CN111416551A - Motor control method and related device - Google Patents
Motor control method and related device Download PDFInfo
- Publication number
- CN111416551A CN111416551A CN202010353425.6A CN202010353425A CN111416551A CN 111416551 A CN111416551 A CN 111416551A CN 202010353425 A CN202010353425 A CN 202010353425A CN 111416551 A CN111416551 A CN 111416551A
- Authority
- CN
- China
- Prior art keywords
- motor
- temperature information
- control module
- working
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The application provides a motor control method and a related device, and relates to the field of motor control. Firstly, first temperature information of a first motor is obtained, and second temperature information sent by a second control module is received, wherein the second temperature information is temperature information of a second motor, whether working torques of the first motor and the second motor are matched or not is determined according to a difference value of the first temperature information and the second temperature information, and if not, the working torques of the first motor and the second motor are regulated and controlled; the total working torque of the first motor and the second motor is a constant value. The motor control method and the related device can ensure that the condition that the temperature of a certain motor is too high can not occur.
Description
Technical Field
The application relates to the field of motor control, in particular to a motor control method and a related device.
Background
At present, a plurality of motors can be generally arranged on an automobile, and when the automobile works, the motors work simultaneously so as to push the automobile to move forwards or backwards.
For the control of a plurality of motors, a torque average or non-average mode can be adopted for control, however, because of the differentiation of each motor, when a plurality of motors work simultaneously, the temperatures of different motors in work are different, and therefore, the temperature of a certain motor is overhigh and burnt.
In summary, the problem of burning of individual motors due to excessive temperature exists in the prior art.
Disclosure of Invention
The present application provides a motor control method and related apparatus to solve the problem of burning of individual motor due to over-high temperature in the prior art.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a motor control method, which is applied to a first control module in a motor control system, where the motor control system further includes a first motor, at least one second control module, and at least one second motor, the first control module is electrically connected to the first motor and the at least one second control module, and each second control module is electrically connected to one second motor; the method comprises the following steps:
acquiring first temperature information of the first motor and receiving second temperature information sent by the second control module, wherein the second temperature information is temperature information of the second motor;
determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the first temperature information and the second temperature information;
if not, regulating and controlling the working torque of the first motor and the second motor; wherein the total working torque of the first motor and the second motor is a constant value.
In a second aspect, an embodiment of the present application further provides a motor control device, which is applied to a first control module in a motor control system, where the motor control system further includes a first motor, at least one second control module, and at least one second motor, the first control module is electrically connected to the first motor and the at least one second control module, and each second control module is electrically connected to one second motor; the device comprises:
the data acquisition unit is used for acquiring first temperature information of the first motor and receiving second temperature information sent by the second control module, wherein the second temperature information is temperature information of the second motor;
the judging unit is used for determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the first temperature information and the second temperature information;
the regulating and controlling unit is used for regulating and controlling the working torques of the first motor and the second motor when the working torques of the first motor and the second motor are determined to be not suitable; wherein the total working torque of the first motor and the second motor is a constant value.
In a third aspect, the present application further provides a motor control system, where the motor control system includes a controller, a first control module, a first motor, at least one second control module, and at least one second motor, the controller is electrically connected to the first motor and the second motor, respectively, the first control module is electrically connected to the first motor and the at least one second control module, and each second control module is electrically connected to one second motor;
the controller is used for acquiring the total working torque of the first motor and the second motor, and performing torque distribution calculation based on the minimum energy consumption so as to respectively send the distributed torque information to the first control module and the second control module;
the first control module and the second control module are used for respectively controlling the first motor and the second motor to work according to the distributed torque information and respectively acquiring the temperature information of the first motor and the second motor;
the first control module is further used for receiving the temperature information sent by the second control module and determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the temperature information of the first motor and the temperature information of the second motor; and if not, generating feedback information, and sending the feedback information to the controller so as to regulate and control the working torque of the first motor and the second motor through the controller.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including: a memory for storing one or more programs; a processor; the one or more programs, when executed by the processor, implement the above-described method.
