CN111800059A - Motor control method and device - Google Patents
Motor control method and device Download PDFInfo
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- CN111800059A CN111800059A CN202010828125.9A CN202010828125A CN111800059A CN 111800059 A CN111800059 A CN 111800059A CN 202010828125 A CN202010828125 A CN 202010828125A CN 111800059 A CN111800059 A CN 111800059A
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/0013—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- 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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a motor control method and device. Wherein, the method comprises the following steps: acquiring a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value; carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio; the motor speed is controlled based on the first duty cycle. The invention solves the technical problem that the power device is damaged due to larger voltage and current fluctuation in the operation process of the motor in the related technology.
Description
Technical Field
The invention relates to the field of motors, in particular to a motor control method and device.
Background
In the rail transit air conditioning industry, due to the fact that requirements for comfort, energy conservation and environmental protection of the air conditioner are higher and higher, the application of the variable frequency air conditioner is increased. The output of the air quantity is controlled by the variable-frequency speed regulation of the fan in the air conditioner, so that the energy is saved, and the comfort of air supply is improved. And a direct current (EC) fan for realizing stepless speed regulation becomes a better choice for the air blower of the rail transit air conditioner.
The motor of the EC fan is a direct current brushless motor with an intelligent control module arranged inside, and the motor is an alternating current permanent magnet synchronous motor. In a conventional ac input inverter permanent magnet synchronous motor drive system, a large electrolytic capacitor is generally used on the bus side to stabilize the bus voltage.
However, a large electrolytic capacitor has a large volume and a limited life, and in order to meet the requirement for stabilizing the bus voltage inside the EC motor, the capacity of the electrolytic capacitor needs to reach thousands of uF, and several electrolytic capacitors with a capacity value of several hundreds of uF need to be used to reach the capacity value. In addition, because the withstand voltage value of the electrolytic capacitor is less than 600V, in a three-phase power supply system, the working voltage of the direct-current bus can reach about 800V, which exceeds the withstand voltage value of the electrolytic capacitor, two electrolytic capacitors need to be connected in parallel to meet the requirement of the bus voltage, and thus huge space is needed to meet the layout space of a power supply system.
In order to meet the application requirement of an EC (electric control) motor, a capacitor on the direct-current bus side adopts a film capacitor scheme, the withstand voltage value of the film capacitor can reach 1200V, and the operating voltage requirement of an EC Power supply can be met, but the capacitance value of the film capacitor is often smaller and can only reach about 20uF, when the traditional control algorithm is adopted to control the motor to start and stop running, the film capacitor can hardly stabilize the bus voltage, the bus voltage value can generate obvious fluctuation, the motor is in a Power generation state during shutdown, huge energy generated by the motor is loaded at an IPM (Intelligent Power Module) end, the energy is released everywhere, and an IPM device is damaged.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a motor control method and a motor control device, which are used for at least solving the technical problem that a power device is damaged due to larger voltage and current fluctuation in the motor operation process in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a motor control method including: acquiring a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value; carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio; the motor speed is controlled based on the first duty cycle.
Optionally, performing fuzzy decision control based on the rotation speed change value and the first change rate, and obtaining the first duty ratio includes: fuzzification processing is carried out on the rotating speed change value to obtain a processed rotating speed change value; fuzzifying the first change rate to obtain a processed first change rate; determining a processed rotation speed change value and a fuzzy decision result corresponding to the processed first change rate based on a preset fuzzy control decision table; and performing defuzzification processing on the fuzzy decision result to obtain a first duty ratio.
Optionally, the step of performing fuzzification processing on the rotation speed change value to obtain a processed rotation speed change value includes: determining a first quantization factor corresponding to the rotating speed change value based on a first fuzzy domain corresponding to the rotating speed change value; and obtaining a processed rotation speed change value based on the rotation speed change value and the first quantization factor.
Optionally, the blurring the first rate of change, and obtaining the processed first rate of change includes: determining a second quantization factor corresponding to the first change rate based on a second fuzzy domain corresponding to the first change rate; and obtaining the processed first change rate based on the first change rate and the second quantization factor.
