CN118137896A - Motor control method, device, equipment and medium based on rotary transformation recovery signal - Google Patents
Motor control method, device, equipment and medium based on rotary transformation recovery signal Download PDFInfo
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Abstract
The application discloses a motor control method, device, equipment and medium based on a rotary transformation recovery signal, and relates to the technical field of automobiles. Compared with the traditional scheme, the embodiment of the application is configured with the single-phase decoding operation strategy between the normal operation working condition (namely the double-phase decoding operation strategy) and the limp operation working condition (namely the limp operation strategy), namely the motor can be controlled based on the single-phase decoding operation strategy under the condition that only one phase of the rotation-change double-phase recovery signal is normal, and the situation that the motor is limited by the early entering limp operation working condition or the safety state of the vehicle to influence the driving experience of the vehicle is avoided.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a motor control method, a motor control device, motor control equipment and a motor control medium based on a rotary change recovery signal.
Background
Motor controllers for vehicles mostly use rotary transformers (often simply referred to as rotary transformers) as a way of obtaining motor rotor position signals. In addition, a control algorithm (SVC, sensor-less Vector Control) with or without a position Sensor can control the motor under the condition of no motor rotor position signal acquisition, and the SVC scheme is only used for limp working conditions under abnormal or failure states of rotation variation and is a derating operation strategy. When the motor is controlled by the current motor controller in the market, the situation facing the abnormal rotation or failure state basically selects to enter a limp-home condition or a safe state (stop closing tube FREEWHEEL or active Short Circuit ASC ACTIVE Short Circuit) so as to ensure the life and property safety of the user. However, if the vehicle often enters a limp-home condition or a safe state due to the rotation variation, the output power of the motor is reduced or the motor is prohibited from working, which may affect the driving experience of the vehicle.
Disclosure of Invention
The application mainly aims to provide a motor control method based on a rotation change recovery signal, and aims to solve the technical problem that a vehicle enters a limp working condition or a safe state too early due to rotation change so as to influence the driving experience of the vehicle.
In order to achieve the above object, the present application provides a motor control method based on a rotational recovery signal, the motor control method based on the rotational recovery signal comprising:
Determining the effective state of the rotation-transformation biphase recovery signal;
Selecting a target operation strategy from all selectable operation strategies of the motor based on the effective state, wherein each selectable operation strategy comprises a single-phase decoding operation strategy, a double-phase decoding operation strategy and a claudication operation strategy;
Controlling the motor based on the target operating strategy;
wherein the step of selecting a target operation strategy from among the selectable operation strategies of the motor based on the effective state comprises:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
Optionally, the rotational-variant biphase recovered signal includes a first phase recovered signal and a second phase recovered signal, and the step of determining the effective state of the rotational-variant biphase recovered signal includes:
determining the validity of the first phase recovered signal and the validity of the second phase recovered signal;
if the first phase recovery signal and the second phase recovery signal are both valid, the valid state of the rotation-modified two-phase recovery signal is that the two-phase recovery signal is valid;
if only one recovery signal in the first phase recovery signal and the second phase recovery signal is effective, the effective state of the rotation-transformation double-phase recovery signal is that the single-phase recovery signal is effective;
And if the first phase recovery signal and the second phase recovery signal are invalid, the valid state of the rotation-transformation double-phase recovery signal is that no valid recovery signal exists.
Optionally, the step of determining the validity of the first phase recovery signal and the validity of the second phase recovery signal comprises:
Extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the amplitude of the second phase recovery signal to obtain a second amplitude;
If the first amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the first phase recovery signal is invalid;
And if the second amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the second phase recovery signal is invalid.
Optionally, after the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude, the method includes:
If the signal amplitude of the invalid recovery signal is monitored to be continuously in the preset normal amplitude range for a preset duration under the condition that the valid state is the valid recovery signal, the invalid recovery signal is recovered to be the valid recovery signal, wherein the signal amplitude is the first amplitude or the second amplitude;
If the effective state is that the effective recovery signal is not available or the single-phase recovery signal is available, determining an amplitude difference between the first amplitude and the second amplitude if the first amplitude and the second amplitude are detected to be continuously within the preset normal amplitude range for a preset duration;
and if the amplitude difference is smaller than a preset amplitude difference, the effective state is recovered to be effective of the two-phase recovery signal.
Optionally, before the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the assignment of the second phase recovery signal to obtain a second amplitude, the method further includes:
Acquiring a first signal value of the first phase recovery signal and a second signal value of the second phase recovery signal at the same time in real time;
Determining whether an anomaly exists in the rotational-variant biphase recovered signal based on the first signal value and the second signal value;
And if the abnormality exists, executing the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude.
Optionally, the step of controlling the motor based on the target operation strategy includes:
Selecting a target motor rotor position from a set of motor rotor positions generated according to each of the selectable operating strategies based on the target operating strategy and the active phase in the rotational-variant two-phase recovery signal;
and controlling the motor based on the target motor rotor position, wherein the upper power output limit of the motor is peak power under the condition that the target operation strategy is the unidirectional decoding operation strategy.
Optionally, before the step of controlling the motor based on the target operation strategy, the method comprises:
Generating a first motor rotor position based on the bi-phase decoding operation strategy and the rotational-variant bi-phase recovery signal in each of the selectable operation strategies;
Generating a second motor rotor position based on the single-phase decoding operating strategy and a first phase recovery signal of the rotary-phase recovery signals;
Generating a third motor rotor position based on the single-phase decoding operating strategy and a second phase recovery signal of the rotary-phase recovery signal;
estimating a fourth motor rotor position based on a limp-home operation strategy of the selectable operation strategies;
Wherein the first motor rotor position, the second motor rotor position, the third motor rotor position, and the fourth motor rotor position comprise the set of motor rotor positions.
