CN-122026768-A - Motor drive control method and system

CN122026768ACN 122026768 ACN122026768 ACN 122026768ACN-122026768-A

Abstract

The invention discloses a motor driving control method which comprises the steps of obtaining control information, executing a setting command, extracting an original quantized value in an operation command, carrying out smoothing pretreatment on the original quantized value, combining a motor adaptive parameter to be converted into a continuously gradual target control quantity to generate a reference control command, starting a corresponding speed loop or a power loop according to a preset operation mode, calling a PID initial control parameter matched with the motor adaptive parameter and a working condition, collecting a corresponding operation feedback signal, calculating deviation between a target value corresponding to the reference control command and an actual value corresponding to the operation feedback signal, calculating the deviation through a PID algorithm, outputting a driving adjustment signal, monitoring the deviation and the operation feedback signal in real time, and dynamically adjusting the PID control parameter according to a real-time variation trend and an accumulated quantity of the deviation. The suitability and the control precision of motor drive control are improved through preset operation mode matching, PID initial parameter adaptation and dynamic adjustment of PID parameters.

Inventors

HUANG JIN
CAO YANG
ZHOU YU
BAI XUWEI
WANG QIAN
QIAN ZHIWEI
CAO TINGTING

Assignees

大洋智能(江苏)科技产业有限公司

Dates

Publication Date: 20260512
Application Date: 20251218

Claims (10)

1. A motor drive control method, characterized by comprising: The method comprises the steps of S1, obtaining control information, wherein the control information comprises a setting command and an operation command, extracting motor adaptation parameters and a preset operation mode in the setting command, wherein the motor adaptation parameters at least comprise motor pole pairs and reduction ratios, and the preset operation mode is a speed loop or a power loop; s2, executing the setting command and extracting an original quantized value in the running command at the same time; S3, carrying out smoothing pretreatment on the original quantized value, and converting the original quantized value into a continuously gradual target control quantity by combining the motor adaptation parameter to generate a reference control instruction so as to inhibit counter potential impact under working conditions; S4, starting a corresponding speed loop or power loop according to the preset operation mode, and calling PID initial control parameters matched with the motor adaptation parameters and working conditions; the corresponding operation feedback signals are collected at the same time, namely, a Hall signal generated by the motor is collected when the speed loop is started, and an output current feedback signal of the motor is collected when the power loop is started; S5, calculating deviation between a target value corresponding to the reference control instruction and an actual value corresponding to the operation feedback signal, calculating the deviation through a PID algorithm, outputting a driving adjustment signal, and controlling the operation of the motor in a sensible square wave driving mode; And S6, monitoring the deviation and the operation feedback signal in real time, and dynamically adjusting the PID control parameters according to the real-time variation trend and the accumulation amount of the deviation.
2. The method for closed-loop control of a motor according to claim 1, wherein the step of obtaining the control information in step S1 is to receive the control information through a CAN bus, the control information is transmitted through a CAN standard data frame, and a redundancy check mechanism is adopted in the transmission process to reduce the data transmission error rate.
3. The method according to claim 1, wherein the step S2 further comprises a validity check of the set command before executing the set command, the validity check including a data format check and a parameter range check, and executing the set command and extracting the original quantized value only when the check passes.
4. The method for closed-loop control of a motor according to claim 1, wherein the smoothing pretreatment in S3 employs a stepwise uniform adjustment method, wherein the number of adjustment steps is determined according to a difference between an original quantization value and a target control amount, and the smoothness is improved by increasing the number of adjustment steps when the voltage fluctuation is large or the power output is high.
5. The method for closed-loop control of a motor according to claim 1, wherein the hall signal collected in S4 is a rotation speed feedback signal output by a digital hall sensor installed at 120 °, and the hall signal and the output current feedback signal are filtered, amplified and digitized to remove electromagnetic interference and signal noise.
6. The method for closed-loop control of a motor according to claim 5, wherein the invoking the PID initial control parameters in S4 is specifically to pre-establish a table of correspondence between motor adaptation parameters and working conditions, and the table of correspondence stores optimal PID initial control parameters corresponding to different parameter and working condition combinations, and directly matches and invokes the parameters according to the currently extracted motor adaptation parameters and real-time working conditions.
7. The method according to claim 1, wherein the driving of the inductive square wave in S5 is implemented based on six-step commutation logic, the commutation timing is determined by a rotor position signal fed back by a digital hall sensor, and the commutation logic is cooperatively optimized with a driving adjustment signal to reduce torque ripple.
8. The method for closed-loop control of a motor according to claim 7, wherein the step S6 of dynamically adjusting the PID control parameters employs an inter-partition adaptation strategy, and the deviation interval and the corresponding parameter adjustment rule are divided in advance, so that the response speed is increased when the deviation increases, and the control stability is maintained when the deviation decreases.
9. The method for closed loop control of a motor according to any one of claims 1 to 8, wherein the setting command extracted in step S1 further includes a failure determination threshold, and the method further includes step S7 of performing a linkage analysis on the operation feedback signal collected in real time and the failure determination threshold to determine whether there is an operation abnormality of the motor, and triggering a corresponding safety protection mechanism if there is an abnormality.
10. A motor drive control system, characterized by comprising: the power supply module is used for adapting voltage input, outputting stable voltage to supply power for each module and inhibiting voltage fluctuation interference; The communication module is used for receiving control information sent by the upper computer, wherein the control information comprises a setting command and an operation command and is transmitted to the control unit; The control unit is configured to analyze the setting command, extract motor adaptation parameters and a preset operation mode, execute the setting command, analyze the operation command and extract an original quantized value, carry out smoothing pretreatment on the original quantized value, convert the original quantized value into a continuously gradual target control quantity by combining the motor adaptation parameters to generate a reference control command, start a corresponding speed loop or a power loop according to the preset operation mode, call PID initial control parameters matched with the motor adaptation parameters and working conditions, calculate deviation between a target value corresponding to the reference control command and an actual value acquired by the feedback detection module, calculate the deviation through a PID algorithm, output a driving adjustment signal, monitor the deviation and an operation feedback signal in real time, and dynamically adjust the PID control parameters according to the real-time change trend and the accumulated quantity of the deviation; The feedback detection module is configured to collect Hall signals generated by the motor when the speed loop is started, collect output current feedback signals of the motor when the power loop is started, and transmit the collected signals to the control unit; and the driving module is used for receiving the driving adjustment signal output by the control unit and driving and controlling the motor to run in a sensing square wave mode.