Optionally, the performing defuzzification processing on the fuzzy decision result to obtain the first duty ratio includes: determining a scale factor corresponding to the fuzzy decision result based on a third fuzzy domain corresponding to the fuzzy decision result; and obtaining a first duty ratio based on the fuzzy decision result and the scale factor.
Optionally, before obtaining the rotation speed variation value of the rotation speed of the motor and the first rate of change of the rotation speed variation value, the method further comprises: acquiring a control instruction; analyzing the control command, and determining the current duty ratio; the motor speed is controlled based on the current duty cycle.
Optionally, controlling the motor speed based on the current duty cycle comprises: acquiring a current rotating speed value of the rotating speed of the motor; comparing the rotating speed value corresponding to the current duty ratio with the current rotating speed value, and judging whether to adjust the rotating speed of the motor; if the rotating speed of the motor is determined to be adjusted, adjusting the current duty ratio to obtain a second duty ratio, and controlling the rotating speed of the motor based on the second duty ratio; if it is determined not to adjust the motor speed, the motor speed is controlled based on the current duty ratio.
Optionally, adjusting the current duty cycle to obtain the second duty cycle includes: and adjusting the current duty ratio according to a preset proportion to obtain a second duty ratio.
Optionally, adjusting the current duty cycle to obtain the second duty cycle includes: acquiring a current change value of the motor and a second change rate of the current change value; and carrying out fuzzy decision control based on the current change value and the second change rate to obtain a second duty ratio.
Optionally, before performing fuzzy decision control based on the rotation speed change value and the first change rate to obtain the first duty ratio, the method further includes: acquiring bus voltage and bus current; judging whether the bus voltage is in a first preset range or not and whether the bus current is in a second preset range or not; if the bus voltage is in a first preset range and the bus current is in a second preset range, carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio; and if the bus voltage is not in the first preset range or the bus current is not in the second preset range, controlling the motor to stop running.
According to another aspect of the embodiments of the present invention, there is also provided a motor control apparatus including: the acquisition module is used for acquiring a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value; the processing module is used for carrying out fuzzy decision control on the basis of the rotating speed change value and the first change rate to obtain a first duty ratio; and the control module is used for controlling the rotating speed of the motor based on the first duty ratio.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the above-mentioned motor control method.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the above-mentioned motor control method.
In the embodiment of the invention, after the rotating speed change value of the rotating speed of the motor and the first change rate of the rotating speed change value are obtained, fuzzy decision control can be carried out based on the rotating speed change value and the first change rate to obtain the first duty ratio, the rotating speed of the motor is controlled based on the first duty ratio, when the rotating speed of the motor is adjusted, the fluctuation range of the bus voltage is always within the related required range, the IPM cannot be damaged due to overlarge or too small to cause insufficient driving capability of the motor, in addition, the accurate and stable adjustment of the current is realized, the increase of the loss of a power device due to the rapid increase of the current is avoided, the impact on the power device is avoided, in addition, the quick response of the rotating speed adjustment of the motor is realized, the overshoot is small, the severe noise caused by the rotating speed fluctuation is avoided, the technical effects of prolonging the service life of the controller, improving, and further, the technical problem that the power device is damaged due to large voltage and current fluctuation in the operation process of the motor in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of controlling a motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a model architecture of an alternative fuzzy controller in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a membership function corresponding to an alternative speed variation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a membership function corresponding to a variation rate of an alternative rotational speed variation value according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a membership function for an alternative duty cycle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an alternative motor control method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a bus voltage variation curve of the prior art;
FIG. 8 is a schematic diagram of a variation curve of bus voltage according to an embodiment of the invention; and
fig. 9 is a schematic diagram of a motor control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a motor control method, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value are obtained.
The motor in the above step may be an EC motor, but is not limited thereto, and may be another ac input inverter permanent magnet synchronous motor.
In an optional embodiment, in the process of starting and running the motor, the rotating speed change value of the actual rotating speed of the motor is obtained in real time, and the first change rate Vc of the rotating speed change value is calculated based on the rotating speed change value V continuously read within a period of time.