In order to achieve the above object, the present application further provides a motor control device based on a rotational recovery signal, the motor control method based on the rotational recovery signal comprising:
the determining module is used for determining the effective state of the rotation-transformation double-phase recovery signal;
The selecting module is used for selecting a target operation strategy, a double-phase decoding operation strategy and a claudication operation strategy from all selectable operation strategies of the motor based on the effective state;
the control module is used for controlling the motor based on the target operation strategy;
The selecting a target operation strategy from the selectable operation strategies of the motor based on the effective state comprises the following steps:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
In order to achieve the above object, the present application also provides a motor control apparatus based on a rotational recovery signal, the motor control apparatus based on a rotational recovery signal comprising: the motor control method based on the rotation recovery signal comprises a memory, a processor and a motor control program based on the rotation recovery signal, wherein the motor control program based on the rotation recovery signal is stored in the memory and can run on the processor, and the motor control program based on the rotation recovery signal realizes the steps of the motor control method based on the rotation recovery signal when being executed by the processor.
In order to achieve the above object, the present application further provides a medium, the medium being a computer readable storage medium, the medium storing a motor control program based on a rotation recovery signal, the motor control program based on the rotation recovery signal implementing the steps of the motor control method based on the rotation recovery signal as described above when being executed by a processor.
The embodiment of the application provides a motor control method, a motor control device, motor control equipment and a motor control medium based on a rotation recovery signal. In this embodiment, the vehicle will determine the active state of the rotational-variant two-phase recovery signal; selecting a target operation strategy from all selectable operation strategies of the motor based on the effective state, wherein each selectable operation strategy comprises a single-phase decoding operation strategy, a double-phase decoding operation strategy and a claudication operation strategy; and controlling the motor based on the target operation strategy. It can be understood that compared with the traditional scheme, the embodiment of the application configures a single-phase decoding operation strategy between a normal operation condition (namely a double-phase decoding operation strategy) and a limp operation condition (namely a limp operation strategy), namely, under the condition that only one phase of recovery signals in the rotary-change double-phase recovery signals are normal, the motor can be controlled based on the single-phase decoding operation strategy, and the situation that the motor is limited by the early entering of the limp operation condition or the safety state of the vehicle, and the driving experience of the vehicle is influenced is avoided.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of a motor control method based on a rotational recovery signal according to the present application;
FIG. 3 is a signal diagram showing the effectiveness of a two-phase recovery signal in a motor control method based on a rotational recovery signal according to the present application;
FIG. 4 is a signal diagram showing the effectiveness of a single-phase recovery signal in a motor control method based on a rotational recovery signal according to the present application;
FIG. 5 is a signal diagram of the motor control method based on the rotational recovery signal without the effective recovery signal according to the present application;
FIG. 6 is a flow chart of a second embodiment of a motor control method based on a rotational recovery signal according to the present application;
FIG. 7 is a flow chart of a third embodiment of a motor control method based on a rotational recovery signal according to the present application;
Fig. 8 is a schematic structural diagram of a motor control device based on a rotational recovery signal in the motor control method based on a rotational recovery signal according to the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1, fig. 1 is a schematic device structure of a hardware running environment according to an embodiment of the present application.
The equipment of the embodiment of the application can be a motor controller, can be whole vehicle control, and can also be electronic terminal equipment such as a PC, a smart phone, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a touch screen, and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface (e.g., a CAN network communication interface), a wireless interface (e.g., a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a motor control program based on a rotation recovery signal may be included in a memory 1005 as one type of computer storage medium.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a motor control program based on the spin-recovery signal stored in the memory 1005 and perform the following operations:
Determining the effective state of the rotation-transformation biphase recovery signal;
Selecting a target operation strategy from all selectable operation strategies of the motor based on the effective state, wherein each selectable operation strategy comprises a single-phase decoding operation strategy, a double-phase decoding operation strategy and a claudication operation strategy;
Controlling the motor based on the target operating strategy;
The selecting a target operation strategy from the selectable operation strategies of the motor based on the effective state comprises the following steps:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
the rotational-phase recovery signal comprises a first phase recovery signal and a second phase recovery signal, and the step of determining the effective state of the rotational-phase recovery signal comprises:
determining the validity of the first phase recovered signal and the validity of the second phase recovered signal;
if the first phase recovery signal and the second phase recovery signal are both valid, the valid state of the rotation-modified two-phase recovery signal is that the two-phase recovery signal is valid;
if only one recovery signal in the first phase recovery signal and the second phase recovery signal is effective, the effective state of the rotation-transformation double-phase recovery signal is that the single-phase recovery signal is effective;
And if the first phase recovery signal and the second phase recovery signal are invalid, the valid state of the rotation-transformation double-phase recovery signal is that no valid recovery signal exists.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
the step of determining the validity of the first phase recovery signal and the validity of the second phase recovery signal comprises:
Extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the amplitude of the second phase recovery signal to obtain a second amplitude;
If the first amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the first phase recovery signal is invalid;
And if the second amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the second phase recovery signal is invalid.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
after the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude, the method comprises:
If the signal amplitude of the invalid recovery signal is monitored to be continuously in the preset normal amplitude range for a preset duration under the condition that the valid state is the valid recovery signal, the invalid recovery signal is recovered to be the valid recovery signal, wherein the signal amplitude is the first amplitude or the second amplitude;
If the effective state is that the effective recovery signal is not available or the single-phase recovery signal is available, determining an amplitude difference between the first amplitude and the second amplitude if the first amplitude and the second amplitude are detected to be continuously within the preset normal amplitude range for a preset duration;
and if the amplitude difference is smaller than a preset amplitude difference, the effective state is recovered to be effective of the two-phase recovery signal.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
before the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the assignment of the second phase recovery signal to obtain a second amplitude, the method further includes:
Acquiring a first signal value of the first phase recovery signal and a second signal value of the second phase recovery signal at the same time in real time;
Determining whether an anomaly exists in the rotational-variant biphase recovered signal based on the first signal value and the second signal value;
And if the abnormality exists, executing the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
the step of controlling the motor based on the target operation strategy includes:
Selecting a target motor rotor position from a set of motor rotor positions generated according to each of the selectable operating strategies based on the target operating strategy and the active phase in the rotational-variant two-phase recovery signal;
and controlling the motor based on the target motor rotor position, wherein the upper power output limit of the motor is peak power under the condition that the target operation strategy is the unidirectional decoding operation strategy.
