A control method, device, electronic device and storage medium for electrical equipment

Abstract

The present application relates to the field of electrical control technology, and provides a control method, device, electronic device and storage medium for electrical equipment, which are used to improve the speed and accuracy of sine and cosine function calculations, while reducing storage space usage. The method includes: obtaining the initial angle value of the electrical equipment operation, and converting the initial angle value into a target angle value according to a preset angle conversion relationship; selecting a target angle interval containing the target angle from a pre-divided angle interval set; determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value; and controlling the electrical equipment according to the target function value. Since the present application determines the target function value corresponding to the initial angle value of the electrical equipment operation according to the target angle interval to which the target angle value belongs, it can improve the speed and accuracy of sine and cosine function calculations, while reducing storage space usage.

Description

Background Art

[0002] With the rapid development of society, power electronics technologies such as motors and power grids are becoming more and more popular. In the field of power electronics, the application fields based on semiconductors are becoming more and more extensive, because they can control the transformation of electricity, magnetism, chemistry, light, etc., thus effectively meeting people's actual production and living needs.

[0003] However, the sine and cosine functions need to be used for calculation in the transformation process to meet the control requirements of actual motor variable speed and constant speed operation, active and reactive power operation of the power grid, etc. Sine and cosine function calculation is a very important part of scientific computing and engineering applications. Both mathematical model derivation and real-time angle calculation require accurate calculation results and fast operation speed.

[0004] In the related art, the methods for realizing sine and cosine function calculation based on digital chips are mainly table lookup method and CORDIC (Coordinate Rotation Digital Computer) iterative algorithm. However, the table lookup method requires a lot of storage space to establish a table, and the higher the accuracy of the calculated function value, the more storage space is consumed. The CORDIC algorithm calculates many iterations and occupies a large storage space, and it is difficult to ensure high accuracy in scenarios with large angle changes.

[0005] Therefore, how to ensure the speed and accuracy of sine and cosine function calculation within limited storage space is a problem that needs to be solved urgently. Summary of the invention

[0006] The embodiments of the present application provide a control method, device, electronic device and storage medium for electrical equipment, which are used to improve the speed and accuracy of sine and cosine function calculations while reducing storage space occupancy.

[0007] An embodiment of the present application provides a control method for an electrical device, comprising:

[0008] Acquire an initial angle value of the electrical equipment, and convert the initial angle value into a target angle value according to a preset angle conversion relationship, wherein the target angle value is an angle value within a target angle range;

[0009] Filtering out a target angle interval including the target angle from a pre-divided angle interval set, the angle interval set including: a plurality of angle intervals obtained by dividing the target angle range according to a specified step size;

[0010] Determine the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0011] The electrical device is controlled according to the objective function value.

[0012] Optionally, converting the initial angle value into a target angle value according to a preset angle conversion relationship includes:

[0013] According to the initial angle interval corresponding to the initial angle value and the trigonometric function type to which the target function value belongs, the initial angle value is converted into the target angle value according to the angle conversion relationship corresponding to the trigonometric function type.

[0014] Optionally, determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value includes:

[0015] Determine an initial function value corresponding to the target angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0016] The objective function value corresponding to the initial angle value is determined according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value.

[0017] Optionally, the endpoint angle value includes a left endpoint angle value and a right endpoint angle value; the endpoint function value includes a left endpoint function value corresponding to the left endpoint angle value, and a right endpoint function value corresponding to the right endpoint angle value;

[0018] The determining, according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, an initial function value corresponding to the target angle value comprises:

[0019] Determine a first function value corresponding to the target angle value according to the target angle value, the left endpoint angle value, and the left endpoint function value, wherein the left endpoint angle value is smaller than the target angle value;

[0020] Determine a second function value corresponding to the target angle value according to the target angle value, the right endpoint angle value, and the right endpoint function value, wherein the right endpoint angle value is greater than the target angle value;

[0021] Determine the initial function value corresponding to the target angle value based on the first function value, the second function value, the difference between the target angle value and the left endpoint angle value, the difference between the target angle value and the right endpoint angle value, and the difference between the left endpoint angle value and the right endpoint angle value.

[0022] Optionally, determining the objective function value corresponding to the initial angle value according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value includes:

[0023] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0024] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is negative, then the opposite of the initial function value is used as the objective function value;

[0025] If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0026] If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value.

[0027] Optionally, before determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, the method further includes:

[0028] Normalizing the target angle value and the endpoint angle value respectively;

[0029] Determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value includes:

[0030] The target function value corresponding to the initial angle value is determined based on the normalized target angle value, the normalized endpoint angle value, and the endpoint function value corresponding to the endpoint angle value.