And step S104, carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio.
In an optional embodiment, the rotation speed change value V and the first change rate Vc of the rotation speed change value can be used as input signals of the controller, the duty ratio PWM output by the controller is used as an output signal, a two-dimensional fuzzy controller is established, and the purpose of closed-loop negative feedback of the motor rotation speed regulation system is further achieved after proportional conversion. And adjusting the duty ratio of the output signal according to the fuzzy control decision obtained by the fuzzy controller to obtain the first duty ratio.
And S106, controlling the rotating speed of the motor based on the first duty ratio.
In an alternative embodiment, a speed control command to control the speed of the motor may be determined based on the first duty cycle output by the fuzzy controller, and the speed of the motor may be controlled based on the speed control command.
It should be noted that, the steps S102 to S106 can be executed in a cycle from the start to the stop of the motor, so as to ensure that the bus voltage keeps changing steadily in a small range in the whole regulation process.
Through the above embodiment of the present invention, after the rotation speed variation value of the motor rotation speed and the first variation rate of the rotation speed variation value are obtained, fuzzy decision control can be performed based on the rotation speed variation value and the first variation rate to obtain the first duty ratio, and the motor rotation speed is controlled based on the first duty ratio, when the motor rotation speed adjustment is realized, the fluctuation range of the bus voltage is always within the related required range, which does not cause damage of IPM due to too large or insufficient driving capability of the motor due to too small, and the accurate and stable adjustment of the current is realized, thereby avoiding the increase of loss of the power device due to the sharp increase of the current and the impact on the power device, in addition, the quick response of the motor rotation speed adjustment is realized, the overshoot is small, the severe noise caused by the rotation speed fluctuation is avoided, the technical effects of prolonging the service life of the controller, improving the user experience and enabling the user to obtain good, and further, the technical problem that the power device is damaged due to large voltage and current fluctuation in the operation process of the motor in the related technology is solved.
Optionally, performing fuzzy decision control based on the rotation speed change value and the first change rate, and obtaining the first duty ratio includes: fuzzification processing is carried out on the rotating speed change value to obtain a processed rotating speed change value; fuzzifying the first change rate to obtain a processed first change rate; determining a processed rotation speed change value and a fuzzy decision result corresponding to the processed first change rate based on a preset fuzzy control decision table; and performing defuzzification processing on the fuzzy decision result to obtain a first duty ratio.
The preset fuzzy control decision table in the above step may be a fuzzy control decision table between the rotating speed variation value V and the first variation rate Vc of the rotating speed variation value and the duty ratio PWM, which is established according to the fuzzy control theory and the expert experience. In the fuzzy control system, V, Vc and PWM can select negative large (A- -), negative small (A- -), zero (A), positive small (A +), positive large (A + +) as fuzzy domain, and the corresponding fuzzy control decision table is shown in the following table 1:
TABLE 1
In an optional embodiment, after the rotation speed change value and the first change rate of the rotation speed change value are obtained in real time, the real value may be fuzzified, and the fuzzified value is converted into a fuzzy domain, so as to obtain a first fuzzy value corresponding to the rotation speed change value (i.e., the processed rotation speed change value) and a second fuzzy value corresponding to the first change rate (i.e., the processed first change rate), and further, in combination with the fuzzy control decision table shown in table 1, a corresponding fuzzy decision result may be determined, where the fuzzy decision result is a fuzzy value corresponding to a duty ratio, and finally, the fuzzy decision result is subjected to de-fuzzification, so as to obtain real data, that is, obtain a final first duty ratio.
Optionally, the step of performing fuzzification processing on the rotation speed change value to obtain a processed rotation speed change value includes: determining a first quantization factor corresponding to the rotating speed change value based on a first fuzzy domain corresponding to the rotating speed change value; and obtaining a processed rotation speed change value based on the rotation speed change value and the first quantization factor.