In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method described above.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a motor control method and a related device, the motor control method is applied to a first control module in a motor control system, the motor control system further comprises a first motor, at least one second control module and at least one second motor, the first control module is respectively and electrically connected with the first motor and the at least one second control module, and each second control module is electrically connected with one second motor; firstly, first temperature information of a first motor is obtained, and second temperature information sent by a second control module is received, wherein the second temperature information is temperature information of a second motor, whether working torques of the first motor and the second motor are matched or not is determined according to a difference value of the first temperature information and the second temperature information, and if not, the working torques of the first motor and the second motor are regulated and controlled; the total working torque of the first motor and the second motor is a constant value. Through the motor control method provided by the application, the temperature difference values of different motors can be utilized, and then whether the working torques of the different motors are matched or not is determined, and the working torques of the different motors can be regulated and controlled when the motors are not matched, so that the situation that the temperature of a certain motor is too high can not occur.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram of a motor control system according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a first control module according to an embodiment of the present disclosure.
Fig. 3 is a schematic flowchart of a motor control method according to an embodiment of the present application.
Fig. 4 is another schematic flow chart of a motor control method provided in an embodiment of the present application.
Fig. 5 is another block diagram of a motor control system according to an embodiment of the present application.
Fig. 6 is a block diagram of a motor control apparatus according to an embodiment of the present application.
In the figure: 100-a motor control system; 200-a first control module; 210-a processor; 220-a memory; 230-a communication interface; 300-a first motor; 400-a second control module; 500-a second motor; 600-a controller; 700-motor control means; 710-a data acquisition unit; 720-a judging unit; 730-regulatory elements.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As described in the background art, in order to provide a larger kinetic energy to the vehicle, the number of the motors on the vehicle may be 2 or more, and when a plurality of motors are controlled, the motors can be controlled in a torque-averaging or non-averaging manner, for example, when the total working torque required by the vehicle is 100N/m and two motors are provided on the vehicle, the working torque of each motor is 50N/m if the control is performed in a torque-averaging manner; if the control is performed in a torque non-average manner, the working torque of one of the motors is 60N/m, and the working torque of the other motor is 40N/m, or the working torque of one of the motors is 55N/m, and the working torque of the other motor is 45N/m.
However, because of the differentiation of each motor, when a plurality of motors operate simultaneously, the temperatures of different motors during operation are different, and there may be a case where the temperature of one motor is too high and burns out.
For example, one of the motors may operate at a torque of 60N/m, and may operate at a temperature of 60℃, and the other motor may operate at a torque of 40N/m, and may operate at a temperature of 40℃. Alternatively, even if the operating torques of both motors are 50N/m, it may occur that the operating temperature of one of the motors is 60 ℃ due to the difference between the two motors, such as different degrees of wear during operation. The operating temperature of the other motor was 40 ℃.
It can be understood that when the temperature of a certain motor is too high, the problem of motor damage may occur, for example, when the working torque distribution is performed, the working torque of the first motor is 80N/m, the working torque of the second motor is 20N/m, the temperature of the first motor may be too high, and the first motor may be damaged.
In view of this, the present application provides a motor control method and a related apparatus, so as to determine whether torque distribution is reasonable by obtaining temperature differences of different motors, and if not, redistribute working torques of different motors, thereby avoiding damage caused by over-high temperature of a certain motor.
Please refer to fig. 1, the motor control method provided in the present application may be applied to a first control module 200 in a motor control system 100, where the motor control system 100 further includes a first motor 300, at least one second control module 400, and at least one second motor 500, the first control module 200 is electrically connected to the first motor 300 and the at least one second control module 400, and each second control module 400 is electrically connected to one second motor 500.
In other words, in the present application, the vehicle includes at least two motors and at least two control modules, wherein the number of the motors is the same as that of the control modules, and each control module is electrically connected to one motor, so as to control the operation of the motors through the control modules. And, one of the at least two control modules is determined as the first control module 200, and the remaining control modules are determined as the second control modules 400.
As a possible implementation manner, the first control module 200 may be randomly determined in at least two control modules, and on this basis, the hardware and the software of the at least two control modules are the same, so that the motor control method provided by the present application can be implemented.
