Closed-loop control method, device and apparatus for motor

Abstract

This application provides a closed-loop control method, apparatus, and device for a motor. The method obtains the integral curve of the back electromotive force (EMF) integral, establishes a linkage curve between the back EMF integral curve of each phase and the mover position, cancels the accumulated error in the linkage curve of each phase, and thus obtains the processed linkage curve for each phase. The back EMF integral curves of the three phases in a three-phase stationary coordinate system are transformed to a two-phase stationary coordinate system, and the mover position is obtained by algebraic calculation using the processed linkage curve. The mover position is then input as the mover's feedback trajectory into a PID controller to achieve closed-loop control of the motor. In this process, the determination of the mover position is unaffected by the mover speed; the mover position can be accurately obtained even when the mover speed decreases or becomes zero, thereby completing the closed-loop control of the motor.

Description

Technical Field

[0001] This application relates to the field of motor control, and more particularly to a closed-loop control method, apparatus, and device for a motor. Background Technology

[0002] Motors are used in many mechanical devices to ensure their normal operation. During the operation of the motor, it is necessary to obtain the position of the mover in the motor, and then perform closed-loop control of the motor based on the position of the mover.

[0003] In the prior art, the back electromotive force is determined after obtaining the voltage and current of the motor, and then the position of the mover is directly solved based on the back electromotive force, and then the closed-loop control of the motor is performed based on the position of the mover.

[0004] However, in existing technologies, the operation of motors is quite complex, with frequent starts, stops, and commutations. Because the back electromotive force (EMF) in these processes is related to the motor's speed, the back EMF signal is very small during frequent starts, stops, and commutations, making it impossible to directly calculate the mover position based on the back EMF. This results in the inability to achieve closed-loop control of the motor. Therefore, there is an urgent need for a method that can accurately determine the mover position throughout the entire operation of the motor and under various operating conditions to achieve closed-loop control. Summary of the Invention

[0005] This application provides a closed-loop control method, apparatus, and device for a motor to solve the problem of being unable to determine the position of the mover when the motor is stopped or reversed.

[0006] In a first aspect, this application provides a closed-loop control method for a motor, the method comprising:

[0007] Obtain the integral curve of the back electromotive force integral for each phase of the three-phase winding of the motor, wherein the back electromotive force integral for each phase represents the observed value of the back electromotive force integral for each phase.

[0008] Establish the linkage curve between the back EMF integral curve and the mover position for each phase. The linkage curve includes the cumulative error of the observed value of the back EMF integral. The cumulative error is offset according to the integral curve of the back EMF integral for each phase to obtain the processed linkage curve for each phase.

[0009] Based on the processed linkage curves of each phase, the position of the motor's mover is calculated.

[0010] Based on the calculated position of the motor's rotor, the motor is subjected to closed-loop control.

[0011] In one optional implementation, a linkage curve is established between the observed value of the back electromotive force integral for each phase and the mover position, including:

[0012] Each linkage curve is established based on the preset motor model, the preset voltage and current acquisition error model, and the observed value of the back electromotive force integral of each phase.

[0013] In one optional implementation, the linkage curve is related to the following parameters: the observed value of the back electromotive force integral, the position of the mover, the preset calibration constant, and the pitch of the motor;

[0014] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

[0015] In one optional embodiment, the three-phase winding has three phases; the accumulated error is offset by the integral curve of the back electromotive force integral of each phase, resulting in the processed linkage curve of each phase, including:

[0016] If it is determined that the integral curves of the back EMF integrals of any two phases intersect, then the integral curve of the back EMF integral of the other phase is shifted to obtain the cumulative shift amount and the current shift time of the other phase, so as to offset the cumulative error of the integral curve of the back EMF integral of the other phase.

[0017] Based on the cumulative translation amount and translation time of each phase, the primary curve of each phase is obtained; and the primary curve of each phase is subtracted from the integral curve of the back electromotive force of each phase to cancel the primary component of the integral error of each phase, so as to obtain the processed linkage curve of each phase.

[0018] In one optional implementation, if it is determined that the integral curves of the back electromotive force integrals of any two phases intersect, then the integral curve of the back electromotive force integral of the other phase is shifted to obtain the cumulative shift amount and the current shift time of the other phase, including:

[0019] If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located above the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the preset calibration constant.

[0020] If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located below the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the opposite of the preset calibration constant.

[0021] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

[0022] In one optional embodiment, the three-phase winding has three phases; the step of calculating the mover position of the motor based on the processed linkage curves of each phase includes:

[0023] By performing coordinate system transformation on the back electromotive force integral curves of each phase, we obtain the analysis curves of the back electromotive force integral in the two-phase coordinate system.

[0024] The back electromotive force integral in the two-phase coordinate system of the arctangent function is used for processing, and the predicted position of the mover is obtained based on the processed linkage curve of each phase.

[0025] The position of the mover at the next moment in the adjacent moments is determined based on the predicted position of the mover at adjacent moments and the pitch of the motor.

[0026] In one optional implementation, determining the mover position at the next adjacent moment based on the predicted mover position at adjacent moments and the motor pitch includes:

[0027] The difference between the predicted position of the mover at the previous moment and the preset parameter value is determined based on the time interval between adjacent moments, wherein the preset parameter value is 1 / 2 of the pitch of the motor; if the predicted position of the mover at the next moment is determined to be less than the difference, then the position of the mover at the next moment is determined to be the sum of the predicted position of the mover at the next moment and the pitch of the motor.

[0028] The calculated value is obtained by summing the predicted position of the mover at the previous moment in the adjacent time interval and the preset parameter value; if the predicted position of the mover at the next moment in the adjacent time interval is greater than the calculated value, then the position of the mover at the next moment in the adjacent time interval is determined to be the difference between the predicted position of the mover at the next moment and the pitch of the motor.

[0029] In one optional implementation, obtaining the integral curve of the back electromotive force integral for each phase of the three-phase windings of the motor includes:

[0030] Obtain the voltage and current signals of each phase of the three-phase winding, wherein the voltage and current signals include current values ​​and voltage values;

[0031] The back electromotive force of each phase is determined based on the current and voltage values ​​in the voltage and current signals of each phase, as well as the effective length of the motor's magnetic field coil.

[0032] Based on the back electromotive force of each phase, an integral curve for each phase is established.

