WO2023169154A1

WO2023169154A1 - Motor control method and motor control apparatus, motor controller and storage medium

Info

Publication number: WO2023169154A1
Application number: PCT/CN2023/075815
Authority: WO
Inventors: 邵文强; 魏延羽; 柯文静; 韩家辉
Original assignee: 广东威灵电机制造有限公司; 威灵（芜湖）电机制造有限公司
Priority date: 2022-03-07
Filing date: 2023-02-14
Publication date: 2023-09-14
Also published as: CN114665783A

Abstract

A motor control method and a motor control apparatus, a motor controller, and a storage medium. The method comprises: during a process of controlling a motor to run at a constant power, acquiring a feedback rotation speed of the motor (S1); when it is determined that the feedback rotation speed is higher than a first rotation speed threshold, acquiring a rotation speed loop control amount according to a second rotation speed threshold and the feedback rotation speed, wherein the second rotation speed threshold is greater than the first rotation speed threshold (S2); and when it is determined that the feedback rotation speed is higher than the second rotation speed threshold, by using the second rotation speed threshold as a given amount of the rotation speed loop and using the rotation speed loop control amount as an initial control amount of the rotation speed loop, controlling the motor to run at a constant rotation speed (S3).

Description

电机控制方法及控制装置、电机控制器、存储介质Motor control method and control device, motor controller, storage medium

相关申请的交叉引用Cross-references to related applications

本公开要求于2022年03月07日提交的申请号为202210217485.4，名称为“电机控制方法及控制装置、电机控制器、存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。This disclosure claims priority to the Chinese patent application with application number 202210217485.4 and titled "Motor control method and control device, motor controller, storage medium" submitted on March 7, 2022, the entire content of which is incorporated herein by reference. Public.

技术领域Technical field

本公开涉及电机控制技术领域，尤其涉及一种电机控制方法、一种计算机可读存储介质、一种电机控制器和一种电机控制装置。The present disclosure relates to the technical field of motor control, and in particular, to a motor control method, a computer-readable storage medium, a motor controller and a motor control device.

背景技术Background technique

目前，高速且小型化的无刷直流电机的应用越来越广泛，尤其是在小型电动工具(如，手持式真空吸尘器等)领域中。当小型电动工具使用电池供电时，电池电压会随着使用时间的变化而逐渐下降，为了使得设备能够输出恒定的功率，需要在电池电压下降的过程中，引入恒功率控制策略。At present, high-speed and miniaturized brushless DC motors are increasingly used, especially in the field of small power tools (such as handheld vacuum cleaners, etc.). When a small electric tool is powered by a battery, the battery voltage will gradually decrease as the use time changes. In order to enable the device to output constant power, a constant power control strategy needs to be introduced during the process of battery voltage decrease.

相关技术中，对于恒功率控制的电机，当受运行工况影响导致负载变轻时，电机的转速会迅速上升，而电机长时间高转速运转会对电机的转子***造成损伤，同时也会威胁用户的使用安全。In related technologies, for motors controlled by constant power, when the load becomes lighter due to the influence of operating conditions, the speed of the motor will rise rapidly. If the motor runs at high speed for a long time, it will cause damage to the rotor system of the motor and threaten the rotor system of the motor. User safety.

公开内容
本公开旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本公开的第一个目的在于提出一种电机控制方法，在电机恒功率运行过程中的转速升高至一定程度时，控制电机恒转速运行，能够有效避免电机因转速过高而发生损坏，同时实现了电机由恒功率运行至恒转速运行的平滑切换。 DISCLOSURE The present disclosure aims to solve one of the technical problems in the related art, at least to a certain extent. To this end, the first purpose of the present disclosure is to propose a motor control method that controls the motor to operate at a constant speed when the motor speed increases to a certain level during constant power operation, which can effectively prevent the motor from being damaged due to excessive speed. Damage, while achieving smooth switching of the motor from constant power operation to constant speed operation.

本公开的第二个目的在于提出一种计算机可读存储介质。A second object of the present disclosure is to provide a computer-readable storage medium.

本公开的第三个目的在于提出一种电机控制器。A third object of the present disclosure is to provide a motor controller.

本公开的第四个目的在于提出一种电机控制装置。The fourth object of the present disclosure is to provide a motor control device.

为达到上述目的，本公开第一方面实施例提出了一种电机控制方法，包括：在控制电机恒功率运行过程中，获取电机的反馈转速；确定反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，其中第二转速阈值大于第一转速阈值；确定反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行。In order to achieve the above purpose, the first embodiment of the present disclosure proposes a motor control method, which includes: during the process of controlling the constant power operation of the motor, obtaining the feedback speed of the motor; when it is determined that the feedback speed is higher than the first speed threshold, according to the first The second speed threshold and feedback speed obtain the speed loop control quantity, in which the second speed threshold is greater than the first speed threshold; when it is determined that the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given quantity and speed loop control quantity of the speed loop. As the initial control variable of the speed loop, the motor is controlled to run at a constant speed.