As another possible implementation, the first control module 200 may be determined in advance from at least two control modules, for example, the number of the control modules is 3, and the numbers are 001, 002, and 003, respectively, and 001 is taken as the first control module 200, and 002 and 003 are taken as the second control module 400, on the basis of which the first control module 200 is always 001. And the software and hardware of the first control module 200 and the second control module 400 may be the same or different. For example, the first control module 200 and the second control module 400 have the same hardware but different software, and the application is not limited thereto.
Fig. 2 shows a schematic structural block diagram of a first control module 200 provided in an embodiment of the present application, where the first control module 200 includes a memory 220, a processor 210, and a communication interface 230, and the memory 220, the processor 210, and the communication interface 230 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 220 may be used to store software programs and modules, such as program instructions/modules corresponding to the motor control device 700 provided in the embodiment of the present application, and the processor 210 executes various functional applications and data processing by executing the software programs and modules stored in the memory 220, so as to execute the steps of the motor control method provided in the embodiment of the present application. The communication interface 230 may be used for communicating signaling or data with other node devices.
The Memory 220 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.
The processor 210 may be an integrated circuit chip having signal processing capabilities. The processor 210 may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in FIG. 2 is merely illustrative and that the first control module 200 may include more or fewer components than shown in FIG. 2 or may have a different configuration than shown in FIG. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
The following describes an exemplary motor control method provided in an embodiment of the present application, with the first control module 200 shown in fig. 2 as a schematic execution subject.
Referring to fig. 3, fig. 3 shows a schematic flowchart of a motor control method provided by an embodiment of the present application, which may include the following steps:
s102, first temperature information of the first motor is obtained, and second temperature information sent by the second control module is received, wherein the second temperature information is temperature information of the second motor.
And S104, determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the first temperature information and the second temperature information, if not, executing S106, and if so, executing S108.
S106, regulating and controlling the working torque of the first motor and the second motor; the total working torque of the first motor and the second motor is a constant value.
And S108, controlling the first motor and the second motor to work normally.
The first control module 200 and the second control module 400 provided by the present application can control the operation of the motors, and can also obtain the temperature information of the first motor 300 and the second motor 500 during operation. For example, as an alternative implementation manner, temperature sensors are disposed on the first motor 300 and the second motor 500, and the first control module 200 and the second control module 600 can acquire the temperatures detected by the temperature sensors.
After the second control module 400 acquires the second temperature information of the second motor 500, the acquired second temperature information is sent to the first control module 200. As another possible implementation manner, the first control module 200 may also be directly connected to a temperature sensor on the second motor 500, so as to be able to directly acquire the second temperature information.
In the actual working process, the optimal working state is that a plurality of motors are all at proper temperature, and the performance difference of the motors on one automobile is not too large. In other words, the temperature difference between the two motors is not too high during normal operation.
Therefore, after the first control module 200 obtains the first temperature information and the second temperature information, the formula is followed
S＝|T1-T2|
Calculating a difference between the first temperature information and the second temperature information, wherein S represents the difference between the first temperature information and the second temperature information, T1Representing first temperature information, T2Indicating the first temperature information. The first control module 200 also determines whether the operating torques of the first and second electric machines 300 and 500 are matched based on the difference.
The adaptation described herein means that the first motor 300 and the second motor 500 can both operate at a suitable temperature. Generally, when the temperature difference between the first motor 300 and the second motor 500 is large, it indicates that the torque distribution between the first motor 300 and the second motor 500 is not reasonable, and the torque distribution between the first motor 300 and the second motor 500 needs to be redistributed. When the temperature difference between the first motor 300 and the second motor 500 is small, it indicates that the torque distribution between the first motor 300 and the second motor 500 is reasonable, and the first motor 300 and the second motor 500 can be controlled to continue to operate according to the working torque.
It should be noted that, when the number of the motors is plural, the temperature difference value of every two motors needs to be calculated in turn, for example, the number of the motors is three, and threeThe temperature of each motor is T1、T2And T3Then the first control module 200 needs to calculate T separately1And T3Difference between, T1And T2Difference between and T2And T3And then determines whether the operating torques of the three motors are appropriate based on the difference. Similarly, when the number of motors is larger, the difference between every two motors also needs to be calculated.