The model structure of the two-dimensional fuzzy controller constructed in the above embodiment of the present invention is shown in fig. 2, where KV and KVc are respectively used as quantization factors of the rotation speed variation value V and the first variation rate Vc of the rotation speed variation value, that is, KV is the first quantization quantum; KU is taken as a scaling factor of the output variable PWM. Increasing the quantization factor KV shortens the rise time of the signal, but increases the overshoot of the system; conversely, decreasing the delta factor KVc increases the amount of system overshoot, but the response speed becomes faster; the dynamic response process is enlarged due to the undersize of the scale factor KU, the system vibration is caused by the oversize verification, and the speed regulating system of the motor is maladjusted.
The first ambiguity domain in the above steps can be negative large (A- -), negative small (A- -), zero (A), positive small (A +), positive large (A + +), but is not limited thereto.
In an alternative embodiment, according to the fuzzy control tool, a membership function corresponding to the motor rotation speed variation value V may be calculated as shown in fig. 3, and further, a corresponding first quantization factor KV may be determined based on the membership function, and the fuzzification of the rotation speed variation value may be implemented by the first quantization factor KV.
Optionally, the blurring the first rate of change, and obtaining the processed first rate of change includes: determining a second quantization factor corresponding to the first change rate based on a second fuzzy domain corresponding to the first change rate; and obtaining the processed first change rate based on the first change rate and the second quantization factor.
The second ambiguity domain in the above step can be negative large (A- -), negative small (A- -), zero (A), positive small (A +), positive large (A + +), but is not limited thereto. For fuzzy control as shown in fig. 2, the second quantization factor may be quantization factor KVc.
In an alternative embodiment, according to the fuzzy control tool, a membership function corresponding to the variation rate Vc of the rotation speed variation value may be calculated as shown in fig. 4, and further, a corresponding second quantization factor KVc may be determined based on the membership function, and the first variation rate of the rotation speed variation value may be blurred by the second quantization factor KVc.
Optionally, the performing defuzzification processing on the fuzzy decision result to obtain the first duty ratio includes: determining a scale factor corresponding to the fuzzy decision result based on a third fuzzy domain corresponding to the fuzzy decision result; and obtaining a first duty ratio based on the fuzzy decision result and the scale factor.
The third ambiguity domain in the above step can be negative large (A- -), negative small (A- -), zero (A), positive small (A +), positive large (A + +), but is not limited thereto. For fuzzy control as shown in fig. 2, the scale factor may be a scale factor PWM.
In an alternative embodiment, according to the fuzzy control tool, the three-dimensional membership function distribution of the duty ratio may be determined through the first, second, and third fuzzy domains, and the first and second quantization factors KV and KVc, as shown in fig. 5, and further, the corresponding scale factor PWM may be determined based on the membership function, and the defuzzification of the duty ratio may be achieved through the scale factor PWM.
Optionally, before obtaining the rotation speed variation value of the rotation speed of the motor and the first rate of change of the rotation speed variation value, the method further comprises: acquiring a control instruction; analyzing the control command, and determining the current duty ratio; the motor speed is controlled based on the current duty cycle.
The control command in the above step may be a control command signal sent by the motherboard.
In an alternative embodiment, after the control command signal sent by the main board is read, the control command of the rotation speed part in the control command can be analyzed, and the current duty ratio can be determined based on the control command of the rotation speed part, and the rotation speed control of the motor is further performed based on the current duty ratio.
Optionally, controlling the motor speed based on the current duty cycle comprises: acquiring a current rotating speed value of the rotating speed of the motor; comparing the rotating speed value corresponding to the current duty ratio with the current rotating speed value, and judging whether to adjust the rotating speed of the motor; if the rotating speed of the motor is determined to be adjusted, adjusting the current duty ratio to obtain a second duty ratio, and controlling the rotating speed of the motor based on the second duty ratio; if it is determined not to adjust the motor speed, the motor speed is controlled based on the current duty ratio.
In an optional embodiment, after the control command about the rotation speed part is analyzed, the control command can be compared with the actual rotation speed of the motor to judge whether the control command controls the rotation speed, and if the rotation speed does not need to be changed, the currently output duty ratio can be maintained; if the rotating speed needs to be changed, the current duty ratio can be adjusted, and the response of adjusting the rotating speed of the motor is realized.
