CN113141000A - Motor control method, motor control device, electric tool and storage medium - Google Patents
Motor control method, motor control device, electric tool and storage medium Download PDFInfo
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- CN113141000A CN113141000A CN202010057845.XA CN202010057845A CN113141000A CN 113141000 A CN113141000 A CN 113141000A CN 202010057845 A CN202010057845 A CN 202010057845A CN 113141000 A CN113141000 A CN 113141000A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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Abstract
The application relates to a motor control method, a motor control device, an electric tool and a storage medium, belonging to the technical field of electric tools, wherein the method comprises the following steps: acquiring the current movement displacement of a control switch; when the current movement displacement is smaller than a preset displacement threshold value, adjusting an original duty ratio corresponding to the current movement displacement to be a target duty ratio, wherein the target duty ratio is larger than the original duty ratio; outputting a first control waveform with a target duty ratio to the motor so that the motor operates according to the first control waveform; the problem of high motor stalling probability when the movement displacement of the control switch is small can be solved; because the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform, and the duty ratio of the control waveform is in positive correlation with the torque of the motor, the motor can be ensured to operate with larger torque by increasing the duty ratio when the movement displacement of the control switch is smaller than a preset displacement threshold value, and the probability of the motor stalling is reduced.
Description
Technical Field
The application relates to a motor control method and device, an electric tool and a storage medium, and belongs to the technical field of electric tools.
Background
The electric tool is a device which uses electric power as power and outputs power through a power device in the electric tool to drive a mechanical device to work. Such as: percussion drilling works by a motor driving a working head in a reciprocating and/or rotating motion.
A typical power tool includes a motor, a control assembly in communication with the motor, and a control switch in communication with the control assembly; the control switch is used for adjusting the control waveform output by the control component, and the control component is used for outputting the control waveform to the motor so as to control the running state of the motor. The user realizes the running state of the motor by adjusting the movement displacement of the control switch.
However, in the conventional electric power tool, when the movement displacement of the control switch is small, the duty ratio of the corresponding control waveform is small, and the torque of the motor is small, and at this time, the motor is likely to cause stalling.
Disclosure of Invention
The application provides a motor control method, a motor control device, an electric tool and a storage medium, which can solve the problem that the existing electric tool is easy to cause locked rotor when the movement displacement of a control switch is small. The application provides the following technical scheme:
in a first aspect, a motor control method is provided for use in an electric tool, the electric tool including a motor, a control assembly communicatively coupled to the motor, and a control switch communicatively coupled to the control assembly; the control switch is used for controlling the power supply of a battery detachably connected with the electric tool and regulating a control waveform output by the control component, and the control component is used for outputting the control waveform to the motor so as to control the running state of the motor;
the method comprises the following steps:
acquiring the current movement displacement of the control switch, wherein the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform;
when the current movement displacement is smaller than a preset displacement threshold value, adjusting an original duty ratio corresponding to the current movement displacement to be a target duty ratio, wherein the target duty ratio is larger than the original duty ratio;
outputting a first control waveform having the target duty cycle to the motor to cause the motor to operate in accordance with the first control waveform.
Optionally, the preset displacement threshold includes a first displacement threshold, and when the current movement displacement is smaller than the preset displacement threshold, adjusting the original duty cycle corresponding to the current movement displacement to the target duty cycle includes:
when the current movement displacement is smaller than or equal to the first displacement threshold, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio;
and determining the sum of the original duty ratio and a preset duty ratio as the target duty ratio.
Optionally, the preset displacement threshold further includes a second displacement threshold, where the second displacement threshold is a displacement corresponding to a maximum duty ratio, and the maximum duty ratio is a sum of a duty ratio corresponding to the first displacement threshold and the preset duty ratio;
the method further comprises the following steps:
determining the target duty cycle to be the maximum duty cycle when the current movement displacement is greater than the first displacement threshold and less than the second displacement threshold.
Optionally, the method further comprises:
when the current movement displacement is larger than the second displacement threshold, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio;
outputting a second control waveform having the original duty cycle to the motor to cause the motor to operate in accordance with the second control waveform.
Optionally, before adjusting an original duty ratio corresponding to the current movement displacement to a target duty ratio when the current movement displacement is smaller than a preset displacement threshold, the method further includes:
determining whether the motor is locked;
and when the motor is locked, triggering and executing the step of adjusting the original duty ratio corresponding to the current movement displacement to be the target duty ratio when the current movement displacement is smaller than a preset displacement threshold value.