Further, the processor 1001 may call a motor control program based on the rotation recovery signal stored in the memory 1005, and further perform the following operations:
before the step of controlling the motor based on the target operating strategy, the method includes:
Generating a first motor rotor position based on the bi-phase decoding operation strategy and the rotational-variant bi-phase recovery signal in each of the selectable operation strategies;
Generating a second motor rotor position based on the single-phase decoding operating strategy and a first phase recovery signal of the rotary-phase recovery signals;
Generating a third motor rotor position based on the single-phase decoding operating strategy and a second phase recovery signal of the rotary-phase recovery signal;
estimating a fourth motor rotor position based on a limp-home operation strategy of the selectable operation strategies;
Wherein the first motor rotor position, the second motor rotor position, the third motor rotor position, and the fourth motor rotor position comprise the set of motor rotor positions.
It should be noted that, at present, the control of the vehicle by the vehicle motor controller is relatively conservative, in the practical application process, if any phase rotation change signal is abnormal, the motor controller is judged to be in rotation change fault, then the motor controller enters a safe state or lameness according to SVC, if the rotation change signal is only partially invalid, the angle information can still be obtained according to the residual normal rotation change signal, namely, the motor rotor position can be continuously obtained according to single-phase decoding based on the normal rotation change signal to control. Therefore, the motor control based on the rotary transformation recovery signal is provided, a single-phase decoding operation strategy is added, and the situation that the vehicle enters a safe state too early or claudication according to SVC (static var compensator) is avoided, and the driving experience of the vehicle is affected.
Referring to fig. 2, a first embodiment of a motor control method based on a rotational recovery signal according to the present application includes:
Step S10, determining the effective state of the rotation-transformation double-phase recovery signal;
It should be noted that, in this embodiment, the implementation main body of the motor control method based on the rotation recovery signal may be an electric drive assembly in a vehicle, where the electric drive assembly may include a motor control part, a CAN (Controller Area Network ) communication interface, a motor part, a rotation transformer part, a low-voltage power input interface, a high-voltage power input interface, etc., and in practical application, the electric drive assembly includes more or less components than those described above, which will not be described herein. The above-mentioned rotation-transformation recovery signal generally includes a SIN phase recovery signal and a COS phase recovery signal, that is, the above-mentioned rotation-transformation two-phase recovery signal, and the above-mentioned valid state refers to whether there is an abnormality in each phase recovery signal in the rotation-transformation two-phase recovery signal, for example, there may be a case that there is an abnormality in one phase or two phases, and the corresponding valid state may be classified into a case that the two-phase recovery signal is valid, the one-way recovery signal is valid, and a case that no recovery signal is valid. And whether the recovered signal is abnormal or not can be judged based on the amplitude of the recovered signal, for example, for any one phase of the recovered signal, a section of signal data of the phase of the recovered signal is intercepted, the signal amplitude is extracted from the section of signal data, and compared with the normal signal amplitude range, the extracted signal amplitude is too high or too low, i.e. the extracted signal amplitude is out of the normal signal amplitude range, the phase of the recovered signal is judged to be abnormal, and in addition, if the fluctuation of the extracted signal amplitude is larger than a preset fluctuation threshold value, the phase of the recovered signal can be considered to be abnormal. The determination method of the recovery signal abnormality is not particularly limited herein.
Step S20, selecting a target operation strategy from all optional operation strategies of the motor based on the effective state, wherein each optional operation strategy comprises a single-phase decoding operation strategy, a double-phase decoding operation strategy and a limp operation strategy;
In this embodiment, different target operation strategies are selected from the selectable operation strategies of the motor according to different effective states of the rotational-transformation dual-phase recovery signal, where each selectable operation strategy includes at least two of a single-phase decoding operation strategy, a dual-phase decoding operation strategy, and a limp-home operation strategy. For example, if it is determined that the valid state of the rotation-transformation dual-phase recovery signal is valid as the single-phase recovery signal, the selected target operation strategy is a single-phase decoding operation strategy. Single phase decoding in a single phase decoding operating strategy refers to decoding to determine the position of the vehicle motor rotor based on an active single phase recovery signal. Accordingly, the bi-phase decoding operation strategy is to decode based on the valid bi-phase recovery signal to determine the position of the vehicle motor rotor. It should be noted that in this embodiment, in the case where only one recovery signal is valid, a single-phase decoding operation strategy is correspondingly configured, that is, in the case where a part of the rotation recovery signal is abnormal (one-phase recovery signal is abnormal and one-phase recovery signal is normal), the vehicle does not directly enter the limp-home operation strategy, but enters the single-phase decoding operation strategy, so that the vehicle is prevented from entering the limp-home operation strategy too early, and the overall driving experience of the vehicle is prevented from being affected.
