical angle decoding value is in a second judgment interval, calculating the intermediate reference angle through a first formula.

And if the real-time electrical angle decoding value is in a first judgment interval, calculating the intermediate reference angle through a second formula.

The first formula is: theta ═ theta_r-Z)+M×C_nt1。

The second formula is: theta ═ theta_r+M-Z)+M×C_nt1。

Wherein the first judgment interval is 0-Z, and the second judgment interval is Z-M; theta is the intermediate reference angle theta_rDecoding the real-time electrical angle of the current control position, Z being the zero electrical angle, M being the maximum electrical angle of the rotary transformer, C_nt1Is the first electrical turn number parameter.

In the present embodiment, for θ_rIs corrected by correcting for theta in the first judgment section_rAdding a value M to the value, so that the decoded electrical angle value in the first judgment interval can be continued to the decoded electrical angle value in the second judgment interval. The corrected calculated theta value is just a function increasing along with time under the condition that the synchronous motor rotates forwards, and the essence of the theta value is actually the total electrical angle (converted into an electrical angle decoding value) rotated by the rotary transformer from the return-to-zero of the synchronous motor to the current position.

And step S430, determining a second electric turn number parameter according to the intermediate reference angle and the basic parameter of the synchronous motor.

After the intermediate reference angle is obtained, a second electric turn number parameter can be determined according to the intermediate reference angle and the basic parameters of the synchronous motor. The expression form of the number of electric turns of the synchronous motor is the second number of electric turns parameter, which records the information of the number of electric turns of the synchronous motor when the synchronous motor rotates from the zero position to the current control position.

The specific formula for determining the second electric turn number parameter is as follows:

C_nt2＝θ/(K×M)

wherein,/is the operator of taking quotient, only keep the integer quotient value while calculating, omit the remainder value; c_nt2Is a second electrical turn number parameter, theta is the intermediate reference angle, K is the ratio of the number of pole pairs of the resolver to the synchronous machine, M is the resolverThe maximum electrical angle decoding value of.

Under the condition that the synchronous motor rotates forwards, the total electrical angle (converted into an electrical angle decoding value) of the rotation of the rotary transformer from the zero return of the synchronous motor to the current position is obtained, the total electrical angle (converted into the electrical angle decoding value) of the rotation of the rotary transformer is obtained by dividing the total electrical angle by the ratio of the pole pair number of the rotary transformer to the pole pair number of the synchronous motor at the moment, the maximum electrical angle decoding value of the rotary transformer is further divided, and the quotient is taken to obtain the number of rotation turns of the synchronous motor.

Step S440, determining an electrical angle corresponding to the current control position of the synchronous motor according to the intermediate reference angle, the basic parameter of the synchronous motor and the second turn number parameter.

After the number of turns parameter of the synchronous motor is obtained, the electrical angle corresponding to the current control position of the synchronous motor can be determined according to the intermediate reference angle, the basic parameter of the synchronous motor and the second number of turns parameter, and the specific formula is as follows:

θ_e＝(θ-C_nt2×K×M)×K_c

wherein, theta_eTo determine the electrical angle to which the current control position of the synchronous machine corresponds, C_nt2Is a second electrical turn number parameter, theta is the intermediate reference angle, K is the ratio of the pole pair number of the rotary transformer and the synchronous motor, M is the maximum electrical angle decoding value of the rotary transformer, K_cIs the conversion coefficient of the electrical angle of the synchronous motor.

Under the condition of forward rotation of the synchronous motor, the number of turns of the synchronous motor and the total electrical angle (which is converted into an electrical angle decoding value) of the rotary transformer rotating from the return-to-zero state of the synchronous motor to the current position are known, the difference between the number of turns of the synchronous motor and the total electrical angle (which is converted into the electrical angle decoding value) of the rotary transformer rotating from the return-to-zero state of the synchronous motor to the current position is the angular value (which is converted into the electrical angle decoding value) of the rotary transformer rotating to the current position after the synchronous motor rotates by a turn, and the electrical angle (which is expressed by a per unit value) corresponding to the current position of the.

To facilitate further understanding of embodiments of the present disclosure by those skilled in the art and the public, some numerical examples will be given below.