根据本公开实施例的电机控制方法，在控制电机恒功率运行过程中，获取电机的反馈转速，并在反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，以及在反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行，从而不仅能够有效避免电机因转速过高而发生损坏，而且实现了电机由恒功率运行至恒转速运行的平滑切换。According to the motor control method of the embodiment of the present disclosure, during the process of controlling the constant power operation of the motor, the feedback speed of the motor is obtained, and when the feedback speed is higher than the first speed threshold, the speed loop control quantity is obtained according to the second speed threshold and the feedback speed. , and when the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given quantity of the speed loop and the speed loop control quantity is used as the initial control quantity of the speed loop to control the motor to run at a constant speed, which can not only effectively avoid the motor failure due to Damage may occur if the speed is too high, and the motor can smoothly switch from constant power operation to constant speed operation.

根据本公开的一个实施例，根据第二转速阈值和反馈转速获取转速环控制量，包括：获取第二转速阈值与反馈转速之间的差值；对差值进行转速环调节得到调节量；对调节量累加得到转速环控制量。According to an embodiment of the present disclosure, obtaining the rotation speed loop control amount according to the second rotation speed threshold and the feedback rotation speed includes: obtaining the difference between the second rotation speed threshold and the feedback rotation speed; performing rotation speed loop adjustment on the difference to obtain the adjustment amount; The adjustment amount is accumulated to obtain the speed loop control amount.

根据本公开的一个实施例，方法还包括：在控制电机恒转速运行过程中，获取恒转速运行的时间和功率环的控制量；确定时间低于时间阈值、且转速环的控制量高于功率环的控制量时，控制电机恒功率运行。According to an embodiment of the present disclosure, the method further includes: during the process of controlling the constant speed operation of the motor, obtaining the constant speed operation time and the control quantity of the power loop; determining that the time is lower than the time threshold and the control quantity of the speed loop is higher than the power When the control value of the loop is used, the motor is controlled to run at constant power.

根据本公开的一个实施例，方法还包括：确定时间不低于时间阈值时，控制电机降速运行或停机。According to an embodiment of the present disclosure, the method further includes: controlling the motor to slow down or stop when it is determined that the time is not lower than the time threshold.

根据本公开的一个实施例，时间阈值根据电机的温升、散热情况和转子承受力中的至少一种确定。According to an embodiment of the present disclosure, the time threshold is determined based on at least one of a temperature rise of the motor, a heat dissipation condition, and a rotor bearing capacity.

根据本公开的一个实施例，功率环的控制量为目标功率与直流母线电压的比值。According to an embodiment of the present disclosure, the control quantity of the power loop is the ratio of the target power to the DC bus voltage.

为达到上述目的，本公开第二方面实施例提出了一种计算机可读存储介质，其上存储有电机控制程序，该电机控制程序被处理器执行时实现上述的电机控制方法。In order to achieve the above object, a second embodiment of the present disclosure provides a computer-readable storage medium on which a motor control program is stored. When the motor control program is executed by a processor, the above motor control method is implemented.

为达到上述目的，本公开第三方面实施例提出了一种电机控制器，包括：存储器、处理器及存储在存储器上并可在处理器上运行的电机控制程序，处理器执行程序时，实现上述的电机控制方法。In order to achieve the above object, the third embodiment of the present disclosure proposes a motor controller, which includes: a memory, a processor, and a motor control program stored in the memory and executable on the processor. When the processor executes the program, The above motor control method.

为达到上述目的，本公开第四方面实施例提出了一种电机控制装置，包括：获取模块，用于获取电机的反馈转速；控制模块，用于在控制电机恒功率运行过程中，确定反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，并在确定反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行，其中第二转速阈值大于第一转速阈值。In order to achieve the above purpose, the fourth embodiment of the present disclosure proposes a motor control device, which includes: an acquisition module for acquiring the feedback speed of the motor; and a control module for determining the feedback speed during the constant power operation of the motor. When it is higher than the first speed threshold, the speed loop control quantity is obtained according to the second speed threshold and the feedback speed. When it is determined that the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given quantity and speed loop control of the speed loop. The quantity is used as the initial control quantity of the speed loop to control the motor to run at a constant speed, in which the second speed threshold is greater than the first speed threshold.

根据本公开实施例的电机控制装置，通过控制模块在控制电机恒功率运行过程中，确定电机的反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，并在确定反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行，不仅能够有效避免电机因转速过高而发生损坏，而且实现了电机由恒功率运行至恒转速运行的平滑切换。According to the motor control device according to the embodiment of the present disclosure, when the control module determines that the feedback speed of the motor is higher than the first speed threshold during the constant power operation of the motor, the speed loop control quantity is obtained according to the second speed threshold and the feedback speed, and When it is determined that the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given value of the speed loop and the speed loop control quantity is used as the initial control quantity of the speed loop. The motor is controlled to run at a constant speed, which can not only effectively prevent the motor from overshooting the speed. damage occurs due to high voltage, and the smooth switching of the motor from constant power operation to constant speed operation is realized.

本公开附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.

附图说明Description of the drawings

图1为根据本公开一个实施例的电机控制方法的流程示意图；
图2为根据本公开一个实施例的电机控制***的结构示意图；
图3为根据本公开另一个实施例的电机控制方法的流程示意图；
图4为根据本公开又一个实施例的电机控制方法的流程示意图；
图5为根据本公开一个实施例的电机控制器的方框示意图；
图6为根据本公开一个实施例的电机控制装置的方框示意图。 Figure 1 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure;
Figure 2 is a schematic structural diagram of a motor control system according to an embodiment of the present disclosure;
Figure 3 is a schematic flowchart of a motor control method according to another embodiment of the present disclosure;
Figure 4 is a schematic flowchart of a motor control method according to yet another embodiment of the present disclosure;
Figure 5 is a block schematic diagram of a motor controller according to one embodiment of the present disclosure;
FIG. 6 is a block diagram of a motor control device according to an embodiment of the present disclosure.