And step S30, controlling the motor based on the target operation strategy.
For example, if the target operation strategy is the operation strategy corresponding to the condition that the two-phase recovery signal is valid, the vehicle can run normally. And if the target operation strategy is the operation strategy corresponding to the condition that no recovery signal is effective, entering a limp or safe mode. If the target operation strategy is a single-phase decoding operation strategy corresponding to the condition that the single-phase recovery signal is effective, single-phase decoding is performed according to the effective single-phase recovery signal, namely, the single-phase decoding of the single-phase recovery signal is completed according to an inverse trigonometric function, a real-time signal value of the single-phase recovery signal, a signal amplitude of the single-phase recovery signal and a steering direction of a motor rotor, a motor rotor position is determined, and control is performed based on the motor rotor position, wherein the single-phase decoding process of the single-phase recovery signal can refer to the existing scheme and is not repeated herein.
Wherein the step of selecting a target operation strategy from among the selectable operation strategies of the motor based on the effective state comprises:
Step S210, determining that the target operation strategy is a double-phase decoding operation strategy under the condition that the effective state is that the double-phase recovery signal is effective; and/or
Step S220, determining that the target operation strategy is a single-phase decoding operation strategy under the condition that the effective state is that the single-phase recovery signal is effective; and/or
Step S230, determining that the target operation strategy is a limp-home operation strategy when the effective state is that there is no effective recovery signal.
Illustratively, when the valid state of the rotation-modified bi-phase recovery signal is that the bi-phase recovery signal is valid (i.e., both SIN phase and COS phase recovery signals are valid), the corresponding target operation strategy is a bi-phase decoding operation strategy. When the active state of the rotation-modified two-phase recovery signal is the single-phase recovery signal active (e.g., only the SIN phase recovery signal is active, or only the COS phase recovery signal is active), the corresponding target operating strategy is a single-phase decoding operating strategy. When the effective state of the rotary-change two-phase recovery signal is that no effective recovery signal exists (i.e. both SIN phase and COS phase recovery signals are invalid), the corresponding target operation strategy is a limp-home operation strategy.
In this embodiment, the vehicle will determine the active state of the rotational-variant two-phase recovery signal; selecting a target operation strategy from all selectable operation strategies of the motor based on the effective state, wherein each selectable operation strategy comprises at least two of a single-phase decoding operation strategy, a double-phase decoding operation strategy and a claudication operation strategy; and controlling the motor based on the target operation strategy. It can be understood that compared with the traditional scheme, the embodiment of the application configures a single-phase decoding operation strategy between a normal operation condition (namely a double-phase decoding operation strategy) and a limp operation condition (namely a limp operation strategy), namely, under the condition that only one phase of recovery signals in the rotary-change double-phase recovery signals are normal, the motor can be controlled based on the single-phase decoding operation strategy, and the situation that the motor is limited by the early entering of the limp operation condition or the safety state of the vehicle, and the driving experience of the vehicle is influenced is avoided.
In a possible embodiment, the rotational-variant biphasic recovery signal includes a first phase recovery signal and a second phase recovery signal, and the step of determining the effective state of the rotational-variant biphasic recovery signal includes:
step S110 of determining the validity of the first phase recovered signal and the validity of the second phase recovered signal;
step S120, if the first phase recovery signal and the second phase recovery signal are both valid, the valid state of the rotation-transformed bi-phase recovery signal is that the bi-phase recovery signal is valid;
step S130, if only one recovery signal in the first phase recovery signal and the second phase recovery signal is valid, the valid state of the rotation-transformation biphase recovery signal is that the single-phase recovery signal is valid;
In step S140, if the first phase recovery signal and the second phase recovery signal are both invalid, the valid state of the rotation-modified two-phase recovery signal is no valid recovery signal.
The rotational-phase recovery signal includes a first phase recovery signal and a second phase recovery signal, the second phase recovery signal being a COS phase recovery signal if the first phase recovery signal is a SIN phase recovery signal, and the second phase recovery signal being a SIN phase recovery signal if the first phase recovery signal is a COS phase recovery signal. The validity of the first phase recovery signal and the validity of the second phase recovery signal are determined, and for any one phase recovery signal, whether the phase recovery signal is valid may be determined according to the amplitude of the recovery signal, e.g., if the amplitude of the recovery signal is too large or too small (i.e., not within a preset normal amplitude range), the phase recovery signal may be determined to be invalid.
If both the first phase recovery signal and the second phase recovery signal are valid, it can be determined that the valid state of the rotation-modified two-phase recovery signal is that the two-phase recovery signal is valid. For example, referring to FIG. 3, which is a signal diagram illustrating the effectiveness of the dual-phase recovery signal of the present application, the COS phase and SIN phase are substantially identical in magnitude and are all within a normal magnitude range. If only one recovery signal of the first phase recovery signal and the second phase recovery signal is valid, the valid state of the rotation-transformation biphase recovery signal is that the monophasic recovery signal is valid. For example, referring to fig. 4, the signal diagram of the single-phase recovery signal is shown in the present application, and the amplitude of the SIN phase is outside the normal amplitude range, so that the effective state of the rotation-transformation dual-phase recovery signal is the single-phase recovery signal. If the first phase recovery signal and the second phase recovery signal are both invalid, the valid state of the rotation-modified two-phase recovery signal is that no valid recovery signal exists. For example, referring to fig. 5, which is a signal diagram of the present application without an effective recovery signal, the amplitudes of the COS phase and the SIN phase are outside the normal amplitude range, so that the effective state of the spin-on two-phase recovery signal is the effective recovery signal.
