CN111669104A - Motor driving method, device, terminal and storage medium - Google Patents
Motor driving method, device, terminal and storage medium Download PDFInfo
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- CN111669104A CN111669104A CN202010447591.2A CN202010447591A CN111669104A CN 111669104 A CN111669104 A CN 111669104A CN 202010447591 A CN202010447591 A CN 202010447591A CN 111669104 A CN111669104 A CN 111669104A
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- 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
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
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Abstract
The application is applicable to the technical field of motor control, and provides a motor driving method, a device, a terminal and a storage medium, wherein the motor driving method comprises the following steps: acquiring a driving section signal of a motor; wherein the driving segment signal comprises a plurality of periods of pulse signals; identifying a target pulse signal in the driving section signal, and calculating a proportionality coefficient of the target pulse signal in the driving section signal; the target pulse signal is a pulse signal of which the high level or the low level accords with a preset voltage range; determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition; determining a current driving section signal of the motor as a target driving section signal under the condition that the proportionality coefficient does not meet a preset condition; and driving the motor according to the target driving section signal. The problem of drive signal unstability influence motor drive's precision and stability has been solved in this application.
Description
Technical Field
The present application belongs to the field of motor control technologies, and in particular, to a motor driving method, device, terminal, and storage medium.
Background
The motor is a common device in the field of drive control, and in practical application, the pulse signal is often used as a drive signal of the motor, and the influence of an interference signal can cause large fluctuation of a high level or a low level in the pulse signal, so that the pulse signal is unstable, and the precision and the stability of motor drive are influenced.
Disclosure of Invention
The embodiment of the application provides a motor driving method, a motor driving device, a terminal and a storage medium, and can solve the problem that the precision and the stability of motor driving are influenced by instability of a driving signal.
In a first aspect, an embodiment of the present application provides a motor driving method, including:
acquiring a driving section signal of a motor; wherein the driving segment signal comprises a plurality of periods of pulse signals;
identifying a target pulse signal in the driving section signal, and calculating a proportionality coefficient of the target pulse signal in the driving section signal; the target pulse signal is a pulse signal of which the high level or the low level meets a preset voltage range;
determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition;
determining a current driving section signal of the motor as the target driving section signal under the condition that the proportionality coefficient does not meet a preset condition;
and driving the motor according to the target driving section signal.
In a possible implementation manner of the first aspect, the acquiring a driving segment signal of the motor includes:
under the condition that the rising edge or the falling edge of the pulse signal is detected, acquiring a continuous pulse signal and starting timing;
and under the condition that the timing time reaches the preset time, stopping acquiring the pulse signal, clearing the timing, and determining the continuous pulse signal acquired within the preset time as the driving section signal.
In one possible implementation manner of the first aspect, the identifying a target pulse signal in the driving segment signal includes:
acquiring a low level voltage value or a high level voltage value in each pulse signal;
comparing the low level voltage value with a first preset voltage range, or comparing the high level voltage value with a second preset voltage range;
and determining the corresponding pulse signal as the target pulse signal under the condition that the low-level voltage value is within the first preset voltage range or the high-level voltage value is within the second preset voltage range.
In a possible implementation manner of the first aspect, the method further includes:
when the number of the acquired drive section signals which cannot be used as the target drive section signals continuously reaches a preset value, generating a brake signal;
and controlling the motor to brake according to the brake signal.
In a second aspect, an embodiment of the present application provides a motor driving apparatus, including:
the acquisition module is used for acquiring a driving section signal of the motor; wherein the driving segment signal comprises a plurality of periods of pulse signals;
the identification calculation module is used for identifying a target pulse signal in the driving section signal and calculating a proportionality coefficient of the target pulse signal in the driving section signal; the target pulse signal is a pulse signal of which the high level or the low level meets a preset voltage range;
the first target driving section signal determining module is used for determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition;
the second target driving section signal determining module is used for determining the current driving section signal of the motor as the target driving section signal under the condition that the proportionality coefficient does not meet the preset condition;
and the control module is used for driving the motor according to the target driving section signal.
In a possible implementation manner of the second aspect, the obtaining module includes:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring continuous pulse signals and starting timing under the condition of detecting the rising edge or the falling edge of the pulse signals;
and the second acquisition unit is used for stopping acquiring the pulse signals, clearing the timing and determining continuous pulse signals acquired within the preset time as the driving section signals when the timing time reaches the preset time.