具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本公开，而不能理解为对本公开的限制。 DETAILED DESCRIPTION Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present disclosure and are not to be construed as limitations of the present disclosure.

下面参考附图描述本公开实施例提出的电机控制方法、计算机可读存储介质、电机控制器和电机控制装置。The motor control method, computer-readable storage medium, motor controller and motor control device proposed by embodiments of the present disclosure are described below with reference to the accompanying drawings.

图1为根据本公开一个实施例的电机控制方法的流程示意图。参考图1所示，该电机控制方法可包括以下步骤：
步骤S1，在控制电机恒功率运行过程中，获取电机的反馈转速。 Figure 1 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure. Referring to Figure 1, the motor control method may include the following steps:
Step S1: In the process of controlling the constant power operation of the motor, obtain the feedback speed of the motor.

需要说明的是，电机恒功率运行是指电机运行过程中的输出功率基本不变，即输出功率与目标功率基本一致，电机的输出扭矩随电机转速升高而减小。It should be noted that constant power operation of the motor means that the output power of the motor is basically unchanged during operation, that is, the output power is basically consistent with the target power, and the output torque of the motor decreases as the motor speed increases.

在本公开的实施例中，在控制电机恒功率运行过程中，如图2所示，电机控制***的功率环与电流环相连，此时功率环可基于目标功率生成控制量，并将控制量输入至电流环，通过电流环进行后续控制，以实现电机的恒功率运行。In the embodiment of the present disclosure, during the process of controlling the constant power operation of the motor, as shown in Figure 2, the power loop of the motor control system is connected to the current loop. At this time, the power loop can generate a control quantity based on the target power and transfer the control quantity to Input to the current loop, and subsequent control is performed through the current loop to achieve constant power operation of the motor.

在一些实施例中，功率环的控制量为目标功率与直流母线电压的比值。In some embodiments, the control quantity of the power loop is the ratio of the target power to the DC bus voltage.

示例性的，当需要控制电机恒功率运行时，获取目标功率，该目标功率可以是用户设置的功率，也可以是***基于控制需求自动生成的功率，具体这里不做限制。在获得目标功率后，将其输入至功率环，同时通过电压检测电路检测直流母线电压，如图2所示，直流母线电压是指逆变器直流输入端的电压，并将直流母线电压输入至功率环。而后，功率环将目标功率除以直流母线电压以获得两者的比值，该比值即为功率环的控制量，也即给定电流，并将其输入至电流环，通过电流环基于给定电流实现后续控制，以实现电机恒功率运行。For example, when the motor needs to be controlled to run at constant power, the target power is obtained. The target power can be the power set by the user or the power automatically generated by the system based on the control requirements. There is no specific limit here. After obtaining the target power, input it into the power loop, and at the same time detect the DC bus voltage through the voltage detection circuit, as shown in Figure 2. The DC bus voltage refers to the voltage at the DC input end of the inverter, and input the DC bus voltage into the power loop. ring. Then, the power loop divides the target power by the DC bus voltage to obtain the ratio between the two. This ratio is the control quantity of the power loop, that is, the given current, and inputs it to the current loop. Through the current loop, the current is controlled based on the given current. Implement subsequent control to achieve constant power operation of the motor.

在电机恒功率运行过程中，实时获取电机的反馈转速。可选的，可以在电机内部设置位置传感器，通过位置传感器检测电机的反馈转速；或者，在图2所示逆变器的交流输出端设置电压检测电路，通过电压检测电路检测电机的反电势过零点，基于反电势过零点估计电机的反馈转速。During the constant power operation of the motor, the feedback speed of the motor is obtained in real time. Optionally, a position sensor can be set inside the motor to detect the feedback speed of the motor; or a voltage detection circuit can be set at the AC output end of the inverter shown in Figure 2, and the back electromotive force of the motor can be detected through the voltage detection circuit. Zero point, the feedback speed of the motor is estimated based on the zero-crossing point of the back electromotive force.

步骤S2，确定反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，其中第二转速阈值大于第一转速阈值。Step S2: When it is determined that the feedback speed is higher than the first speed threshold, the speed loop control amount is obtained based on the second speed threshold and the feedback speed, where the second speed threshold is greater than the first speed threshold.

需要说明的是，第一转速阈值和第二转速阈值可以根据电机具体的性能参数进行设定，且第二转速阈值还作为电机恒转速运行时的目标转速。It should be noted that the first speed threshold and the second speed threshold can be set according to the specific performance parameters of the motor, and the second speed threshold is also used as the target speed when the motor is running at a constant speed.