[0031] An embodiment of the present application provides a control device for an electrical device, comprising:

[0032] An acquisition unit is used to acquire an initial angle value of the electrical device, and convert the initial angle value into a target angle value according to a preset angle conversion relationship, wherein the target angle value is an angle value within a target angle range;

[0033] A screening unit, configured to screen out a target angle interval including the target angle from a pre-divided angle interval set, wherein the angle interval set includes: a plurality of angle intervals obtained by dividing the target angle range according to a specified step size;

[0034] a determination unit, configured to determine a target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0035] A control unit is used to control the electrical device according to the objective function value.

[0036] Optionally, the acquiring unit is specifically used for:

[0037] According to the initial angle interval corresponding to the initial angle value and the trigonometric function type to which the target function value belongs, the initial angle value is converted into the target angle value according to the angle conversion relationship corresponding to the trigonometric function type.

[0038] Optionally, the determining unit is specifically configured to:

[0039] Determine an initial function value corresponding to the target angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0040] The objective function value corresponding to the initial angle value is determined according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value.

[0041] Optionally, the endpoint angle value includes a left endpoint angle value and a right endpoint angle value; the endpoint function value includes a left endpoint function value corresponding to the left endpoint angle value, and a right endpoint function value corresponding to the right endpoint angle value; the determination unit is specifically used to:

[0042] Determine a first function value corresponding to the target angle value according to the target angle value, the left endpoint angle value, and the left endpoint function value, wherein the left endpoint angle value is smaller than the target angle value;

[0043] Determine a second function value corresponding to the target angle value according to the target angle value, the right endpoint angle value, and the right endpoint function value, wherein the right endpoint angle value is greater than the target angle value;

[0044] Determine the initial function value corresponding to the target angle value based on the first function value, the second function value, the difference between the target angle value and the left endpoint angle value, the difference between the target angle value and the right endpoint angle value, and the difference between the left endpoint angle value and the right endpoint angle value.

[0045] Optionally, the determining unit is specifically configured to:

[0046] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0047] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is negative, then the opposite of the initial function value is used as the objective function value;

[0048] If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0049] If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value.

[0050] Optionally, before determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, the device further includes a processing unit specifically configured to:

[0051] Normalizing the target angle value and the endpoint angle value respectively;

[0052] The determining unit is specifically used for:

[0053] The target function value corresponding to the initial angle value is determined based on the normalized target angle value, the normalized endpoint angle value, and the endpoint function value corresponding to the endpoint angle value.

[0054] An electronic device provided in an embodiment of the present application includes a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor executes the steps of any one of the above-mentioned control methods for electrical equipment.

[0055] An embodiment of the present application provides a computer-readable storage medium, which includes a program code. When the program code is executed on an electronic device, the program code is used to enable the electronic device to execute the steps of any one of the above-mentioned control methods for electrical devices.

[0056] An embodiment of the present application provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; when a processor of an electronic device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the electronic device performs the steps of any one of the above-mentioned electrical device control methods.

[0057] The beneficial effects of this application are as follows:

[0058] The control method, device, electronic device and storage medium of electrical equipment provided in the embodiments of the present application, because the embodiments of the present application obtain the initial angle value of the electrical equipment operation, and convert the initial angle value into a target angle value according to a preset angle conversion relationship, filter out the target angle interval containing the target angle from a pre-divided angle interval set, determine the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, and control the electrical equipment according to the target function value, which can reduce the calculation complexity of the sine and cosine functions, improve the calculation speed, improve the calculation accuracy, and reduce the storage space occupied.

[0059] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0061] Figure 1 A schematic diagram of a coordinate system transformation in an embodiment of the present application;

[0062] Figure 2 This is a flowchart of an implementation method of a control method of an electrical device in an embodiment of the present application;

[0063] Figure 3 A schematic diagram of a curve for estimating a midpoint function value in an embodiment of the present application;

[0064] Figure 4A schematic diagram of a curve for dividing angle intervals in an embodiment of the present application;

[0065] Figure 5 A schematic diagram of a flow chart of a method for obtaining sine and cosine function values ​​in an embodiment of the present application;

[0066] Figure 6 A simulation model diagram of the control method of the electrical equipment in the embodiment of the present application;

[0067] Figure 7 A comparison diagram of sine function value calculation results in an embodiment of the present application;

[0068] Figure 8 A schematic diagram of the accuracy of a sine function value calculation result in an embodiment of the present application;

[0069] Fig. 9 This is a schematic diagram of the structure of a control device for an electrical device in an embodiment of the present application;

[0070] Fig.10 A schematic diagram of the hardware structure of an electronic device to which an embodiment of the present application is applied. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the technical solution of the present application, rather than all of the embodiments. Based on the embodiments recorded in the application documents, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the technical solution of the present application.