In one possible implementation manner of the second aspect, the identification calculation module includes:
a third acquiring unit configured to acquire a low-level voltage value or a high-level voltage value in each pulse signal;
the comparison unit is used for comparing the low level voltage value with a first preset voltage range or comparing the high level voltage value with a second preset voltage range;
and the target pulse signal determining unit is used for determining the corresponding pulse signal as the target pulse signal under the condition that the low-level voltage value is within the first preset voltage range or the high-level voltage value is within the second preset voltage range.
In one possible implementation manner of the second aspect, the motor drive apparatus further includes:
the braking signal determining module is used for generating braking signals when the number of the acquired driving section signals which cannot serve as the target driving section signals continuously reaches a preset value;
and the braking module is used for controlling the motor to brake according to the braking signal.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method of any one of the above first aspects when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method of any one of the above first aspects.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
when the proportionality coefficient of the target pulse signal in the driving section signal cannot reach the preset condition, the driving section signal at the moment is unstable, and the current driving section signal of the motor is determined as the target driving section signal to drive the motor at the moment; when the proportionality coefficient of the target pulse signal in the driving section signal reaches a preset condition, the driving section signal at the moment is stable, and the driving section signal is used as the target driving section signal to drive the motor, so that the driving signal of the motor is ensured to be a stable signal all the time, and the precision and the stability of motor driving are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a motor driving method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a motor driving method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a motor driving method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a motor driving method according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a motor driving device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The motor is a common device in the field of drive control, and in practical application, the pulse signal is often used as a drive signal of the motor, and the influence of an interference signal can cause large fluctuation of a high level or a low level in the pulse signal, so that the pulse signal is unstable, and the precision and the stability of motor drive are influenced.
Based on the above problem, the embodiment of the present application discloses a motor driving method, where when a proportionality coefficient of a target pulse signal in a driving section signal cannot reach a preset condition, it indicates that the driving section signal at this time is unstable, and at this time, a current driving section signal of a motor is determined as a target driving section signal to drive the motor; when the proportionality coefficient of the target pulse signal in the driving section signal reaches a preset condition, the driving section signal at the moment is stable, and the driving section signal is used as the target driving section signal to drive the motor, so that the driving signal of the motor is ensured to be a stable signal all the time, and the precision and the stability of motor driving are improved.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 shows a schematic flow diagram of a motor driving method provided by an embodiment of the present application, which may include, by way of example and not limitation, the following steps:
and S101, acquiring a driving section signal of the motor.
Specifically, the driving segment signal includes pulse signals of multiple periods, and when acquiring the driving segment signal, attention needs to be paid to acquiring the pulse signal of a complete period to realize detection of each pulse signal in the driving segment signal at a later stage.
For example, as shown in fig. 2, step S101 may specifically include:
in S1011, when a rising edge or a falling edge of the pulse signal is detected, a continuous pulse signal is acquired and timing is started.
Specifically, when a rising edge or a falling edge of the pulse signal is detected, the acquisition of the continuous pulse signal is started, and each pulse signal in the acquired driving segment signal can be ensured to have a complete period.
And S1012, stopping acquiring the pulse signals when the timing time reaches the preset time, clearing the timing, and determining continuous pulse signals acquired within the preset time as the driving section signals.
Specifically, when the preset time is designed, the preset time needs to be designed to be an integral multiple of the period of the pulse signal, and the number of the pulse signals included in each driving segment signal can be determined by designing the preset time.
And S102, identifying a target pulse signal in the driving section signal, and calculating a proportionality coefficient of the target pulse signal in the driving section signal.
Specifically, the instability of the motor driving signal means that the high-level voltage value or the low-level voltage value of the pulse signal changes beyond a certain range, so that the motor cannot accurately recognize the level signal of the pulse signal, thereby affecting the precision and stability of the motor driving. The target pulse signal is a pulse signal with a high level or a low level in accordance with a preset voltage range, namely the target pulse signal is a qualified pulse signal and can be identified by the motor, and the number of the target pulse signals (qualified pulse signals) in the driving section signal is divided by the number of the total pulse signals to obtain a proportionality coefficient. The scaling factor may reflect the duty ratio of the target pulse signal in the drive segment signal.
For example, as shown in fig. 3, step S102 may specifically include:
s1021, a low level voltage value or a high level voltage value in each pulse signal is obtained.
Specifically, when the voltage value of the low level or the voltage value of the high level of the pulse signal changes beyond a certain range, the motor cannot identify the level signal, and thus cannot identify the pulse signal. Therefore, the high-level voltage or the low-level voltage in the pulse signal is collected and tested, and whether the pulse signal is qualified (can be normally identified) can be judged.