示例性的，在电机恒功率运行过程中，当受运行工况影响导致电机的负载变轻时，电机的反馈转速将上升，当上升至一定高度时，如高于第一转速阈值，此时继续控制电机恒功率运行，并进入速度环缓存区，即将第二转速阈值和反馈转速作为速度环的输入，此时速度环仅基于第二转速阈值和反馈转速获取转速环控制量，但速度环并不参与电机的控制。For example, during the constant power operation of the motor, when the load of the motor becomes lighter due to the influence of operating conditions, the feedback speed of the motor will rise. When it rises to a certain height, such as higher than the first speed threshold, at this time Continue to control the motor to run at constant power and enter the speed loop cache area, that is, the second speed threshold and feedback speed are used as inputs to the speed loop. At this time, the speed loop only obtains the speed loop control quantity based on the second speed threshold and feedback speed, but the speed loop It does not participate in the control of the motor.

可选的，在一些实施例中，根据第二转速阈值和反馈转速获取转速环控制量，包括：获取第二转速阈值与反馈转速之间的差值；对差值进行转速环调节得到调节量；对调节量累加得到转速环控制量。Optionally, in some embodiments, obtaining the rotation speed loop control amount according to the second rotation speed threshold and the feedback rotation speed includes: obtaining the difference between the second rotation speed threshold and the feedback rotation speed; performing rotation speed loop adjustment on the difference to obtain the adjustment amount. ; Accumulate the adjustment amount to obtain the speed loop control amount.

示例性的，在反馈转速高于第一转速阈值时，继续控制电机恒功率运行，同时速度环处于仅计算不控制的状态，此时速度环获取第二转速阈值与反馈转速之间的转速差值，并对转速差值进行PI（Proportional Integral，比例积分）调节或PID（Proportion Integration Differentiation，比例积分微分）调节以获得调节量，以及将获得的调节量进行累加得到转速环控制量。For example, when the feedback speed is higher than the first speed threshold, the motor continues to be controlled to run at constant power, and the speed loop is in a state of calculation only and not control. At this time, the speed loop obtains the speed difference between the second speed threshold and the feedback speed. value, perform PI (Proportional Integral, proportional integral) adjustment or PID (Proportion Integration Differentiation, proportional integral differential) adjustment on the speed difference to obtain the adjustment amount, and accumulate the obtained adjustment amount to obtain the speed loop control amount.

可选的，速度环可包括增量式PI或PID调节器，但不管采用哪种调节器，速度环最终输出的控制量为全量式。Optionally, the speed loop can include an incremental PI or PID regulator, but no matter which regulator is used, the final output control amount of the speed loop is full-scale.

以速度环包括增量式PID调节器为例。增量式PID调节器的输出如公式（1）所示：
△u(k)=Kp×[e(k)-e(k-1)]+Ki×e(k)+Kd×[e(k)-2e(k-1)-e(k-2)] （1）
其中，△u(k)为k时刻增量式PID调节器的输出量，Kp为比例系数，Ki为积分系数，Kd为微分系数，e(k)、e(k-1)、e(k-2)分别为k时刻、k-1时刻、k-2时刻第二转速阈值与反馈转速之间的转速差值。 Take the speed loop including an incremental PID regulator as an example. The output of the incremental PID regulator is shown in formula (1):
△u(k)=Kp×[e(k)-e(k-1)]+Ki×e(k)+Kd×[e(k)-2e(k-1)-e(k-2) ] (1)
Among them, △u(k) is the output of the incremental PID regulator at time k, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, e(k), e(k-1), e(k -2) are the speed differences between the second speed threshold and the feedback speed at time k, time k-1, and time k-2 respectively.

由于速度环输出的是全量式，因此在获得k时刻增量式PID调节器的输出量△u(k)后，还对输出量△u(k)进行累加，从而得到速度环控制量。Since the speed loop outputs a full quantity formula, after obtaining the output quantity △u(k) of the incremental PID regulator at time k, the output quantity △u(k) is also accumulated to obtain the speed loop control quantity.

需要说明的是，速度环也可以是位置式PI或PID调节器，由于增量式PI或PID调节器输出的是全量式，因此输出的调节量可以不进行叠加，只要增量式PI或PID调节器处于计算状态即可。以速度环包括位置式PID调节器为例，位置式PID调节器的输出如公式（2）所示：
u(k)=Kp×e(k)+Ki×Σe(i)+Kd×[e(k)-e(k-2)]，其中，i=0,...,k （2）
其中，u(k)为k时刻位置式PID调节器的输出量，Kp为比例系数，Ki为积分系数，Kd为微分系数，e(k)、e(k-1)分别为k时刻、k-1时刻第二转速阈值与反馈转速之间的转速差值，Σ表示求和。 It should be noted that the speed loop can also be a positional PI or PID regulator. Since the incremental PI or PID regulator outputs a full amount, the output adjustment amount does not need to be superimposed, as long as the incremental PI or PID regulator The regulator is in calculation mode. Taking the speed loop including a positional PID regulator as an example, the output of the positional PID regulator is shown in formula (2):
u(k)=Kp×e(k)+Ki×Σe(i)+Kd×[e(k)-e(k-2)], where i=0,...,k (2)
Among them, u(k) is the output of the positional PID regulator at time k, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, e(k) and e(k-1) are the time k and k respectively. The speed difference between the second speed threshold and the feedback speed at time -1, Σ represents the sum.

步骤S3，确定反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行。Step S3: When it is determined that the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given quantity of the speed loop and the speed loop control quantity is used as the initial control quantity of the speed loop to control the motor to run at a constant speed.

