阅读说明：本技术 电机的控制装置和方法 (Control device and method for electric machine ) 是由 罗伦 赵鹏飞 徐明章 赵利华 杨正 于 2020-12-03 设计创作，主要内容包括：本发明提供了电机的控制装置和方法,该装置包括：数据采集模块、控制模块和执行模块；控制模块分别与数据采集模块和执行模块相连接；数据采集模块,用于获取启动模式命令和端口信号,并将采集到的启动模式命令和端口信号发送给控制模块；控制模块,用于根据启动模式命令确定控制方式,根据端口信号确定电机的转子信息,并根据控制方式和转子信息向执行模块发送控制指令；其中,控制方式包括电压输出的波形和电角度,转子信息包括位置和速度中的至少一个；执行模块,用于根据控制指令向电机输出控制电压。本方案能够提高电机控制的通用性。(The invention provides a control device and a method of a motor, the device comprises: the system comprises a data acquisition module, a control module and an execution module; the control module is respectively connected with the data acquisition module and the execution module; the data acquisition module is used for acquiring a starting mode command and a port signal and sending the acquired starting mode command and the acquired port signal to the control module; the control module is used for determining a control mode according to the starting mode command, determining rotor information of the motor according to the port signal and sending a control instruction to the execution module according to the control mode and the rotor information; the control mode comprises a waveform and an electrical angle of voltage output, and the rotor information comprises at least one of position and speed; and the execution module is used for outputting control voltage to the motor according to the control instruction. The scheme can improve the universality of motor control.)

1. A control device for a motor, comprising: the system comprises a data acquisition module, a control module and an execution module;

the control module is respectively connected with the data acquisition module and the execution module;

the data acquisition module is used for acquiring a starting mode command and a port signal and sending the acquired starting mode command and the acquired port signal to the control module;

the control module is used for determining a control mode according to the starting mode command, determining rotor information of the motor according to the port signal and sending a control instruction to the execution module according to the control mode and the rotor information; wherein the control manner includes a waveform and an electrical angle of the voltage output, and the rotor information includes at least one of a position and a speed;

and the execution module is used for outputting control voltage to the motor according to the control instruction.

2. The apparatus of claim 1, wherein the data acquisition module comprises: the device comprises a sensor detection unit and an inversion phase current sampling unit, wherein the sensor detection unit is used for acquiring port signals, and the inversion phase current sampling unit is used for acquiring resistance phase current;

the control module is used for executing the following operations when the rotor information of the motor is determined according to the port signal:

determining whether a sensor exists according to a port signal sent by the sensor detection unit;

if the sensor exists, determining the rotor information according to a port signal sent by the sensor detection unit;

and if no sensor exists, determining the rotor information according to the received port signal sent by the inversion phase current sampling unit.

3. The apparatus of claim 2, wherein the data acquisition module comprises: a mode switching unit;

the mode switching unit is used for generating first identification information and second identification information; the first identification information is used for identifying the type of the control mode, and the second identification information is used for identifying whether the rotor information is determined by adopting the signals acquired by the sensor;

the control module is used for acquiring the rotor information from the sensor detection unit when the second identification information is the rotor information determined by the signals acquired by the sensor; and when the second identification information is the rotor information determined without adopting the signal acquired by the sensor, acquiring the resistance phase current from the inversion phase current sampling unit, and determining the rotor information according to the resistance phase current.

4. The apparatus of claim 3,

the control module is further configured to perform the following operations:

fixing the output level duty ratio according to a preset value, and carrying out level amplification through a driver to obtain a first level;

and inputting the first level to an inversion output module, and dragging the motor to perform pre-operation.

5. The apparatus of claim 4,

the control module is further configured to, when it is detected that the control mode of the first identification information representation is to perform 120-degree square wave control and it is detected that the second identification information representation adopts a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, the rotor information detected by the sensor detection unit is acquired, and an output signal is adjusted to the driver;

controlling the driver to carry out level amplification to obtain a second level, and outputting the second level to an inversion output module;

and controlling the inversion output module to output three-phase alternating current according to the second level, and applying the three-phase alternating current to the motor.

6. The apparatus of claim 4,

the control module is further configured to, when it is detected that the control mode of the first identification information representation is to perform 120-degree square wave control and it is detected that the second identification information representation does not use a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, acquiring level overturning information detected by a back electromotive force zero-crossing detection unit;

outputting a third level to the inversion output module according to the level overturning information;

and controlling the inversion output module to output three-phase alternating current according to the input third level, and applying the three-phase alternating current to the motor.