Optionally, the power tool further comprises a hall sensor disposed on the motor, the motor comprising a rotor and a stator; the Hall sensor is in communication connection with the control assembly and is used for outputting a corresponding level signal to the control assembly based on the position of the rotor; the determining whether the motor is locked up includes:
acquiring a level signal output by the Hall sensor;
and determining whether the motor is locked-rotor based on the level signal.
Optionally, the method further comprises:
when the motor is locked, determining whether the locked-rotor time of the motor reaches a preset time;
when the motor locked-rotor duration does not reach the preset duration, triggering and executing the step of adjusting the original duty ratio corresponding to the current movement displacement to be the target duty ratio when the current movement displacement is smaller than a preset displacement threshold;
and controlling the motor to stop running when the motor stalling time reaches the preset time.
In a second aspect, a motor control device is provided for use in an electric tool, the electric tool including a motor, a control assembly communicatively coupled to the motor, and a control switch communicatively coupled to the control assembly; the control switch is used for controlling the power supply of a battery detachably connected with the electric tool and regulating a control waveform output by the control component, and the control component is used for outputting the control waveform to the motor to control the running state of the motor;
the device comprises:
the displacement acquisition module is used for acquiring the current movement displacement of the control switch, and the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform;
the duty ratio adjusting module is used for adjusting an original duty ratio corresponding to the current movement displacement to a target duty ratio when the current movement displacement is smaller than a preset displacement threshold value, wherein the target duty ratio is larger than the original duty ratio;
and the waveform output module is used for outputting a first control waveform with the target duty ratio to the motor so as to enable the motor to operate according to the first control waveform.
In a third aspect, a power tool is provided that includes a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to implement the motor control method of the first aspect.
In a fourth aspect, there is provided a computer-readable storage medium having a program stored therein, the program being loaded and executed by the processor to implement the motor control method of the first aspect.
The beneficial effect of this application lies in: obtaining the current movement displacement of the control switch; when the current movement displacement is smaller than a preset displacement threshold value, adjusting an original duty ratio corresponding to the current movement displacement to be a target duty ratio, wherein the target duty ratio is larger than the original duty ratio; outputting a first control waveform with a target duty ratio to the motor so that the motor operates according to the first control waveform; the problem of high motor stalling probability when the movement displacement of the control switch is small can be solved; because the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform, and the duty ratio of the control waveform is in positive correlation with the torque of the motor, the motor can be ensured to operate with larger torque by increasing the duty ratio when the movement displacement of the control switch is smaller than a preset displacement threshold value, and the probability of the motor stalling is reduced.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram illustrating an operating principle of a brushless dc motor according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a power tool provided in one embodiment of the present application;
FIG. 3 is a flow chart of a motor control method provided by one embodiment of the present application;
FIG. 4 is a schematic diagram of an adjusted duty cycle provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of an adjusted duty cycle provided by another embodiment of the present application;
FIG. 6 is a flow chart of determining a duty cycle as provided by one embodiment of the present application;
FIG. 7 is a block diagram of a motor control apparatus provided in one embodiment of the present application;
fig. 8 is a block diagram of a motor control apparatus according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
It should be noted that the detailed description set forth in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The apparatus embodiments and method embodiments described herein are described in the following detailed description and illustrated in the accompanying drawings by various blocks, modules, units, components, circuits, steps, processes, algorithms, etc. (collectively referred to as "elements"). These elements may be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. The terms first, second, etc. in the description and claims of the present application and in the drawings of the specification, if used to describe various elements, are used to distinguish one element from another, and are not used to describe a particular sequence.
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 is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further 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.
It should be noted that, unless otherwise specifically indicated, various technical features in the embodiments of the present application may be regarded as being capable of being combined or coupled with each other as long as the combination or coupling is not technically impossible to implement. While certain exemplary, optional, or preferred features may be described in combination with other features in various embodiments of the application for a fuller understanding of the application, such combination is not essential, and it is to be understood that the exemplary, optional, or preferred features and other features may be separable or separable from each other, provided such separation or separation is not technically impractical. Some functional descriptions of technical features in method embodiments may be understood as performing the function, method, or step, and some functional descriptions of technical features in apparatus embodiments may be understood as performing the function, method, or step using the apparatus.