As a possible implementation manner of the present application, whether the working torques of the first motor 300 and the second motor 500 are appropriate or not may be determined by comparing the temperature difference value with a preset value, please refer to fig. 4, and S104 includes:
and S104-a, judging whether the difference value of the first temperature information and the second temperature information is larger than a preset first numerical value, if so, executing S106, and if not, executing S108.
Wherein, S106 includes:
and S106-a, controlling the first motor and the second motor to stop working, and generating alarm information.
The preset first value represents a working limit difference value of the first motor 300 and the second motor 500, for example, the preset first data is 30 ℃, which means that when a temperature difference value between the first motor 300 and the second motor 500 exceeds 30 ℃, the difference value is large, and the motors may be damaged, so that a mode of regulating and controlling the working torque of the first motor 300 and the second motor 500 is direct closing, and an alarm signal is generated at the same time and displayed through the control terminal to inform a worker to overhaul the motors.
When the temperature difference between the first motor 300 and the second motor 500 does not exceed 30 ℃, it indicates that the motor is not damaged, and at this time, the motors can be controlled to normally operate.
As an optional implementation manner, when the temperature difference between the first motor 300 and the second motor 500 determined by the first control module 200 is greater than the preset value, a corresponding control signal may be directly generated, so as to directly control the first motor 300 to stop working, and the second control module 400 controls the second motor 500 to stop working at the same time by sending the control signal to the second control module 400.
As another possible implementation manner of the present application, when the temperature difference between the first motor 300 and the second motor 500 determined by the first control module 200 is greater than the preset value, the information may be fed back to the control terminal, and the control terminal issues a control instruction, so as to stop the operation of the first motor 300 and the second motor 500.
Further, S104 further includes:
and S104-b, judging whether the difference value of the first temperature information and the second temperature information is larger than a preset second numerical value and smaller than or equal to a preset first numerical value, if so, executing S106-b, and if not, executing S108.
And S106-b, generating feedback information, and sending the feedback information to the control terminal so as to redistribute the working torques of the first motor and the second motor through the control terminal until the difference value of the first temperature information and the second temperature information is less than or equal to a preset second value.
And S108, controlling the first motor 300 and the second motor 500 to continuously work according to the current working torque.
For example, the preset second value may be 20 ℃, when the temperature difference between the first motor 300 and the second motor 500 is greater than the preset second value and is less than or equal to the preset first value, which indicates that the temperature of the first motor 300 and the temperature of the second motor 500 are still too high although the temperature of the first motor 300 and the temperature of the second motor 500 do not reach the limit value, at this time, the temperature of the first motor 300 and the temperature of the second motor 500 need to be adjusted by the working torque of the step first motor 300 and the working torque of the second motor 500.
In other words, the power of the motor with higher temperature is reduced, so that the working torque of the motor is reduced, and the power of the motor with lower temperature is increased, so that the working torque of the motor is increased, the temperature of the two motors is in proper temperature, and the situation that the temperature of one motor is too high and is burnt is avoided. When the difference between the first temperature information and the second temperature information is less than or equal to the preset second value, it indicates that the current working torque is a more appropriate torque, and the first control module 200 controls the first motor 300 and the second motor 500 to continue working according to the current working torque.
As an alternative implementation, referring to fig. 5, the motor control system 100 further includes a controller 600, the controller 600 is electrically connected to the first control module 200 and the second control module 400, respectively, and before S102, the method further includes:
and S101, receiving the target operating torque sent by the controller 600, and controlling the first motor 300 to operate according to the target operating torque, where the target operating torque is obtained by the controller 600 according to the minimum energy consumption torque distribution after receiving the total operating torque.