[0033] Secondly, this application provides a closed-loop control device for an electric motor, the device comprising:

[0034] The acquisition unit is used to acquire the integral curve of the back electromotive force integral of each phase of the three-phase winding of the motor, wherein the back electromotive force integral of each phase represents the observed value of the back electromotive force integral under each phase.

[0035] A unit is established to establish the linkage curve between the back electromotive force integral curve and the mover position for each phase, wherein the linkage curve includes the cumulative error of the observed value of the back electromotive force integral.

[0036] The processing unit is used to offset the accumulated error based on the integral curve of the back electromotive force integral of each phase, and obtain the processed linkage curve of each phase.

[0037] The calculation unit is used to calculate the position of the motor's mover based on the processed linkage curves of each phase.

[0038] The control unit is used to perform closed-loop control of the motor based on the calculated position of the motor's rotor.

[0039] In one optional implementation, the establishing unit is specifically used for:

[0040] Each linkage curve is established based on the preset motor model, the preset voltage and current acquisition error model, and the observed value of the back electromotive force integral of each phase.

[0041] In one optional implementation, the linkage curve is related to the following parameters: the observed value of the back electromotive force integral, the position of the mover, the preset calibration constant, and the pitch of the motor;

[0042] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

[0043] In one optional embodiment, the three-phase winding has three phases; the processing unit includes:

[0044] The translation sub-unit is used to translate the integration curve of the back EMF integral of another phase if the integration curves of the back EMF integral of any two phases intersect, so as to obtain the cumulative translation amount and the current translation time of the other phase, in order to offset the cumulative error of the integration curve of the back EMF integral of the other phase.

[0045] The subtraction subunit is used to obtain the primary curve of each phase based on the cumulative translation amount and translation time of each phase; and to subtract the primary curve of each phase from the integral curve of the back electromotive force integral of each phase to cancel the primary component of the integral error of each phase, so as to obtain the processed linkage curve of each phase.

[0046] In one optional implementation, the translation subunit includes:

[0047] The first translation module is used to translate the height of the integral curve of the back electromotive force of the other phase to the position represented by a preset calibration constant if it is determined that the integral curves of the back electromotive force integrals of any two phases have an intersection point and the integral curve of the back electromotive force integrals of the other phase is above the intersection point.

[0048] The second translation module is used to translate the height of the integral curve of the back electromotive force of the other phase to the position represented by the opposite number of the preset calibration constant if the integral curves of the back electromotive force integrals of any two phases have an intersection point and the integral curve of the back electromotive force integrals of the other phase is located below the intersection point.

[0049] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

[0050] In one optional implementation, the three-phase winding has three phases; the calculation unit includes:

[0051] The transformation sub-unit is used to perform coordinate system transformation on the back electromotive force integral curves of each phase to obtain the analysis curves of the back electromotive force integral in the two-phase coordinate system.

[0052] The processing subunit is used to process the analysis curve of the back electromotive force integral in the two-phase coordinate system at each time step using the arctangent function to obtain the predicted position of the mover.

[0053] The first determining subunit is used to determine the position of the mover in the next moment of the adjacent moments based on the predicted position of the mover at adjacent moments and the pitch of the motor.

[0054] In one optional implementation, the first determining subunit includes:

[0055] The first calculation module is used to determine the difference between the predicted position of the mover in the previous time step and the preset parameter value, wherein the preset parameter value is 1 / 2 of the pitch of the motor.

[0056] The first determining module is used to determine the position of the mover at the next moment in the adjacent time interval as the sum of the predicted position of the mover at the next moment and the pitch of the motor if the predicted position of the mover at the next moment in the adjacent time interval is less than the difference.

[0057] The second calculation module is used to determine the calculated value by summing the predicted position of the mover in the previous time step in adjacent time steps and the preset parameter value.

[0058] The second determining module is used to determine the position of the mover at the next moment in the adjacent time interval as the difference between the predicted position of the mover at the next moment and the pitch of the motor if the predicted position of the mover at the next moment is greater than the calculated value.

[0059] In one optional implementation, the acquisition unit includes:

[0060] The acquisition subunit is used to acquire the voltage and current signals of each phase of the three-phase winding, wherein the voltage and current signals include current values ​​and voltage values;

[0061] The second determining subunit is used to determine the back electromotive force of each phase based on the current and voltage values ​​in the voltage and current signals of each phase and the effective length of the motor field coil.

[0062] Sub-units are established to generate the integral curve for each phase based on the back electromotive force of each phase.

[0063] Thirdly, this application provides an electronic device, which includes: a memory, a processor, an input unit, and an output unit;

[0064] Memory, used to store the processor-executable instructions;

[0065] Input unit, used to detect voltage and current;

[0066] The output unit is used to output the corresponding electrical signal to drive the motor.

[0067] The processor is configured to perform the method as described in the first aspect.

[0068] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method described in the first aspect.

[0069] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0070] This application provides a closed-loop control method, apparatus, and device for a motor. In this method, observed values ​​of the back electromotive force (EMF) integral for each phase at different times are obtained, forming an integral curve of the back EMF integral. Using the mover position as an unknown parameter and the observed values ​​of the back EMF integral as known parameters, a linkage curve between the observed values ​​of the back EMF integral for each phase and the mover position is established. The linkage curve for each phase at different times also includes the accumulated error of the observed back EMF integral for that phase at that moment, which is then canceled out. This process yields the processed linkage curves for each phase. The linkage curves of the three phases of the three-phase winding are then transformed into a two-phase stationary coordinate system. Algebraic operations are used to calculate the position of the mover. The linkage curves at different times are then transformed and calculated to obtain the mover positions at different times. The calculated mover positions at different times form the mover's trajectory. This trajectory is used as the mover's feedback trajectory and input into the PID controller. The PID controller reads the pre-stored reference trajectory and feedback trajectory of the mover, converting the error signal between them into an electric drive signal, thus achieving closed-loop control of the motor. In this process, the determination of the mover position is unaffected by the mover speed; the mover position can be accurately obtained even when the mover speed decreases or becomes zero, thereby completing the closed-loop control of the motor. Attached Figure Description

[0071] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0072] Figure 1 A schematic diagram of a surface-mount permanent magnet synchronous linear motor provided in this application;

[0073] Figure 2 A flowchart illustrating a closed-loop control method for a motor provided in an embodiment of this application;

[0074] Figure 3 A flowchart of another closed-loop control method for a motor provided in an embodiment of this application;