[0072] The following is an introduction to some concepts involved in the embodiments of the present application.

[0073] Trigonometric function: It is one of the basic elementary functions. It is a function with angle (the most commonly used radian system in mathematics) as the independent variable, and the coordinates of the intersection of the terminal side of any angle and the unit circle or its ratio as the dependent variable. It can also be equivalently defined by the length of various line segments related to the unit circle. Common trigonometric functions include sine function, cosine function and tangent function. In the embodiments of this application, sine function and cosine function are mainly used as examples for explanation.

[0074] Lagrange's middle value theorem: also known as Lagrange's theorem, is one of the basic theorems in differential calculus. It reflects the relationship between the overall average rate of change of a differentiable function on a closed interval and the local rate of change of a point in the interval. Lagrange's middle value theorem is a generalization of Rolle's middle value theorem, and is also a special case of Cauchy's middle value theorem. It is a weak form of Taylor's formula (first-order expansion).

[0075] Clark transformation (three-phase coordinate system to two-phase coordinate system): refers to simplifying the original voltage loop equation on the three-phase winding into the voltage loop equation on the two-phase winding, transforming from the three-phase stator ABC coordinate system to the two-phase stator α-β coordinate system, also known as 3-2 transformation.

[0076] Park transformation (from stationary coordinate system to rotating coordinate system): refers to the conversion of the stationary α-β coordinate system into the rotating dq coordinate system. The transformed coordinate system rotates at the same speed as the rotor, and the d-axis rotor flux position is the same, then the torque expression is only related to θ.

[0077] The following is a brief introduction to the design concept of the embodiment of the present application:

[0078] With the rapid development of society, power electronics technologies such as motors and power grids are becoming more and more popular. In the field of power electronics, the application fields based on semiconductors are becoming more and more extensive, because they can control the transformation of electricity, magnetism, chemistry, light, etc., thus effectively meeting people's actual production and living needs.

[0079] For example, in three-phase AC motor systems, Clark transformation and Park transformation are often used to simplify the control system and realize the control of speed, current, etc. Figure 1 shown.

[0080] The transformation matrix of Park transformation (transformation from stationary coordinate system to rotating coordinate system) is as follows:

[0081]

[0082] The transformation matrix of the inverse Park transformation (transformation from a rotating coordinate system to a stationary coordinate system) is as follows:

[0083]

[0084] In the three-phase AC motor control system, the sine and cosine function values ​​need to be accurately calculated, and the motor rotation angle is obtained to ensure that the sine and cosine function values ​​are quickly and accurately calculated, and the various transformations required by the control algorithm are completed, so as to realize the overall control algorithm and achieve the target control of speed, flux, current, etc. However, the sine and cosine functions need to be used for calculation in the transformation process to meet the actual control requirements such as variable speed and constant speed operation of the motor and active and reactive operation of the power grid. The calculation of sine and cosine functions is a very important part of scientific computing and engineering applications. Both mathematical model derivation and real-time angle calculation require accurate calculation results and fast operation speed.

[0085] In the related art, the methods for realizing sine and cosine function calculation based on digital chips are mainly table lookup method and CORDIC (Coordinate Rotation Digital Computer) iterative algorithm. However, the table lookup method requires a lot of storage space to establish a table, and the higher the accuracy of the calculated function value, the more storage space is consumed. The CORDIC algorithm calculates many iterations and occupies a large storage space, and it is difficult to ensure high accuracy in scenarios with large angle changes.

[0086] Therefore, how to ensure the speed and accuracy of sine and cosine function calculations within limited storage space is a problem that needs to be solved urgently.

[0087] In view of this, the embodiments of the present application provide a control method, device, electronic device and storage medium for electrical equipment, by obtaining the initial angle value of the electrical equipment, and converting the initial angle value into a target angle value according to a preset angle conversion relationship, selecting a target angle interval containing the target angle from a pre-divided angle interval set, determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, and controlling the electrical equipment according to the target function value. The sine and cosine function values ​​can be calculated quickly and accurately to ensure the reliable operation of the three-phase AC motor, reduce the calculation complexity of the sine and cosine functions, improve the calculation speed, and improve the calculation accuracy, while reducing the storage space occupied.