That is, in the present application, the controller 600 is used to distribute the operating torques of the first motor 300 and the second motor 500. When the controller 600 receives the total operating torque, the operating torques of the first electric machine 300 and the second electric machine 500 are distributed. It will be appreciated that the speed of the vehicle corresponds to the total torque of operation of the first electric machine 300 and the second electric machine 500. For example, when the user controls the speed of the vehicle to be 10Km/h, the operating torques of the first motor 300 and the second motor 500 are 100N/m, and at this time, the controller 600 may distribute the operating torques of the first motor 300 and the second motor 500 after determining the total operating torque of the first motor 300 and the second motor 500. Taking the number of the motors as two as an example, when the controller 600 allocates the working torque of the first motor 300 to be 60N/m and the working torque of the second motor 500 to be 40N/m, the controller 600 sends corresponding control instructions to the first control module 200 and the second control module 400, respectively, so that the first control module 200 and the second control module 400 control the operation of the first motor 300 and the second motor 500, respectively.
In the present application, after determining the total operating torque of the first electric machine 300 and the second electric machine 500, the controller 600 determines the torques of the first electric machine 300 and the second electric machine 500 based on the minimum energy consumption torque distribution mode. The minimum energy consumption torque distribution mode means that the energy consumption of the first electric machine 300 and the second electric machine 500 is minimized on the premise that the torque output requirement is satisfied. For example, if the total operating torque is 100N/m, the controller 600 may perform a plurality of distribution modes when distributing the operating torques of the first motor 300 and the second motor 500, wherein the first mode is 65N/m for the first motor 300, 35N/m for the second motor 500, a power consumption of the first motor 300 and the second motor 500 is a, a power consumption of the first motor 300 is 60N/m for the second motor 500 is 40N/m, a power consumption of the first motor 300 and the second motor 500 is B, a power consumption of the first motor 300 is 55N/m for the third mode is 55N/m for the first motor 300, 45N/m for the second motor 500, a power consumption of the first motor 300 and the second motor 500 is C, where a < B < C, the controller 600 may first distribute the operating torques of the first motor 300 is 65N/m and the second motor 500 is 35N/m, and control the first control module 200 and the second control module 400 to control the operating torques of the first motor 300 and the second motor 500 . If the temperature difference between the first motor 300 and the second motor 500 is large during the operation, after the controller 600 receives the feedback signal, the torque is distributed again in the manner that the first motor 300 is 65N/m and the second motor 500 is 35N/m, and if the temperature difference is still too large, the torque is distributed in the manner that the first motor 300 is 55N/m and the second motor 500 is 45N/m.
Based on the same inventive concept as the motor control method, please refer to fig. 6, fig. 6 shows a schematic structural block diagram of a motor control device 700 provided in the embodiment of the present application, the motor control device 700 may include a data obtaining unit 710, a determining unit 720 and a regulating unit 730, wherein,
the data obtaining unit 710 is configured to obtain first temperature information of the first motor 300 and receive second temperature information sent by the second control module 400, where the second temperature information is temperature information of the second motor 500.
It is understood that S102 may be performed by the data acquisition unit 710.
The determining unit 720 is configured to determine whether the working torques of the first motor 300 and the second motor 500 are adapted according to a difference between the first temperature information and the second temperature information.
It is understood that S104 may be performed by the determination unit 720.
The regulating unit 730 is used for regulating and controlling the working torques of the first motor 300 and the second motor 500 when the working torques of the first motor 300 and the second motor 500 are determined to be not suitable; the total working torque of the first electric machine 300 and the second electric machine 500 is a constant value.
It is understood that S106 may be performed by the regulation unit 730.
The control unit 730 is further configured to control the first motor 300 and the second motor 500 to operate normally when the operating torques of the first motor 300 and the second motor 500 are determined to be suitable.
It is understood that S108 may be performed by the regulation unit 730.
The determining unit 720 is configured to control the first motor 300 and the second motor 500 to stop working and generate alarm information when a difference between the first temperature information and the second temperature information is greater than a preset first value. The determining unit 720 is further configured to control the first motor 300 and the second motor 500 to continue to work when a difference between the first temperature information and the second temperature information is smaller than or equal to a preset first value.