In one embodiment of the present disclosure, it is assumed that the number of pole pairs P of the motor rotor 120 of the synchronous motor₁4, pole pair number P of rotary-change rotor₂And 3, the ratio K of the pole pair number of the rotary transformer to the pole pair number of the synchronous motor is 0.75. Meanwhile, the range of the per unit value converted when the synchronous motor rotates for 360 degrees is 0-2¹⁶-1 ", the per unit value Y of the maximum electrical angle of the synchronous machine_m65536. Meanwhile, the output range of the electrical angle decoding value output when the rotary transformer of the synchronous motor rotates by 360 degrees is 0-2¹²1, the maximum electrical angle decoding value is 4096. Through the data, the conversion coefficient of the electric angle of the synchronous motor can be calculated:

assume that the zero electrical angle decoded value Z obtained when the synchronous machine is reset to zero is 512. After returning to zero, if the motor rotor 120 rotates forward by 135 degrees in the mechanical space, the synchronous motor rotates forward by 540 degrees corresponding to the electrical angle, the electrical angle corresponding to the current position is 180 degrees, and the per unit value is 32768. Meanwhile, the corresponding electrical angle of the rotary transformer is rotated forward by 405 degrees. Two real-time electrical angle decoding values acquired at two adjacent moments of the rotation of the rotary transformer are respectively positioned in a first angle interval and a second angle interval, namely C_nt11. At the same time, the real-time electrical angle decoding value theta acquired by the current time is_r1024, the second determination interval Z to M is present. Therefore, the total electrical angle (converted into electrical angle decoded value) of the rotary transformer after the zero-resetting can be calculated, that is, the intermediate angle is:

θ＝(θ_r-Z)+M×C_nt1＝(1024-512)+4096×1＝4608。

then, the number of turns of the synchronous motor can be calculated as follows:

C_nt2＝θ/(K×M)＝4608/(0.75×4096)＝1。

and finally, calculating the corresponding electrical angle of the current control position of the synchronous motor as follows:

assume that the zero electrical angle decoded value Z obtained when the synchronous machine is reset to zero is 512. After the return to zero, if the motor rotor 120 is reversed by 135 degrees in the mechanical space, the corresponding electrical angle of the synchronous motor is reversed by 540 degrees, the electrical angle corresponding to the current position is 180 degrees, and the per unit value is 32768. Meanwhile, the corresponding electrical angle of the rotary transformer is reversed by 405 degrees. Two real-time electrical angle decoding values obtained at two adjacent moments of the rotation of the rotary transformer are respectively positioned in the first angle interval and the second angle interval, so that a first counting parameter C can be obtained_nt1＝P₂-1-3-1-1. At the same time, the real-time electrical angle decoding value theta acquired by the current time is_rThe second judgment interval 0 to Z is 0. Therefore, the total electrical angle (converted into electrical angle decoded value) of the rotary transformer after the zero-resetting can be calculated, that is, the intermediate angle is:

θ＝(θ_r+M-Z)+M×C_nt1＝(0+4096-512)+4096×1＝7680。

then, the number of turns of the synchronous motor can be calculated as follows:

C_nt2＝θ/(K×M)＝7680/(0.75×4096)＝2。

and finally, calculating the corresponding electrical angle of the current control position of the synchronous motor as follows:

the calculation results of the two embodiments are consistent with the per unit value of the electrical angle corresponding to the current position of the synchronous motor, which proves that the algorithm of the present disclosure can accurately calculate the electrical angle corresponding to the current control position of the synchronous motor without error, and solves the technical problem that the control position of the synchronous motor cannot be determined when the number of pole pairs of the synchronous motor is not matched with the number of pole pairs of the rotary transformer in the prior art. After the method for determining the control position of the synchronous motor is configured in the electric control mechanism 300 of the synchronous motor, a rotary transformer matched with the synchronous motor does not need to be specially found for the synchronous motor, and the freedom degree of material selection is increased. The method can enable a factory to continuously produce the synchronous motor which can work when the matched rotary transformer is lacked.

Meanwhile, referring to fig. 2, in some embodiments of the present disclosure, before step S200, the method further includes:

step S101, responding to the command of starting the synchronous motor, and judging whether the synchronous motor is electrified for the first time.

Step S102, judging whether the decoding parameters of the current rotary transformer are consistent with the decoding parameters of the rotary transformer stored in the last shutdown.

If it is determined in step S101 that the synchronous motor is initially energized, step S200 is executed. If it is determined in step S101 that the synchronous motor is not initially energized, step S102 is executed.