[0088] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0089] See also Figure 2 As shown, it is an implementation flow chart of a control method of an electrical device provided in an embodiment of the present application. The specific implementation process of the method is as follows:

[0090] S21: Acquire an initial angle value of the electrical equipment, and convert the initial angle value into a target angle value according to a preset angle conversion relationship;

[0091] Among them, the target angle value is an angle value within the target angle range. In the embodiment of the present application, the angle value within the target angle range refers to an angle value within the range of [0, π / 2]. For example, the initial angle value is 120°. According to the preset angle conversion relationship, the target angle value corresponding to 120° is 60°.

[0092] In an optional implementation, the initial angle value is converted to the target angle value by:

[0093] According to the initial angle interval corresponding to the initial angle value and the trigonometric function type to which the target function value belongs, the initial angle value is converted into a target angle value according to the angle conversion relationship corresponding to the trigonometric function type.

[0094] The trigonometric function type may include a sine function and a cosine function. When the trigonometric function type is a sine function, the preset angle conversion relationship may be the following formula:

[0095]

[0096] For example, if the initial angle value is 30°, the corresponding initial angle interval is [0,π / 2], the trigonometric function type is the sine function, and according to the angle conversion relationship, the target angle value is 30°; if the initial angle value is 120°, the corresponding initial angle interval is [π / 2,π], the trigonometric function type is the sine function, and according to the angle conversion relationship, the target angle value is 60°; if the initial angle value is 210°, the corresponding initial angle interval is [π,3π / 2], the trigonometric function type is the sine function, and according to the angle conversion relationship, the target angle value is 30°; if the initial angle value is 300°, the corresponding initial angle interval is [3π / 2,2π], the trigonometric function type is the sine function, and according to the angle conversion relationship, the target angle value is 60°;

[0097] When the trigonometric function type is a cosine function, the preset angle conversion relationship can be the following formula:

[0098]

[0099] For example, if the initial angle value is 30°, the corresponding initial angle interval is [0,π / 2], the trigonometric function type is cosine function, and according to the angle conversion relationship, the target angle value is 60°; if the initial angle value is 120°, the corresponding initial angle interval is [π / 2,π], the trigonometric function type is cosine function, and according to the angle conversion relationship, the target angle value is 30°; if the initial angle value is 210°, the corresponding initial angle interval is [π,3π / 2], the trigonometric function type is cosine function, and according to the angle conversion relationship, the target angle value is 60°; if the initial angle value is 300°, the corresponding initial angle interval is [3π / 2,2π], the trigonometric function type is cosine function, and according to the angle conversion relationship, the target angle value is 30°;

[0100] It should be noted that the above formula is only listed in the embodiment of the present application to illustrate the angle conversion relationship. The angle conversion relationship in the present application can also be achieved through other formulas, which are not specifically limited here.

[0101] S22: Filtering out a target angle interval including a target angle from a pre-divided angle interval set;

[0102] Among them, the angle interval set includes: multiple angle intervals obtained by dividing the target angle range according to a specified step size. For example, the target angle range is [0, π / 2]. According to a step size of 5°, [0, π / 2] can be divided into 18 angle intervals, namely [0, 5°], [5°, 10°], ..., [85°, 90°]. These 18 angle intervals constitute the angle interval set.

[0103] S23: determining a target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0104] Specifically, 17 points (including 0 and π / 2) can be uniformly selected in advance within the value range of the 1 / 4 sine function's horizontal coordinate [0, π / 2] as endpoint angle values, which can be divided into 16 angle intervals. The sine function values ​​corresponding to these 17 points are used as the accurate output values ​​of the sine function, that is, the endpoint function values ​​corresponding to the endpoint angle values, and a customized sine value function table is obtained.

[0105] S24: Control the electrical equipment according to the objective function value.

[0106] Specifically, when performing coordinate system transformation of the three-phase AC signal of the three-phase AC motor device, the transformation matrix can be determined according to the objective function value to achieve target control of the rotation speed, magnetic flux, current, etc.

[0107] In an embodiment of the present application, by obtaining the initial angle value of the electrical equipment, and converting the initial angle value into a target angle value according to a preset angle conversion relationship, a target angle interval containing the target angle is screened out from a pre-divided angle interval set, and a target function value corresponding to the initial angle value is determined according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value. The electrical equipment is controlled according to the target function value, which can reduce the calculation complexity of the sine and cosine functions, improve the calculation speed, and improve the calculation accuracy, while reducing the storage space occupied.

[0108] In an optional implementation, step S23 is implemented by the following steps:

[0109] Step 1: Determine the initial function value corresponding to the target angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0110] Step 2: Determine the objective function value corresponding to the initial angle value based on the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value.

[0111] Specifically, after determining the target angle interval corresponding to the target angle value, the endpoint function value corresponding to the endpoint angle value of the target angle interval can be obtained by querying the sine value function table. The trigonometric function type of the target function value can be sine function or cosine function, and the signs of the trigonometric function values ​​are positive or negative.