First, several terms referred to in the present application will be described.
A direct current brushless motor: the motor comprises a motor body and a driver, and is a motor without a brush and a commutator, which is also called a motor without a commutator.
Referring to the operation schematic diagram of the dc brushless motor shown in fig. 1, the operation system of the dc brushless motor includes a dc power supply 11, a power switching circuit 12, a position sensor 13, and a dc brushless motor 14.
The power switch circuit 12 is configured to receive a position signal of a rotor in the dc brushless motor 14 detected by the position sensor 13, and output the dc power provided by the dc power supply to three-phase windings in the dc brushless motor 14 one by one according to a phase sequence to generate a magnetic field, where the magnetic field drives the rotor in the motor to rotate.
The commutation of the dc brushless motor 14 is performed by the position signal output from the position sensor 13, and different power transistors in the power switch circuit 12 are turned on according to the position signal at different times, so as to complete commutation by turning on two phases in the three-phase winding.
The power switching circuit 12 changes the voltage level across the dc brushless motor 14 by performing Pulse Width Modulation (PWM) on the dc power supplied from the dc power supply 11. The width of the PWM pulse affects the output power of the dc brushless motor 14. Illustratively, the larger the duty ratio of the PWM waveform, the larger the output power of the dc brushless motor 14, and the larger the torque of the dc brushless motor 14; the smaller the duty ratio of the PWM waveform, the smaller the output power of the dc brushless motor 14, and the smaller the torque of the dc brushless motor 14.
Duty Ratio (Duty Ratio): refers to the proportion of the time of energization relative to the total time within a pulse cycle.
FIG. 2 is a schematic diagram of a power tool provided in an embodiment of the present application, which may alternatively be a hammer drill; alternatively, other devices having a motor are also possible, and the present embodiment is not limited to the type of the electric power tool. As shown in fig. 2, the electric power tool includes at least: a motor 210, a control component 220 communicatively coupled to the motor, and a control switch 230 communicatively coupled to the control component.
Alternatively, the motor 210 is a dc brushless motor, and the motor 210 includes a rotor and a stator.
The control switch 230 is used to control the power supply of a battery detachably connected to the power tool and to adjust a control waveform output from the control unit 220. Alternatively, the control switch 230 is a trigger switch for the user to operate electrically, the displacement of the control switch 230 is in positive correlation with the duty ratio of the control waveform of the motor 210, and the duty ratio of the control waveform is in positive correlation with the torque of the motor 21.
Optionally, the control waveform is a PWM waveform.
Stored in the power tool is a mapping relationship between the displacement of the control switch 230 and the duty cycle, which may be linear; alternatively, the present invention may be nonlinear, which is not limited in the present embodiment.
The control component 220 is used to output control waveforms to the motor to control the operating state of the motor 210.
Optionally, the control component 220 includes a processor, a memory, and the like, and the present embodiment does not limit the specific components included in the control component 220.
Optionally, the power tool may further include a hall sensor 240, and the hall sensor 240 is provided on the motor 210. The hall sensor 240 is communicatively connected to the control assembly 220, and the hall sensor 240 is configured to output a corresponding level signal to the control assembly 220 based on the position of the rotor in the motor 210, so that the control assembly 220 can determine whether the stalling of the motor 210 occurs according to the level signal.
Of course, the power tool described above may also include other components, such as: power supply components, etc., and the embodiment is not illustrated here.
As can be seen from the above configuration of the electric power tool, when the movement displacement of the control switch 230 is small, the duty ratio of the control waveform is small, and at this time, the torque of the motor 210 is small, and the probability of the occurrence of the stalling of the motor 210 is large. Based on the above technical problem, the present application provides a motor control method, which can reduce the probability of stalling when the movement displacement of the control switch 230 is small.
Fig. 3 is a flowchart of a motor control method according to an embodiment of the present application, where the method is applied to the electric power tool shown in fig. 1, and the execution subject of each step is exemplified by the control component 220. The method at least comprises the following steps:
The moving displacement of the control switch is in positive correlation with the duty ratio of the control waveform, and the duty ratio of the control waveform is in positive correlation with the torque of the motor.
The current movement displacement of the control switch refers to the displacement which enables the control switch to move after a user presses the control switch, and the movement displacement is kept unchanged within a certain time.