7. The apparatus of claim 4,

the control module is further configured to, when it is detected that the control mode of the first identification information representation is 180 ° sine wave control, and it is detected that the second identification information representation adopts a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, acquiring rotor information of the sensor detection unit;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information, and calculating a first space voltage vector;

inputting the first space voltage vector to a driver so as to enable the driver to carry out level amplification to obtain a fourth level;

and inputting the fourth level to the inversion output module, so that the inversion output module outputs three-phase alternating current according to the fourth level and applies the three-phase alternating current to the motor.

8. The apparatus of claim 4,

the control module is further configured to, when it is detected that the control manner of the first identification information representation is to perform 180 ° sine wave control and it is detected that the second identification information representation does not use a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, acquiring resistance phase current acquired by the inversion phase current sampling unit and sampling current acquired by the current sampling amplification module;

determining the rotor information according to the resistance phase current and the sampling current;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information and a preset target value, and calculating a second space voltage vector;

inputting the second space voltage vector to a driver to obtain a fifth level that is level-amplified by the driver;

and inputting the fifth level to the inverter output module, so that the inverter output module outputs three-phase current according to the fifth level, and applying the three-phase alternating current to the motor.

9. The apparatus according to any one of claims 5 to 8,

the control module is used for executing the following operations when the three-phase alternating current is acted on the motor:

acquiring resistance phase current acquired by the inversion phase current sampling unit and sampling current acquired by the current sampling amplification module in real time;

and regulating the control quantity of the three-phase alternating current according to the resistance phase current and the sampling current so as to perform closed-loop control on the motor.

10. The control method of the control device of the motor according to any one of claims 1 to 9, comprising:

acquiring the starting mode command and the port signal by using the data acquisition module, and sending the acquired starting mode command and the acquired port signal to a control module;

determining a control mode by using the control module according to the starting mode command, determining rotor information of the motor according to the port signal, and sending a control instruction to the execution module according to the control mode and the rotor information; wherein the control mode includes a waveform and an electrical angle of the voltage output, and the rotor information includes at least one of a position and a speed;

and outputting control voltage to the motor by using the execution module according to the control instruction.

Technical Field

The invention relates to the technical field of motors, in particular to a control device and a control method of an integrated motor.

Background

The frequency conversion control scheme has the characteristics of energy conservation and high efficiency, so that the mode gradually takes a leading position in the household appliance market.

At present, in the field of motor control, patent application No. CN201720274613.3 discloses a variable frequency motor drive board, in which a single chip outputs 6-way Pulse Width Modulation (PWM) when a motor is started, the current is controlled into sine wave by adjusting the PWM duty ratio, and meanwhile, a non-inductive resistor and 7-fold amplification are adopted to achieve the purpose of controlling the safety and reliability of the system. The patent with the application number of CN201310698184.9 also discloses a 180-degree square wave control method for a brushless dc motor, a control module and a frequency converter thereof, which calculates a torque current through an actual rotation speed and a given rotation speed, then calculates a three-phase given current of the motor by using the torque current and a rotor position, and further calculates an input phase voltage of the motor to achieve the purpose of controlling the motor.

The control mode and principle of the motor are different according to different motors, and the realized control effect and application are different greatly. Although the above-mentioned motor control schemes can implement variable frequency control of the motor, they can only adopt a single control scheme to control the motor. Therefore, the existing frequency conversion control scheme has large use limitation, thereby resulting in poor universality.

Disclosure of Invention

The invention provides a control device and a control method of a motor, which can improve the universality of motor control.

In a first aspect, an embodiment of the present invention provides a control apparatus for a motor, including: the system comprises a data acquisition module, a control module and an execution module;

the control module is respectively connected with the data acquisition module and the execution module;

the data acquisition module is used for acquiring a starting mode command and a port signal and sending the acquired starting mode command and the acquired port signal to the control module;

the control module is used for determining a control mode according to the starting mode command, determining rotor information of the motor according to the port signal and sending a control instruction to the execution module according to the control mode and the rotor information; wherein the control manner includes a waveform and an electrical angle of the voltage output, and the rotor information includes at least one of a position and a speed;

and the execution module is used for outputting control voltage to the motor according to the control instruction.

