CN-115967310-B - Motor control method, motor control device, readable storage medium, and motor

CN115967310BCN 115967310 BCN115967310 BCN 115967310BCN-115967310-B

Abstract

The invention provides a motor control method, a motor control device, a readable storage medium and a motor. The motor control method comprises the steps of giving a set rotating speed and a set steering direction of a motor, obtaining a rotor position, an operating rotating speed and an operating steering direction of the motor under the condition that the motor operates, obtaining a first input value of the set rotating speed and a second input value of the operating rotating speed according to the operating steering direction, the operating rotating speed, the set rotating speed of the motor and the set steering direction of the motor, obtaining a target current according to the first input value and the second input value, obtaining an actual current of the motor, obtaining a first control value according to the target current and the actual current, obtaining a chopping direction and a duty ratio of a three-phase inverter bridge according to the first control value, obtaining an electrified phase sequence of the three-phase inverter bridge according to the operating steering direction, the duty ratio, the rotor position and the electrified phase sequence, and controlling the motor to operate.

Inventors

LIU JINGGONG
FU YANHUI
LIU DAWEI
HE ZHENQIU
CHEN GANG
YAO HONG

Assignees

北京和利时电机技术有限公司

Dates

Publication Date: 20260505
Application Date: 20221226

Claims (8)

1. A control method of an electric motor, for an electric motor, the control device of the electric motor comprising at least a three-phase inverter bridge, characterized in that the control method of the electric motor comprises: Setting a set rotating speed and a set steering of the motor; Under the condition that the motor operates, acquiring the rotor position, the operating rotating speed and the operating steering of the motor; Acquiring a first input value of the set rotating speed and a second input value of the operating rotating speed according to the operating steering, the operating rotating speed, the set rotating speed of the motor and the set steering of the motor; acquiring a target current according to the first input value and the second input value; Acquiring actual current of a motor; Acquiring a first control value according to the target current and the actual current; acquiring a chopping direction and a duty ratio of the three-phase inverter bridge according to the first control value; acquiring an electrified phase sequence of the three-phase inverter bridge according to the operation steering; The three-phase inverter bridge controls the operation of the motor according to the chopping direction, the duty ratio, the rotor position and the electrified phase sequence; the motor at least comprises a Hall sensor, obtains the rotor position, the running rotating speed and the running steering of the motor, and comprises: acquiring the rotor position, the running rotating speed and the running steering according to Hall signals detected by the Hall sensors; The running steering is forward rotation when the running rotating speed is greater than zero, the running steering is reverse rotation when the running rotating speed is less than zero, and the running rotating speed is close to zero, and the running steering is determined according to the set steering, namely the forced switching running steering is consistent with the set steering; Obtaining a first input value of the set rotational speed and a second input value of the operating rotational speed according to the operating steering, the operating rotational speed, the set rotational speed of the motor and the set steering of the motor, including: if the running steering is the same as the set steering, the first input value is the absolute value of the set rotating speed, and the second input value is the absolute value of the running rotating speed; if the running steering and the set steering are different, the first input value is a negative value of the absolute value of the set rotating speed, and the second input value is the absolute value of the running rotating speed; the motor comprises a DC brushless motor.
2. The method of controlling a motor according to claim 1, wherein obtaining the chopping direction and the duty ratio of the three-phase inverter bridge based on the first control value includes: If the first control value is larger than zero, the chopping direction of the three-phase inverter bridge is forward; And if the first control value is smaller than zero, the chopping direction of the three-phase inverter bridge is reverse.
3. The control method of the motor according to claim 2, characterized in that the acquisition of the energization phase sequence of the three-phase inverter bridge according to the operation steering includes: if the operation steering is positive, controlling the three-phase inverter bridge to be electrified according to a positive phase sequence; and if the operation steering is reverse, controlling the three-phase inverter bridge to electrify according to the reverse phase sequence.
4. A control method of an electric motor according to any one of claims 1 to 3, characterized in that, The first control value simultaneously represents the chopping direction and the output duty ratio of the three-phase inverter bridge, the absolute value of the target current is smaller than or equal to the maximum allowable input current of the motor, and the actual current is the bus current of the motor or the conducting phase current of the three-phase inverter bridge.
5. A control device of an electric motor, characterized in that the control device comprises: three-phase inverter bridge; The device comprises a first acquisition unit, a first input value and a second input value, wherein the first acquisition unit is used for acquiring a rotor position, an operation rotating speed and an operation rotating direction of the motor under the condition that the motor operates; the first control unit is used for controlling the rotating speed regulator to acquire a target current according to the first input value and the second input value; A second acquisition unit for acquiring an actual current of the motor; the second control unit is used for controlling the current regulator to acquire a first control value according to the target current and the actual current; The third acquisition unit acquires the chopping direction and the duty ratio of the three-phase inverter bridge according to the first control value; The three-phase inverter bridge controls the operation of the motor according to the chopping direction, the duty ratio, the rotor position and the electrified phase sequence; the motor at least comprises a Hall sensor, and the first acquisition unit is specifically used for: acquiring the rotor position, the running rotating speed and the running steering according to Hall signals detected by the Hall sensors; The running steering is forward rotation when the running rotating speed is greater than zero, the running steering is reverse rotation when the running rotating speed is less than zero, and the running rotating speed is close to zero, and the running steering is determined according to the set steering, namely the forced switching running steering is consistent with the set steering; The first acquisition unit is further configured to: if the running steering is the same as the set steering, the first input value is the absolute value of the set rotating speed, and the second input value is the absolute value of the running rotating speed; if the running steering and the set steering are different, the first input value is a negative value of the absolute value of the set rotating speed, and the second input value is the absolute value of the running rotating speed; the motor comprises a DC brushless motor.
6. A control device of an electric motor, characterized by comprising a memory and a processor, the memory storing a program or instructions executable on the processor, which program or instructions, when executed by the processor, implement the steps of the control method of an electric motor according to any one of claims 1 to 4.
7. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, implement the steps of the method of controlling a motor according to any one of claims 1 to 4.
8. An electric machine, comprising: a control device for an electric motor according to claim 5, or A control device for an electric motor according to claim 6, or The readable storage medium of claim 7.

