CN112910353A - Motor control method, device and system based on sensor deviation self-correction - Google Patents
Motor control method, device and system based on sensor deviation self-correction Download PDFInfo
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- CN112910353A CN112910353A CN202110175144.0A CN202110175144A CN112910353A CN 112910353 A CN112910353 A CN 112910353A CN 202110175144 A CN202110175144 A CN 202110175144A CN 112910353 A CN112910353 A CN 112910353A
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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Abstract
The invention belongs to the field of motor control, and discloses a motor control method, a device and a system based on sensor deviation self-correction, wherein the motor control system comprises a controller and a sensor; the method performed by the controller includes: determining a reference offset value for the sensor; acquiring real-time rotating speed data of a motor, and comparing the real-time rotating speed data with a preset rotating speed threshold; if the real-time rotating speed data of the motor is larger than the rotating speed threshold value, calculating a motor control signal according to the reference deviation value and outputting the motor control signal, otherwise, acquiring an actual deviation measured value of the sensor, comparing the actual deviation measured value with the reference deviation value, if the difference value between the actual deviation measured value and the reference deviation value is not larger than a preset difference value threshold value, updating the reference deviation value into a current actual deviation measured value, and calculating and outputting the motor control signal according to the updated actual deviation measured value. The invention can realize the self-adaptive correction of the working state of the motor on the deviation value of the sensor in the control process of the motor and reduce the adverse effect of the inaccurate deviation of the sensor on the control operation of the motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method, a motor control device and a motor control system based on sensor deviation self-correction.
Background
Current and voltage sensors are generally used in the motor control process, but the current and voltage sensors generally have deviation values. In order to eliminate the influence of the deviation value on the motor control, two methods currently exist: firstly, calibrating and storing a deviation value of a sensor when the motor leaves a factory or runs for the first time, calling out the deviation value when the motor runs, carrying out correlation operation to obtain a control output signal, and controlling the motor to run; and secondly, measuring the actual deviation value of the sensor before the motor runs after the system is powered on every time for use in the subsequent motor control.
However, in the first method, the problem that the sensor system and the power supply system change along with the prolonged service time of the motor controller is ignored, the phenomenon that the stored offset value is more and more inconsistent with the actual offset value is caused, and after the sensor system is used for a long time, the original sensor offset value is still used for controlling the motor, so that the operation of the motor is adversely affected. When the second method is adopted, if the motor is in the rotating process when the deviation value of the sensor is measured, the motor can generate corresponding phase voltage and phase current, so that the measured deviation value is inaccurate, and the normal operation of the motor can be influenced.
Disclosure of Invention
The invention aims to provide a motor control method, a device and a system based on sensor deviation self-correction, which can realize the correction of the sensor deviation value on the working state of a self-adaptive motor in the motor control process and reduce the adverse effect of inaccurate sensor deviation on the motor control operation. The technical scheme adopted by the invention is as follows.
In one aspect, the invention provides a motor control method based on sensor deviation self-correction, wherein a motor control system comprises a controller and a sensor; the method is performed by a controller, comprising:
determining a reference offset value for the sensor;
acquiring real-time rotating speed data of a motor;
comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, calculating a motor control signal according to the reference deviation value, and outputting the motor control signal;
and responding to the situation that the real-time rotating speed data of the motor is smaller than or equal to the rotating speed threshold value, acquiring an actual deviation measured value of a sensor, comparing the acquired actual deviation measured value with the reference deviation value, updating the reference deviation value into a current actual deviation measured value if the difference value between the actual deviation measured value and the reference deviation value is not larger than a preset difference value threshold value, calculating a motor control signal according to the updated actual deviation measured value, and outputting the motor control signal.
According to the scheme, the dynamic updating of the deviation value of the sensor can be realized by selecting the reference deviation value and designing the updating mechanism, so that the problem that the deviation value changes along with the sensor after the sensor is used for a long time and is not accurate to influence the control effect of the motor is solved. Meanwhile, the rotating speed threshold value can be set to a rotating speed value corresponding to the static state or the extremely low rotating speed state of the motor, namely, the actual sensor deviation measured value is obtained only when the motor is in a static state and starts to operate or the rotating speed is extremely low, and is compared with the reference deviation value, so that whether the reference deviation value used for subsequent motor operation control is updated or not is determined. This avoids: the actual deviation measured value of the sensor is inaccurate due to the generation of phase voltage and phase current in the rotation process of the motor, so that the updated reference deviation value is inaccurate, and the control of the motor is influenced.