Optionally, adjusting the current duty cycle to obtain the second duty cycle includes: and adjusting the current duty ratio according to a preset proportion to obtain a second duty ratio.
The predetermined ratio in the above step may be 1%, but is not limited thereto.
In an alternative embodiment, the current duty cycle may be adjusted at a 1% change. It should be noted that whether the duty ratio is adjusted in 1% increase or decrease may be determined based on the adjustment direction of the control command.
Optionally, adjusting the current duty cycle to obtain the second duty cycle includes: acquiring a current change value of the motor and a second change rate of the current change value; and carrying out fuzzy decision control based on the current change value and the second change rate to obtain a second duty ratio.
In an optional embodiment, the current duty ratio may also be adjusted by means of fuzzy decision control, specifically, a current change value of the motor current and a second change rate of the current change value may be obtained, the current change value and the second change rate of the current change value are used as input signals of the controller, the duty ratio output by the controller is used as an output signal, a two-dimensional fuzzy controller is established, and the second duty ratio may be obtained based on the fuzzy controller.
Optionally, before performing fuzzy decision control based on the rotation speed change value and the first change rate to obtain the first duty ratio, the method further includes: acquiring bus voltage and bus current; judging whether the bus voltage is in a first preset range or not and whether the bus current is in a second preset range or not; if the bus voltage is in a first preset range and the bus current is in a second preset range, carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio; and if the bus voltage is not in the first preset range or the bus current is not in the second preset range, controlling the motor to stop running.
The first preset range and the second preset range in the above steps may be ranges required by the design of the motor, and the ranges may be determined based on the bearing capacity of the power device.
In an optional embodiment, the bus voltage and the bus current can be detected in the process from the starting to the stopping of the motor, whether the bus voltage and the bus current are in a designed operation operable range or not is judged, and if the bus voltage and the bus current are in the designed required range, the rotation speed adjustment of the motor can be continued; if the operation ranges of the bus voltage and the bus current are not within the design requirement range, the device is easy to damage or the loss is increased, the driving output is insufficient due to too low voltage, the loss is also increased, and therefore after the operation ranges are exceeded, the controller triggers a protection function to stop the operation of the motor.
A preferred embodiment of the present invention will be described in detail with reference to fig. 6 to 8. As shown in fig. 6, the method may include the steps of:
step S61, start initialization;
step S62, analyzing the current control command;
optionally, the control command sent by the motherboard may be read, and the control command related to the rotation speed part in the control command may be analyzed.
Step S63, acquiring a current rotating speed value;
optionally, the actual operating speed of the motor may be read to obtain the current speed value.
Step S64, judging whether to adjust the rotating speed;
optionally, the control command may be compared with the current rotation speed value to determine whether to perform the rotation speed perfect control, and if it is determined that the rotation speed needs to be adjusted, the step S65 is performed; if it is determined that the rotation speed adjustment is not necessary, the routine proceeds to step S68.
Step S65, adjusting according to the 1% change value of the current duty ratio;
step S66, sampling and analyzing the current bus voltage and current;
optionally, the bus voltage and the bus current in the actual operation process may be sampled in real time, and whether the bus voltage and the bus current are within a design allowable range is determined.
Step S67, outputting duty ratio according to the fuzzy control command;
optionally, the actual rotating speed change value of the motor and the change rate of the rotating speed change value can be read, and the duty ratio of the output signal PWM is adjusted according to the fuzzy control decision obtained by the fuzzy controller, so as to realize the response of the motor rotating speed adjustment.
Step S68, maintaining the current duty cycle;
and step S69, realizing the rotation speed change adjustment.
The motor rotating speed control is carried out according to the traditional control scheme, the change curve of the bus voltage is shown in figure 7, the motor rotating speed control is carried out according to the control scheme, and the change curve of the bus voltage is shown in figure 8.