需要说明的是，电机恒转速运行是指电机运行过程中的反馈转速基本不变，即反馈转速与目标转速基本一致，这里的目标转速为第二转速阈值。也就是说，当电机的反馈转速升高至第二转速阈值时，此时以第二转速阈值为目标转速，控制电机恒转速运行，以避免电机转速继续升高并长时间处于一个很高的转速而导致电机的转子***发生损坏。It should be noted that constant speed operation of the motor means that the feedback speed during motor operation is basically unchanged, that is, the feedback speed is basically consistent with the target speed, and the target speed here is the second speed threshold. That is to say, when the feedback speed of the motor rises to the second speed threshold, the second speed threshold is used as the target speed to control the motor to run at a constant speed to prevent the motor speed from continuing to rise and remain at a very high speed for a long time. The rotational speed may cause damage to the motor's rotor system.

示例性的，在电机恒功率运行过程中，当反馈转速高于第二转速阈值时，断开电机控制***的功率环与电流环的连接，并使转速环与电流环相连，转速环开始参与电机的控制。在控制开始时刻，以步骤S2计算获得的转速环控制量作为速度环的初始控制量输入至电流环，通过电流环进行后续控制，以实现电机恒功率运行至恒转速运行的平滑切换，而后将第二转速阈值作为目标转速输入至速度环以作为速度环的给定量，控制电机恒转速运行。其中，在控制电机恒转速运行时，速度环获取第二转速阈值与反馈转速之间的转速差值，并对转速差值进行PI调节或PID调节以输出控制量，并将控制量输入至电流环，通过电流环进行后续控制，以实现电机的恒转速控制。For example, during constant power operation of the motor, when the feedback speed is higher than the second speed threshold, the connection between the power loop and the current loop of the motor control system is disconnected, and the speed loop is connected to the current loop, and the speed loop begins to participate. Motor control. At the start of control, the speed loop control variable calculated in step S2 is input to the current loop as the initial control variable of the speed loop, and subsequent control is performed through the current loop to achieve smooth switching from constant power operation to constant speed operation of the motor, and then The second speed threshold is input to the speed loop as the target speed as a given value of the speed loop to control the motor to run at a constant speed. Among them, when controlling the motor to run at a constant speed, the speed loop obtains the speed difference between the second speed threshold and the feedback speed, performs PI adjustment or PID adjustment on the speed difference to output the control quantity, and inputs the control quantity to the current loop, and subsequent control is performed through the current loop to achieve constant speed control of the motor.

上述实施例中，在控制电机恒功率运行时，若电机的反馈转速高于第一转速阈值，则在控制电机继续恒功率运行的同时，使得速度环处于持续计算状态，以在反馈转速高于第二转速阈值时，将计算结果作为转速环的初始控制量，并将第二转速阈值作为给定量，控制电机恒转速运行，不仅能够有效避免电机因转速过高而发生损坏，而且实现了电机由恒功率运行至恒转速运行的平滑切换，提升了电机运行的安全性和可靠性。In the above embodiment, when controlling the motor to run at constant power, if the feedback speed of the motor is higher than the first speed threshold, while controlling the motor to continue running at constant power, the speed loop is in a continuous calculation state, so that when the feedback speed is higher than the first speed threshold, the speed loop is kept in a continuous calculation state. At the second speed threshold, the calculation result is used as the initial control quantity of the speed loop, and the second speed threshold is used as the given quantity to control the motor to run at a constant speed. This can not only effectively avoid damage to the motor due to excessive speed, but also achieve The smooth switching from constant power operation to constant speed operation improves the safety and reliability of motor operation.

进一步的，参考图3所示，上述的电机控制方法还可包括以下步骤：
步骤S4，在控制电机恒转速运行过程中，获取恒转速运行的时间和功率环的控制量。 Further, as shown in Figure 3, the above-mentioned motor control method may also include the following steps:
Step S4: During the process of controlling the constant speed operation of the motor, obtain the constant speed operation time and the control amount of the power loop.

示例性的，在电机恒转速运行时，可通过计时器记录电机恒转速运行的时间，同时获取功率环的控制量。也就是说，在电机恒转速运行时，功率环处于仅计算不参与控制的状态，此时功率环可根据目标功率和直流母线电压计算获得控制量，即将目标功率除以直流母线电压以获得控制量。For example, when the motor is running at a constant speed, a timer can be used to record the time the motor is running at a constant speed, and at the same time obtain the control amount of the power loop. That is to say, when the motor is running at a constant speed, the power loop is in a state where it only calculates and does not participate in control. At this time, the power loop can calculate the control amount based on the target power and DC bus voltage, that is, divide the target power by the DC bus voltage to obtain the control quantity.

步骤S5，确定时间低于时间阈值、且转速环的控制量高于功率环的控制量时，控制电机恒功率运行。Step S5: When it is determined that the time is lower than the time threshold and the control amount of the speed loop is higher than the control amount of the power loop, the motor is controlled to run at constant power.

也就是说，在短时间内，若转速环的控制量高于功率环的控制量，说明电机的负载恢复正常，此时断开电机控制***的转速环与电流环的连接，并将功率环与电流环连接，以控制电机恒功率运行。That is to say, within a short period of time, if the control amount of the speed loop is higher than the control amount of the power loop, it means that the motor load returns to normal. At this time, disconnect the speed loop and current loop of the motor control system, and connect the power loop. Connected to the current loop to control the constant power operation of the motor.