S1022, compare the low level voltage value with the first predetermined voltage range, or compare the high level voltage value with the second predetermined voltage range.
Specifically, whether the pulse signal is qualified or not can be judged by comparing the low level voltage value with a first preset voltage range or comparing the high level voltage value with a second preset voltage range.
And S1023, determining the corresponding pulse signal as a target pulse signal under the condition that the low-level voltage value is in a first preset voltage range or the high-level voltage value is in a second preset voltage range.
Specifically, when the low level voltage value is within a first preset voltage range or the high level voltage value is within a second preset voltage range, the pulse signal is a target pulse signal (qualified pulse signal); when the low level voltage value exceeds the first preset voltage range or the high level voltage value exceeds the second preset voltage range, the pulse signal is unqualified (cannot be identified).
And S103, determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition.
Specifically, the preset condition may be set according to an actual control precision requirement, and if the proportionality coefficient meets the preset condition, it indicates that the driving section signal is a stable signal, and at this time, the driving section signal is used as a target driving section signal to drive the motor.
And S104, determining the current driving section signal of the motor as a target driving section signal under the condition that the proportionality coefficient does not meet the preset condition.
Specifically, if the proportionality coefficient does not meet the preset condition, it is indicated that the unqualified pulse signals in the driving section signals are too many, the driving section signals are unstable and cannot be used as driving signals of the motor, and at this time, the driving section signals rotating by the current driving motor are determined as target driving section signals to drive the motor, so as to ensure that the target driving section signals are stable signals.
And S105, driving the motor according to the target driving section signal.
Specifically, the target drive segment signal determined through steps S103 and S104 is a stable signal, and accuracy and stability of the motor drive can be improved.
As shown in fig. 4, the motor driving method may further include:
and S106, when the number of the acquired driving section signals which cannot be used as target driving section signals continuously reaches a preset value, generating a braking signal.
And S107, controlling the motor to brake according to the brake signal.
Specifically, when the driving section signal is determined to be an unstable signal, the driving section signal cannot be used as a target driving section signal, and when the number of the acquired driving section signals which cannot be used as target driving section signals continuously reaches a preset value, a problem may occur in the motor control system, a braking signal is generated at the moment to control the motor to brake, and a worker overhauls and checks a fault, so that the equipment in the system is prevented from being damaged due to a long-time fault.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 shows a schematic structural diagram of a motor driving apparatus provided in an embodiment of the present application, where the motor driving apparatus may include an obtaining module 51, an identification calculating module 52, a first target driving segment signal determining module 53, a second target driving segment signal determining module 54, and a control module 55;
the acquiring module 51 is used for acquiring a driving section signal of the motor; wherein the driving segment signal comprises a plurality of periods of pulse signals;
the identification calculation module 52 is configured to identify a target pulse signal in the driving segment signal and calculate a scaling factor of the target pulse signal in the driving segment signal; the target pulse signal is a pulse signal of which the high level or the low level meets a preset voltage range;
a first target driving segment signal determining module 53, configured to determine the driving segment signal as a target driving segment signal if the scaling factor satisfies a preset condition;
a second target driving segment signal determining module 54, configured to determine, when the scaling factor does not meet a preset condition, a current driving segment signal of the motor as the target driving segment signal;
and the control module 55 is used for driving the motor according to the target driving section signal.
In an embodiment of the present application, the obtaining module 51 may include:
the first acquisition unit is used for acquiring continuous pulse signals and starting timing under the condition that the rising edge or the falling edge of the pulse signals are detected;
and the second acquisition unit is used for stopping acquiring the pulse signals, clearing the timing and determining continuous pulse signals acquired within the preset time as the driving section signals when the timing time reaches the preset time.
In one embodiment of the present application, the identification calculation module 52 may include:
the third acquiring unit is used for acquiring a low-level voltage value or a high-level voltage value in each pulse signal;
the comparison unit is used for comparing the low level voltage value with a first preset voltage range or comparing the high level voltage value with a second preset voltage range;
and the target pulse signal determining unit is used for determining the corresponding pulse signal as the target pulse signal under the condition that the low-level voltage value is within the first preset voltage range or the high-level voltage value is within the second preset voltage range.