[0075] Figure 4 A schematic diagram of the structure of a closed-loop control device for a motor provided in an embodiment of this application;

[0076] Figure 5 A schematic diagram of another closed-loop control device for a motor provided in an embodiment of this application;

[0077] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0078] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0079] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0080] In recent years, the motor industry has experienced rapid market growth, and the types of motors have become increasingly diverse, including permanent magnet synchronous linear motors, permanent magnet synchronous rotary motors, brushless DC motors, and permanent magnet vernier motors. Figure 1 This is a schematic diagram of a surface-mounted permanent magnet synchronous linear motor. Figure 1 As shown, 1 represents the stator of the motor, 2 represents the magnet array of the motor, 3 represents the stator of the motor, and 4 represents the coil winding of the motor. To apply this technology across various industries, it is necessary to thoroughly research and develop the field of motor control. In motor control, hardware position sensors are typically used to obtain position feedback information from the mover, thereby enabling closed-loop control of the motor. However, this method has several problems in practical use: Firstly, hardware position sensors have low assembly accuracy and are difficult to assemble. When mounted on a linear motor with a long stroke, the error caused by thermal deformation of the sensor increases with the length of the stroke. Secondly, hardware position sensors are highly sensitive to their environment; they are prone to failure when exposed to humidity, large temperature variations, or dust. Sealing the hardware position sensor would significantly increase the complexity of the entire motor's mechanical structure, reduce the maintainability of the entire motor system, and negatively impact the motion performance and reliability of the entire motor system. Therefore, a motor drive control method that does not use hardware position sensors to obtain mover position feedback information has significant application value and high research value.

[0081] In methods for obtaining mover position feedback without using hardware position sensors, one example uses the back-EMF direct phase detection method. This method first requires continuous observation of the mover's voltage and current in a three-phase stationary coordinate system and calculating the back-EMF for each of the three phases. Then, the back-EMFs of the three phases are converted to a two-phase stationary coordinate system, and the arctangent function is used to calculate the mover's angular position, thereby estimating the mover's position. However, the principle of the back-EMF direct phase detection method is closely related to the mover's speed. The effectiveness of this method is affected by the mover's speed, performing poorly when the motor is running at low speeds, resulting in a large error in the calculated mover displacement, and it cannot be used when the motor is stationary.

[0082] In one example, a high-frequency signal injection method can also be used to obtain the position feedback information of the mover. This method is applicable to some motors with salient pole characteristics. For such motors, the d-axis inductance and q-axis inductance are two different constant values. Therefore, when transforming from the dq coordinate system to the αβ coordinate system, it can be seen that the inductances of the α-axis and β-axis are functions of the electrical angle θ. Since the inductances of the α-axis and β-axis can be directly measured in the circuit, the electrical angle θ can be calculated based on this relationship, thus obtaining the angular position of the mover and estimating its position. However, for motors without salient pole characteristics, the d-axis and q-axis inductances are identical. Therefore, the measured inductances of the α-axis and β-axis are constant values ​​independent of the electrical angle θ. Consequently, the inductance information does not contain the position information of the mover, making it impossible to estimate the mover position, and the high-frequency signal injection method fails.

[0083] The closed-loop control method, apparatus, and device for motors provided in this application are intended to solve the above-mentioned technical problems of the prior art.

[0084] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0085] Figure 2 A flowchart of a closed-loop control method for a motor provided in an embodiment of this application is shown below. Figure 2 As shown, the method includes:

[0086] 101. Obtain the integral curve of the back electromotive force integral for each phase of the three-phase winding of the motor, wherein the back electromotive force integral table for each phase represents the observed value of the back electromotive force integral for each phase.

[0087] For example, the values ​​of the current and voltage signals of each phase of the three-phase winding of the motor are obtained, and the back electromotive force of each phase of the three-phase winding is calculated based on the values ​​of the current and voltage signals of each phase. The back electromotive force of each phase is integrated over time to obtain a back electromotive force integral curve with time as the independent variable and the back electromotive force integral as the dependent variable. Since the values ​​of the current and voltage signals of each phase are obtained by acquisition and observation, the back electromotive force integral in the back electromotive force integral curve is the observed value of the back electromotive force integral of each phase.

[0088] 102. Establish the linkage curve between the back EMF integral curve and the mover position for each phase. The linkage curve includes the cumulative error of the observed value of the back EMF integral. The cumulative error is offset according to the integral curve of the back EMF integral for each phase to obtain the processed linkage curve for each phase.

[0089] For example, the back electromotive force integral curve of each phase is linked to the position of the mover, establishing a relationship expression between the back electromotive force integral curve of each phase and the position of the mover, i.e., the linkage curve. At different times, the observed values ​​of different back electromotive force integrals correspond to different positions of the mover after transformation. Furthermore, since there is an error between the observed value and the true value of the back electromotive force integral that gradually increases over time, the linkage curve of each phase also includes the cumulative error of the observed value of the back electromotive force integral of that phase. This cumulative error exists as an unknown parameter but cannot be solved directly. In order to obtain the accurate position of the mover, it needs to be canceled out, thereby obtaining the processed linkage curve of each phase.

[0090] 103. Based on the processed linkage curves of each phase, calculate the position of the motor's mover.

[0091] For example, the cumulative error of the back EMF integral observation value of each phase has been eliminated in the processed linkage curves of each phase. That is, the back EMF integral in the linkage curves of each phase can be considered as the true value. The back EMF integral curves of the three phases in the three-phase stationary coordinate system are transformed into the two-phase stationary coordinate system. Algebraic calculations are performed in combination with the processed linkage curves, and then the position of the mover can be obtained.

[0092] 104. Based on the calculated position of the motor's rotor, perform closed-loop control on the motor.

[0093] For example, the positions of the mover at different times constitute the motion trajectory of the mover. The motion trajectory of the mover is used as the feedback trajectory of the mover and input into the Proportion Integration Differentiation controller (PID controller). The PID controller reads the pre-stored reference trajectory of the mover and the feedback trajectory of the mover, and converts the error signal between the two into an electric drive signal to realize closed-loop control of the motor.