And 302, when the current movement displacement is smaller than a preset displacement threshold, adjusting an original duty ratio corresponding to the current movement displacement to a target duty ratio, wherein the target duty ratio is larger than the original duty ratio.
The electric tool stores a mapping relation between the movement displacement and the duty ratio of the control waveform, and the original duty ratio corresponding to the current movement displacement can be determined based on the mapping relation. Alternatively, the mapping relationship may be represented in the form of a mapping table; alternatively, the mapping formula can be used for representing the mapping formula; the mapping may be linear; alternatively, the mapping relationship may be non-linear, and the present embodiment does not limit the expression manner of the mapping relationship.
In one example, the preset displacement threshold comprises a first displacement threshold. When the current movement displacement is smaller than or equal to a first displacement threshold value, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio; and determining the sum of the original duty ratio and the preset duty ratio as the target duty ratio.
Optionally, when the current movement displacement is different, the corresponding preset duty ratios are the same or different. In this embodiment, the value of the preset duty cycle is not limited, and only the value of the preset duty cycle is required to ensure that the probability of locked rotor under the current movement displacement is low (approximately 0).
Optionally, a first displacement threshold value is pre-stored in the electric tool, and the first displacement threshold value may be determined according to the maximum movement displacement corresponding to the control switch when the motor has a high stalling probability after the motor control is performed for multiple times, that is, according to an empirical value; the value of the preset duty ratio satisfies that the motor does not generate a stalling problem in a small moving displacement, and the first displacement threshold value and the value of the preset duty ratio are not limited in the embodiment.
In such an example, the power tool may prevent a problem that the motor is likely to cause a stall when the motor is controlled to operate using the control waveform having the original duty ratio by increasing the duty ratio when the current movement displacement of the control switch is small, thereby reducing the probability of the motor causing the stall.
Optionally, when the current movement displacement is greater than the first displacement threshold, an original duty ratio corresponding to the current movement displacement is determined based on the mapping relationship, and the motor operation is controlled by a control waveform with the original duty ratio, such as: refer to the schematic diagram of adjusting the duty cycle shown in fig. 4.
Or the preset displacement threshold value further comprises a second displacement threshold value, and when the current movement displacement is larger than the first displacement threshold value and smaller than the second displacement threshold value, the target duty ratio is determined to be the maximum duty ratio; when the current movement displacement is larger than a second displacement threshold value, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio; and outputting a second control waveform with the original duty ratio to the motor so that the motor operates according to the second control waveform.
And the maximum duty ratio is the sum of the duty ratio corresponding to the first displacement threshold value and a preset duty ratio. Referring to the schematic diagram of adjusting the duty ratio shown in fig. 5, it can be known from fig. 5 that, compared to the duty ratio adjusting process shown in fig. 4, because there is a transition process of the duty ratio between the first displacement threshold and the second displacement threshold in fig. 5, the duty ratio does not change abruptly, and the control effect of the motor can be improved.
Optionally, before this step, the electric tool may also determine whether the motor is locked; and executing the step when the motor is locked.
In one example, the power tool further includes a hall sensor disposed on a motor, the motor including a rotor and a stator; the Hall sensor is in communication connection with the control assembly and is used for outputting a corresponding level signal to the control assembly based on the position of the rotor. At this time, determining whether the motor is locked up includes: acquiring a level signal output by a Hall sensor; and determining whether the motor is locked-rotor based on the level signal.
Optionally, determining whether the motor is locked-rotor based on the level signal includes: determining that the motor is locked when the change frequency of the level signal is greater than a preset frequency; or, when the level signal is kept unchanged for a certain time, determining that the motor is locked.
Optionally, when the motor is locked, the electric tool may further determine whether the locked-rotor time of the motor reaches a preset time; and executing the step when the motor stalling time does not reach the preset time. At the moment, the motor is controlled to stop running when the motor stalling time reaches the preset time.
In order to more clearly understand the duty ratio adjusting process provided by the present application, referring to the flowchart of the duty ratio adjusting process shown in fig. 6, fig. 6 is described by taking as an example that the preset displacement threshold includes a first displacement threshold and a second displacement threshold, and the duty ratio is adjusted when the locked-up time of the motor does not reach the preset time, and the process at least includes steps 61-68:
step 61, determining whether the motor is locked; if yes, go to step 62; if not, the process is ended;
step 65, determining that the target duty ratio is the sum of the original duty ratio corresponding to the current movement displacement and the preset duty ratio, and ending the process;
and step 68, determining the original duty ratio corresponding to the current movement displacement, and ending the process.