Optionally, the method of the present invention further comprises: and when the obtained actual deviation measured value is compared with the reference deviation value, if the difference value between the actual deviation measured value and the reference deviation value is larger than a preset difference value threshold value, calculating a motor control signal for controlling the motor to operate in a limp mode, and outputting the motor control signal.
Optionally, the method further comprises: and if the difference value between the actual deviation measured value and the reference deviation value is larger than a preset difference value threshold value, outputting a fault alarm signal. The difference threshold may be preset based on empirical values of the fault condition.
In the foregoing solution, the reference deviation value of the sensor of the present invention can be obtained from the outside, such as read from the external memory, input from the outside, and the like. The updated reference deviation value can be rewritten to the external memory or displayed for output, and the reference deviation value required by the next round of control can be read from the external memory again, or can be directly called by the controller in the subsequent control through a software assignment mode. Two specific embodiments are as follows.
As an embodiment, the motor control system further comprises a memory; pre-storing an original reference deviation value in a memory;
determining a reference offset value of the sensor as reading the reference offset value from the memory;
the method further comprises the following steps: and writing the reference deviation value after each updating into the memory so as to cover the reference deviation value stored in the memory.
Further, the method further comprises: and recording the updating times of the reference deviation value, and when the times exceed a preset time threshold, not updating and writing the reference deviation value into the memory.
The general memory has the limitation of writing times, and in order to avoid the damage of the memory caused by frequent writing, the invention can determine the updating time threshold according to the performance of the actually used memory.
In the scheme, the controller reads the reference deviation value from the memory every time the controller executes the motor control. In addition, the method of the invention can also be realized by only reading the original reference deviation value from the memory and then updating the reference deviation value in the controller in a software variable assignment mode. Namely:
as another embodiment, the motor control system further comprises a memory; pre-storing an original reference deviation value in a memory;
the determining a reference deviation value for the sensor comprises: the method further includes reading a pre-stored original reference offset value from the memory and determining an updated reference offset value. I.e. the updated reference deviation value change is only reflected in the software program of the controller.
In a second aspect, the present invention provides a motor control device based on sensor offset self-correction, comprising:
a reference offset value determination module configured to determine a reference offset value for the sensor;
the motor real-time rotating speed acquisition module is configured for acquiring motor real-time rotating speed data;
the rotating speed comparison module is configured for comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
a control signal calculation module configured to:
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, and calculating a motor control signal according to the reference deviation value;
in response to the real-time motor speed data being less than or equal to the speed threshold, obtaining an actual deviation measurement value of a sensor, comparing the actual deviation measurement value with the reference deviation value: if the difference value between the actual deviation measured value and the reference deviation value is smaller than or equal to a preset difference value threshold value, calculating a motor control signal according to the actual deviation measured value, and updating the reference deviation value into the current actual deviation measured value;
and the signal output module is configured to output the calculated motor control signal so as to control the operation of the motor.
Optionally, when the control signal calculation module compares the actual deviation measurement value with the reference deviation value, if a difference between the actual deviation measurement value and the reference deviation value is greater than a preset difference threshold, a motor control signal for enabling the motor to operate in a limp mode is calculated, and meanwhile, a fault warning signal is generated and output through the signal output module.
In a third aspect, the present invention provides a motor control system based on sensor offset self-correction, comprising: a controller unit, a sensor unit, a motor drive unit and a sensor deviation measurement unit;
the sensor unit detects a motor running state signal and transmits the motor running state signal to the controller unit, wherein the motor running state signal comprises a current signal, a voltage signal and a rotating speed signal;
the sensor deviation measuring unit detects actual deviation measured values of all sensors in the sensor unit and transmits the actual deviation measured values to the controller unit;
the controller unit executes the motor control method of the first aspect, and outputs a motor control signal to the motor driving unit;
and the motor driving unit drives the motor to operate according to the motor control signal.
Optionally, the motor control system further includes a storage unit, where the storage unit prestores initial reference deviation values of the sensors in the sensor unit;
and when the controller unit executes the motor control method, the controller unit acquires the reference deviation value from the storage unit and writes the updated reference deviation value into the memory every time so as to cover the reference deviation value stored in the memory.
Optionally, the controller unit records the number of times of updating the reference offset value, and when the number of times exceeds a preset number threshold, the controller unit does not perform operations of updating and writing the reference offset value into the memory.