[0112] From Lagrange's mean value theorem, we know that there must be a point in a continuous smooth curve whose slope is the same as the average slope of the entire curve, that is, f(x) is continuous on the closed interval [a, b] and differentiable on the open interval (a, b). There is a point ε that satisfies f(a)-f(b)=f′(ε)*(ab). Figure 3 , on the sine function curve, take three adjacent points (x1, f(x1)), (x2, f(x2)), (x3, f(x3)), if we estimate the value of f(x2) at x2, we get:

[0113] f pre (x2) = f(x1) + f′(x1) * (x2 - x1)

[0114] f nex (x2) = f(x3) + f′(x3) * (x2 - x3)

[0115]

[0116] Among them, f pre (x2) is the value of f(x2) calculated based on the last value point (x1, f(x1)), nex (x2) is the value of f(x2) calculated based on the next value point (x3, f(x3)), and f pre (x2), f nex (x2) ratio calculation can get the accurate f(x2) value. Therefore, if Figure 4 As shown in the figure, 17 points (including 0 and π / 2) are uniformly selected within the range of the horizontal coordinate [0,π / 2] of the 1 / 4 sine function as the accurate output value of the sine function, that is, 17 groups of determined values, and a sine value function table is constructed. Then, the sine value of any angle can be accurately estimated through two adjacent groups of determined values. According to formula 1, we can get:

[0117]

[0118] Where x represents the target angle value, f(x) represents the initial function value, x1 and x2 represent the endpoint angle values ​​of the target angle interval, and f(x1) and f(x2) are the endpoint function values.

[0119] In an embodiment of the present application, 17 points are evenly selected within the angle value range [0, π / 2], 17 groups of angles and sine function values ​​are arranged, and Lagrange's mean value theorem is used to perform a comprehensive calculation using the differences between the front and back terms. The calculation of the sine and cosine function values ​​at any angle is realized based on the correspondence between the sine and cosine function values ​​in the angle range [π / 2, π] and the sine function values ​​in the angle range [0, π / 2].

[0120] In an optional implementation, the endpoint angle value includes a left endpoint angle value and a right endpoint angle value; the endpoint function value includes a left endpoint function value corresponding to the left endpoint angle value, and a right endpoint function value corresponding to the right endpoint angle value; and step 1 is implemented in the following manner:

[0121] First, according to the target angle value, the left endpoint angle value, and the left endpoint function value, the first function value corresponding to the target angle value is determined, and the left endpoint angle value is less than the target angle value; then, according to the target angle value, the right endpoint angle value, and the right endpoint function value, the second function value corresponding to the target angle value is determined, and the right endpoint angle value is greater than the target angle value; finally, according to the first function value, the second function value, the difference between the target angle value and the left endpoint angle value, the difference between the target angle value and the right endpoint angle value, and the difference between the left endpoint angle value and the right endpoint angle value, the initial function value corresponding to the target angle value is determined.

[0122] Specifically, when the function type of the initial function value is a sine function, since sin′(x)=cos(x), formula (2) can be obtained:

[0123]

[0124] Wherein, x represents the target angle value, sin(x) represents the initial function value, x1 represents the left endpoint angle value, x2 represents the right endpoint angle value, sin(x1) represents the left endpoint function value, sin(x2) represents the right endpoint function value, sin(x1) and sin(x2) can both be obtained from the sine value function table, and according to the properties of trigonometric functions, cos(x1) and cos(x2) can be obtained based on sin(x1) and sin(x2).

[0125] In an optional embodiment, step 2 is implemented in the following manner:

[0126] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0127] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value;

[0128] If the trigonometric function type to which the objective function value belongs is the cosine function, and the sign of the cosine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0129] If the trigonometric function type to which the objective function value belongs is the cosine function, and the sign of the cosine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value.

[0130] Specifically, the objective function is determined according to the type of trigonometric function to which the objective function value belongs and the sign of the sine value corresponding to the initial angle value. For example, if sin(120°) is input for calculation, the type of trigonometric function to which the objective function value belongs is the sine function, and the initial angle value is 120°. According to the properties of the sine function, the sign of sin(120°) is positive, and the initial function value sin(60°) is Then directly as the objective function value.

[0131] For another example, if we input cos(120°) for calculation, the trigonometric function type of the objective function value is the cosine function, and the initial angle value is 120°. According to the properties of the sine function, the sign of cos(120°) is negative, and the initial function value sin(60°) is Then as the objective function value.