[0094] In this embodiment, the integral curve of the back EMF integral is obtained by integrating the back EMF of each phase; a linkage curve between the back EMF integral curve of each phase and the mover position is established, wherein the linkage curve of each phase also includes the cumulative error of the observed value of the back EMF integral of that phase. The cumulative error is canceled to obtain the processed linkage curve of each phase; the back EMF integral curves of the three phases in the three-phase stationary coordinate system are transformed into the two-phase stationary coordinate system, and the position of the mover is obtained by algebraic operation combined with the processed linkage curve; the position of the mover at different times constitutes the motion trajectory of the mover, and the motion trajectory of the mover is used as the feedback trajectory of the mover and input into the PID controller. The PID controller reads the pre-stored reference trajectory of the mover and the feedback trajectory of the mover, and converts the error signal between the two into an electric drive signal to realize the closed-loop control of the motor. In this process, the determination of the mover position is not affected by the mover speed. The position of the mover can be accurately obtained when the mover speed decreases or becomes zero, thereby completing the closed-loop control of the motor.

[0095] Figure 3 A flowchart of another closed-loop control method for a motor provided in this application embodiment is shown. Figure 2 Based on the illustrated embodiments, as Figure 3 As shown, the method includes:

[0096] 201. Obtain the integral curve of the back electromotive force integral for each phase of the three-phase winding of the motor, where the back electromotive force integral for each phase represents the observed value of the back electromotive force integral for each phase.

[0097] In one example, step 201 includes the following steps:

[0098] The voltage and current signals of each phase of the three-phase winding at each moment are acquired, wherein the voltage and current signals include current and voltage values; the back electromotive force of each phase is determined based on the current and voltage values ​​in the voltage and current signals of each phase and the effective length of the motor field coil; and the integral curve of each phase is established based on the back electromotive force of each phase.

[0099] For example, the current signal and voltage signal of each phase of the three-phase winding of the motor are acquired, and the current value and voltage value of each phase are obtained. The back electromotive force of each phase of the three-phase winding in the three-phase stationary coordinate system is calculated based on the current value and voltage value of each phase. The back electromotive force of each phase in the three-phase stationary coordinate system is integrated over time to obtain the back electromotive force integral curve of that phase. Since the current value and voltage value of each phase are obtained by acquisition and observation, the back electromotive force integral in the back electromotive force integral curve is the observed value of the back electromotive force integral of each phase.

[0100] In one example, using ammeters and voltmeters installed in the motor, the current and voltage signals of each phase of the three-phase winding in a three-phase stationary coordinate system are obtained. The current and voltage values ​​of each phase are then obtained from these signals. Based on the current and voltage values ​​in each phase's voltage and current signals, and the effective length of the motor's magnetic field coil, the back electromotive force (EMF) of each phase is calculated. The back EMF of each phase is obtained through algebraic operations using the following mathematical expression, based on the current and voltage values ​​of each phase and the effective length of the motor's magnetic field coil:

[0101]

[0102] Among them, e b denoted as the observed value of the back electromotive force, u as the voltage value, i as the current value, R as the resistance value, L as the effective length of the motor's magnetic field coil, and di / dt characterizes the rate of change of current.

[0103] In one example, the three phases of the three-phase winding are referred to as phase A, phase B, and phase C. The back electromotive force (EMF) of phases A, B, and C is integrated over time to obtain the integral curves of the back EMF of phase A, phase B, and phase C in the three-phase stationary coordinate system.

[0104]

[0105]

[0106]

[0107] Among them, e bA The observed back electromotive force of phase A in a three-phase stationary coordinate system, where t is time and u is the value of the back electromotive force. A Let i be the voltage value of phase A, R be the resistance, and i be the voltage value of phase A. A Here, e represents the current value in phase A, and L is the effective length of the motor's magnetic field coil. bBLet u be the observed value of the back electromotive force of phase B in a three-phase stationary coordinate system, where t is time and u is the value of the back electromotive force. B Let B be the voltage value of phase B, R be the resistance, and i be the voltage value of phase B. B Here, e represents the current value in phase B, and L is the effective length of the motor's magnetic field coil. bC The observed value of the back electromotive force of phase C in a three-phase stationary coordinate system, where t is time and u is the value of the back electromotive force. C Let C be the voltage value of phase C, R be the resistance, and i be the voltage value of phase C. C Let C be the current value in phase C, and L be the effective length of the motor's field coil.

[0108] 202. Based on the preset motor model, the preset voltage and current acquisition error model, and the observed value of the back electromotive force integral of each phase, establish each linkage curve.

[0109] In one example, the linkage curve is related to the following parameters: the observed value of the back electromotive force integral, the position of the mover, the preset calibration constant, and the motor pitch; wherein the calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor field coil winding, and the motor pitch.

[0110] For example, by combining a preset motor model, the back EMF integral curve of each phase is linked to the position of the mover, and a linkage curve between the back EMF integral curve of each phase and the position of the mover is established. There is an error between the observed value of the back EMF integral in the back EMF integral curve and the actual value of the back EMF integral that gradually increases over time. Therefore, according to the preset voltage and current acquisition error model, the linkage curve of each phase also includes the cumulative error of the observed value of the back EMF integral of that phase.

[0111] In one example, let x represent the position of the mover. Based on the motor model and the voltage and current acquisition error model, the relationship between the back electromotive force integral curve and the mover position can be expressed as:

[0112]

[0113]

[0114]

[0115] Among them, e bA The observed back electromotive force of phase A in a three-phase stationary coordinate system, where C1 is a calibration constant and t is time. e is the cumulative error of the observed value of the phase back electromotive force integral at time t; bB Let C1 be the observed value of the back electromotive force of phase B in a three-phase stationary coordinate system, C1 be a calibration constant, and t be time. e is the cumulative error of the observed value of the phase B back electromotive force integral at time t; bC Let C1 be the observed value of the back electromotive force of phase C in a three-phase stationary coordinate system, where C1 is a calibration constant and t is time. The cumulative error of the observation of the phase C back electromotive force integral at time t.

[0116] In one example, the calibration constant C1 is determined by algebraic operations based on the following mathematical expressions: the amplitude of the motor's main magnetic flux, the number of turns in the motor's field coil windings, and the motor's pitch.

[0117] C1=nΦτ / 2π

[0118] Where Φ is the amplitude of the main magnetic flux of the motor, n is the number of turns of the motor's magnetic field coil, and τ is the pitch of the motor, which represents the length of one magnetic field cycle and is a constant related to the motor.