The determining unit 720 is configured to generate feedback information when a difference between the first temperature information and the second temperature information is greater than a preset second value and less than or equal to the preset first value, and send the feedback information to the control terminal, so as to redistribute the working torques of the first motor 300 and the second motor 500 through the control terminal until the difference between the first temperature information and the second temperature information is less than or equal to the preset second value. The determining unit 720 is further configured to control the first motor 300 and the second motor 500 to continue to operate according to the current operating torque when the difference between the first temperature information and the second temperature information is smaller than or equal to a preset second value.
It can be understood that each step in the foregoing embodiments can be executed by a corresponding module, and since the steps have been described in detail in the foregoing embodiments, the description of the corresponding modules is omitted here.
Meanwhile, please refer to fig. 5, the present application further provides a motor control system 100, where the motor control system 100 includes a controller 600, a first control module 200, a first motor 300, at least one second control module 400, and at least one second motor 500, the controller 600 is electrically connected to the first motor 300 and the second motor 500, the first control module 200 is electrically connected to the first motor 300 and the at least one second control module 400, and each second control module 400 is electrically connected to one second motor 500. The controller 600 is configured to obtain total working torques of the first motor 300 and the second motor 500, and perform torque distribution calculation based on minimum energy consumption, so as to send distributed torque information to the first control module 200 and the second control module 400, respectively; the first control module 200 and the second control module 400 are used for respectively controlling the first motor 300 and the second motor 500 to work according to the distributed torque information and respectively acquiring temperature information of the first motor 300 and the second motor 500; the first control module 200 is further configured to receive the temperature information sent by the second control module 400, and determine whether the working torques of the first motor 300 and the second motor 500 are adapted according to a difference value between the temperature information of the first motor 300 and the temperature information of the second motor 500; if not, generating feedback information and sending the feedback information to the controller 600 so as to regulate and control the working torques of the first motor 300 and the second motor 500 through the controller 600.
In summary, the embodiment of the present application provides a motor control method and a related device, where the motor control method is applied to a first control module in a motor control system, the motor control system further includes a first motor, at least one second control module, and at least one second motor, the first control module is electrically connected to the first motor and the at least one second control module, and each second control module is electrically connected to one second motor; firstly, first temperature information of a first motor is obtained, and second temperature information sent by a second control module is received, wherein the second temperature information is temperature information of a second motor, whether working torques of the first motor and the second motor are matched or not is determined according to a difference value of the first temperature information and the second temperature information, and if not, the working torques of the first motor and the second motor are regulated and controlled; the total working torque of the first motor and the second motor is a constant value. Through the motor control method provided by the application, the temperature difference values of different motors can be utilized, and then whether the working torques of the different motors are matched or not is determined, and the working torques of the different motors can be regulated and controlled when the motors are not matched, so that the situation that the temperature of a certain motor is too high can not occur.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
On the basis, the application also provides an electronic device, which comprises a memory and a control unit, wherein the memory is used for storing one or more programs; a processor; the motor control method provided by the present application is implemented when one or more programs are executed by a processor.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A motor control method is characterized in that the motor control method is applied to a first control module in a motor control system, the motor control system further comprises a first motor, at least one second control module and at least one second motor, the first control module is respectively and electrically connected with the first motor and the at least one second control module, and each second control module is electrically connected with one second motor; the method comprises the following steps:
acquiring first temperature information of the first motor and receiving second temperature information sent by the second control module, wherein the second temperature information is temperature information of the second motor;
determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the first temperature information and the second temperature information;
if not, regulating and controlling the working torque of the first motor and the second motor; wherein the total working torque of the first motor and the second motor is a constant value.
2. The motor control method of claim 1, wherein the step of determining whether the operating torques of the first motor and the second motor are adapted based on the difference between the first temperature information and the second temperature information comprises:
when the difference value between the first temperature information and the second temperature information is larger than a preset first numerical value, controlling the first motor and the second motor to stop working, and generating alarm information;
and when the difference value of the first temperature information and the second temperature information is smaller than or equal to a preset first numerical value, controlling the first motor and the second motor to continue working.