Through the steps, in order to meet the control operation of the EC motor, in the process from the starting to the stopping of the motor, fuzzy decision control is carried out through real-time judgment of control signals according to detected related parameters, the duty ratio of motor rotating speed regulation is changed, and the motor rotating speed regulation is realized. When the motor speed is adjusted, the bus voltage and the bus current are monitored in real time, the operation range of the bus voltage and the bus current is controlled not to exceed the maximum operation part which can be borne by a controller device, the controlled operation condition is ensured to be in the best working operation condition, the damage of a power device caused by overlarge current is reduced, the service life of the controller is prolonged, a good control effect is realized, and the reliability and the stability of the motor are ensured; meanwhile, the failure reporting of the controller caused by voltage and current fluctuation is reduced, the user experience is improved, and a user can obtain good use feeling.
Example 2
According to the embodiment of the present invention, there is also provided a motor control apparatus, which can execute the motor control method in the foregoing embodiment, and the specific implementation manner and the preferred application scenario are the same as those in the foregoing embodiment, and are not described herein again.
Fig. 9 is a schematic diagram of a motor control apparatus according to an embodiment of the present invention, as shown in fig. 9, the apparatus including:
the obtaining module 92 is configured to obtain a rotation speed variation value of the rotation speed of the motor, and a first rate of change of the rotation speed variation value.
And the processing module 94 is configured to perform fuzzy decision control based on the rotation speed change value and the first change rate to obtain a first duty ratio.
A control module 96 is configured to control a motor speed based on the first duty cycle.
Optionally, the processing module comprises: the first processing unit is used for fuzzifying the rotating speed change value to obtain a processed rotating speed change value; the second processing unit is used for fuzzifying the first change rate to obtain a processed first change rate; the determining unit is used for determining a processed rotating speed change value and a processed fuzzy decision result corresponding to the first change rate based on a preset fuzzy control decision table; and the third processing unit is used for performing defuzzification processing on the fuzzy decision result to obtain the first duty ratio.
Optionally, the first processing unit is further configured to determine a first quantization factor corresponding to the rotation speed change value based on the first fuzzy domain corresponding to the rotation speed change value, and obtain the processed rotation speed change value based on the rotation speed change value and the first quantization factor.
Optionally, the second processing unit is further configured to determine a second quantization factor corresponding to the first change rate based on a second fuzzy domain corresponding to the first change rate, and obtain the processed first change rate based on the first change rate and the second quantization factor.
Optionally, the third processing unit is further configured to determine a scaling factor corresponding to the fuzzy decision result based on a third fuzzy domain corresponding to the fuzzy decision result, and obtain the first duty ratio based on the fuzzy decision result and the scaling factor.
Optionally, the apparatus further comprises: the acquisition module is also used for acquiring a control instruction; the analysis module is used for analyzing the control command and determining the current duty ratio; the control module is further configured to control a motor speed based on the current duty cycle.
Optionally, the control module comprises: the acquisition unit is used for acquiring the current rotating speed value of the rotating speed of the motor; the comparison unit is used for comparing the rotating speed value corresponding to the current duty ratio with the current rotating speed value and judging whether to adjust the rotating speed of the motor; the first control unit is used for adjusting the current duty ratio to obtain a second duty ratio if the rotation speed of the motor is determined to be adjusted, and controlling the rotation speed of the motor based on the second duty ratio; and a second control unit for controlling the motor rotation speed based on the current duty ratio if it is determined that the motor rotation speed is not adjusted.
Optionally, the first control unit is further configured to adjust the current duty ratio according to a preset ratio to obtain a second duty ratio.
Optionally, the first control unit is further configured to obtain a current change value of the motor and a second change rate of the current change value, and perform fuzzy decision control based on the current change value and the second change rate to obtain a second duty ratio.
Optionally, the apparatus further comprises: the acquisition module is used for acquiring bus voltage and bus current; the judging module is used for judging whether the bus voltage is in a first preset range or not and whether the bus current is in a second preset range or not; the processing module is further used for carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio if the bus voltage is within a first preset range and the bus current is within a second preset range; the control module is also used for controlling the motor to stop running if the bus voltage is not in a first preset range or the bus current is not in a second preset range.
Example 3
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, an apparatus in which the computer-readable storage medium is controlled to execute the motor control method in the above-described embodiment 1.