[0132] In an optional implementation, before step S23, the target angle value and the endpoint angle value are respectively normalized, and step S23 is implemented in the following manner:

[0133] The target function value corresponding to the initial angle value is determined according to the normalized target angle value, the normalized endpoint angle value, and the endpoint function value corresponding to the endpoint angle value.

[0134] Specifically, the angle values ​​in the range of [0, π / 2] are normalized to the range of [0, 1]. For example, π / 4 is 0.5 after normalization.

[0135] In the embodiment of the present application, after the angle is normalized, the sine and cosine function values ​​are calculated based on the control method of the electrical equipment in the present application, which has a faster calculation speed and high precision, making the sine and cosine function calculation efficient and accurate. The sine and cosine function value calculation based on the method in the present application is more efficient and reliable, suitable for a variety of application fields, easy to transplant, and has strong versatility.

[0136] See also Figure 5 , which is a flow chart of a method for obtaining sine and cosine function values ​​in an embodiment of the present application, comprising the following steps:

[0137] S51: input the initial angle value;

[0138] S52: converting the initial angle value into a target angle value according to an angle conversion relationship;

[0139] S53: Determine the target angle interval to which the target angle value belongs;

[0140] S54: Obtaining an initial function value according to the target angle value, the endpoint angle value, and the endpoint function value;

[0141] S55: Obtaining the target function value corresponding to the initial angle value according to the initial function value.

[0142] In the embodiment of the present application, 17 points are uniformly selected within the angle value range [0,π / 2], 17 groups of angles and sine function values ​​are arranged, and Lagrange's mean value theorem is used, and the front and back terms are used for comprehensive calculation. According to the corresponding relationship between the sine and cosine function values ​​in the angle range [π / 2,π] and the sine function values ​​in the angle range [0,π / 2], the sine and cosine function values ​​of any angle are calculated, and normalization is performed. The calculation method has a fast calculation speed and high precision, making the calculation of sine and cosine functions efficient and accurate. The calculation of sine and cosine function values ​​based on the method in the present application is more efficient and reliable, suitable for a variety of application fields, and has strong versatility.

[0143] See also Figure 6 , which is a simulation model diagram built in the MATLAB (matrix laboratory) platform according to the control method of the electrical equipment in this application, which is used to verify the accuracy of the calculation of the sine and cosine function values. First, the ramp function in the range of [0, 1] is input respectively. Module 1, module 3 and module 5 are all amplifier modules. Module 2 is a simulation module built based on the control method of the electrical equipment in this application. Module 4 is a module for calculating the sine function in MATLAB. The sine waveforms output by the two methods are input into the oscilloscope 1. The displayed waveforms are as follows Figure 7 As shown in the figure, the sine function values ​​output by the two methods are input into oscilloscope 2 as a difference, and the output waveform is as follows: Figure 8 As shown, it can be seen that the calculation results of the two are almost the same, and the maximum error is about 0.03%. Therefore, the control method of the electrical equipment in the present application can achieve high-precision calculation of the sine function value.

[0144] In the embodiment of the present application, 17 points are evenly selected within the range of 1 / 4 sine function, and the formulation of the sine value function table is simple and effective, which reduces the chip storage space. Combined with Lagrange's mean value theorem, two points in the interval are selected for differential calculation, which reduces the calculation complexity, improves the operation speed, defines less data, completes efficient calculation, and normalizes the angle. It can be used in a variety of occasions, is easy to transplant, and has strong versatility.

[0145] Based on the same inventive concept, the present application also provides a control device for an electrical device. Fig. 9 As shown, it is a schematic diagram of the structure of a control device 900 of an electrical device, which may include:

[0146] An acquisition unit 901 is used to acquire an initial angle value of the electrical device, and convert the initial angle value into a target angle value according to a preset angle conversion relationship, wherein the target angle value is an angle value within a target angle range;

[0147] A screening unit 902 is used to screen out a target angle interval containing a target angle from a pre-divided angle interval set, where the angle interval set includes: a plurality of angle intervals obtained by dividing the target angle range according to a specified step size;

[0148] A determination unit 903 is used to determine a target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0149] The control unit 904 is used to control the electrical equipment according to the objective function value.

[0150] Optionally, the acquiring unit 901 is specifically configured to:

[0151] According to the initial angle interval corresponding to the initial angle value and the trigonometric function type to which the target function value belongs, the initial angle value is converted into a target angle value according to the angle conversion relationship corresponding to the trigonometric function type.

[0152] Optionally, the determining unit 903 is specifically configured to:

[0153] Determine an initial function value corresponding to the target angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value;

[0154] The objective function value corresponding to the initial angle value is determined according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value.