[0119] 203. If it is determined that the integral curves of the back EMF integral of any two phases intersect, then the integral curve of the back EMF integral of the other phase is shifted to obtain the cumulative shift amount and the current shift time of the other phase, so as to offset the cumulative error of the integral curve of the back EMF integral of the other phase.

[0120] In one example, step 203 specifically includes the following steps:

[0121] If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located above the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the preset calibration constant.

[0122] If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located below the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the opposite of a preset calibration constant; wherein, the calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor magnetic field coil, and the pitch of the motor.

[0123] For example, the cumulative error of the back EMF observation in the linkage curve can be considered as consisting of two parts: the zero-order component of the cumulative error and the first-order component of the cumulative error. Higher-order components of the cumulative error, such as the second-order and third-order components, are considered negligible within the allowable error range. Monitoring the integral curves of the back EMF for the three phases, when the integral curves of the back EMF for two phases intersect, the integral curve of the back EMF for the other phase is shifted to cancel out the zero-order component of the cumulative error of the back EMF integral observation for that phase. Simultaneously, the cumulative shift amount and the current shift time of the integral curve of the back EMF for that phase are recorded. When the integral curves of the back EMF for two of the three phases intersect, the position of the non-intersecting phase's integral curve can be either above or below the intersection point. Different shifting procedures are applied to these two different positions. The first scenario: If the integral curves of the back EMF integrals of two phases intersect at a point, and the integral curve of the back EMF integral of another phase is above that point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the calibration constant C1, i.e., the position indicated by the preset calibration constant. If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is below that point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the calibration constant - C1, i.e., the position indicated by the opposite of the preset calibration constant; wherein, the calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil winding, and the motor's pitch.

[0124] In one example, if the back EMF integral curve of phase A intersects with the back EMF integral curve of phase B, and the back EMF integral curve of phase C is located above that intersection point, then the height of the back EMF integral curve of phase C is shifted to point C1, and the time t at this point is recorded. C And the cumulative shift δ of the C-phase back electromotive force integral curve at that moment. eC If the back EMF integral curve of phase A intersects with the back EMF integral curve of phase B, and the back EMF integral curve of phase C is located below that intersection point, then the height of the back EMF integral curve of phase C is shifted to -C1, and the time t at this point is recorded. C And the cumulative shift δ of the C-phase back electromotive force integral curve at that moment. eC .

[0125] In one example, if the back EMF integral curve of phase A intersects with the back EMF integral curve of phase C, and the back EMF integral curve of phase B is located above that intersection point, then the height of the back EMF integral curve of phase B is shifted to point C1, and the time t at this point is recorded. B And the cumulative shift δ of the back electromotive force integral curve of phase B at that moment. eB If the back EMF integral curve of phase A intersects with the back EMF integral curve of phase C, and the back EMF integral curve of phase B is located below this intersection point, then shift the height of the back EMF integral curve of phase B to -C1, and record the time t at this point. B And the cumulative shift δ of the phase B back electromotive force integral curve at that moment. eB .

[0126] In one example, if the back EMF integral curve of phase B intersects with the back EMF integral curve of phase C, and the back EMF integral curve of phase A is located above this intersection point, then the height of the back EMF integral curve of phase A is shifted to point C1, and the time t at this point is recorded. A And the cumulative shift δ of the integral curve of the back electromotive force of A at that moment. eA If the back EMF integral curve of phase B intersects with the back EMF integral curve of phase C, and the back EMF integral curve of phase A is located below this intersection point, then shift the height of the back EMF integral curve of phase A to -C1, and record the time t at this point. A And the cumulative shift δ of the phase A back electromotive force integral curve at that moment. eA .

[0127] 204. Based on the cumulative translation amount and translation time of each phase, obtain the primary curve of each phase; and subtract the primary curve of each phase from the integral curve of the back electromotive force integral of each phase to cancel the primary component of the integral error of each phase, so as to obtain the processed linkage curve of each phase.

[0128] For example, based on the translation time of the back EMF integral curve of each phase recorded in step 203 and the cumulative translation amount corresponding to the translation time, three linear curves are fitted respectively. Each of the three phase back EMF integral curves corresponds to a linear curve. By subtracting the linear curve corresponding to the phase from the back EMF integral curve of each phase, the linear component of the cumulative error of the back EMF observation value is offset.

[0129] In one example, the time t of the k shifted A-phase back EMF integral curves recorded in step 203 is used. A1 …t Akand the cumulative translation δ at each time point eA1 ...δ eAk Convert them into matrix form, denoted as:

[0130]

[0131]

[0132] Among them, X A Y is the matrix formed by shifting the integral curve of the back electromotive force of phase A. A It is a matrix consisting of the cumulative shift of the phase A back electromotive force integral curve.

[0133] According to the above X A Matrix, Y A The matrix can be fitted to a linear curve corresponding to the phase of A, and the coefficients of this linear curve can be obtained as follows:

[0134]

[0135] Where, k A b is the coefficient of the first term of the first-order curve corresponding to phase A. A This is the constant term of the linear curve corresponding to phase A.

[0136] Therefore, the first-order component of the cumulative error of the back electromotive force integral observation value of phase A can be offset by subtracting this first-order curve corresponding to phase A from the phase A back electromotive force integral curve:

[0137]

[0138] In one example, the time t of the k shifted B-phase back EMF integral curves recorded in step 203 is used. B1 ...t Bk and cumulative translation δe B1 ...δ eBk Convert them into matrix form, denoted as:

[0139]

[0140]

[0141] Among them, X B Y is the matrix formed by shifting the phase B back electromotive force integral curve. B It is a matrix consisting of the cumulative shift of the B-phase back electromotive force integral curve.

[0142] Based on the above X B Matrix, Y BThe matrix can be fitted to a linear curve corresponding to the phase of B, and the coefficients of this linear curve can be obtained as follows:

[0143]

[0144] Where, k B b is the coefficient of the first term of the first-order curve corresponding to phase B. B This is the constant term of the linear curve corresponding to phase B.

[0145] Therefore, the first-order component of the cumulative error of the B-phase back electromotive force integral observation can be offset by subtracting this first-order curve corresponding to the B-phase back electromotive force integral curve from the B-phase back electromotive force integral curve:

[0146]

[0147] In one example, the time t of the k shifted C-phase back EMF integral curves recorded in step 203 is used. C1 ...t Ck and cumulative translation δ eC1 ...δ eCk Convert them into matrix form, denoted as:

[0148]

[0149]

[0150] Among them, X C Y is the matrix formed by shifting the C-phase back electromotive force integral curve at different times. C It is a matrix consisting of the cumulative shifts of the C-phase back electromotive force integral curve.