In one possible implementation, the data acquisition module includes: the device comprises a sensor detection unit and an inversion phase current sampling unit, wherein the sensor detection unit is used for acquiring port signals, and the inversion phase current sampling unit is used for acquiring resistance phase current;

the control module is used for executing the following operations when the rotor information of the motor is determined according to the port signal:

determining whether a sensor exists according to a port signal sent by the sensor detection unit;

if the sensor exists, determining the rotor information according to a port signal sent by the sensor detection unit;

and if no sensor exists, determining the rotor information according to the received port signal sent by the inversion phase current sampling unit.

In one possible implementation, the data acquisition module includes: a mode switching unit;

the mode switching unit is used for generating first identification information and second identification information; the first identification information is used for identifying the type of the control mode, and the second identification information is used for identifying whether the rotor information is determined by adopting the signals acquired by the sensor;

the control module is used for acquiring the rotor information from the sensor detection unit when the second identification information is the rotor information determined by the signals acquired by the sensor; and when the second identification information is the rotor information determined without adopting the signal acquired by the sensor, acquiring the resistance phase current from the inversion phase current sampling unit, and determining the rotor information according to the resistance phase current.

In a possible implementation manner, the control module is further configured to perform the following operations:

fixing the output level duty ratio according to a preset value, and carrying out level amplification through a driver to obtain a first level;

and inputting the first level to an inversion output module, and dragging the motor to perform pre-operation.

In a possible implementation manner, the control module is further configured to, when it is detected that the control manner of the first identification information representation is to perform 120 ° square wave control, and it is detected that the second identification information representation adopts a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, the rotor information detected by the sensor detection unit is acquired, and an output signal is adjusted to the driver;

controlling the driver to carry out level amplification to obtain a second level, and outputting the second level to an inversion output module;

and controlling the inversion output module to output three-phase alternating current according to the second level, and applying the three-phase alternating current to the motor.

In a possible implementation manner, the control module is further configured to, when it is detected that the control manner of the first identification information representation is to perform 120 ° square wave control, and it is detected that the second identification information representation does not use a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, acquiring level overturning information detected by a back electromotive force zero-crossing detection unit;

outputting a third level to the inversion output module according to the level overturning information;

and controlling the inversion output module to output three-phase alternating current according to the input third level, and applying the three-phase alternating current to the motor.

In a possible implementation manner, the control module is further configured to, when it is detected that the first identification information representation is controlled in a manner of performing 180 ° sine wave control, and it is detected that the second identification information representation employs a sensor signal to determine the rotor information, perform the following operations:

when the motor is in a pre-running state, acquiring rotor information of the sensor detection unit;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information, and calculating a first space voltage vector;

inputting the first space voltage vector to a driver so as to enable the driver to carry out level amplification to obtain a fourth level;

and inputting the fourth level to the inversion output module, so that the inversion output module outputs three-phase alternating current according to the fourth level and applies the three-phase alternating current to the motor.

In a possible implementation manner, the control module is further configured to, when it is detected that the first identification information represents a control manner in which 180 ° sine wave control is performed and it is detected that the second identification information represents that the rotor information is not determined by using the sensor signal, perform the following operations:

when the motor is in a pre-running state, acquiring resistance phase current acquired by the inversion phase current sampling unit and sampling current acquired by the current sampling amplification module;

determining the rotor information according to the resistance phase current and the sampling current;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information and a preset target value, and calculating a second space voltage vector;

inputting the second space voltage vector to a driver to obtain a fifth level that is level-amplified by the driver;

and inputting the fifth level to the inverter output module, so that the inverter output module outputs three-phase current according to the fifth level, and applying the three-phase alternating current to the motor.

In one possible implementation manner, the control module is configured to perform the following operations when performing the three-phase alternating current acting on the motor:

acquiring resistance phase current acquired by the inversion phase current sampling unit and sampling current acquired by the current sampling amplification module in real time;

and regulating the control quantity of the three-phase alternating current according to the resistance phase current and the sampling current so as to perform closed-loop control on the motor.

In a second aspect, an embodiment of the present invention further provides a control method for a control device for a motor according to any embodiment of the first aspect, where the method includes:

acquiring a starting mode command and a port signal by using a data acquisition module, and sending the acquired starting mode command and the acquired port signal to a control module;

determining a control mode by using the control module according to the starting mode command, determining rotor information of the motor according to the port signal, and sending a control instruction to an execution module according to the control mode and the rotor information; wherein the control mode includes a waveform and an electrical angle of the voltage output, and the rotor information includes at least one of a position and a speed;

and outputting control voltage to the motor by using the execution module according to the control instruction.