In a possible embodiment, the step of determining the validity of the first phase recovery signal and the validity of the second phase recovery signal comprises:
step S111, extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the amplitude of the second phase recovery signal to obtain a second amplitude;
step S112, if the first amplitude is detected to be changed from the preset normal amplitude range to the outside of the preset normal amplitude range, judging that the first phase recovery signal is invalid;
Step S113, if it is detected that the second amplitude is changed from the preset normal amplitude range to the outside of the preset normal amplitude range, determining that the second phase recovery signal is invalid.
For example, for the amplitude of any one phase recovery signal, the maximum value and the minimum value in one period of the phase recovery signal may be extracted to determine the amplitude, for example, the absolute value of the maximum value or the absolute value of the minimum value is taken as the amplitude. In addition, the amplitude value can be obtained by extracting sampling values for a period of time and carrying out effective value calculation, and the amplitude value extraction can be realized by designing an observer or a filter and the like. The amplitude of the first phase recovery signal is extracted to obtain a first amplitude and the amplitude of the second phase recovery signal is extracted to obtain a second amplitude. It will be appreciated that, to ensure the safety of the vehicle, the determination condition for the change from valid to invalid of the recovered signal may be more sensitive, that is, when the change of the first amplitude of the first phase recovered signal from the preset normal amplitude range to the outside of the preset normal amplitude range is detected, the first phase recovered signal may be determined to be invalid, and accordingly, the valid state of the rotated two-phase recovered signal may be changed from the valid two-phase recovered signal to the valid single-phase recovered signal or from the valid single-phase recovered signal to the invalid recovered signal. Similarly, if the second amplitude is detected to be changed from the preset normal amplitude range to the outside of the preset normal amplitude range, it may be determined that the second phase recovery signal is invalid, and accordingly, the valid state of the rotation-transformed two-phase recovery signal may be changed from the two-phase recovery signal to the single-phase recovery signal, or from the single-phase recovery signal to the no-valid recovery signal.
In a possible embodiment, before the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude value and extracting the assignment of the second phase recovery signal to obtain a second amplitude value, the method further includes:
step S101, acquiring a first signal value of the first phase recovery signal and a second signal value of the second phase recovery signal at the same time in real time;
step S102, determining whether the rotation-transformation biphase recovery signal is abnormal or not based on the first signal value and the second signal value;
and step S103, if the abnormality exists, executing the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude.
In practical application, since the recovery signal in one period may be acquired and then extracted, the real-time problem may be weak when the recovery signal is abnormal or not is determined by the signal amplitude. Therefore, in this embodiment, after detecting that the rotation-varying two-phase recovery signal is abnormal, it is determined which phase recovery signal is abnormal according to the amplitude.
Illustratively, a first signal value of a first phase recovery signal and a second signal value of a second phase recovery signal at the same time are obtained in real time. And determining whether the rotation-variation two-phase recovery signal is abnormal according to the instantaneous first signal value and the instantaneous second signal value. It will be appreciated that under normal conditions, there is generally a constant phase difference between the first phase recovery signal corresponding to the first signal value and the second phase recovery signal corresponding to the second signal value, so that there is a rule of existence between the first signal value and the second signal value at any same time, for example, the sum of squares of the first signal value and the second signal value is generally constant, so that the sum of squares of the first signal value and the second signal value can be calculated, the sum of squares is compared with a preset normal sum of squares range, and if the sum of squares of the first signal value and the second signal value is within the normal sum of squares range, the rotation-transformed two-phase recovery signal is considered to have no abnormality, so that the rotation-transformed two-phase recovery signal is effectively processed. Otherwise, if the sum of squares of the first signal value and the second signal value is out of the normal sum of squares range, at least one phase recovery signal in the rotation-transformation two-phase recovery signal is considered to be invalid, so that the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude is performed, so that the specific abnormal phase recovery signal can be conveniently judged according to the amplitude.
It can be understood that in this embodiment, whether an abnormality exists in the rotation-transformation biphase signal is determined by the instantaneous signal value, and if the abnormality exists, the specific abnormal phase recovery signal is further determined by extracting the amplitude value, so that the real-time performance of the recovery signal abnormality determination is improved.
Referring to fig. 6, a second embodiment of the present application is proposed based on the first embodiment of the present application, and in this embodiment, the same or similar parts as those of the above embodiment can be referred to the above, and will not be repeated here. After the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude, the method comprises:
step S114, if it is detected that the signal amplitude of the invalid recovery signal is continuously within the preset normal amplitude range for a preset duration under the condition that the valid state is the valid recovery signal, the invalid recovery signal is recovered to be a valid recovery signal, where the signal amplitude is the first amplitude or the second amplitude;
Step S115, if the effective state is that the no effective recovery signal or the single-phase recovery signal is effective, determining an amplitude difference between the first amplitude and the second amplitude if it is detected that the first amplitude and the second amplitude are both continuously within the preset normal amplitude range for a preset duration;
and step S116, if the amplitude difference is smaller than a preset amplitude difference, the effective state is recovered to be effective for the two-phase recovery signal.