可选的，在一些实施例中，可获取转速环的控制量与功率环的控制量之间的差值，并在转速环的控制量高于功率环的控制量、且差值小于预设阈值、且时间低于时间阈值时，控制电机恒功率运行，其中差值可以设置一个对电机运行切换无冲击的最大值，以实现电机由恒转速运行至恒功率运行的平滑切换。Optionally, in some embodiments, the difference between the control amount of the speed loop and the control amount of the power loop can be obtained, and when the control amount of the speed loop is higher than the control amount of the power loop, and the difference is less than the preset When the threshold is reached and the time is lower than the time threshold, the motor is controlled to run at constant power. The difference can be set to a maximum value that has no impact on the motor operation switching to achieve smooth switching of the motor from constant speed operation to constant power operation.

需要说明的是，时间阈值可根据电机的性能参数进行确定，例如可根据电机的温升、散热情况以及转子承受力中的一种或多种确定。It should be noted that the time threshold can be determined based on the performance parameters of the motor, for example, it can be determined based on one or more of the motor's temperature rise, heat dissipation, and rotor bearing capacity.

步骤S6，确定时间不低于时间阈值时，控制电机降速运行或停机。Step S6: When it is determined that the time is not lower than the time threshold, the motor is controlled to slow down or stop.

也就是说，长时间内，若转速环的控制量始终低于功率环的控制量，说明电机的负载未恢复，可能是一直处于轻载的状态，此时可控制电机降速运行或停机，以避免电机长时间处于轻载高速运转状态。That is to say, if the control volume of the speed loop is always lower than the control volume of the power loop for a long time, it means that the load of the motor has not been restored, and it may have been in a light load state. At this time, the motor can be controlled to slow down or stop. To prevent the motor from running at light load and high speed for a long time.

作为一个具体实施例，如图4所示，电机控制方法可包括以下步骤：
步骤S301，控制电机恒功率运行。 As a specific embodiment, as shown in Figure 4, the motor control method may include the following steps:
Step S301, control the motor to run at constant power.

步骤S302，获取电机的反馈转速。Step S302: Obtain the feedback speed of the motor.

步骤S303，判断反馈转速是否高于第一转速阈值。如果是，则执行步骤S304；如果否，返回步骤S301。Step S303: Determine whether the feedback speed is higher than the first speed threshold. If yes, execute step S304; if no, return to step S301.

步骤S304，根据第二转速阈值和反馈转速获取转速环控制量。Step S304: Obtain the speed loop control amount according to the second speed threshold and the feedback speed.

步骤S305，判断反馈转速是否高于第二转速阈值。如果是，则执行步骤S306；如果否，返回步骤S301。Step S305, determine whether the feedback speed is higher than the second speed threshold. If yes, execute step S306; if no, return to step S301.

步骤S306，控制电机恒转速运行。Step S306, control the motor to run at a constant speed.

步骤S307，获取恒转速运行的时间和功率环的控制量。Step S307: Obtain the constant rotation speed operation time and the control amount of the power loop.

步骤S308，判断恒转速运行的时间是否低于时间阈值。如果是，则执行步骤S309；如果否，则执行步骤S311。Step S308, determine whether the constant rotation speed operation time is lower than the time threshold. If yes, execute step S309; if no, execute step S311.

步骤S309，判断转速环的控制量是否高于功率环的控制量。如果是，则执行步骤S310；如果否，返回步骤S306。Step S309, determine whether the control quantity of the speed loop is higher than the control quantity of the power loop. If yes, execute step S310; if no, return to step S306.

步骤S310，控制电机恒功率运行。Step S310, control the motor to run at constant power.

步骤S311，控制电机降速运行或停机。Step S311, control the motor to slow down or stop.

综上所述，根据本公开实施例的电机控制方法，在控制电机恒功率运行过程中，获取电机的反馈转速，并在反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，以及在反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行，从而不仅能够保障电机恒功率运行时，受极限工况等因素影响导致转速飙升后，电机转子***运行的安全性和可靠性，而且实现了电机由恒功率运行至恒转速运行的平滑切换，减少了控制方式切换的冲击。To sum up, according to the motor control method of the embodiment of the present disclosure, during the process of controlling the constant power operation of the motor, the feedback speed of the motor is obtained, and when the feedback speed is higher than the first speed threshold, the motor is controlled according to the second speed threshold and the feedback speed. Obtain the speed loop control quantity, and when the feedback speed is higher than the second speed threshold, use the second speed threshold as the given quantity of the speed loop and the speed loop control quantity as the initial control quantity of the speed loop to control the motor to run at a constant speed, thereby not only It can ensure the safety and reliability of the motor rotor system operation when the motor is running at constant power and the speed surges due to factors such as extreme working conditions. It also realizes the smooth switching of the motor from constant power operation to constant speed operation, reducing the need for control. The impact of mode switching.

对应上述实施例，本公开还提出了一种计算机可读存储介质。Corresponding to the above embodiments, the present disclosure also provides a computer-readable storage medium.

本公开实施例的计算机可读存储介质，其上存储有电机控制程序，该电机控制程序被处理器执行时实现上述的电机控制方法。The computer-readable storage medium of the embodiment of the present disclosure has a motor control program stored thereon, and when the motor control program is executed by the processor, the above-mentioned motor control method is implemented.