In summary, in the motor control method provided in this embodiment, the current movement displacement of the control switch is obtained; when the current movement displacement is smaller than a preset displacement threshold value, adjusting an original duty ratio corresponding to the current movement displacement to be a target duty ratio, wherein the target duty ratio is larger than the original duty ratio; outputting a first control waveform with a target duty ratio to the motor so that the motor operates according to the first control waveform; the problem of high motor stalling probability when the movement displacement of the control switch is small can be solved; because the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform, and the duty ratio of the control waveform is in positive correlation with the torque of the motor, the motor can be ensured to operate with larger torque by increasing the duty ratio when the movement displacement of the control switch is smaller than a preset displacement threshold value, and the probability of the motor stalling is reduced.
In addition, when the current movement displacement is larger than the first displacement threshold and smaller than the second displacement threshold, the target duty ratio is determined to be the maximum duty ratio, the maximum duty ratio is the sum of the duty ratio corresponding to the first displacement threshold and the preset duty ratio, the smooth transition from the duty ratio corresponding to the stage smaller than or smaller than the first displacement threshold to the duty ratio corresponding to the stage larger than the second displacement threshold can be ensured, and the motor control effect is improved.
In addition, whether the motor is locked up or not is determined; when the motor is locked, regulating an original duty ratio corresponding to the current movement displacement to a target duty ratio when the current movement displacement is smaller than a preset displacement threshold, wherein the target duty ratio is larger than the original duty ratio; the duty ratio can be adjusted when the motor is locked, so that resources consumed by the electric tool for adjusting the duty ratio are saved.
In addition, the motor is controlled to stop when the motor stalling time is longer than or equal to the preset time, so that the problem that the motor is burnt out due to long motor stalling time can be avoided; the service life of the motor can be ensured.
Fig. 7 is a block diagram of a motor control device according to an embodiment of the present application, and this embodiment will be described by taking an example in which the device is applied to the electric power tool shown in fig. 2. The device at least comprises the following modules: a displacement acquisition module 710, a duty cycle adjustment module 720, and a waveform output module 730.
A displacement obtaining module 710, configured to obtain a current movement displacement of the control switch, where the movement displacement of the control switch and a duty ratio of the control waveform are in a positive correlation;
a duty ratio adjusting module 720, configured to adjust an original duty ratio corresponding to the current movement displacement to a target duty ratio when the current movement displacement is smaller than a preset displacement threshold, where the target duty ratio is larger than the original duty ratio;
and a waveform output module 730, configured to output a first control waveform with the target duty ratio to the motor, so that the motor operates according to the first control waveform.
For relevant details reference is made to the above-described method embodiments.
It should be noted that: in the motor control device provided in the above embodiment, when performing motor control, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the motor control device is divided into different functional modules to complete all or part of the above described functions. In addition, the motor control device and the motor control method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments and are not described herein again.
Fig. 8 is a block diagram of a motor control device according to an embodiment of the present application, which may be the power tool shown in fig. 2. The apparatus comprises at least a processor 801 and a memory 802.
Processor 801 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 801 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
Memory 802 may include one or more computer-readable storage media, which may be non-transitory. Memory 802 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 802 is used to store at least one instruction for execution by processor 801 to implement the motor control methods provided by method embodiments herein.
In some embodiments, the motor control device may further include: a peripheral interface and at least one peripheral. The processor 801, memory 802 and peripheral interface may be connected by bus or signal lines. Each peripheral may be connected to the peripheral interface via a bus, signal line, or circuit board. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, power supplies, and the like.
Of course, the motor control device may also include fewer or more components, which is not limited in this embodiment.
Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the motor control method of the above-mentioned method embodiment.
Optionally, the present application further provides a computer product including a computer-readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the motor control method of the above-mentioned method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The motor control method is characterized by being used in an electric tool, wherein the electric tool comprises a motor, a control component and a control switch, wherein the control component is in communication connection with the motor, and the control switch is in communication connection with the control component; the control switch is used for controlling the power supply of a battery detachably connected with the electric tool and regulating a control waveform output by the control component, and the control component is used for outputting the control waveform to the motor so as to control the running state of the motor;
the method comprises the following steps:
acquiring the current movement displacement of the control switch, wherein the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform;
when the current movement displacement is smaller than a preset displacement threshold value, adjusting an original duty ratio corresponding to the current movement displacement to be a target duty ratio, wherein the target duty ratio is larger than the original duty ratio;
outputting a first control waveform having the target duty cycle to the motor to cause the motor to operate in accordance with the first control waveform.