For the scene where the recovery signal is recovered from invalid to valid, the recovery signal is illustratively classified into two cases in this embodiment, including a scene where the recovery signal is valid from no valid recovery signal to a single-phase recovery signal, and a scene where the recovery signal is valid from no valid recovery signal or a single-phase recovery signal to a two-phase recovery signal. For example, if the current valid state is that there is no valid recovery signal, if it is detected that the signal amplitude of a phase of invalid recovery signal is recovered to be within the preset normal amplitude range, and the signal amplitude is continuously within the preset normal amplitude range for a preset duration (for example, 50 ms, which may be specifically set by a technician), the invalid recovery signal may be regarded as the valid recovery signal, where the signal amplitude is a first amplitude or a second amplitude, that is, the invalid recovery signal is a first phase recovery signal or a second phase recovery signal. If the current effective state is that no effective recovery signal or single-phase recovery signal exists, if the first amplitude and the second amplitude are detected to be continuously in the preset normal amplitude range for a preset duration, the amplitude difference between the first amplitude and the second amplitude can be further determined, and the amplitude difference can be measured through the difference value between the first amplitude and the second amplitude or the proportion difference between the first amplitude and the second amplitude. For example, if the difference of the preset amplitude is a proportional difference of% 5, and the first amplitude/the second amplitude-1 is smaller than the difference of the preset amplitude, or 0.95< first amplitude/the second amplitude <1.05, the current valid state is regarded as the valid state of the two-phase recovery signal.
It can be understood that, for the case that the recovery signal is recovered from invalid to valid, the embodiment not only judges based on the amplitude of the signal, but also uses the stability of the amplitude and the difference of different phase signals as the judgment basis for judging whether to recover, thereby ensuring that the valid state of the rotation-transformation biphase recovery signal can be accurately judged.
Referring to fig. 7, a third embodiment of the present application is proposed based on the first and second embodiments of the present application, and in this embodiment, the same or similar parts as those of the above-mentioned embodiments may be referred to the above, and will not be described here again. The step of controlling the motor based on the target operation strategy includes:
Step S310, selecting a target motor rotor position from a motor rotor position set generated according to each selectable operation strategy based on the target operation strategy and the effective phase in the rotation-transformation double-phase recovery signal;
and step S320, controlling the motor based on the target motor rotor position, wherein the upper power output limit of the motor is the peak power when the target operation strategy is the unidirectional decoding operation strategy.
Illustratively, the target motor rotor position is selected from a set of motor rotor positions based on the target operating strategy and the active phases in the rotary phase recovery signal, the set of motor rotor positions being composed of results generated according to each of the selectable operating strategies. And after the target motor rotor position is selected, the motor is controlled according to the target motor rotor position. It should be noted that, in the case where the target operation strategy is the unidirectional decoding operation strategy, the upper power output limit of the motor is the peak power, that is, in the case of the unidirectional decoding operation strategy of this embodiment, the power performance of the vehicle is not limited, so as to ensure the driving experience of the vehicle.
In a possible embodiment, before the step of controlling the motor based on the target operation strategy, the method includes:
Step S301, generating a first motor rotor position based on the two-phase decoding operation strategy and the rotation-transformation two-phase recovery signal in each selectable operation strategy;
Step S302, generating a second motor rotor position based on the single-phase decoding operation strategy and a first phase recovery signal in the rotary-phase-change double-phase recovery signal;
step S303, generating a third motor rotor position based on the single-phase decoding operation strategy and a second phase recovery signal in the rotary-phase-change double-phase recovery signal;
Step S304, estimating and obtaining a fourth motor rotor position based on a limp operation strategy in the optional operation strategies; wherein the first motor rotor position, the second motor rotor position, the third motor rotor position, and the fourth motor rotor position comprise the set of motor rotor positions.
It should be noted that, in this embodiment, in order to ensure that the power of the entire vehicle is not suddenly interrupted due to the switching of the operation strategies, the result of each of the optional operation strategies is calculated before the motor is controlled based on the target operation strategy.
Illustratively, the method includes decoding the rotary dual-phase recovery signal based on a dual-phase decoding operation strategy of the selectable operation strategies, e.g., generating angle information of the motor rotor based on an arctangent function, thereby determining a position of the motor rotor, i.e., a first motor rotor position; decoding a first phase recovery signal in the rotary double-phase recovery signal based on a single-phase decoding operation strategy, for example, if the first phase is an SIN phase, generating angle information of a motor rotor through an arcsine function, the first phase recovery signal and the steering of the rotor, and finishing the position determination of the motor rotor to obtain a second motor rotor position; decoding a Second phase recovery signal in the rotary transformation double-phase recovery signal based on a single-phase decoding operation strategy, for example, if the Second phase is COS phase, generating angle information of a motor rotor through an inverse cosine function, the Second phase recovery signal and the steering of the rotor to obtain a third motor rotor position, wherein the single-phase decoding can be realized by constructing a Second-order generalized integrator SOGI (Second-Order General Integrator) based on the single-phase rotary transformation signal; the fourth motor rotor position is estimated based on a limp-home operating strategy of the alternative operating strategies, for example, by a sensorless control algorithm SVC. In addition, it should be noted that if the target operation strategy is a bi-phase decoding operation strategy, the selected target motor rotor position is the first motor rotor position. And if the target operation strategy is a single-phase decoding operation strategy and the effective phase in the rotation-transformation double-phase recovery signal is a first phase recovery signal, the target motor rotor position is a second motor rotor position. And if the target operation strategy is a single-phase decoding operation strategy and the effective phase in the rotation-transformation double-phase recovery signal is a second-phase recovery signal, the target motor rotor position is a third motor rotor position. And if the target operation strategy is a limp operation strategy, the target motor rotor position is a fourth motor rotor position.
It can be understood that, because the result of each optional operation strategy is synchronously calculated in this embodiment, seamless switching can be realized when the operation strategy is switched, so that the situation of suddenly interrupting the power of the vehicle is avoided, and good driving experience of the whole vehicle is ensured.