According to the technical scheme, the data acquisition module is used for acquiring the starting mode command and the port signal, then the control module determines the control mode of the motor to be controlled according to the starting mode command, namely, the conditions of the waveform, the electric angle and the like output by the motor to be controlled are determined, and the rotor information of the position, the speed and the like of the motor rotor is determined according to the port signal, so that the control module can generate a corresponding control command and send the control command to the execution module, and the execution module can output control voltage to the motor according to the control command. Therefore, the scheme can realize the adjustment of the control voltage by adjusting the starting mode command and the port signal according to the control voltage requirement of the motor, thereby improving the universality of controlling the motor.

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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic diagram of a control apparatus for an electric motor according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a Hall sensing acquisition circuit according to an embodiment of the present invention;

fig. 3 is a schematic circuit diagram of a control apparatus for an electric motor according to an embodiment of the present invention;

fig. 4 is a circuit schematic diagram of a back electromotive force zero-crossing detection unit according to an embodiment of the present invention;

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

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a control apparatus for a motor, including: a data acquisition module 101, a control module 102 and an execution module 103;

the control module 102 is respectively connected with the data acquisition module 101 and the execution module 103;

the data acquisition module 101 is configured to acquire a start mode command and a port signal, and send the acquired start mode command and port signal to the control module 102;

the control module 102 is used for determining a control mode according to the starting mode command, determining rotor information of the motor according to the port signal, and sending a control instruction to the execution module 103 according to the control mode and the rotor information; the control mode comprises a waveform and an electrical angle of voltage output, and the rotor information comprises at least one of position and speed;

and the execution module 103 is used for outputting control voltage to the motor according to the control instruction.

In the embodiment of the invention, the data acquisition module is used for acquiring the starting mode command and the port signal, then the control module determines the control mode of the motor to be controlled according to the starting mode command, namely, the conditions of the waveform, the electric angle and the like output by the motor to be controlled are determined, and the rotor information such as the position, the speed and the like of the motor rotor is determined according to the port signal, so that the control module can generate a corresponding control command and send the control command to the execution module, and the execution module can output the control voltage to the motor according to the control command. Therefore, the scheme can realize the adjustment of the control voltage by adjusting the starting mode command and the port signal according to the control voltage requirement of the motor, thereby improving the universality of controlling the motor.

Specifically, the control manner mentioned in the embodiment of the present invention includes the waveform and the electrical angle of the voltage output, for example, the waveform of the voltage output may be a sine wave, a square wave, a step wave, and the like, and the electrical angle may be 90 °, 120 °, 150 °, 180 °, and the like. That is to say, the control instruction sent by the control module to the execution module may include outputting 120 ° square wave, 180 ° sine wave and other types of voltages to the motor, and specifically, the corresponding output may be performed according to the requirement of the motor. Of course, different control modes can be adopted in different operation stages of the motor, for example, a 120-degree square wave control mode is adopted to control the motor in a starting stage of the motor, a 180-degree step wave current control mode is adopted to control the motor in a low-speed operation stage of the motor, and a sine wave current control mode is adopted to control the motor in a high-speed operation stage of the motor.

As shown in fig. 2 and 3, the data acquisition module 101 of the control device based on the motor shown in fig. 1 includes: the device comprises a sensor detection unit 1011 and an inversion phase current sampling unit 1012, wherein the sensor detection unit 1011 is used for acquiring port signals, and the inversion phase current sampling unit 1012 is used for acquiring resistance phase current;

the control module 102, when performing the determining of the rotor information of the motor according to the port signal, is configured to perform the following operations:

determining whether a sensor exists according to a port signal sent by a sensor detection unit 1011;

if the sensor exists, determining rotor information according to a port signal sent by a sensor detection unit 1011;

if no sensor is present, rotor information is determined from the received port signal sent by the inverter phase current sampling unit 1012.

Since the accuracy and precision of obtaining the rotor of the motor by using the sensor are higher, the sensor is preferably used for obtaining the rotor information of the motor. Specifically, whether a sensor is present is determined by detecting whether a port signal transmitted from the sensor detection unit 1011 in fig. 2 can be received, and if the port signal can be received, it is interpreted that the sensor is present in the control device of the motor, and thus the sensor can be preferentially used to determine the rotor information of the motor. If the port signal sent by the sensor detection unit 1011 is not received, it indicates that there is no sensor in the motor control apparatus, the rotor information can be estimated according to the received current signal by the port signal sent by the inverter phase current sampling unit 1012 as shown in fig. 3. For the sensorless rotor information determination, an algorithm estimator is used to estimate the position and speed of the rotor, which is well known to those skilled in the art and will not be described herein.