Description

Motor drive control method and system Technical Field The present invention relates to the field of drive control, and in particular, to a motor drive control method and system. Background With the rapid development of industrial automation and intelligent equipment industries, higher requirements are put on the adaptive capacity, output performance and control reliability of a drive control system by equipment. The mainstream motor drive control system in the market at present is designed for specific voltage range and fixed power scenes, adopts a drive framework fed back by a motor and a sensor, and realizes equipment linkage through control loop adjustment and bus communication. However, in terms of control modes, the control algorithm of the existing driving system is easy to generate large counter potential impact under a high-power scene, and the suitability of PID control under a high-power working condition is poor, so that the control accuracy of speed and power is insufficient. Disclosure of Invention The invention aims to provide a motor drive control method and a motor drive control system, which improve the suitability and control precision of motor drive control by preset operation mode matching, PID initial parameter adaptation and dynamic adjustment of PID parameters. The specific technical scheme is as follows: a motor drive control method, the method comprising: The method comprises the steps of S1, obtaining control information, wherein the control information comprises a setting command and an operation command, extracting motor adaptation parameters and a preset operation mode in the setting command, wherein the motor adaptation parameters at least comprise motor pole pair numbers and reduction ratios, and the preset operation mode is a speed ring or a power ring; S2, executing the setting command and extracting an original quantized value in the operation command at the same time; S3, carrying out smoothing pretreatment on the original quantized value, and converting the original quantized value into a continuously gradual target control quantity by combining with a motor adaptive parameter to generate a reference control instruction so as to inhibit counter potential impact under a working condition; S4, starting a corresponding speed loop or a power loop according to a preset operation mode, and calling PID initial control parameters matched with motor adaptation parameters and working conditions; S5, calculating deviation between a target value corresponding to the reference control instruction and an actual value corresponding to the operation feedback signal, calculating the deviation through a PID algorithm, outputting a driving adjustment signal, and controlling the operation of the motor in a sensible square wave driving mode; and S6, monitoring deviation and operation feedback signals in real time, and dynamically adjusting PID control parameters according to the real-time variation trend and the accumulation amount of the deviation. Further, the control information is received through the CAN bus in the S1, the control information is transmitted through a CAN standard data frame, and a redundancy check mechanism is adopted in the transmission process to reduce the data transmission error rate. Further, before executing the set command in S2, the method further includes a validity check for the set command, where the validity check includes a data format check and a parameter range check, and only when the check passes, the set command is executed and the original quantized value is extracted. Further, the smoothing pretreatment in the step S3 adopts a staged uniform adjustment method, the adjustment step number is determined according to the difference value between the original quantized value and the target control quantity, and when the voltage fluctuation is large or the power output is high, the smoothness is improved by increasing the adjustment step number. Further, the collected hall signal in the S4 is a rotation speed feedback signal output by a digital hall sensor installed at 120 degrees, and the hall signal and the output current feedback signal are subjected to filtering, amplifying and digitizing processes to remove electromagnetic interference and signal noise. Further, the step S4 of calling the PID initial control parameters is specifically to pre-establish a corresponding relation table of motor adaptation parameters and working conditions, store the optimal PID initial control parameters corresponding to different parameter and working condition combinations in the corresponding relation table, and directly match and call according to the currently extracted motor adaptation parameters and real-time working conditions. Further, the inductive square wave driving in the S5 is realized based on six-step phase-change logic, the phase-change time is determined by a rotor position signal fed back by a digital Hall sensor, and the phase-change logic and a driving