In one embodiment of the present application, the motor driving apparatus further includes a braking signal determination module and a braking module;
the braking signal determining module is used for generating braking signals when the number of the acquired driving section signals which cannot serve as the target driving section signals continuously reaches a preset value;
and the braking module is used for controlling the motor to brake according to the braking signal.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The motor driving device shown in fig. 5 may be a software unit, a hardware unit, or a combination of software and hardware unit built in the existing terminal device, may be integrated into the terminal device as a separate pendant, or may exist as a separate terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 6, the terminal device 6 of this embodiment may include: at least one processor 60 (only one processor 60 is shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and operable on the at least one processor 60, wherein the processor 60 executes the computer program 62 to implement the steps in any of the various method embodiments described above, such as the steps S101 to S105 in the embodiment shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 51 to 55 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of instruction segments of the computer program 62 capable of performing specific functions, which are used to describe the execution process of the computer program 62 in the terminal device 6.
The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 6 may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer program 62. The memory 61 may also be used to temporarily store data that has been output or is to be output.
The present application further provides a computer-readable storage medium, where a computer program 62 is stored, and when the computer program 62 is executed by the processor 60, the steps in the above-mentioned method embodiments may be implemented.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With this understanding, all or part of the flow of the method of the embodiments described above can be realized by the computer program 62 to instruct the relevant hardware, the computer program 62 can be stored in a computer readable storage medium, and the steps of the method embodiments described above can be realized when the computer program 62 is executed by the processor 60. Wherein the computer program 62 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a terminal device, recording medium, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A motor driving method, characterized by comprising:
acquiring a driving section signal of a motor; wherein the driving segment signal comprises a plurality of periods of pulse signals;
identifying a target pulse signal in the driving section signal, and calculating a proportionality coefficient of the target pulse signal in the driving section signal; the target pulse signal is a pulse signal of which the high level or the low level meets a preset voltage range;
determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition;
determining a current driving section signal of the motor as the target driving section signal under the condition that the proportionality coefficient does not meet a preset condition;
and driving the motor according to the target driving section signal.
2. The motor driving method according to claim 1, wherein the acquiring of the drive segment signal of the motor includes:
under the condition that the rising edge or the falling edge of the pulse signal is detected, acquiring a continuous pulse signal and starting timing;
and under the condition that the timing time reaches the preset time, stopping acquiring the pulse signal, clearing the timing, and determining the continuous pulse signal acquired within the preset time as the driving section signal.
3. The motor driving method according to claim 1, wherein the identifying the target pulse signal in the driving segment signal includes:
acquiring a low level voltage value or a high level voltage value in each pulse signal;
comparing the low level voltage value with a first preset voltage range, or comparing the high level voltage value with a second preset voltage range;
and determining the corresponding pulse signal as the target pulse signal under the condition that the low-level voltage value is within the first preset voltage range or the high-level voltage value is within the second preset voltage range.
4. The motor driving method according to claim 1, further comprising:
when the number of the acquired drive section signals which cannot be used as the target drive section signals continuously reaches a preset value, generating a brake signal;
and controlling the motor to brake according to the brake signal.
5. A motor drive device characterized by comprising:
the acquisition module is used for acquiring a driving section signal of the motor; wherein the driving segment signal comprises a plurality of periods of pulse signals;
the identification calculation module is used for identifying a target pulse signal in the driving section signal and calculating a proportionality coefficient of the target pulse signal in the driving section signal; the target pulse signal is a pulse signal of which the high level or the low level meets a preset voltage range;
the first target driving section signal determining module is used for determining the driving section signal as a target driving section signal under the condition that the proportionality coefficient meets a preset condition;
the second target driving section signal determining module is used for determining the current driving section signal of the motor as the target driving section signal under the condition that the proportionality coefficient does not meet the preset condition;
and the control module is used for driving the motor according to the target driving section signal.
6. The motor drive of claim 5, wherein the acquisition module comprises:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring continuous pulse signals and starting timing under the condition of detecting the rising edge or the falling edge of the pulse signals;
and the second acquisition unit is used for stopping acquiring the pulse signals, clearing the timing and determining continuous pulse signals acquired within the preset time as the driving section signals when the timing time reaches the preset time.
7. The motor drive of claim 5, wherein the identification calculation module comprises:
a third acquiring unit configured to acquire a low-level voltage value or a high-level voltage value in each pulse signal;
the comparison unit is used for comparing the low level voltage value with a first preset voltage range or comparing the high level voltage value with a second preset voltage range;
and the target pulse signal determining unit is used for determining the corresponding pulse signal as the target pulse signal under the condition that the low-level voltage value is within the first preset voltage range or the high-level voltage value is within the second preset voltage range.
8. The motor drive of claim 5, further comprising:
the braking signal determining module is used for generating braking signals when the number of the acquired driving section signals which cannot serve as the target driving section signals continuously reaches a preset value;
and the braking module is used for controlling the motor to brake according to the braking signal.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
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