[0151] Based on the above X C Matrix, Y C The matrix can be fitted to a linear curve corresponding to the phase of C, and the coefficients of this linear curve can be obtained as follows:

[0152]

[0153] Where, k C b is the coefficient of the first term of this first-order curve corresponding to phase C. C This is the constant term of the linear curve corresponding to phase C.

[0154] Therefore, the first-order component of the cumulative error of the C-phase back electromotive force integral observation can be offset by subtracting this first-order curve corresponding to the C-phase from the C-phase back electromotive force integral curve:

[0155]

[0156] 205. The three-phase winding has three phases; the back electromotive force integral curves of each phase are transformed by coordinate system transformation to obtain the analysis curves of the back electromotive force integral in the two-phase coordinate system.

[0157] For example, the three-phase winding has three phases. The back EMF integral curves of the three phases in the processed stationary coordinate system are transformed to obtain the analysis curve of the back EMF integral in the two-phase coordinate system.

[0158] In one example, the back electromotive force integral curves of the three phases in the three-phase stationary coordinate system are transformed to the two-phase stationary coordinate system using the Clark transformation, resulting in the analysis curve of the back electromotive force integral in the two-phase coordinate system:

[0159]

[0160]

[0161] Among them, e bα e is the analytical value of the α-phase back electromotive force in a two-phase stationary coordinate system. bβ This is the analytical value of the back electromotive force β in a two-phase stationary coordinate system.

[0162] 206. The analysis curve of the back electromotive force integral in the two-phase coordinate system is processed by the arctangent function. Based on the processed linkage curve of each phase, the predicted position of the mover at each moment is obtained.

[0163] For example, based on the relationship between the mover position represented by the linkage curve of each phase and the back EMF integral curve of each phase in the three-phase stationary coordinate system, and the transformation relationship between the back EMF integral curve in the three-phase stationary coordinate system and the analysis curve of the back EMF integral in the two-phase stationary coordinate system, the relationship between the analysis curve of the back EMF integral in the two-phase coordinate system and the mover position can be obtained. By processing the analysis curve of the back EMF integral in the two-phase coordinate system using the arctangent function, the predicted position of the mover at each moment can be obtained.

[0164] In one example, the arctangent function is used to process the analysis curve of the back EMF integral in the two-phase coordinate system. By combining the relationship between the mover position represented by the linkage curve of each phase and the back EMF integral curve of each phase in the three-phase stationary coordinate system, the predicted position of the mover at time t can be calculated (it can be any value greater than or equal to zero, and different values ​​of t represent different times):

[0165]

[0166] in, Let be the predicted position of the mover at time t, τ be the pitch of the motor, and e be the position of the mover.bα Let e ​​be the analytical value of the back electromotive force α in a two-phase stationary coordinate system. bβ This is the analytical value of the back electromotive force β in a two-phase stationary coordinate system.

[0167] 207. Based on the predicted position of the mover at adjacent time points and the pitch of the motor, determine the position of the mover at the next time point in the adjacent time points.

[0168] In one example, step 207 includes the following steps:

[0169] The difference between the predicted position of the mover at the previous moment and the preset parameter value is determined based on the time interval between adjacent moments. The preset parameter value is 1 / 2 of the motor pitch. If the predicted position of the mover at the next moment is less than the difference, the position of the mover at the next moment is determined to be the sum of the predicted position of the mover at the next moment and the motor pitch.

[0170] The calculated value is obtained by summing the predicted position of the mover at the previous moment in adjacent moments and the preset parameter value. If the predicted position of the mover at the next moment in adjacent moments is greater than the calculated value, then the position of the mover at the next moment in adjacent moments is determined to be the difference between the predicted position of the mover at the next moment and the pitch of the motor.

[0171] For example, the principle of finding the predicted position of the mover by using the arctangent function is to find the predicted angular position of the mover by inversely calculating the value of the tangent function, and then converting the predicted angular position of the mover into the predicted position of the mover. In this process, since the period of the tangent function is π, and the angle varies from 0 to 2π, the arctangent function cannot be used to obtain an exact angular position of the mover, and therefore the true predicted position of the mover cannot be obtained. Therefore, it is necessary to find the true position based on the continuity of the position.

[0172] In one example, since the position of the mover changes over time, the true position of the mover can be determined based on the changes in the mover's position at adjacent moments. The difference between the predicted position of the mover at the previous moment and the preset parameter value is determined. If the predicted position of the mover at the next moment is less than this difference, the true position of the mover at the next moment is determined to be the sum of the predicted position of the mover at that moment and the motor pitch. The preset parameter value is half the motor pitch.

[0173] This process can be expressed mathematically as follows:

[0174] if

[0175]

[0176] but

[0177]

[0178] in, This represents the predicted position of the mover in the next adjacent time step. Let τ be the predicted position of the mover in the previous time step among adjacent time steps, and τ be the pitch of the motor.

[0179] In one example, the predicted position of the mover at the previous time step and the preset parameter value are added together to obtain a calculated value. If the predicted position of the mover at the next time step is greater than this calculated value, the actual position of the mover at the next time step is determined to be the predicted position of the mover at that time step minus the motor pitch. The preset parameter value is half the motor pitch. This process can be expressed mathematically as follows:

[0180] if:

[0181]

[0182] but

[0183]

[0184] in, This represents the predicted position of the mover in the next adjacent time step. Let τ be the predicted position of the mover in the previous time step among adjacent time steps, and τ be the pitch of the motor.

[0185] 208. Based on the calculated position of the motor's rotor, perform closed-loop control on the motor.

[0186] For example, this step is the same as step 104, and will not be repeated here.