[0155] Optionally, the endpoint angle value includes a left endpoint angle value and a right endpoint angle value; the endpoint function value includes a left endpoint function value corresponding to the left endpoint angle value, and a right endpoint function value corresponding to the right endpoint angle value; the determination unit 903 is specifically used to:

[0156] Determine a first function value corresponding to the target angle value according to the target angle value, the left endpoint angle value, and the left endpoint function value, wherein the left endpoint angle value is less than the target angle value;

[0157] Determine a second function value corresponding to the target angle value according to the target angle value, the right endpoint angle value, and the right endpoint function value, wherein the right endpoint angle value is greater than the target angle value;

[0158] The initial function value corresponding to the target angle value is determined according to the first function value, the second function value, the difference between the target angle value and the left endpoint angle value, the difference between the target angle value and the right endpoint angle value, and the difference between the left endpoint angle value and the right endpoint angle value.

[0159] Optionally, the determining unit 903 is specifically configured to:

[0160] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0161] If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value;

[0162] If the trigonometric function type to which the objective function value belongs is the cosine function, and the sign of the cosine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value;

[0163] If the trigonometric function type to which the objective function value belongs is the cosine function, and the sign of the cosine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value.

[0164] Optionally, before determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, the apparatus further includes a processing unit 905, which is specifically configured to:

[0165] Normalize the target angle value and the endpoint angle value respectively;

[0166] The determining unit 903 is specifically used for:

[0167] The target function value corresponding to the initial angle value is determined according to the normalized target angle value, the normalized endpoint angle value, and the endpoint function value corresponding to the endpoint angle value.

[0168] In the embodiment of the present application, 17 points are uniformly selected within the angle value range [0,π / 2], 17 groups of angles and sine function values ​​are arranged, and Lagrange's mean value theorem is used, and the front and back terms are used for comprehensive calculation. According to the corresponding relationship between the sine and cosine function values ​​in the angle range [π / 2,π] and the sine function values ​​in the angle range [0,π / 2], the sine and cosine function values ​​of any angle are calculated, and normalization is performed. The calculation method has a fast calculation speed and high precision, making the calculation of sine and cosine functions efficient and accurate. The calculation of sine and cosine function values ​​based on the method in the present application is more efficient and reliable, suitable for a variety of application fields, and has strong versatility.

[0169] For the convenience of description, the above parts are divided into modules (or units) according to their functions and described separately. Of course, when implementing this application, the functions of each module (or unit) can be implemented in the same or multiple software or hardware.

[0170] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0171] Based on the same inventive concept as the above method embodiment, an electronic device is also provided in the embodiment of the present application. In this embodiment, the structure of the electronic device can be as follows: Fig.10 As shown, it includes a memory 1001 , a communication module 1003 and one or more processors 1002 .

[0172] The memory 1001 is used to store computer programs executed by the processor 1002. The memory 1001 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0173] The memory 1001 may be a volatile memory, such as a random-access memory (RAM); the memory 1001 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or the memory 1001 may be any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1001 may be a combination of the above memories.

[0174] The processor 1002 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 1002 is used to implement the control method of the electrical device when calling the computer program stored in the memory 1001 .

[0175] The communication module 1003 is used to communicate with terminal devices and other servers.

[0176] The specific connection medium between the memory 1001, the communication module 1003 and the processor 1002 is not limited in the embodiment of the present application. Fig.10 In the embodiment, the memory 1001 and the processor 1002 are connected via a bus 1004. The bus 1004 is connected to the processor 1002 via a bus 1004. Fig.10 The connections between the other components are only for illustration and are not intended to be limiting. The bus 1004 can be divided into an address bus, a data bus, a control bus, etc. For ease of description, Fig.10 The diagram shows that only one thick line is used, but this does not mean that there is only one bus or one type of bus.

[0177] The memory 1001 stores a computer storage medium, and the computer storage medium stores computer executable instructions, and the computer executable instructions are used to implement the control method of the electrical device of the embodiment of the present application. The processor 1002 is used to execute the control method of the electrical device, such as Figure 2 shown.

[0178] In some possible implementations, various aspects of the control method of an electrical device provided in the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the control method of an electrical device according to various exemplary embodiments of the present application described above in this specification. For example, the computer device may execute the following steps: Figure 2 Follow the steps shown in .

[0179] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0180] The program product of the embodiment of the present application can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a computing device. However, the program product of the present application is not limited to this. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with a command execution system, device or device.

[0181] The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with a command execution system, apparatus, or device.