根据本公开实施例的计算机可读存储介质，通过执行上述的电机控制方法，不仅能够有效避免电机因转速过高而发生损坏，而且实现了电机由恒功率运行至恒转速运行的平滑切换。According to the computer-readable storage medium of the embodiment of the present disclosure, by executing the above motor control method, not only can the motor be effectively prevented from being damaged due to excessive rotation speed, but also smooth switching of the motor from constant power operation to constant rotation speed operation can be achieved.

对应上述实施例，本公开还提出了一种电机控制器。Corresponding to the above embodiments, the present disclosure also provides a motor controller.

图5为根据本公开一个实施例的电机控制器的方框示意图。Figure 5 is a block schematic diagram of a motor controller according to one embodiment of the present disclosure.

如图5所示，本公开实施例的电机控制器100，包括：存储器110、处理器120及存储在存储器110上并可在处理器120上运行的电机控制程序，处理器120执行程序时，实现上述的电机控制方法。As shown in Figure 5, the motor controller 100 of the embodiment of the present disclosure includes: a memory 110, a processor 120, and a motor control program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the program, Implement the above motor control method.

根据本公开实施例的电机控制器，通过执行上述的电机控制方法，不仅能够有效避免电机因转速过高而发生损坏，而且实现了电机由恒功率运行至恒转速运行的平滑切换。According to the motor controller according to the embodiment of the present disclosure, by executing the above motor control method, it can not only effectively avoid damage to the motor due to excessive speed, but also realize smooth switching of the motor from constant power operation to constant speed operation.

对应上述实施例，本公开还提出了一种电机控制装置。Corresponding to the above embodiments, the present disclosure also provides a motor control device.

图6为根据本公开一个实施例的电机控制装置的方框示意图。FIG. 6 is a block diagram of a motor control device according to an embodiment of the present disclosure.

如图6所示，本公开实施例的电机控制装置200可包括：获取模块210和控制模块220。As shown in FIG. 6 , the motor control device 200 of the embodiment of the present disclosure may include: an acquisition module 210 and a control module 220 .

其中，获取模块210用于获取电机的反馈转速。控制模块220用于在控制电机恒功率运行过程中，确定反馈转速高于第一转速阈值时，根据第二转速阈值和反馈转速获取转速环控制量，并在确定反馈转速高于第二转速阈值时，以第二转速阈值作为转速环的给定量、转速环控制量作为转速环的初始控制量，控制电机恒转速运行，其中第二转速阈值大于第一转速阈值。Among them, the acquisition module 210 is used to acquire the feedback speed of the motor. The control module 220 is used to obtain the speed loop control quantity according to the second speed threshold and the feedback speed when it is determined that the feedback speed is higher than the first speed threshold during the constant power operation of the motor, and determine that the feedback speed is higher than the second speed threshold. When , the second speed threshold is used as the given quantity of the speed loop and the speed loop control quantity is used as the initial control quantity of the speed loop to control the motor to run at a constant speed, where the second speed threshold is greater than the first speed threshold.

根据本公开的一个实施例，控制模块220根据第二转速阈值和反馈转速获取转速环控制量，具体用于，获取第二转速阈值与反馈转速之间的差值；对差值进行转速环调节得到调节量；对调节量累加得到转速环控制量。According to an embodiment of the present disclosure, the control module 220 obtains the rotational speed loop control quantity according to the second rotational speed threshold and the feedback rotational speed, and is specifically used to obtain the difference between the second rotational speed threshold and the feedback rotational speed; and perform rotational speed loop adjustment on the difference. The adjustment amount is obtained; the adjustment amount is accumulated to obtain the speed loop control amount.

根据本公开的一个实施例，控制模块220还用于，在控制电机恒转速运行过程中，获取恒转速运行的时间和功率环的控制量；确定时间低于时间阈值、且转速环的控制量高于功率环的控制量时，控制电机恒功率运行。According to an embodiment of the present disclosure, the control module 220 is also used to, during the process of controlling the constant speed operation of the motor, obtain the time of constant speed operation and the control quantity of the power loop; determine that the time is lower than the time threshold and the control quantity of the speed loop is When the value is higher than the control value of the power loop, the motor is controlled to run at constant power.

根据本公开的一个实施例，控制模块220还用于，确定时间不低于时间阈值时，控制电机降速运行或停机。According to an embodiment of the present disclosure, the control module 220 is also used to control the motor to slow down or stop when it is determined that the time is not lower than the time threshold.

需要说明的是，本公开实施例的电机控制装置中未披露的细节，请参照本公开实施例的电机控制方法中所披露的细节，具体这里不再赘述。It should be noted that, for details not disclosed in the motor control device of the embodiment of the present disclosure, please refer to the details disclosed in the motor control method of the embodiment of the present disclosure, which will not be described again here.

需要说明的是，在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行***、装置或设备（如基于计算机的***、包括处理器的***或其他可以从指令执行***、装置或设备取指令并执行指令的***）使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例（非穷尽性列表）包括以下：具有一个或多个布线的电连接部（电子装置），便携式计算机盘盒（磁装置），随机存取存储器（RAM），只读存储器（ROM），可擦除可编辑只读存储器（EPROM或闪速存储器），光纤装置，以及便携式光盘只读存储器（CDROM）。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered to be a sequenced list of executable instructions for implementing logical functions, which may be embodied in any computer. in a readable medium for use by or in conjunction with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other system that can retrieve and execute instructions from the instruction execution system, apparatus, or device. Used by instruction execution systems, devices or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk cartridge (magnetic device), random access memory (RAM), Read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, and subsequently edited, interpreted, or otherwise suitable as necessary. process to obtain the program electronically and then store it in computer memory.