Advantageous effects
According to the invention, according to the variation characteristic of the deviation in the life cycle of the sensor, the control process of the motor can be self-adapted to the rotating speed of the motor through the updating mechanism design of the reference deviation value of the sensor, the deviation of the sensor is corrected when the motor starts to operate each time, so that the control signal can be calculated based on the more accurate deviation value of the sensor, the influence on the control effect of the motor due to the fact that the deviation value is not accurately changed after the sensor is used for a long time is avoided, the inaccurate deviation value influenced by the phase current and phase voltage generated by the rotation of the motor is avoided, and the normal control operation of the.
Drawings
FIG. 1 is a schematic flow chart illustrating a motor control method based on sensor offset self-calibration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an embodiment of a motor control system according to the present invention.
Detailed Description
The following further description is made in conjunction with the accompanying drawings and the specific embodiments.
The technical conception of the invention is as follows: aiming at the problems that the deviation value is inaccurate after the sensor is used for a long time and the accurate actual deviation measured value cannot be obtained under the motor rotation state, the method detects the actual deviation value of the sensor when the motor does not rotate or starts to rotate every time the motor needs to be operated and controlled, and takes the actual deviation value as the reference deviation to realize the calculation of the control signal in the subsequent control process.
Example 1
The embodiment introduces a motor control method based on sensor deviation self-correction, and a motor control system comprises a controller and a sensor; the method is performed by a controller, comprising:
determining a reference offset value for the sensor;
acquiring real-time rotating speed data of a motor;
comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, calculating a motor control signal according to the reference deviation value, and outputting the motor control signal;
and responding to the situation that the real-time rotating speed data of the motor is smaller than or equal to the rotating speed threshold value, acquiring an actual deviation measured value of a sensor, comparing the acquired actual deviation measured value with the reference deviation value, updating the reference deviation value into a current actual deviation measured value if the difference value between the actual deviation measured value and the reference deviation value is not larger than a preset difference value threshold value, calculating a motor control signal according to the updated actual deviation measured value, and outputting the motor control signal.
In this embodiment, the initial reference offset value may be obtained from the outside, for example, by calibrating the sensor before leaving the factory or before the first operation. When the method is applied, each time when the rotating speed of the motor is extremely low when the motor is ready to operate or just starts to operate, namely, the rotating speed is lower than the rotating speed threshold set by the embodiment, the actual deviation detection value of the sensor is obtained, whether the actual deviation detection value is accurate or not or whether other faults exist can be preliminarily judged by comparing the detection value with the original reference deviation value, so that the situations are eliminated, the actual detection value with the difference value not larger than the difference threshold is updated to be a new reference deviation value, and subsequent control is carried out.
Therefore, the dynamic updating of the deviation value of the sensor can be realized by the embodiment, so that the problem that the deviation value is not accurate after the sensor is used for a long time and the control effect of the motor is influenced is solved. Meanwhile, the invention only obtains the actual sensor deviation measured value when the motor is in a static state and starts to operate or the rotating speed is extremely low, and compares the actual sensor deviation measured value with the reference deviation value to further determine whether to update the reference deviation value for the subsequent motor operation control, thereby avoiding the following steps: the actual deviation measured value of the sensor is inaccurate due to the generation of phase voltage and phase current in the rotation process of the motor, so that the updated reference deviation value is inaccurate, and the control of the motor is influenced.
Examples 1 to 1
On the basis of embodiment 1, the motor control method based on sensor deviation self-correction of the present embodiment further includes: when the obtained actual deviation measured value is compared with the reference deviation value, if the difference value between the actual deviation measured value and the reference deviation value is larger than a preset difference value threshold value, calculating a motor control signal for controlling the motor to operate in a limp mode, and outputting the motor control signal;
meanwhile, the fact that the difference value between the actual deviation measured value and the reference deviation value is too large is considered to be due to sensor deviation measurement or the fact that a sensor breaks down, and therefore a fault alarm signal is generated and output. The difference threshold may be preset based on empirical values of the fault condition.
Examples 1 to 2
On the basis of the embodiment 1 and the embodiment 1-1, the method flow of the embodiment is combined with the method shown in fig. 1 and fig. 2, and the motor control system comprises a controller, a sensor for detecting a motor running state signal, a sensor measuring unit for measuring an actual deviation value of the sensor, and a memory for storing a reference deviation value; the motor control method comprises the following steps:
reading the reference offset value from the memory;
acquiring real-time rotating speed data of a motor;
comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value:
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, calculating a motor control signal according to the reference deviation value, and outputting the motor control signal;
in response to the real-time motor speed data being less than or equal to the speed threshold, acquiring an actual deviation measurement value of the sensor, and comparing the acquired actual deviation measurement value with the reference deviation value:
if the difference value between the actual deviation measured value and the reference deviation value is not larger than a preset difference value threshold value, calculating a motor control signal according to the updated actual deviation measured value, outputting the motor control signal, updating the reference deviation value into the current actual deviation measured value, and writing the current actual deviation measured value into a memory;
and if the difference value between the actual deviation measurement value and the reference deviation value is larger than a preset difference value threshold value, generating a motor control signal for controlling the motor to work in a limp mode and outputting the motor control signal.
