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Motor control method and device, terminal equipment and storage medium
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A technology for motor control and control signals, which is used in motor control, installation of electrical equipment, control systems, etc., and can solve problems such as one-way deviation affecting the accuracy of motor control.
Active Publication Date: 2020-12-08
SHEN ZHEN 3IROBOTICS CO LTD
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Problems solved by technology
[0004] The embodiment of the present application provides a motor control method, device, terminal equipment and storage medium, which can solve the problem that one-way deviation affects the accuracy of motor control
Method used
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Embodiment 1
[0081] The precision value of the PWM control signal is 1%, the duty cycle of the input PWM control signal is 35%, the duty cycle of the obtained preprocessing signal is 35.3%, and the compensation factor is 0.5. Since the precision value of the PWM control signal is 1%, the set of duty cycles can be obtained as {0, 1%, 2%, 3%, ..., 100%}, and the set of preset pointing values is {0, 1, 2, 3, ..., 100}.
[0082] The compensation value m is:
[0083]
[0084] Then the target pointing value M=35, the M+1 pointing value in the pointing value set is 36, and the duty cycle associated with 36 in the duty cycle set is 35%, then the target duty cycle is 35%, and the input PWM The duty cycles of the control signals are the same.
[0085] If the common control method is used, the motor will be controlled with a PWM control signal with a duty ratio of 35.3%, but after using this method, the duty ratio of the control motor working signal is the duty ratio of the input PWM control s...
Embodiment 2
[0087] The precision value of the PWM control signal is 2%, the duty cycle of the input PWM control signal is 36%, the duty cycle of the obtained preprocessing signal is 36.3%, and the compensation factor is 0.5. Since the precision value of the PWM control signal is 2%, it can be obtained that the duty ratio set is {0, 2%, 4%, 6%, ..., 100%}, and the preset pointing value set is {0, 1, 2, 3, ..., 50}.
[0088] The compensation value m is:
[0089]
[0090] Then the target pointing value M=18, the M+1 pointing value in the pointing value set is 19, and the duty cycle associated with 19 in the duty cycle set is 36%, then the target duty cycle is 36%, which is consistent with the input PWM The duty cycles of the control signals are the same.
[0091] If the common control method is used, the motor will be controlled with a PWM control signal with a duty ratio of 36.3%, but after using this method, the duty ratio of the control motor working signal is the duty ratio of the i...
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Abstract
The invention is applicable to the technical field of motor control, and provides a motor control method and device, terminal equipment and a storage medium. According to the motor control method, pulse signals of a set number of periods are obtained from a PWM control signal to serve as preprocessing signals, and the duty ratio of the preprocessing signals is calculated; and then a target pointing value is determined according to the duty ratio of the preprocessed signals and the precision value of the PWM control signal, finally a corresponding target duty ratio in the duty ratio set is obtained according to the target pointing value, and the motor is controlled based on the target duty ratio. According to the method, the finally obtained target duty ratio is one duty ratio in the PWM control signal so that the problem of unidirectional deviation of the obtained duty ratio is avoided, and the control precision of the motor is improved.
Description
technical field [0001] The present application belongs to the technical field of motor control, and in particular relates to a motor control method, device, terminal equipment and storage medium. Background technique [0002] The current motor control principle on sweepers and vacuum cleaners is as follows: regularly obtain the pulse signal of the set period from the input PWM (Pulse Width Modulation, pulse width modulation) control signal, and calculate the duty cycle of the pulse signal, and then according to the pulse The duty cycle of the signal controls the motor operation. Usually, the precision value of the PWM control signal used to control the operation of the motor is 1% or greater, that is, when the precision value of the PWM control signal is 1%, the duty cycle of the PWM control signal can be 0, 1%, 2%, 3%, ..., 100%; when the precision value of the PWM control signal is 2%, the duty cycle of the PWM control signal can be 0, 2%, 4%, 6%, ..., 100%. [0003] How...
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Application Information
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