In the embodiment of the present invention, the type of the sensor is not particularly limited, and the sensor may include a speed sensor, a position sensor, a hall sensor, an encoder, and the like, and the sensor capable of determining the rotor information of the motor by directly or indirectly acquiring a signal may be prioritized as a way of acquiring the rotor information.

In a possible implementation manner, when controlling the motor, the control instruction received by the control module 102 may be implemented by software preset, or may be implemented by hardware triggered by a user. The mode of switching time intervals can be selected to realize through a software preset mode, and the automatic switching of the control mode can also be realized through detecting the running state of the motor, which will be further explained later.

When the control is implemented in a hardware manner, specifically, the data acquisition module 101 may consider adding a mode switching unit, where the mode switching unit is used to generate the first identification information and the second identification information. The first identification information is used for identifying the type of the control mode, and the second identification information is used for identifying whether the rotor information is determined by adopting the signals collected by the sensor. In this way, the control module 102 may determine which control method to use to control the motor according to the first identification information, and may acquire the rotor information from the sensor detection unit 1011 when the second identification information is the signal acquired by the sensor to determine the rotor information. And when the second identification information is the rotor information determined without using the signal acquired by the sensor, the resistance phase current is acquired from the inversion phase current sampling unit 1012, and the rotor information is determined according to the resistance phase current.

For example, the mode control command formed by the first identification information and the second identification information is predefined by a user, and may include information about whether to have a hall sensor, 120 ° control, 180 ° control, dual-algorithm automatic switching, and the like, and the implementation manner may be transmitted to the control module 102 by a key or a dial switch in a high-low level manner. For this mode control command, a three-bit state may be set, the first bit representing hall information (i.e., second identification information), such as: "0" means no hall sensor and "1" means with hall sensor. The second bit and the third bit are combined to implement different algorithm control (i.e., the first identification information), such as "00" and "11" indicating that the algorithms are automatically switched, "10" enforces the 120 ° control algorithm, and "01" indicating that the 180 ° control algorithm is enforced.

It should be noted that, although the dual control algorithm is described as an example, in other possible implementations, the control manners may include, but are not limited to, the two control manners, and when there are more than two control manners, the flag bits may be added. For example, a four-bit status bit is set, and the second, third and fourth bits are combined to implement different algorithmic controls.

In a possible implementation manner, when the control module 102 performs control output on the motor, it is first required to drag the motor to perform pre-operation, so as to provide possibility for subsequently acquiring rotor information and collecting phase current and level inversion information by the sensor detection unit 1011. Specifically, as shown in fig. 1 and 3, the control module 102 fixes the output level duty ratio according to a preset value, performs level amplification through a driver to obtain a first level, inputs the first level to the inverter output module 1031, and drives the motor to perform pre-operation through the output voltage of the inverter output module 1031. In the embodiment of the invention, the driver can consider to adopt devices such as a high voltage chip HVIC, a full-control power switch tube and the like, and the control module is composed of an MCU chip.

In one possible implementation, as shown in fig. 2 and 3, when the control module 102 detects that the first identification information represents the control mode of performing 120 ° square wave control and detects that the second identification information represents the determination of the rotor information by using the sensor signal, the following operations are performed:

when the motor is in a pre-running state, rotor information detected by a sensor detection unit 1011 is acquired, and an output signal is adjusted to a driver;

controlling the driver to perform level amplification to obtain a second level, and outputting the second level to the inverter output module 1031;

the control inverter output module 1031 outputs the three-phase ac power according to the second level, and applies the three-phase ac power to the motor.

Specifically, in connection with the above first identification information and second identification information example, when the mode control command is "110", that is, the control module 102 detects that the hall sensor signal is used to determine the rotor information, and the 120 ° square wave control is used: reading the Hall state of a Hall sensor, obtaining a corresponding switch state according to a relation array of the Hall state and the three-phase bridge arm switch state, wherein each jump of the Hall state is along a time point (phase change point) of switching the three-phase bridge arm state, a sector between adjacent states of the Hall is a six-molecule one (60 degrees) of an electric cycle, and a timer is used for recording the time used by the sector of 60 degrees, so that the current frequency is calculated, the rotating speed of the motor is obtained, and the motor is subjected to closed-loop control by taking a current ring as an inner ring and a speed ring as an outer ring.