3. The motor control system of claim 2 wherein said step of determining whether the operating torques of said first and second electric machines are adapted based on the difference between said first and second temperature information further comprises:
when the difference value between the first temperature information and the second temperature information is larger than a preset second value and smaller than or equal to a preset first value, generating feedback information, and sending the feedback information to a control terminal so as to redistribute the working torques of the first motor and the second motor through the control terminal until the difference value between the first temperature information and the second temperature information is smaller than or equal to the preset second value;
and when the difference value of the first temperature information and the second temperature information is smaller than or equal to a preset second numerical value, controlling the first motor and the second motor to continuously work according to the current working torque.
4. The method of claim 1, wherein the motor control system further comprises a controller electrically connected to the first control module and the second control module, respectively, and wherein before the step of obtaining first temperature information of the first motor and receiving second temperature information sent by the second control module, the method further comprises:
and receiving a target working torque sent by the controller, and controlling the first motor to work according to the target working torque, wherein the target working torque is obtained by the controller according to the minimum energy consumption torque distribution after receiving the total working torque.
5. The motor control device is characterized by being applied to a first control module in a motor control system, wherein the motor control system further comprises a first motor, at least one second control module and at least one second motor, the first control module is electrically connected with the first motor and the at least one second control module respectively, and each second control module is electrically connected with one second motor; the device comprises:
the data acquisition unit is used for acquiring first temperature information of the first motor and receiving second temperature information sent by the second control module, wherein the second temperature information is temperature information of the second motor;
the judging unit is used for determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the first temperature information and the second temperature information;
the regulating and controlling unit is used for regulating and controlling the working torques of the first motor and the second motor when the working torques of the first motor and the second motor are determined to be not suitable; wherein the total working torque of the first motor and the second motor is a constant value.
6. The motor control device according to claim 5, wherein the determination unit is configured to control the first motor and the second motor to stop operating and generate alarm information when a difference between the first temperature information and the second temperature information is greater than a preset first value;
the judging unit is further used for controlling the first motor and the second motor to continue working when the difference value between the first temperature information and the second temperature information is smaller than or equal to a preset first numerical value.
7. The motor control system according to claim 6, wherein the determining unit is configured to generate feedback information when a difference between the first temperature information and the second temperature information is greater than a preset second value and less than or equal to a preset first value, and send the feedback information to a control terminal, so as to redistribute the working torques of the first motor and the second motor through the control terminal until the difference between the first temperature information and the second temperature information is less than or equal to the preset second value;
the judging unit is further configured to control the first motor and the second motor to continue to work according to the current working torque when the difference between the first temperature information and the second temperature information is smaller than or equal to a preset second value.
8. A motor control system is characterized by comprising a controller, a first control module, a first motor, at least one second control module and at least one second motor, wherein the controller is electrically connected with the first motor and the second motor respectively;
the controller is used for acquiring the total working torque of the first motor and the second motor, and performing torque distribution calculation based on the minimum energy consumption so as to respectively send the distributed torque information to the first control module and the second control module;
the first control module and the second control module are used for respectively controlling the first motor and the second motor to work according to the distributed torque information and respectively acquiring the temperature information of the first motor and the second motor;