Example 4
According to an embodiment of the present invention, there is also provided a processor, configured to run a program, where the program executes the motor control method in embodiment 1.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. 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, units or modules, and may be in an electrical 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 units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
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. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (13)
1. A motor control method, comprising:
acquiring a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value;
carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain a first duty ratio;
controlling the motor speed based on the first duty cycle.
2. The method of claim 1, wherein performing fuzzy decision control based on the speed change value and the first rate of change, resulting in a first duty cycle comprises:
fuzzification processing is carried out on the rotating speed change value to obtain a processed rotating speed change value;
fuzzifying the first change rate to obtain a processed first change rate;
determining a fuzzy decision result corresponding to the processed rotating speed change value and the processed first change rate based on a preset fuzzy control decision table;
and performing defuzzification processing on the fuzzy decision result to obtain the first duty ratio.
3. The method of claim 2, wherein the step of blurring the speed change value to obtain a processed speed change value comprises:
determining a first quantization factor corresponding to the rotating speed change value based on a first fuzzy domain corresponding to the rotating speed change value;
and obtaining the processed rotation speed change value based on the rotation speed change value and the first quantization factor.
4. The method of claim 2, wherein the blurring the first rate of change to obtain a processed first rate of change comprises:
determining a second quantization factor corresponding to the first change rate based on a second fuzzy domain corresponding to the first change rate;
and obtaining the processed first change rate based on the first change rate and the second quantization factor.
5. The method of claim 2, wherein de-blurring the fuzzy decision result to obtain the first duty cycle comprises:
determining a scale factor corresponding to the fuzzy decision result based on a third fuzzy domain corresponding to the fuzzy decision result;
and obtaining the first duty ratio based on the fuzzy decision result and the scale factor.
6. The method of claim 1, wherein prior to obtaining a speed change value for a speed of the motor and a first rate of change of the speed change value, the method further comprises:
acquiring a control instruction;
analyzing the control instruction to determine the current duty ratio;
controlling the motor speed based on the current duty cycle.
7. The method of claim 6, wherein controlling the motor speed based on the current duty cycle comprises:
acquiring a current rotating speed value of the rotating speed of the motor;
comparing the rotating speed value corresponding to the current duty ratio with the current rotating speed value, and judging whether to adjust the rotating speed of the motor;
if the rotation speed of the motor is determined to be adjusted, adjusting the current duty ratio to obtain a second duty ratio, and controlling the rotation speed of the motor based on the second duty ratio;
controlling the motor speed based on the current duty cycle if it is determined not to adjust the motor speed.
8. The method of claim 7, wherein adjusting the current duty cycle to obtain a second duty cycle comprises:
and adjusting the current duty ratio according to a preset proportion to obtain the second duty ratio.
9. The method of claim 7, wherein adjusting the current duty cycle to obtain a second duty cycle comprises:
acquiring a current change value of the motor and a second change rate of the current change value;
and carrying out fuzzy decision control based on the current change value and the second change rate to obtain the second duty ratio.
10. The method of claim 1, wherein prior to performing fuzzy decision control based on the speed change value and the first rate of change to arrive at a first duty cycle, the method further comprises:
acquiring bus voltage and bus current;
judging whether the bus voltage is in a first preset range or not and whether the bus current is in a second preset range or not;
if the bus voltage is within the first preset range and the bus current is within the second preset range, carrying out fuzzy decision control based on the rotating speed change value and the first change rate to obtain the first duty ratio;
and if the bus voltage is not in the first preset range or the bus current is not in the second preset range, controlling the motor to stop running.
11. A motor control apparatus, comprising:
the acquisition module is used for acquiring a rotating speed change value of the rotating speed of the motor and a first change rate of the rotating speed change value;
the processing module is used for carrying out fuzzy decision control on the basis of the rotating speed change value and the first change rate to obtain a first duty ratio;
and the control module is used for controlling the rotating speed of the motor based on the first duty ratio.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the motor control method according to any one of claims 1 to 10.
13. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the motor control method according to any one of claims 1 to 10 when running.
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