For example, during the constant speed operation phase of the motor, the position of the rotor can be obtained by the following formula:

wherein, ω is_i-1Speed of the rotor in a sector preceding the current sector, T_i-1For the running time of the rotor in the current sector, theta_sFor the current position of the rotor, theta_iIs the starting position of the current sector, T_sThe time the rotor enters the current sector.

In one possible implementation, as shown in fig. 3 and 4, when the control module 102 detects that the first identification information represents the control mode of performing 120 ° square wave control and detects that the second identification information represents that the sensor signal is not used for determining the rotor information, the following operations are performed:

when the motor is in a pre-running state, acquiring level turnover information detected by a back electromotive force zero-crossing detection unit 1013;

outputting a third level to the inversion output module 1031 according to the level flipping information;

the control inverter output module 1031 outputs a three-phase ac power according to the input third level, and applies the three-phase ac power to the motor.

Specifically, in connection with the above first identification information and second identification information example, when the mode control command is "010", that is, when the control module 102 detects that the control mode of the first identification information representation is to execute 120 ° square wave control, and detects that the second identification information representation does not use the sensor signal to determine the rotor information: the current loop calculates the PWM duty ratio, so that the stator current drags the motor rotor to run according to the given size and frequency, the motor enters a strong dragging mode, when the motor reaches the switching electrical frequency, the motor is switched to a back electromotive force control mode, as shown in figure 4, a circuit is used for dividing UVW back electromotive force and connecting the UVW back electromotive force together to form a neutral point, each back electromotive force division is compared with the neutral point, a timer with higher frequency is used for interrupting and reading the output state of the comparator, if the output level is overturned, the back electromotive force is explained to generate zero crossing, the zero crossing point is found, and the electrical angle is delayed by 30 degrees, and then the phase. And continuously adjusting the duty ratio according to the difference error between the current acquisition value of the circuit Isense and a preset value to form a current closed loop.

In one possible design, as shown in fig. 2 and 3, when the control module 102 detects that the first identification information represents the control mode of performing 180 ° sine wave control and detects that the second identification information represents the determination of the rotor information using the sensor signal, the following operations are performed:

when the motor is in a pre-running state, rotor information of a sensor detection unit 1011 is acquired;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information, and calculating a first space voltage vector;

inputting the first space voltage vector to a driver so as to enable the driver to carry out level amplification to obtain a fourth level;

the fourth level is input to the inverter output module 1031, so that the inverter output module 1031 outputs the three-phase alternating current according to the fourth level and applies the three-phase alternating current to the motor.

In one possible design, as shown in fig. 2 and 3, when the control module 102 detects that the first identification information represents the control mode of performing 180 ° sine wave control and detects that the second identification information represents the determination of the rotor information using the sensor signal, the following operations are performed:

when the motor is in a pre-running state, acquiring resistance phase current acquired by an inverter phase current sampling unit 1012 and sampling current acquired by a current sampling amplification module 1014;

determining rotor information according to the resistance phase current and the sampling current;

regulating quadrature-axis voltage and direct-axis voltage according to the rotor information and a preset target value, and calculating a second space voltage vector;

inputting the second space voltage vector to the driver to obtain a fifth level that is level-amplified by the driver;

specifically, in connection with the first identification information and the second identification information, when the mode control command is "101", that is, when the control module 102 detects that the control mode of the first identification information representation is to execute 180 ° sine wave control, and detects that the second identification information representation adopts the sensor signal to determine the rotor information; and when the mode control command is "001", that is, the control module 102 detects that the control mode of the first identification information representation is to execute 180 ° sine wave control, and detects that the second identification information representation does not use the sensor signal to determine the rotor information: under the condition of adopting the Hall sensor, the value of the Hall sensor is obtained and the rotor speed omega of the motor is calculated₁And position theta₁Under the condition of not having a Hall sensor, the three-resistor or single-resistor phase current value of the inverter phase current sampling unit 1012 is adopted to estimate the speed omega and the position theta of the rotor, after the position information of the motor rotor is obtained, the rotor position theta obtained by the Hall sensor is adopted₁Or the rotor position theta without the Hall sensor is compared with a preset value, the error outputs a Speed reference value Speed _ Ref through a position ring, and the Speed reference value Speed _ Ref and omega are compared₁Or ω, and the error is output via the speed loop as a current reference Iq _ Ref. Then the sampling current collected by the current sampling amplification module 1014 is converted by Clark and Park to generate Iq, and the current reference value Iq _ Ref is compared with the Iq generated by conversion, and the error is output by a current loop V_q. I generated by three-phase current Clark and Park_dComparing with Ref preset value, outputting V via current loop_dBy using Hall sensorsV of_d、V_qAnd theta₁Or V without Hall sensor_d、V_qAnd theta, generating V by Park inverse transformer_αAnd V_βThen, the control signals of UN, UP, VN, VP, WN and WP are output through the space voltage vector modulation SVPWM and input to the inverter output module 1031, and three-phase control line voltages Ua, Ub and Uc are generated to act on the motor.