Description

Motor control method, motor control device, readable storage medium, and motor Technical Field The invention relates to the technical field of motors, in particular to a motor control method, a motor control device, a readable storage medium and a motor. Background At present, in the related art, three hall signal sensors are adopted by the commonly used brushless dc motor as means for monitoring the motor rotation speed and the rotor position, however, due to the small number of states of the three hall signals, the speed data of the brushless dc motor is updated slowly, and the braking process of the motor is difficult to control. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art or related art. To this end, a first aspect of the invention proposes a method of controlling an electric motor. A second aspect of the present invention proposes a control device for an electric motor. A third aspect of the present invention proposes a control device for an electric motor. A fourth aspect of the invention proposes a readable storage medium. A fifth aspect of the invention proposes an electric machine. In view of this, a first aspect of the present invention provides a control method of a motor, the control device of the motor including at least a three-phase inverter bridge, the control method of the motor including, given a set rotational speed and a set rotational direction of the motor, acquiring a rotor position, an operational rotational speed and an operational rotational direction of the motor in case of operation of the motor, acquiring a first input value of the set rotational speed and a second input value of the operational rotational speed in accordance with the operational rotational direction, the operational rotational speed, the set rotational speed of the motor and the set rotational direction of the motor, acquiring a target current in accordance with the first input value and the second input value, acquiring an actual current of the motor, acquiring a first control value in accordance with the target current and the actual current, acquiring a chopping direction and a duty ratio of the three-phase inverter bridge in accordance with the first control value, acquiring an electrified phase sequence of the three-phase inverter bridge in accordance with the operational rotational direction, the duty ratio, rotor position and electrified phase sequence. In the technical scheme, the motor at least comprises a Hall sensor, a control device of the motor at least comprises a three-phase inverter bridge, and the control method of the motor comprises the steps of giving a set rotating speed and a set steering of the motor, and acquiring the rotor position, the running rotating speed and the running steering of the motor under the condition that the motor runs. And acquiring a first input value of the set rotating speed and a second input value of the operating rotating speed according to the operating steering, the operating rotating speed, the set rotating speed of the motor and the set steering of the motor. And acquiring a target current according to the first input value and the second input value, so as to realize the adjustment of the target current. The actual current of the motor is obtained so as to realize the collection of the actual current when the motor runs. According to the method, a first control value is obtained according to the target current and the actual current, and the chopping direction and the duty ratio of the three-phase inverter bridge are obtained according to the first control value, so that the operation of the motor can be controlled according to the chopping direction and the duty ratio of the three-phase inverter bridge, and the electric process and the braking process of the motor can be controlled. And acquiring the electrified phase sequence of the three-phase inverter bridge according to the operation steering, so as to control the steering of the motor, and controlling the motor to operate according to the chopping direction, the duty ratio, the rotor position and the electrified phase sequence by the three-phase inverter bridge, thereby realizing the operation control of the motor. According to the application, the first input value and the second input value are automatically switched according to the running steering and the setting steering, so that the first control value is generated, and the chopping direction and the duty ratio of the three-phase inverter bridge are controlled according to the first control value, so that the electric or braking effect of the motor is rapidly realized. In particular, a direct current Brushless (BLDC) motor has advantages of good speed regulation performance, small volume, high efficiency, long service life, low noise, etc., and is increasingly widely applied to various industrial fields. At present, the commonly used direct current brushless motors