the first control module is further used for receiving the temperature information sent by the second control module and determining whether the working torques of the first motor and the second motor are matched or not according to the difference value of the temperature information of the first motor and the temperature information of the second motor;
and if not, generating feedback information, and sending the feedback information to the controller so as to regulate and control the working torque of the first motor and the second motor through the controller.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010353425.6A CN111416551A (en) | 2020-04-29 | 2020-04-29 | Motor control method and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010353425.6A CN111416551A (en) | 2020-04-29 | 2020-04-29 | Motor control method and related device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111416551A true CN111416551A (en) | 2020-07-14 |
Family
ID=71493888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010353425.6A Pending CN111416551A (en) | 2020-04-29 | 2020-04-29 | Motor control method and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111416551A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103436A (en) * | 2021-04-13 | 2021-07-13 | 三一汽车制造有限公司 | Accumulated material detection method, electronic equipment and mixer truck |
| CN117833752A (en) * | 2024-03-04 | 2024-04-05 | 杭州智仝科技有限公司 | Motor power optimization distribution method of distributed electric drive system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070085497A1 (en) * | 2005-10-19 | 2007-04-19 | Christian Popp | Method for operating drive train side components of a motor vehicle |
| CN107406003A (en) * | 2015-04-01 | 2017-11-28 | 爱信精机株式会社 | The control system of vehicle traction motor |
| CN110557075A (en) * | 2019-10-08 | 2019-12-10 | 珠海格力电器股份有限公司 | motor torque determination method and device and motor control system |
| CN110856928A (en) * | 2018-08-22 | 2020-03-03 | 新世代机器人暨人工智慧股份有限公司 | Automatic control method and automatic control device |
| CN110937019A (en) * | 2019-11-12 | 2020-03-31 | 南京航空航天大学 | Motor thermodynamic protection strategy based on dual-motor steer-by-wire system control |
-
2020
- 2020-04-29 CN CN202010353425.6A patent/CN111416551A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070085497A1 (en) * | 2005-10-19 | 2007-04-19 | Christian Popp | Method for operating drive train side components of a motor vehicle |
| CN107406003A (en) * | 2015-04-01 | 2017-11-28 | 爱信精机株式会社 | The control system of vehicle traction motor |
| CN110856928A (en) * | 2018-08-22 | 2020-03-03 | 新世代机器人暨人工智慧股份有限公司 | Automatic control method and automatic control device |
| CN110557075A (en) * | 2019-10-08 | 2019-12-10 | 珠海格力电器股份有限公司 | motor torque determination method and device and motor control system |
| CN110937019A (en) * | 2019-11-12 | 2020-03-31 | 南京航空航天大学 | Motor thermodynamic protection strategy based on dual-motor steer-by-wire system control |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103436A (en) * | 2021-04-13 | 2021-07-13 | 三一汽车制造有限公司 | Accumulated material detection method, electronic equipment and mixer truck |
| CN117833752A (en) * | 2024-03-04 | 2024-04-05 | 杭州智仝科技有限公司 | Motor power optimization distribution method of distributed electric drive system |
| CN117833752B (en) * | 2024-03-04 | 2024-06-07 | 杭州智仝科技有限公司 | Motor power optimization distribution method of distributed electric drive system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111416551A (en) | Motor control method and related device | |
| CN101021742B (en) | Method and system for throttle management for blade system | |
| EP3306770B1 (en) | Method and apparatus for controlling power supply | |
| KR101894634B1 (en) | Power management for datacenter power architectures | |
| CN111988240A (en) | Data sending method and device, electronic equipment and storage medium | |
| CN111190739A (en) | Resource allocation method and device, electronic equipment and storage medium | |
| WO2017130002A1 (en) | Sensor signal processing device | |
| CN114151373A (en) | Server fan rotating speed regulating method, system, terminal and storage medium | |
| US20070174683A1 (en) | Method for operating software modules | |
| US11328574B2 (en) | Alarm and notification generation devices, methods, and systems | |
| EP3622669B1 (en) | Automatic shared resource management system and associated methods | |
| CN111885892B (en) | Heat dissipation control method, system and equipment of power adapter and readable storage medium | |
| US9584880B2 (en) | Method for the efficient transmission of data | |
| CN108614460B (en) | Distributed multi-node control system and method | |
| CN112902387A (en) | Method, device and system for automatically and remotely controlling air conditioner of hotel and related equipment | |
| US20190129370A1 (en) | Controller system | |
| US10491149B2 (en) | Acceleration estimator for speed rate control | |
| CN114442780A (en) | Method and device for electrifying random delay of server system | |
| US11396098B2 (en) | Control of a robot system | |
| US9797762B2 (en) | Controlling device | |
| JP2023134960A (en) | control system | |
| US20070136028A1 (en) | Monitoring system for machine operable in a plurality of operating modes | |
| JP2017144893A (en) | Vehicle communication system | |
| CN112994416B (en) | Power output method, power output device, electronic equipment and storage medium | |
| CN111237229A (en) | Method, device and equipment for controlling rotating speed of fan |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200714 |
|
| RJ01 | Rejection of invention patent application after publication |