[0182] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0183] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user equipment, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0184] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0185] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0186] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0187] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program commands. These computer program commands can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the commands executed by the processor of the computer or other programmable data processing device generate commands for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0188] These computer program commands may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the commands stored in the computer readable memory produce an article of manufacture comprising a command device, the command device implementing the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0189] These computer program commands can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the commands executed on the computer or other programmable device provide the instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0190] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0191] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A control method for an electrical device, characterized in that: The method includes: Acquire an initial angle value of the electrical equipment operation, and according to an initial angle interval corresponding to the initial angle value and a trigonometric function type to which a target function value corresponding to the initial angle value belongs, convert the initial angle value into a target angle value according to an angle conversion relationship corresponding to the trigonometric function type; the trigonometric function type includes a sine function and a cosine function, and the target angle value is an angle value within a target angle range; Filtering out a target angle interval including the target angle from a pre-divided angle interval set, the angle interval set including: a plurality of angle intervals obtained by dividing the target angle range according to a specified step size; According to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, the target function value is determined by comprehensive calculation using Lagrange's middle value theorem and the difference between the preceding and following terms; the endpoint function value is a sine function value; The electrical device is controlled according to the objective function value.

2. The method according to claim 1, characterized in that Determining the target function value by comprehensive calculation using Lagrange's mean value theorem and front and back differences according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, includes: Determine an initial function value corresponding to the target angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value; The objective function value corresponding to the initial angle value is determined according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value.

3. The method according to claim 2, characterized in that The endpoint angle value includes a left endpoint angle value and a right endpoint angle value; the endpoint function value includes a left endpoint function value corresponding to the left endpoint angle value, and a right endpoint function value corresponding to the right endpoint angle value; The determining, according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value, an initial function value corresponding to the target angle value comprises: Determine a first function value corresponding to the target angle value according to the target angle value, the left endpoint angle value, and the left endpoint function value, wherein the left endpoint angle value is smaller than the target angle value; Determine a second function value corresponding to the target angle value according to the target angle value, the right endpoint angle value, and the right endpoint function value, wherein the right endpoint angle value is greater than the target angle value; Determine the initial function value corresponding to the target angle value based on the first function value, the second function value, the difference between the target angle value and the left endpoint angle value, the difference between the target angle value and the right endpoint angle value, and the difference between the left endpoint angle value and the right endpoint angle value.

4. The method according to claim 2, characterized in that The determining the objective function value corresponding to the initial angle value according to the trigonometric function type to which the objective function value belongs, the sign of the trigonometric function value corresponding to the initial angle value, and the initial function value comprises: If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value; If the trigonometric function type to which the objective function value belongs is a sine function, and the sign of the sine function value corresponding to the initial angle value is negative, then the opposite of the initial function value is used as the objective function value; If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is positive, then the initial function value is directly used as the objective function value; If the trigonometric function type to which the objective function value belongs is a cosine function, and the sign of the cosine function value corresponding to the initial angle value is negative, the opposite of the initial function value is used as the objective function value.

5. The method according to any one of claims 1 to 4, characterized in that: Before determining the target function value by using Lagrange's mean value theorem and a comprehensive calculation of the preceding and following differences based on the target angle value, the endpoint angle values ​​of the target angle interval, and the endpoint function values ​​corresponding to the endpoint angle values, the method further includes: Normalizing the target angle value and the endpoint angle value respectively; Determining the target function value corresponding to the initial angle value according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value includes: The target function value corresponding to the initial angle value is determined based on the normalized target angle value, the normalized endpoint angle value, and the endpoint function value corresponding to the endpoint angle value.

6. A control device for an electrical device, characterized in that: The device includes: an acquisition unit, configured to acquire an initial angle value of the electrical device during operation, and convert the initial angle value into a target angle value according to an angle conversion relationship corresponding to the trigonometric function type according to an initial angle interval corresponding to the initial angle value and a trigonometric function type to which a target function value corresponding to the initial angle value belongs; the trigonometric function type includes a sine function and a cosine function, and the target angle value is an angle value within a target angle range; A screening unit, configured to screen out a target angle interval including the target angle from a pre-divided angle interval set, wherein the angle interval set includes: a plurality of angle intervals obtained by dividing the target angle range according to a specified step size; a determination unit, configured to determine the target function value by using Lagrange's mean value theorem and a comprehensive calculation of the difference between the preceding and following terms according to the target angle value, the endpoint angle value of the target angle interval, and the endpoint function value corresponding to the endpoint angle value; the endpoint function value is a sine function value; A control unit is used to control the electrical device according to the objective function value.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor executes the steps of any one of the methods in claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The method comprises a program code. When the program code is run on an electronic device, the program code is used to enable the electronic device to execute the steps of any method described in claims 1 to 5.

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