If it is determined in step S102 that the current resolver decoding parameter is not consistent with the resolver decoding parameter stored in the previous shutdown, step S200 is executed. If it is determined in step S102 that the current resolver decoding parameter is consistent with the resolver decoding parameter stored in the previous shutdown, step S200 is skipped and step S300 is executed.

After the synchronous motor is powered on, it should be determined whether it is powered on for the first time, if it is powered on for the first time, the whole synchronous motor is not set, and at this time, it needs to be initialized, so step S200 needs to be executed. If the current resolver is not powered on for the first time, it needs to be determined whether the decoding parameters of the current resolver are consistent with the decoding parameters of the resolver stored in the last shutdown, so as to determine whether the motor rotor 120 is rotated artificially in the shutdown state. If the current resolver decoding parameter is consistent with the resolver decoding parameter stored in the previous shutdown, it is proved that the motor rotor 120 is still in the original position and has not been rotated by human, and at this time, the step S200 may be skipped and the step S300 may be directly executed. If the current resolver decoding parameter is not consistent with the resolver decoding parameter stored in the previous shutdown, it is proved that the motor rotor 120 has been rotated manually, and at this time, step S200 needs to be executed for initialization setting.

In other embodiments of the present disclosure, after step S400, the method further comprises:

and step S500, judging whether the synchronous motor is started successfully.

If the starting is not successful, step S200 is executed again.

In the present embodiment, since the number of pole pairs of the synchronous motor does not match the number of pole pairs of the resolver, if the decoding parameter of the resolver at present is consistent with the decoding parameter of the resolver stored at the last shutdown, it is not necessarily proved that the motor rotor 120 is still in the original position and has not been rotated manually. If the motor rotor 120 is actually rotated by a person, the electrical angle corresponding to the current control position of the synchronous motor calculated in steps S300 and S400 is wrong, which may cause the synchronous motor to directly stop and the start is unsuccessful. At this time, the synchronous motor needs to be reinitialized, and step S200 is executed.

As shown in fig. 5, in an embodiment, a synchronous motor control position determining device is provided, which may be integrated in the electric control mechanism 300, and specifically may include the following units:

a basic parameter acquiring unit 310 for acquiring basic parameters of the synchronous motor;

a synchronous motor zeroing unit 320, configured to control the synchronous motor to zeroe and obtain a zero power angle decoded value of the resolver;

a decoding parameter obtaining unit 330, configured to drive the synchronous motor to rotate, and obtain a real-time electrical angle decoded value of the resolver at predetermined time intervals;

and the control position determining unit 340 is configured to determine an electrical angle corresponding to the current control position of the synchronous motor according to the angle conversion relationship and according to the zero electrical angle decoded value and the real-time electrical angle decoded value.

The implementation processes of the functions and actions of the modules in the above device are specifically described in the implementation processes of the corresponding steps in the above method for determining the control position of the synchronous motor, and are not described herein again.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in the particular order shown or that all of the depicted steps must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

An electronic device 500 according to this embodiment of the invention is described below with reference to fig. 6. The electronic device 500 shown in fig. 6 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 6, the electronic device 500 is embodied in the form of a general purpose computing device. The components of the electronic device 500 may include, but are not limited to: the at least one processing unit 510, the at least one memory unit 520, and a bus 530 that couples various system components including the memory unit 520 and the processing unit 510.

Wherein the storage unit stores program code that is executable by the processing unit 510 to cause the processing unit 510 to perform steps according to various exemplary embodiments of the present invention as described in the above section "exemplary methods" of the present specification. For example, the processing unit 510 may execute step S100 shown in fig. 2 to acquire basic parameters of the synchronous motor. And step S200, controlling the synchronous motor to return to zero, and acquiring a zero-position electric angle decoding value of the rotary transformer. And step S300, driving the synchronous motor to rotate, and acquiring the real-time electrical angle decoding value of the rotary transformer at intervals of a preset time period. And step S400, determining the electric angle corresponding to the current control position of the synchronous motor according to the zero electric angle decoding value and the real-time electric angle decoding value and an angle conversion relation.

The memory unit 520 may include a readable medium in the form of a volatile memory unit, such as a random access memory unit (RAM)5201 and/or a cache memory unit 5202, and may further include a read only memory unit (ROM) 5203.

Storage unit 520 may also include a program/utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 530 may be one or more of any of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 500 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 550. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 560. As shown, the network adapter 560 communicates with the other modules of the electronic device 500 over the bus 530. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.

Referring to fig. 7, a program product 600 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.