In addition, referring to fig. 8, an embodiment of the present application further proposes a motor control device 100 based on a rotation recovery signal, where the motor control device 100 based on the rotation recovery signal includes:
a determining module 10, configured to determine an effective state of the rotation-variable two-phase recovery signal;
The selecting module 20 is configured to select a target operation strategy from among the selectable operation strategies of the motor based on the effective state, where each selectable operation strategy includes at least two of a single-phase decoding operation strategy, a dual-phase decoding operation strategy, and a limp-home operation strategy;
A control module 30 for controlling the motor based on the target operating strategy;
The selecting a target operation strategy from the selectable operation strategies of the motor based on the effective state comprises the following steps:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
Optionally, the rotational-variant biphase recovery signal includes a first phase recovery signal and a second phase recovery signal, and the determining module 10 is further configured to:
determining the validity of the first phase recovered signal and the validity of the second phase recovered signal;
if the first phase recovery signal and the second phase recovery signal are both valid, the valid state of the rotation-modified two-phase recovery signal is that the two-phase recovery signal is valid;
if only one recovery signal in the first phase recovery signal and the second phase recovery signal is effective, the effective state of the rotation-transformation double-phase recovery signal is that the single-phase recovery signal is effective;
And if the first phase recovery signal and the second phase recovery signal are invalid, the valid state of the rotation-transformation double-phase recovery signal is that no valid recovery signal exists.
Optionally, the determining module 10 is further configured to:
Extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the amplitude of the second phase recovery signal to obtain a second amplitude;
If the first amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the first phase recovery signal is invalid;
And if the second amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the second phase recovery signal is invalid.
Optionally, the determining module 10 is further configured to:
If the signal amplitude of the invalid recovery signal is monitored to be continuously in the preset normal amplitude range for a preset duration under the condition that the valid state is the valid recovery signal, the invalid recovery signal is recovered to be the valid recovery signal, wherein the signal amplitude is the first amplitude or the second amplitude;
If the effective state is that the effective recovery signal is not available or the single-phase recovery signal is available, determining an amplitude difference between the first amplitude and the second amplitude if the first amplitude and the second amplitude are detected to be continuously within the preset normal amplitude range for a preset duration;
and if the amplitude difference is smaller than a preset amplitude difference, the effective state is recovered to be effective of the two-phase recovery signal.
Optionally, the determining module 10 is further configured to:
Acquiring a first signal value of the first phase recovery signal and a second signal value of the second phase recovery signal at the same time in real time;
Determining whether an anomaly exists in the rotational-variant biphase recovered signal based on the first signal value and the second signal value;
And if the abnormality exists, executing the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude.
Optionally, the control module 30 is further configured to:
Selecting a target motor rotor position from a set of motor rotor positions generated according to each of the selectable operating strategies based on the target operating strategy and the active phase in the rotational-variant two-phase recovery signal;
and controlling the motor based on the target motor rotor position, wherein the upper power output limit of the motor is peak power under the condition that the target operation strategy is the unidirectional decoding operation strategy.
Optionally, the control module 30 is further configured to:
Generating a first motor rotor position based on the bi-phase decoding operation strategy and the rotational-variant bi-phase recovery signal in each of the selectable operation strategies;
Generating a second motor rotor position based on the single-phase decoding operating strategy and a first phase recovery signal of the rotary-phase recovery signals;
Generating a third motor rotor position based on the single-phase decoding operating strategy and a second phase recovery signal of the rotary-phase recovery signal;
estimating a fourth motor rotor position based on a limp-home operation strategy of the selectable operation strategies;
Wherein the first motor rotor position, the second motor rotor position, the third motor rotor position, and the fourth motor rotor position comprise the set of motor rotor positions.
The motor control device based on the rotational variation recovery signal provided by the application adopts the motor control method based on the rotational variation recovery signal in the embodiment, and aims to solve the technical problem that the driving experience of a vehicle is influenced by the fact that the vehicle enters a limp working condition or a safe state too early due to the rotational variation. Compared with the prior art, the motor control device based on the rotation-varying recovery signal provided by the embodiment of the application has the same beneficial effects as the motor control method based on the rotation-varying recovery signal provided by the first embodiment, and other technical features in the motor control device based on the rotation-varying recovery signal are the same as the features disclosed by the method of the first embodiment, and are not repeated herein.
In addition, the embodiment of the application also provides a motor control device based on the rotation recovery signal, which comprises: the motor control method based on the rotation recovery signal comprises a memory, a processor and a motor control program based on the rotation recovery signal, wherein the motor control program based on the rotation recovery signal is stored in the memory and can run on the processor, and the motor control program based on the rotation recovery signal realizes the steps of the motor control method based on the rotation recovery signal when being executed by the processor.
The specific implementation manner of the motor control device based on the rotational-transformation recovery signal is basically the same as that of each embodiment of the motor control method based on the rotational-transformation recovery signal, and is not repeated here.
In addition, the embodiment of the application also provides a medium, which is a computer readable storage medium, and the medium stores a motor control program based on the rotation recovery signal, and the motor control program based on the rotation recovery signal realizes the steps of the motor control method based on the rotation recovery signal when being executed by a processor.