The scheme can be realized, when the motor starts to operate, because the rotating speed is low or static, if the deviation value of the sensor changes at the moment, the reference deviation value stored in the memory can be covered by the actual deviation detection value, and during subsequent control, the rotating speed of the motor is increased, so that the control signal can be output according to the updated reference deviation value.
When the motor is operated next time after the operation is stopped, according to the above principle, if the sensor offset value changes again, the reference offset value in the memory is updated again.
Thereby, it is realized that: the influence on the control effect of the motor caused by the fact that the deviation value changes inaccurately after the sensor is used for a long time is avoided, the adoption of the inaccurate deviation value influenced by the phase current and the phase voltage generated by the rotation of the motor is avoided, and therefore the normal control operation of the motor is guaranteed.
Examples 1 to 3
In contrast to the embodiments 1-2, the present embodiment only obtains the initial reference offset value from the external memory, and the subsequently updated reference offset value is embodied in the assignment of the controller software variable.
Example 2
This embodiment introduces a motor control device based on sensor deviation self-correction, includes:
a reference offset value determination module configured to determine a reference offset value for the sensor;
the motor real-time rotating speed acquisition module is configured for acquiring motor real-time rotating speed data;
the rotating speed comparison module is respectively configured for comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
a control signal calculation module configured to:
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, and calculating a motor control signal according to the reference deviation value;
in response to the real-time motor speed data being less than or equal to the speed threshold, obtaining an actual deviation measurement value of a sensor, comparing the actual deviation measurement value with the reference deviation value: if the difference value between the actual deviation measured value and the reference deviation value is smaller than or equal to a preset difference value threshold value, calculating a motor control signal according to the actual deviation measured value, and updating the reference deviation value into the current actual deviation measured value;
and the signal output module is configured to output the calculated motor control signal so as to control the operation of the motor.
And when the control signal calculation module compares the actual deviation measurement value with the reference deviation value, if the difference value between the actual deviation measurement value and the reference deviation value is greater than a preset difference value threshold value, calculating a motor control signal for enabling the motor to operate in a limp mode, simultaneously generating a fault alarm signal, and outputting the fault alarm signal through the signal output module.
Example 3
The present embodiment describes a motor control system based on sensor offset self-correction based on the same inventive concept as embodiments 1 and 2, and as shown in fig. 2, the system includes: a controller unit, a sensor unit, a motor drive unit and a sensor deviation measurement unit; the units can adopt the existing hardware functional circuit respectively.
The sensor unit detects a motor running state signal and transmits the motor running state signal to the controller unit, wherein the motor running state signal comprises a current I, a voltage V and a rotating speed signal n;
the sensor deviation measuring unit detects actual deviation measured values of all sensors in the sensor unit and transmits the actual deviation measured values to the controller unit;
the controller unit executes the motor control method described in embodiment 1, 1-1 or 1-2, and outputs a motor control signal to the motor drive unit;
and the motor driving unit drives the motor to operate according to the motor control signal.
In order to adapt to embodiments 1-2 and 1-3, the embodiment further comprises a storage unit, wherein the storage unit is pre-stored with initial reference deviation values of all sensors in the sensor units;
when the controller unit executes the motor control method, acquiring a reference offset value from the storage unit, and writing the updated reference offset value into a memory each time to cover the reference offset value stored in the memory;
the controller unit records the number of times of updating the reference deviation value, and when the number of times exceeds a preset number threshold, the operations of updating and writing the reference deviation value into the memory are not carried out.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A motor control method based on sensor deviation self-correction, the motor control system includes controller and sensor; the method is executed by a controller and is characterized by comprising the following steps:
determining a reference offset value for the sensor;
acquiring real-time rotating speed data of a motor;
comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, calculating a motor control signal according to the reference deviation value, and outputting the motor control signal;
and responding to the situation that the real-time rotating speed data of the motor is smaller than or equal to the rotating speed threshold value, acquiring an actual deviation measured value of a sensor, comparing the acquired actual deviation measured value with the reference deviation value, updating the reference deviation value into a current actual deviation measured value if the difference value between the actual deviation measured value and the reference deviation value is not larger than a preset difference value threshold value, calculating a motor control signal according to the updated actual deviation measured value, and outputting the motor control signal.