[0187] In this embodiment, based on the above embodiment, the cumulative error cancellation process is divided into two parts: The zero-order component of the cumulative error is canceled by shifting the back EMF integral curve. If the integral curves of the back EMF integral of any two phases intersect, the integral curve of the back EMF integral of the other phase is shifted, and the cumulative shift amount and the current shift time of the other phase are recorded. Then, three first-order curves corresponding to each phase are fitted using the recorded cumulative shift amount and shift time of each phase. The first-order component of the cumulative error is canceled by subtracting the corresponding first-order curve from the back EMF integral curve of each phase. The cumulative error is no longer present in the three-phase linkage curve of the three-phase winding in the processed three-phase stationary coordinate system. At this point, the back EMF integral curve in the three-phase stationary coordinate system is transformed to a two-phase stationary coordinate system, and the predicted position of the mover is obtained by using the arctangent function in conjunction with the processed linkage curve. Since the position of the mover changes with time, the true position of the mover can be determined based on the changes in the mover position at adjacent times. The process involves determining the difference between the predicted position of the mover at the previous moment and the preset parameter value within an adjacent time interval. If the predicted position of the mover at the next moment is less than this difference, the true position of the mover at the next moment is determined to be the sum of the predicted position of the mover at that moment and the motor pitch. The predicted position of the mover at the previous moment is then added to the preset parameter value to obtain a calculated value. If the predicted position of the mover at the next moment is greater than this calculated value, the true position of the mover at the next moment is determined to be the predicted position of the mover at that moment minus the motor pitch. The preset parameter value is half the motor pitch. Finally, closed-loop control of the motor is performed based on the calculated mover position. In this process, the determination of the mover position is unaffected by the mover speed; the mover position can be obtained even when the mover speed decreases or becomes zero. Furthermore, the accumulated error of the back EMF integral observation is offset, ensuring high accuracy of the mover position and thus completing the closed-loop control of the motor.

[0188] Figure 4 This is a schematic diagram of the structure of a closed-loop control device for a motor provided in an embodiment of this application, as shown below. Figure 4 As shown, the device includes:

[0189] The acquisition unit 31 is used to acquire the integral curve of the back electromotive force integral of each phase of the three-phase winding of the motor, wherein the back electromotive force integral of each phase represents the observed value of the back electromotive force integral under each phase.

[0190] Unit 32 is established to establish the linkage curve between the back electromotive force integral curve and the mover position for each phase. The linkage curve includes the cumulative error of the observed value of the back electromotive force integral.

[0191] The processing unit 33 is used to offset the accumulated error based on the integral curve of the back electromotive force integral of each phase, and obtain the processed linkage curve of each phase.

[0192] The calculation unit 34 is used to calculate the position of the motor mover based on the processed linkage curves of each phase.

[0193] The control unit 35 is used to perform closed-loop control of the motor based on the calculated position of the motor's rotor.

[0194] Figure 5 This is a schematic diagram of the structure of another closed-loop control device for a motor provided in an embodiment of this application. Figure 4 Based on the illustrated embodiments, as Figure 5 As shown, the device includes:

[0195] In one example, unit 32 is created, specifically for:

[0196] Each linkage curve is established based on the preset motor model, the preset voltage and current acquisition error model, and the observed value of the back electromotive force integral of each phase.

[0197] In one example, the linkage curve is related to the following parameters: the observed value of the back EMF integral, the mover position, the preset calibration constant, and the motor pitch.

[0198] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the motor's pitch.

[0199] In one example, the three-phase winding has three phases; processing unit 33 includes:

[0200] The translation subunit 331 is used to translate the integration curve of the back electromotive force integral of another phase if it is determined that the integration curves of the back electromotive force integral of any two phases intersect, so as to obtain the cumulative translation amount and the current translation time of the other phase, in order to offset the cumulative error of the integration curve of the back electromotive force integral of the other phase.

[0201] The elimination subunit 332 is used to obtain the primary curve of each phase based on the cumulative translation amount and each translation time of each phase; and to subtract the primary curve of each phase from the integral curve of the back electromotive force integral of each phase to cancel the primary component of the integral error of each phase, so as to obtain the processed linkage curve of each phase.

[0202] In one example, translation subunit 331 includes:

[0203] The first translation module 3311 is used to translate the height of the integral curve of the back electromotive force of another phase to the position represented by a preset calibration constant if it is determined that the integral curves of the back electromotive force integrals of any two phases have an intersection point and the integral curve of the back electromotive force integrals of another phase is located above the intersection point.

[0204] The second translation module 3312 is used to translate the height of the integral curve of the back electromotive force of another phase to the position represented by the opposite number of a preset calibration constant if it is determined that the integral curves of the back electromotive force integrals of any two phases have an intersection point and the integral curve of the back electromotive force integrals of another phase is located below the intersection point.

[0205] The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the motor's pitch.

[0206] In one example, the three-phase winding has three phases; the solution unit 34 includes:

[0207] The transformation subunit 341 is used to perform coordinate system transformation on the back electromotive force integral curves of each phase to obtain the analysis curves of the back electromotive force integral in the two-phase coordinate system.

[0208] The processing subunit 342 is used to process the analysis value of the back electromotive force integral in the two-phase coordinate system at each time step using the arctangent function, and obtain the predicted position of the mover at each time step based on the processed linkage curve of each phase.

[0209] The first determining subunit 343 is used to determine the position of the mover in the next moment of the adjacent moments based on the predicted position of the mover at adjacent moments and the pitch of the motor.

[0210] In one example, the first defined subunit 343 includes:

[0211] The first calculation module 3431 is used to determine the difference between the predicted position of the mover in the previous moment and the preset parameter value, wherein the preset parameter value is 1 / 2 of the pitch of the motor.

[0212] The first determining module 3432 is used to determine the position of the mover at the next moment in the adjacent time interval as the sum of the predicted position of the mover at the next moment and the pitch of the motor if the predicted position of the mover at the next moment in the adjacent time interval is less than the difference.

[0213] The second calculation module 3433 is used to determine the calculated value by summing the predicted position of the mover in the previous time step and the preset parameter value in the adjacent time steps.

[0214] The second determining module 3434 is used to determine the position of the mover at the next moment in the adjacent time interval as the difference between the predicted position of the mover at the next moment and the pitch of the motor if the predicted position of the mover at the next moment is greater than the calculated value.

[0215] In one example, retrieving unit 31 includes:

[0216] Acquisition subunit 311 is used to acquire the voltage and current signals of each phase of the three-phase winding, wherein the voltage and current signals include current values ​​and voltage values.

[0217] The second determining subunit 312 is used to determine the back electromotive force of each phase based on the current and voltage values ​​in the voltage and current signals of each phase and the effective length of the motor field coil.

[0218] Subunit 313 is established to establish the integral curve of each phase based on the back electromotive force of each phase.