2. The method of claim 1, wherein the preset displacement threshold comprises a first displacement threshold, and wherein adjusting the original duty cycle corresponding to the current movement displacement to a target duty cycle when the current movement displacement is smaller than the preset displacement threshold comprises:
when the current movement displacement is smaller than or equal to the first displacement threshold, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio;
and determining the sum of the original duty ratio and a preset duty ratio as the target duty ratio.
3. The method of claim 2, wherein the preset displacement threshold further comprises a second displacement threshold, the second displacement threshold is a displacement corresponding to a maximum duty cycle, and the maximum duty cycle is a sum of a duty cycle corresponding to the first displacement threshold and the preset duty cycle;
the method further comprises the following steps:
determining the target duty cycle to be the maximum duty cycle when the current movement displacement is greater than the first displacement threshold and less than the second displacement threshold.
4. The method of claim 3, further comprising:
when the current movement displacement is larger than the second displacement threshold, determining an original duty ratio corresponding to the current movement displacement based on a mapping relation between the movement displacement and the duty ratio;
outputting a second control waveform having the original duty cycle to the motor to cause the motor to operate in accordance with the second control waveform.
5. The method according to any one of claims 1 to 4, wherein before adjusting the original duty cycle corresponding to the current movement displacement to the target duty cycle when the current movement displacement is smaller than a preset displacement threshold, the method further comprises:
determining whether the motor is locked;
and when the motor is locked, triggering and executing the step of adjusting the original duty ratio corresponding to the current movement displacement to be the target duty ratio when the current movement displacement is smaller than a preset displacement threshold value.
6. The method of claim 5, wherein the power tool further comprises a hall sensor disposed on the motor, the motor comprising a rotor and a stator; the Hall sensor is in communication connection with the control assembly and is used for outputting a corresponding level signal to the control assembly based on the position of the rotor; the determining whether the motor is locked up includes:
acquiring a level signal output by the Hall sensor;
and determining whether the motor is locked-rotor based on the level signal.
7. The method of claim 5, further comprising:
when the motor is locked, determining whether the locked-rotor time of the motor reaches a preset time;
when the motor locked-rotor duration does not reach the preset duration, triggering and executing the step of adjusting the original duty ratio corresponding to the current movement displacement to be the target duty ratio when the current movement displacement is smaller than a preset displacement threshold;
and controlling the motor to stop running when the motor stalling time reaches the preset time.
8. The motor control device is used in an electric tool, and the electric tool comprises a motor, a control component and a control switch, wherein the control component is in communication connection with the motor; the control switch is used for controlling the power supply of a battery detachably connected with the electric tool and regulating a control waveform output by the control component, and the control component is used for outputting the control waveform to the motor so as to control the running state of the motor;
the device comprises:
the displacement acquisition module is used for acquiring the current movement displacement of the control switch, and the movement displacement of the control switch is in positive correlation with the duty ratio of the control waveform;
the duty ratio adjusting module is used for adjusting an original duty ratio corresponding to the current movement displacement to a target duty ratio when the current movement displacement is smaller than a preset displacement threshold value, wherein the target duty ratio is larger than the original duty ratio;
and the waveform output module is used for outputting a first control waveform with the target duty ratio to the motor so as to enable the motor to operate according to the first control waveform.
9. A power tool, comprising a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to implement the motor control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a program for implementing the motor control method according to any one of claims 1 to 7 when executed by a processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010057845.XA CN113141000A (en) | 2020-01-19 | 2020-01-19 | Motor control method, motor control device, electric tool and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010057845.XA CN113141000A (en) | 2020-01-19 | 2020-01-19 | Motor control method, motor control device, electric tool and storage medium |
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Cited By (1)
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| CN114719072A (en) * | 2022-04-02 | 2022-07-08 | 浙江银轮机械股份有限公司 | Electronic valve control method and device, water circulation system and storage medium |
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| CN103853060A (en) * | 2012-11-30 | 2014-06-11 | 上海拜骋电器有限公司 | Electronic switch controller, control method, electronic switch and electronic equipment |
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