2. The method of claim 1, further comprising: and when the obtained actual deviation measured value is compared with the reference deviation value, if the difference value between the actual deviation measured value and the reference deviation value is larger than a preset difference value threshold value, calculating a motor control signal for controlling the motor to operate in a limp mode, and outputting the motor control signal.
3. The method of claim 2, further comprising: and if the difference value between the actual deviation measured value and the reference deviation value is larger than a preset difference value threshold value, outputting a fault alarm signal.
4. A method according to any of claims 1-3, characterized in that the motor control system further comprises a memory; pre-storing an original reference deviation value in a memory;
determining a reference offset value of the sensor as reading the reference offset value from the memory;
the method further comprises the following steps: and writing the reference deviation value after each updating into the memory so as to cover the reference deviation value stored in the memory.
5. The method of claim 4, further comprising: and recording the updating times of the reference deviation value, and when the times exceed a preset time threshold, not updating and writing the reference deviation value into the memory.
6. A method according to any of claims 1-3, characterized in that the motor control system further comprises a memory; pre-storing an original reference deviation value in a memory;
the determining a reference deviation value for the sensor comprises: the method further includes reading a pre-stored original reference offset value from the memory and determining an updated reference offset value.
7. A motor control device based on sensor deviation self-correction is characterized by comprising:
a reference offset value determination module configured to determine a reference offset value for the sensor;
the motor real-time rotating speed acquisition module is configured for acquiring motor real-time rotating speed data;
the rotating speed comparison module is respectively configured for comparing the real-time rotating speed data of the motor with a preset rotating speed threshold value;
a control signal calculation module configured to:
responding to the situation that the real-time rotating speed data of the motor is larger than the rotating speed threshold value, and calculating a motor control signal according to the reference deviation value;
in response to the real-time motor speed data being less than or equal to the speed threshold, obtaining an actual deviation measurement value of a sensor, comparing the actual deviation measurement value with the reference deviation value: if the difference value between the actual deviation measured value and the reference deviation value is smaller than or equal to a preset difference value threshold value, calculating a motor control signal according to the actual deviation measured value, and updating the reference deviation value into the current actual deviation measured value;
and the signal output module is configured to output the calculated motor control signal so as to control the operation of the motor.
8. The sensor-deviation-self-correction-based motor control device of claim 7, wherein when the control signal calculation module compares the actual deviation measurement value with the reference deviation value, if the difference between the actual deviation measurement value and the reference deviation value is greater than a preset difference threshold value, a motor control signal for operating the motor in a limp home mode is calculated, and a fault alarm signal is generated and output through the signal output module.
9. A motor control system based on sensor deviation self-correction is characterized by comprising: a controller unit, a sensor unit, a motor drive unit and a sensor deviation measurement unit;
the sensor unit detects a motor running state signal and transmits the motor running state signal to the controller unit, wherein the motor running state signal comprises a current signal, a voltage signal and a rotating speed signal;
the sensor deviation measuring unit detects actual deviation measured values of all sensors in the sensor unit and transmits the actual deviation measured values to the controller unit;
the controller unit performs the motor control method of any one of claims 1 to 6, outputting a motor control signal to the motor driving unit;
and the motor driving unit drives the motor to operate according to the motor control signal.
10. The motor control system based on sensor bias self-calibration according to claim 9, further comprising a storage unit which prestores initial reference bias values of the respective sensors in the sensor unit;
when the controller unit executes the motor control method, acquiring a reference offset value from the storage unit, and writing the updated reference offset value into a memory each time to cover the reference offset value stored in the memory;
the controller unit records the number of times of updating the reference deviation value, and when the number of times exceeds a preset number threshold, the operations of updating and writing the reference deviation value into the memory are not carried out.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113419173A (en) * | 2021-07-22 | 2021-09-21 | 广州小鹏汽车科技有限公司 | Motor offline detection method and device |
| CN115267258A (en) * | 2022-07-28 | 2022-11-01 | 中国第一汽车股份有限公司 | Method and device for checking measured values of rotational speed of dual clutch transmission and storage medium |
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| CN113419173A (en) * | 2021-07-22 | 2021-09-21 | 广州小鹏汽车科技有限公司 | Motor offline detection method and device |
| CN115267258A (en) * | 2022-07-28 | 2022-11-01 | 中国第一汽车股份有限公司 | Method and device for checking measured values of rotational speed of dual clutch transmission and storage medium |
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