In one possible design, the auto-switching mode is when the mode control command is "X00" (including "000" and "100") or "X11" (including "011" and "111"). Because the control precision of the 180-degree sine wave control scheme is higher, the 180-degree sine wave control algorithm is preferably adopted for motor starting and operation control in application. When detecting that the faults such as starting failure, sampling current acquisition abnormity or high-load loaded power fluctuation and the like frequently occur, automatically switching to a 120-degree control algorithm scheme, detecting a Hall state value and a back electromotive force zero crossing point detection value in real time in the operation process, and normally controlling switching output according to needs, thereby ensuring the improvement of driving performance and the stability of a driving function.

In a possible design, when the control module 102 controls the three-phase alternating current obtained through the above various control modes to act on the motor, it is necessary to obtain the resistance phase current collected by the inversion phase current sampling unit 1012 and the sampling current collected by the current sampling and amplifying module 1014 in real time, and then perform control quantity adjustment on the three-phase alternating current according to the resistance phase current and the sampling current, so as to implement closed-loop control on the motor.

It should be noted that the connection relationship, the functional function, and the necessary units in the circuit (for example, the current hardware overcurrent protection circuit module 104 in fig. 3, the bus voltage detection module 1015, etc.) between the components in fig. 2, fig. 3, and fig. 4 are well known to those skilled in the art, and will not be described herein again. Meanwhile, it should be noted that each component in fig. 2, fig. 3, and fig. 4 is a specific component circuit for implementing the functional functions of the data acquisition module 101, the control module 102, and the execution module 103, and may also be other circuits for implementing the functional functions of the data acquisition module 101, the control module 102, and the execution module 103. That is, the components in fig. 2, 3 and 4 are only used to illustrate examples of the data acquisition module 101, the control module 102 and the execution module 103, and do not represent that the data acquisition module 101, the control module 102 and the execution module 103 must adopt the circuits shown in fig. 2, 3 and 4.

It is to be understood that the illustrated configuration of the embodiment of the present invention does not constitute a specific limitation to the motor control device. In other embodiments of the invention the control means of the motor may comprise more or fewer components than shown, or some components may be combined, some components may be separated, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

As shown in fig. 5, an embodiment of the present invention further provides a motor control method based on the control device for a motor provided in any one of the above embodiments, including:

step 501: acquiring a starting mode command and a port signal by using a data acquisition module, and sending the acquired starting mode command and the acquired port signal to a control module;

step 502: determining a control mode by using a control module according to the starting mode command, determining rotor information of the motor according to the port signal, and sending a control instruction to an execution module according to the control mode and the rotor information; wherein the control mode comprises a waveform and an electrical angle of the voltage output, and the rotor information comprises at least one of position and speed;

step 503: and outputting control voltage to the motor by using the execution module according to the control instruction.

In the embodiment of the invention, the data acquisition module is used for acquiring the starting mode command and the port signal, then the control module determines the control mode of the motor to be controlled according to the starting mode command, namely, the conditions of the waveform, the electric angle and the like output by the motor to be controlled are determined, and the rotor information such as the position, the speed and the like of the motor rotor is determined according to the port signal, so that the control module can generate a corresponding control command and send the control command to the execution module, and the execution module can output the control voltage to the motor according to the control command. Therefore, the scheme can realize the adjustment of the control voltage by adjusting the starting mode command and the port signal according to the control voltage requirement of the motor, thereby improving the universality of controlling the motor.

The present disclosure also provides a computer readable medium storing instructions for causing a machine to perform a motor control method as described herein. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.

In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.

Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.

Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.