The specific implementation manner of the medium of the application is basically the same as the above embodiments of the motor control method based on the rotation recovery signal, and will not be repeated here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device (which may be a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The motor control method based on the rotational recovery signal is characterized by comprising the following steps of:
Determining the effective state of the rotation-transformation biphase recovery signal;
Selecting a target operation strategy from all selectable operation strategies of the motor based on the effective state, wherein each selectable operation strategy comprises a single-phase decoding operation strategy, a double-phase decoding operation strategy and a claudication operation strategy;
Controlling the motor based on the target operating strategy;
The selecting a target operation strategy from the selectable operation strategies of the motor based on the effective state comprises the following steps:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
2. The method of controlling a motor based on a rotational recovery signal of claim 1, wherein the rotational recovery signal comprises a first phase recovery signal and a second phase recovery signal, the step of determining an effective state of the rotational recovery signal comprising:
determining the validity of the first phase recovered signal and the validity of the second phase recovered signal;
if the first phase recovery signal and the second phase recovery signal are both valid, the valid state of the rotation-modified two-phase recovery signal is that the two-phase recovery signal is valid;
if only one recovery signal in the first phase recovery signal and the second phase recovery signal is effective, the effective state of the rotation-transformation double-phase recovery signal is that the single-phase recovery signal is effective;
And if the first phase recovery signal and the second phase recovery signal are invalid, the valid state of the rotation-transformation double-phase recovery signal is that no valid recovery signal exists.
3. The method of controlling a motor based on a rotational recovery signal of claim 2, wherein the step of determining the validity of the first phase recovery signal and the validity of the second phase recovery signal comprises:
Extracting the amplitude of the first phase recovery signal to obtain a first amplitude, and extracting the amplitude of the second phase recovery signal to obtain a second amplitude;
If the first amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the first phase recovery signal is invalid;
And if the second amplitude is detected to be changed from the preset normal amplitude range to be out of the preset normal amplitude range, judging that the second phase recovery signal is invalid.
4. A motor control method based on a rotational recovery signal as defined in claim 3, wherein after said step of extracting the magnitude of said first phase recovery signal to obtain a first magnitude and extracting the assignment of said second phase recovery signal to obtain a second magnitude, said method comprises:
If the signal amplitude of the invalid recovery signal is monitored to be continuously in the preset normal amplitude range for a preset duration under the condition that the valid state is the valid recovery signal, the invalid recovery signal is recovered to be the valid recovery signal, wherein the signal amplitude is the first amplitude or the second amplitude;
If the effective state is that the effective recovery signal is not available or the single-phase recovery signal is available, determining an amplitude difference between the first amplitude and the second amplitude if the first amplitude and the second amplitude are detected to be continuously within the preset normal amplitude range for a preset duration;
and if the amplitude difference is smaller than a preset amplitude difference, the effective state is recovered to be effective of the two-phase recovery signal.
5. A method of controlling a motor based on a rotational recovery signal as defined in claim 3, wherein prior to said step of extracting the magnitude of said first phase recovery signal to obtain a first magnitude and extracting the assignment of said second phase recovery signal to obtain a second magnitude, said method further comprises:
Acquiring a first signal value of the first phase recovery signal and a second signal value of the second phase recovery signal at the same time in real time;
Determining whether an anomaly exists in the rotational-variant biphase recovered signal based on the first signal value and the second signal value;
And if the abnormality exists, executing the step of extracting the amplitude of the first phase recovery signal to obtain a first amplitude and extracting the assignment of the second phase recovery signal to obtain a second amplitude.
6. The motor control method based on a rotational recovery signal according to claim 1, wherein the step of controlling the motor based on the target operation strategy includes:
Selecting a target motor rotor position from a set of motor rotor positions generated according to each of the selectable operating strategies based on the target operating strategy and the active phase in the rotational-variant two-phase recovery signal;
and controlling the motor based on the target motor rotor position, wherein the upper power output limit of the motor is peak power under the condition that the target operation strategy is the unidirectional decoding operation strategy.
7. The motor control method based on a rotational recovery signal of claim 6, wherein prior to the step of controlling the motor based on the target operating strategy, the method comprises:
Generating a first motor rotor position based on the bi-phase decoding operation strategy and the rotational-variant bi-phase recovery signal in each of the selectable operation strategies;
Generating a second motor rotor position based on the single-phase decoding operating strategy and a first phase recovery signal of the rotary-phase recovery signals;
Generating a third motor rotor position based on the single-phase decoding operating strategy and a second phase recovery signal of the rotary-phase recovery signal;
estimating a fourth motor rotor position based on a limp-home operation strategy of the selectable operation strategies;
Wherein the first motor rotor position, the second motor rotor position, the third motor rotor position, and the fourth motor rotor position comprise the set of motor rotor positions.
8. The motor control device based on the rotation recovery signal is characterized in that the motor control method based on the rotation recovery signal comprises the following steps:
the determining module is used for determining the effective state of the rotation-transformation double-phase recovery signal;
The selecting module is used for selecting a target operation strategy, a double-phase decoding operation strategy and a claudication operation strategy from all selectable operation strategies of the motor based on the effective state;
the control module is used for controlling the motor based on the target operation strategy;
The selecting a target operation strategy from the selectable operation strategies of the motor based on the effective state comprises the following steps:
Under the condition that the effective state is that the biphase recovery signal is effective, determining that the target operation strategy is a biphase decoding operation strategy; and/or
Under the condition that the effective state is that the single-phase recovery signal is effective, determining that the target operation strategy is a single-phase decoding operation strategy; and/or
And under the condition that the effective state is that no effective recovery signal exists, determining the target operation strategy as a limp operation strategy.
9. A motor control apparatus based on a rotational recovery signal, the motor control apparatus based on a rotational recovery signal comprising: a memory, a processor and a motor control program based on a rotational recovery signal stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the motor control method based on a rotational recovery signal as claimed in any one of claims 1 to 7.
10. A medium, characterized in that the medium is a computer readable storage medium, on which a motor control program based on a rotational recovery signal is stored, which when executed by a processor implements the steps of the motor control method based on a rotational recovery signal according to any one of claims 1 to 7.
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