[0219] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 6 As shown, the electronic device includes: a memory 51, a processor 52, an input unit 53, and an output unit 54.

[0220] Memory 51 is used to store instructions that can be executed by processor 52.

[0221] Processor 52 is configured to perform the methods provided in the embodiments described above.

[0222] Input unit 53 is used to detect voltage and current.

[0223] Output unit 54 is used to output the corresponding electrical signal to drive the motor.

[0224] This application also provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to perform the methods provided in the above embodiments.

[0225] This application also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the solution provided in any of the above embodiments.

[0226] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0227] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A closed-loop control method for a motor, characterized in that, The method includes: Obtain the integral curve of the back electromotive force integral for each phase of the three-phase winding of the motor, wherein the back electromotive force integral for each phase represents the observed value of the back electromotive force integral for each phase; the number of phases of the three-phase winding is three. Establish a linkage curve between the back electromotive force integral curve and the mover position for each phase, wherein the linkage curve includes the cumulative error of the observed value of the back electromotive force integral. If it is determined that the integral curves of the back EMF integrals of any two phases intersect, then the integral curve of the back EMF integral of the other phase is shifted to obtain the cumulative shift amount and the current shift time of the other phase, so as to offset the cumulative error of the integral curve of the back EMF integral of the other phase. Based on the cumulative translation amount and translation time of each phase, the first-order curve of each phase is obtained; and the integral curve of the back electromotive force integral of each phase is subtracted from the first-order curve of each phase to offset the first-order component of the integral error of each phase, so as to obtain the processed linkage curve of each phase. Based on the processed linkage curves of each phase, the position of the motor's mover is calculated. Based on the calculated position of the motor's rotor, the motor is subjected to closed-loop control.

2. The method according to claim 1, characterized in that, Establish the linkage curve between the back electromotive force integral curve of each phase and the mover position, including: Each linkage curve is established based on the preset motor model, the preset voltage and current acquisition error model, and the observed value of the back electromotive force integral of each phase.

3. The method according to claim 2, characterized in that, The linkage curve is related to the following parameters: the observed value of the back electromotive force integral, the position of the mover, the preset calibration constant, and the pitch of the motor. The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

4. The method according to claim 1, characterized in that, If the integral curves of the back electromotive force integrals of any two phases intersect, then the integral curve of the back electromotive force integral of the other phase is shifted to obtain the cumulative shift amount and the current shift time for that other phase, including: If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located above the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the preset calibration constant. If it is determined that the integral curves of the back EMF integrals of any two phases intersect at a point, and the integral curve of the back EMF integral of another phase is located below the intersection point, then the height of the integral curve of the back EMF integral of the other phase is shifted to the position represented by the opposite of the preset calibration constant. The calibration constant is determined based on the main magnetic flux amplitude of the motor, the number of turns of the motor's magnetic field coil, and the pitch of the motor.

5. The method according to any one of claims 1-4, characterized in that, The three-phase winding has three phases; the calculation of the motor's mover position based on the processed linkage curves of each phase includes: By performing coordinate system transformation on the back electromotive force integral curves of each phase, we obtain the analysis curves of the back electromotive force integrals in the two-phase coordinate system at each time step. The analysis curve of the back electromotive force integral in the two-phase coordinate system at each time step is processed by the arctangent function. Based on the processed linkage curve of each phase, the predicted position of the mover at each time step is obtained. The position of the mover at the next moment in the adjacent moments is determined based on the predicted position of the mover at adjacent moments and the pitch of the motor.

6. The method according to claim 5, characterized in that, Based on the predicted position of the mover at adjacent time points and the pitch of the motor, the position of the mover at the next adjacent time point is determined, including: The difference between the predicted position of the mover at the previous moment and the preset parameter value is determined based on the time interval between adjacent moments, wherein the preset parameter value is 1 / 2 of the pitch of the motor; if the predicted position of the mover at the next moment is determined to be less than the difference, then the position of the mover at the next moment is determined to be the sum of the predicted position of the mover at the next moment and the pitch of the motor. The calculated value is obtained by summing the predicted position of the mover at the previous moment in the adjacent time interval and the preset parameter value; if the predicted position of the mover at the next moment in the adjacent time interval is greater than the calculated value, then the position of the mover at the next moment in the adjacent time interval is determined to be the difference between the predicted position of the mover at the next moment and the pitch of the motor.

7. The method according to any one of claims 1-4, characterized in that, Obtain the integral curve of the back electromotive force integral for each phase of the three-phase windings of the motor, including: Obtain the voltage and current signals of each phase of the three-phase winding, wherein the voltage and current signals include current values ​​and voltage values; The back electromotive force of each phase is determined based on the current and voltage values ​​in the voltage and current signals of each phase, as well as the effective length of the motor's magnetic field coil. Based on the back electromotive force of each phase, an integral curve for each phase is established.

8. A closed-loop control device for a motor, characterized in that, The device includes: The acquisition unit is used to acquire the integral curve of the back electromotive force integral of each phase of the three-phase winding of the motor, wherein the back electromotive force integral of each phase represents the observed value of the back electromotive force integral under each phase; the number of phases of the three-phase winding is three. A unit is established to establish the linkage curve between the back electromotive force integral curve and the mover position for each phase, wherein the linkage curve includes the cumulative error of the observed value of the back electromotive force integral. The processing unit is configured to, if it is determined that the integral curves of the back electromotive force integrals of any two phases intersect, shift the integral curve of the back electromotive force integral of another phase to obtain the cumulative shift amount and the current shift time of the other phase, so as to offset the cumulative error of the integral curve of the back electromotive force integral of the other phase; obtain the primary curve of each phase based on the cumulative shift amount and each shift time of each phase; and subtract the primary curve of each phase from the integral curve of the back electromotive force integral of each phase to offset the primary component of the integral error of each phase, so as to obtain the processed linkage curve of each phase. The calculation unit is used to calculate the position of the motor's mover based on the processed linkage curves of each phase. The control unit is used to perform closed-loop control of the motor based on the calculated position of the motor's rotor.

9. An electronic device, characterized in that, The electronic device includes: a memory, a processor, an input unit, and an output unit; Memory, used to store the processor-executable instructions; Input unit, used to detect voltage and current; The output unit is used to output the corresponding electrical signal to drive the motor. The processor is configured to perform the method as described in any one of claims 1-7.

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