应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列（PGA），现场可编程门阵列（FPGA）等。It should be understood that various parts of the present disclosure may be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: a logic gate circuit with a logic gate circuit for implementing a logic function on a data signal. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials, or features are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

在本公开中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。In this disclosure, unless otherwise explicitly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present disclosure. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present disclosure. The embodiments are subject to changes, modifications, substitutions and variations.

Claims

电机控制方法，包括：Motor control methods, including:

在控制电机恒功率运行过程中，获取所述电机的反馈转速；During the process of controlling the constant power operation of the motor, obtain the feedback speed of the motor;

确定所述反馈转速高于第一转速阈值时，根据第二转速阈值和所述反馈转速获取转速环控制量，其中所述第二转速阈值大于所述第一转速阈值；When it is determined that the feedback speed is higher than the first speed threshold, obtain the speed loop control amount according to the second speed threshold and the feedback speed, wherein the second speed threshold is greater than the first speed threshold;

确定所述反馈转速高于所述第二转速阈值时，以所述第二转速阈值作为转速环的给定量、所述转速环控制量作为所述转速环的初始控制量，控制所述电机恒转速运行。When it is determined that the feedback speed is higher than the second speed threshold, the second speed threshold is used as the given amount of the speed loop and the speed loop control amount is used as the initial control amount of the speed loop to control the constant speed of the motor. Run at speed.
根据权利要求1所述的方法，其中，所述根据第二转速阈值和所述反馈转速获取转速环控制量，包括：The method according to claim 1, wherein said obtaining the rotational speed loop control quantity according to the second rotational speed threshold and the feedback rotational speed includes:

获取所述第二转速阈值与所述反馈转速之间的差值；Obtain the difference between the second rotation speed threshold and the feedback rotation speed;

对所述差值进行转速环调节得到调节量；Perform speed loop adjustment on the difference to obtain the adjustment amount;

对所述调节量累加得到所述转速环控制量。The adjustment amount is accumulated to obtain the rotation speed loop control amount.
根据权利要求1或2所述的方法，其中，所述方法还包括：The method according to claim 1 or 2, wherein the method further includes:

在控制所述电机恒转速运行过程中，获取恒转速运行的时间和功率环的控制量；In the process of controlling the constant speed operation of the motor, obtain the constant speed operation time and the control amount of the power loop;

确定所述时间低于时间阈值、且所述转速环的控制量高于所述功率环的控制量时，控制所述电机恒功率运行。When it is determined that the time is lower than the time threshold and the control amount of the rotation speed loop is higher than the control amount of the power loop, the motor is controlled to run at constant power.
根据权利要求3所述的方法，其中，所述方法还包括：The method of claim 3, further comprising:

确定所述时间不低于所述时间阈值时，控制所述电机降速运行或停机。When it is determined that the time is not lower than the time threshold, the motor is controlled to slow down or stop.
根据权利要求3所述的方法，其中，所述时间阈值根据所述电机的温升、散热情况和转子承受力中的至少一种确定。The method of claim 3, wherein the time threshold is determined based on at least one of a temperature rise, a heat dissipation condition, and a rotor bearing capacity of the motor.
根据权利要求3所述的方法，其中，所述功率环的控制量为目标功率与直流母线电压的比值。The method according to claim 3, wherein the control quantity of the power loop is a ratio of the target power and the DC bus voltage.
计算机可读存储介质，其上存储有电机控制程序，该电机控制程序被处理器执行时实现根据权利要求1-6中任一项所述的电机控制方法。A computer-readable storage medium having a motor control program stored thereon. When the motor control program is executed by a processor, the motor control method according to any one of claims 1-6 is implemented.
电机控制器，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的电机控制程序，所述处理器执行所述程序时，实现根据权利要求1-6中任一项所述的电机控制方法。A motor controller includes: a memory, a processor, and a motor control program stored in the memory and executable on the processor. When the processor executes the program, any of claims 1-6 can be implemented. The motor control method described in one item.
电机控制装置，包括：Motor controls, including:

获取模块，用于获取所述电机的反馈转速；An acquisition module is used to acquire the feedback speed of the motor;

控制模块，用于在控制电机恒功率运行过程中，确定所述反馈转速高于第一转速阈值时，根据第二转速阈值和所述反馈转速获取转速环控制量，并在确定所述反馈转速高于所述第二转速阈值时，以所述第二转速阈值作为转速环的给定量、所述转速环控制量作为所述转速环的初始控制量，控制所述电机恒转速运行，其中所述第二转速阈值大于所述第一转速阈值。A control module configured to obtain the speed loop control quantity according to the second speed threshold and the feedback speed when it is determined that the feedback speed is higher than the first speed threshold during the constant power operation of the motor, and determine the feedback speed after determining the feedback speed. When it is higher than the second speed threshold, the second speed threshold is used as the given amount of the speed loop and the speed loop control amount is used as the initial control amount of the speed loop to control the motor to run at a constant speed, where The second rotation speed threshold is greater than the first rotation speed threshold.